version: 66.07
glider: 543
mission: 6
dive: 129
start: 12 29 112 17 43 26
data:
$ID,543
$MISSION,6
$DIVE,129
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,370
$T_MISSION,385
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,482.49722
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8225.8027
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3353
$C_ROLL_CLIMB,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.913475
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,291212,173358,-4157.994,828.227,39,1.4,39,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-26.0
$GPS2,291212,174230,-4157.965,828.230,18,1.4,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.116,-0.104
$KALMAN_X,-85249.6,1325.5,704.9,119446.0,-12942.5
$KALMAN_Y,50446.4,299.1,365.6,8271.7,-2175.9
$MHEAD_RNG_PITCHd_Wd,156.9,11937,-27.1,-9.009
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.60,0.000,6,0.000,0.000,53,3377,2694,0,0,0,0,0,0
$GC,115,-0.82,-104.5,2.8,-3.3,11,135,5.32,0.90,-5.93,0.000,4,0.229,0.084,1377,3929,2901,0,0,0,0,0,0
$GC,416,-0.82,-104.5,65.3,-20.7,58,424,0.00,0.88,0.00,0.000,6,0.000,0.036,1377,3357,2902,0,0,0,0,0,0
$GC,762,-0.82,-104.5,124.7,-16.6,101,765,0.00,0.90,0.00,0.000,4,0.000,0.057,1373,3924,2903,0,0,0,0,0,0
$GC,1028,-0.82,-104.5,174.8,-18.7,116,1031,0.00,0.88,0.00,0.000,6,0.000,0.036,1373,3346,2903,0,0,0,0,0,0
$GC,1355,-0.82,-104.5,228.7,-16.1,137,1360,0.00,0.93,0.00,0.000,4,0.000,0.055,1368,3932,2904,0,0,0,0,0,0
$GC,1576,-0.82,-104.5,268.3,-18.3,148,1579,0.00,0.88,0.00,0.000,6,0.000,0.035,1369,3347,2904,0,0,0,0,0,0
$GC,1899,-0.82,-104.5,324.5,-17.8,164,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3347,2904,0,0,0,0,0,0
$GC,2208,-0.82,-104.5,380.5,-17.7,179,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3347,2904,0,0,0,0,0,0
$GC,2514,-0.82,-104.5,433.4,-16.8,191,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3347,2904,0,0,0,0,0,0
$GC,2821,-0.82,-104.5,486.1,-17.4,201,2825,0.00,0.93,0.00,0.000,4,0.000,0.056,1364,3934,2904,0,0,0,0,0,0
$GC,2901,-0.82,-104.5,500.7,-18.2,203,2904,0.00,0.88,0.00,0.000,6,0.000,0.035,1364,3354,2904,0,0,0,0,0,0
$GC,3232,-0.82,-104.5,553.5,-15.1,214,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3353,2904,0,0,0,0,0,0
$GC,3537,-0.82,-104.5,599.1,-14.4,224,3543,0.00,0.95,0.00,0.000,4,0.000,0.060,1360,3940,2903,0,0,0,0,0,0
$GC,3650,-0.82,-104.5,616.6,-15.7,227,3654,0.00,0.88,0.00,0.000,6,0.000,0.037,1360,3358,2903,0,0,0,0,0,0
$GC,3979,-0.82,-104.5,661.7,-14.1,238,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3358,2902,0,0,0,0,0,0
$GC,4287,-0.82,-104.5,707.8,-15.3,248,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3357,2902,0,0,0,0,0,0
$GC,4592,-0.82,-104.5,755.7,-16.0,258,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3357,2901,0,0,0,0,0,0
$GC,4898,-0.82,-104.5,805.8,-16.2,268,4902,0.00,0.90,0.00,0.000,4,0.000,0.059,1356,3927,2900,0,0,0,0,0,0
$GC,5051,-0.82,-104.5,833.8,-19.5,272,5054,0.00,0.88,0.00,0.000,6,0.000,0.037,1356,3349,2899,0,0,0,0,0,0
$GC,5375,-0.82,-104.5,889.1,-17.1,283,5379,0.12,0.93,0.00,0.000,4,0.198,0.060,1381,3925,2900,0,0,0,0,0,0
$GC,5497,-0.82,-104.5,909.2,-15.8,286,5501,0.00,0.88,0.00,0.000,6,0.000,0.038,1381,3348,2899,0,0,0,0,0,0
