version: 66.07
glider: 543
mission: 6
dive: 131
start: 12 30 112 0 17 56
data:
$ID,543
$MISSION,6
$DIVE,131
$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,-8232.7559
$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,64
$R_STBD_OVSHOOT,31
$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
$GPS1,301212,000205,-4200.026,828.839,29,1.3,29,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-37.0
$GPS2,301212,001700,-4200.003,828.714,18,1.6,19,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.106,0.114
$KALMAN_X,-87918.9,1379.9,810.7,122621.1,-12537.1
$KALMAN_Y,51187.7,268.0,14.3,4151.5,-726.9
$MHEAD_RNG_PITCHd_Wd,67.8,11993,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.79,-53.9,0.0,0.0,0,104,0.00,0.00,-80.05,0.000,2,0.000,0.000,54,3362,2506,0,0,0,0,0,0
$GC,108,-0.81,-99.4,3.1,-3.9,10,129,5.28,0.98,-11.07,0.000,4,0.225,0.095,1376,3938,2881,0,0,0,0,0,0
$GC,414,-0.81,-99.4,56.2,-19.2,57,420,0.00,0.85,0.00,0.000,6,0.000,0.036,1376,3382,2883,0,0,0,0,0,0
$GC,654,-0.81,-99.4,94.7,-15.6,98,662,0.00,0.90,0.00,0.000,4,0.000,0.057,1372,3945,2883,0,0,0,0,0,0
$GC,922,-0.81,-99.4,140.1,-17.6,117,925,0.00,0.90,0.00,0.000,6,0.000,0.035,1372,3348,2884,0,0,0,0,0,0
$GC,1247,-0.81,-99.4,195.6,-17.3,138,1250,0.00,0.93,0.00,0.000,4,0.000,0.057,1368,3934,2884,0,0,0,0,0,0
$GC,1515,-0.81,-99.4,247.4,-18.7,153,1518,0.00,0.88,0.00,0.000,6,0.000,0.035,1368,3353,2884,0,0,0,0,0,0
$GC,1833,-0.81,-99.4,305.0,-17.9,169,1839,0.00,0.95,0.00,0.000,4,0.000,0.058,1364,3938,2884,0,0,0,0,0,0
$GC,2096,-0.81,-99.4,356.6,-19.2,180,2100,0.00,0.88,0.00,0.000,6,0.000,0.036,1363,3355,2884,0,0,0,0,0,0
$GC,2418,-0.81,-99.4,412.7,-16.8,195,2421,0.00,0.93,0.00,0.000,4,0.000,0.057,1359,3942,2883,0,0,0,0,0,0
$GC,2675,-0.81,-99.4,458.1,-17.2,202,2679,0.00,0.90,0.00,0.000,6,0.000,0.035,1359,3340,2884,0,0,0,0,0,0
$GC,2995,-0.81,-99.4,506.6,-15.0,213,2998,0.00,0.95,0.00,0.000,4,0.000,0.057,1355,3945,2884,0,0,0,0,0,0
$GC,3170,-0.81,-99.4,535.2,-15.6,218,3174,0.08,0.90,0.00,0.000,6,0.184,0.035,1376,3347,2883,0,0,0,0,0,0
$GC,3505,-0.81,-99.4,581.5,-13.6,229,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3347,2883,0,0,0,0,0,0
$GC,3812,-0.81,-99.4,624.2,-14.1,239,3815,0.00,0.93,0.00,0.000,4,0.000,0.059,1373,3932,2882,0,0,0,0,0,0
$GC,3886,-0.81,-99.4,635.5,-14.9,241,3889,0.00,0.88,0.00,0.000,6,0.000,0.037,1373,3353,2882,0,0,0,0,0,0
$GC,4221,-0.81,-99.4,684.5,-14.8,252,4225,0.00,0.93,0.00,0.000,4,0.000,0.059,1369,3937,2881,0,0,0,0,0,0
$GC,4358,-0.81,-99.4,706.6,-15.7,256,4362,0.00,0.88,0.00,0.000,6,0.000,0.037,1369,3356,2881,0,0,0,0,0,0
$GC,4699,-0.81,-99.4,760.3,-15.5,267,4702,0.00,0.93,0.00,0.000,4,0.000,0.059,1365,3939,2880,0,0,0,0,0,0
$GC,4850,-0.81,-99.4,785.9,-17.3,271,4855,0.00,0.90,0.00,0.000,6,0.000,0.037,1364,3344,2879,0,0,0,0,0,0
$GC,5175,-0.81,-99.4,835.9,-15.4,282,5181,0.00,0.95,0.00,0.000,4,0.000,0.060,1360,3946,2878,0,0,0,0,0,0
$GC,5348,-0.81,-99.4,864.1,-16.0,287,5351,0.00,0.90,0.00,0.000,6,0.000,0.037,1360,3350,2878,0,0,0,0,0,0
$GC,5689,-0.81,-99.4,915.0,-14.6,298,5694,0.00,0.93,0.00,0.000,4,0.000,0.060,1356,3934,2877,0,0,0,0,0,0
$GC,5779,-0.81,-99.4,929.9,-16.5,300,5785,0.08,0.88,0.00,0.000,6,0.187,0.038,1377,3359,2877,0,0,0,0,0,0
$GC,6099,-0.81,-99.4,972.7,-13.3,311,6105,0.00,0.93,0.00,0.000,4,0.000,0.060,1374,3944,2876,0,0,0,0,0,0
$GC,6236,-0.81,-99.4,993.3,-14.9,315,6242,0.00,0.90,0.00,0.000,6,0.000,0.038,1374,3347,2875,0,0,0,0,0,0
$STATE,6303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6303,begin apogee
$GC,6310,-0.14,0.0,1002.9,14.2,317,6422,0.77,0.00,103.95,1.187,6,0.164,0.000,1600,3255,2467,0,0,0,0,0,0
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6427,0.81,99.4,1006.7,0.0,321,6530,0.93,0.00,95.07,1.754,6,0.071,0.000,1915,3254,2067,0,0,0,0,1,0
$GC,6819,0.81,99.4,928.2,23.1,334,6822,0.00,1.12,0.00,0.000,4,0.000,0.055,1916,3933,2062,0,0,0,0,0,0
$GC,7031,0.81,99.4,875.8,24.3,340,7035,0.00,1.08,0.00,0.000,6,0.000,0.033,1921,3239,2060,0,0,0,0,0,0
$GC,7361,0.81,99.4,803.6,21.5,351,7367,0.00,1.15,0.00,0.000,4,0.000,0.054,1921,3945,2059,0,0,0,0,0,0
$GC,7621,0.81,99.4,742.8,23.1,358,7624,0.00,1.05,0.00,0.000,6,0.000,0.034,1926,3252,2058,0,0,0,0,0,0
$GC,7941,0.81,99.4,675.0,21.6,369,7945,0.00,1.10,0.00,0.000,4,0.000,0.054,1926,3939,2056,0,0,0,0,0,0
$GC,8197,0.81,99.4,612.1,25.5,376,8200,0.00,1.05,0.00,0.000,6,0.000,0.032,1931,3238,2056,0,0,0,0,0,0
$GC,8516,0.81,99.4,539.9,22.7,387,8519,0.00,1.12,0.00,0.000,4,0.000,0.054,1931,3938,2055,0,0,0,0,0,0
$GC,8775,0.81,99.4,476.1,24.6,394,8779,0.00,1.02,0.00,0.000,6,0.000,0.033,1936,3253,2055,0,0,0,0,0,0
$GC,9095,0.81,99.4,401.3,23.5,405,9099,0.00,1.10,0.00,0.000,4,0.000,0.053,1936,3942,2054,0,0,0,0,0,0
$GC,9282,0.81,99.4,353.9,25.5,413,9288,0.00,1.02,0.00,0.000,6,0.000,0.033,1941,3254,2053,0,0,0,0,0,0
$GC,9618,0.81,99.4,273.5,24.3,429,9624,0.00,1.10,0.00,0.000,4,0.000,0.053,1941,3945,2053,0,0,0,0,0,0
$GC,9879,0.81,99.4,204.3,25.9,443,9885,0.10,1.02,0.00,0.000,6,0.220,0.033,1921,3254,2053,0,0,0,0,0,0
$GC,10209,0.81,99.4,132.5,22.1,464,10212,0.00,1.10,0.00,0.000,4,0.000,0.053,1919,3948,2053,0,0,0,0,0,0
$GC,10476,0.81,99.4,69.7,23.0,494,10484,0.00,1.02,0.00,0.000,6,0.000,0.032,1924,3253,2052,0,0,0,0,0,0
$STATE,10817,end climb,SURFACE_DEPTH_REACHED
$STATE,10818,begin surface coast
$FINISH,1.1,1.025482
$STATE,10836,end surface coast,CONTROL_FINISHED_OK
$STATE,10836,begin surface
$SM_CCo,10852,171.18,0.747,1,0,504,482.50
$SM_GC,1.34,0.00,0.00,171.18,0.000,0.000,0.747,60,3362,504,-4.96,0.25,482.50
$IRIDIUM_FIX,-4143.80,828.70,301212,000057
$TT8_MAMPS,0.025466
$HUMID,54.76
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.0,25.778
$10V_AH,10.1,13.814
$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,12.175,37.175,199.025,171.175,0.000,73.787,147.061,375.558,0.000,0.000,20.980,1501.072,6723.385,468.032,2544.571,688.814,33.358,1310.283,0.000,2042.408,0.000,1.014,0.000
$DEVICE_MAMPS,224.910,94.860,1754.145,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.720,1204.471,585.596,282.463,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,40359,551
$CAP_FILE_SIZE,101606,0
$CFSIZE,259252224,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,032304,-4159.559,828.586,38,1.1,38,-24.9