$GC,5816,-0.82,-104.5,954.5,-13.7,297,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3347,2898,0,0,0,0,0,0
$GC,6122,-0.82,-104.5,993.5,-12.5,307,6127,0.00,0.93,0.00,0.000,4,0.000,0.060,1376,3930,2898,0,0,0,0,0,0
$STATE,6171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6172,begin apogee
$GC,6179,-0.14,0.0,1000.6,13.8,308,6292,0.75,0.00,109.07,1.170,6,0.168,0.000,1599,3251,2473,0,0,0,0,0,0
$STATE,6293,end apogee,CONTROL_FINISHED_OK
$STATE,6293,begin climb
$GC,6296,0.82,104.5,1002.5,0.0,312,6416,0.90,2.38,108.25,1.138,4,0.076,0.031,1918,1832,2037,0,0,0,0,0,0
$GC,6449,0.82,104.5,977.1,21.0,316,6456,0.00,2.38,0.00,0.000,6,0.000,0.050,1917,3237,2027,0,0,0,0,0,0
$GC,6762,0.82,104.5,902.5,23.4,327,6766,0.00,1.17,0.00,0.000,4,0.000,0.054,1917,3954,2019,0,0,0,0,0,0
$GC,7021,0.82,104.5,836.8,24.0,334,7024,0.00,1.08,0.00,0.000,6,0.000,0.033,1921,3247,2017,0,0,0,0,0,0
$GC,7339,0.82,104.5,763.8,22.9,345,7343,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3944,2015,0,0,0,0,0,0
$GC,7601,0.82,104.5,698.0,25.1,352,7605,0.00,1.05,0.00,0.000,6,0.000,0.033,1924,3250,2014,0,0,0,0,0,0
$GC,7921,0.82,104.5,623.1,23.8,363,7924,0.00,1.12,0.00,0.000,4,0.000,0.054,1924,3954,2013,0,0,0,0,0,0
$GC,8095,0.82,104.5,579.3,26.8,368,8099,0.00,1.05,0.00,0.000,6,0.000,0.032,1929,3248,2013,0,0,0,0,0,0
$GC,8437,0.82,104.5,496.5,23.8,379,8440,0.00,1.12,0.00,0.000,4,0.000,0.054,1929,3950,2011,0,0,0,0,0,0
$GC,8650,0.82,104.5,439.5,25.6,385,8656,0.00,1.05,0.00,0.000,6,0.000,0.032,1933,3243,2012,0,0,0,0,0,0
$GC,8972,0.82,104.5,360.7,24.0,398,8976,0.00,1.12,0.00,0.000,4,0.000,0.053,1933,3949,2010,0,0,0,0,0,0
$GC,9051,0.82,104.5,339.5,26.6,401,9055,0.00,1.05,0.00,0.000,6,0.000,0.032,1939,3245,2010,0,0,0,0,0,0
$GC,9374,0.82,104.5,262.5,23.7,417,9380,0.00,1.12,0.00,0.000,4,0.000,0.054,1939,3958,2010,0,0,0,0,0,0
$GC,9548,0.82,104.5,217.7,27.5,426,9553,0.08,1.05,0.00,0.000,6,0.218,0.032,1924,3246,2009,0,0,0,0,0,0
$GC,9884,0.82,104.5,141.5,22.6,447,9888,0.00,1.12,0.00,0.000,4,0.000,0.052,1923,3952,2009,0,0,0,0,0,0
$GC,10026,0.82,104.5,105.5,24.0,455,10029,0.00,1.05,0.00,0.000,6,0.000,0.032,1927,3247,2009,0,0,0,0,0,0
$GC,10387,0.82,104.5,34.5,17.4,513,10394,0.00,1.12,0.00,0.000,4,0.000,0.053,1927,3956,2009,0,0,0,0,0,0
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,1.0,1.026186
$STATE,10553,end surface coast,CONTROL_FINISHED_OK
$STATE,10553,begin surface
$SM_CCo,10570,165.68,0.732,1,0,505,482.50
$SM_GC,1.16,0.00,0.00,165.68,0.000,0.000,0.732,49,3338,505,-5.00,-0.42,482.50
$IRIDIUM_FIX,-4143.80,828.70,291212,141427
$TT8_MAMPS,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,25.495
$10V_AH,10.1,13.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.275,36.625,217.325,165.675,0.000,25.718,23.956,308.338,0.000,0.000,21.056,1409.875,6747.840,438.278,2016.995,641.826,33.364,1189.045,0.000,1788.695,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,84.150,1170.450,732.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.229,1186.824,563.037,272.078,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,40474,538
$CAP_FILE_SIZE,91089,0
$CFSIZE,259252224,250540032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,291212,204334,-4159.134,828.326,26,1.2,26,-24.9