version: 66.07
glider: 543
mission: 6
dive: 132
start: 12 30 112 3 32 14
data:
$ID,543
$MISSION,6
$DIVE,132
$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,-8236.2393
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,301212,032304,-4159.559,828.586,38,1.1,38,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-28.4
$GPS2,301212,033118,-4159.588,828.585,17,1.1,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.024,0.154
$KALMAN_X,-88694.1,1076.2,626.6,123712.1,-11485.2
$KALMAN_Y,49750.6,-86.8,-90.9,6822.8,-2035.8
$MHEAD_RNG_PITCHd_Wd,16.0,11840,-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,16,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.22,0.000,6,0.000,0.000,60,3363,2694,0,0,0,0,0,0
$GC,115,-0.82,-107.2,3.0,-3.0,11,135,5.25,2.17,-6.10,0.000,4,0.227,0.045,1374,1951,2911,0,0,0,0,0,0
$GC,339,-0.82,-107.2,37.2,-12.0,45,346,0.00,2.22,0.00,0.000,6,0.000,0.054,1365,3334,2913,0,0,0,0,0,0
$GC,581,-0.82,-107.2,76.3,-16.0,86,589,0.00,0.98,0.00,0.000,4,0.000,0.057,1361,3948,2913,0,0,0,0,0,0
$GC,779,-0.82,-107.2,112.9,-19.9,113,783,0.00,0.90,0.00,0.000,6,0.000,0.035,1360,3357,2913,0,0,0,0,0,0
$GC,1105,-0.82,-107.2,170.9,-18.3,134,1108,0.00,0.95,0.00,0.000,4,0.000,0.057,1356,3954,2914,0,0,0,0,0,0
$GC,1273,-0.82,-107.2,203.2,-19.5,143,1276,0.00,0.93,0.00,0.000,6,0.000,0.035,1356,3342,2914,0,0,0,0,0,0
$GC,1596,-0.82,-107.2,259.9,-17.5,163,1600,0.12,0.98,0.00,0.000,4,0.197,0.057,1382,3950,2915,0,0,0,0,0,0
$GC,1802,-0.82,-107.2,296.0,-17.2,172,1805,0.00,0.90,0.00,0.000,6,0.000,0.035,1382,3350,2915,0,0,0,0,0,0
$GC,2136,-0.82,-107.2,347.9,-15.3,188,2139,0.00,0.95,0.00,0.000,4,0.000,0.057,1377,3952,2915,0,0,0,0,0,0
$GC,2279,-0.82,-107.2,373.1,-16.9,194,2283,0.00,0.90,0.00,0.000,6,0.000,0.036,1377,3351,2914,0,0,0,0,0,0
$GC,2616,-0.82,-107.2,425.4,-15.7,208,2619,0.00,0.95,0.00,0.000,4,0.000,0.057,1373,3954,2914,0,0,0,0,0,0
$GC,2854,-0.82,-107.2,464.5,-16.5,215,2857,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3356,2914,0,0,0,0,0,0
$GC,3195,-0.82,-107.2,515.1,-14.5,226,3199,0.00,0.95,0.00,0.000,4,0.000,0.058,1368,3956,2914,0,0,0,0,0,0
$GC,3402,-0.82,-107.2,550.4,-17.3,232,3406,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3357,2914,0,0,0,0,0,0
$GC,3738,-0.82,-107.2,602.8,-15.4,243,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3357,2914,0,0,0,0,0,0
$GC,4044,-0.82,-107.2,648.0,-14.8,253,4050,0.00,0.93,0.00,0.000,4,0.000,0.058,1364,3945,2913,0,0,0,0,0,0
$GC,4181,-0.82,-107.2,669.4,-16.0,257,4187,0.00,0.90,0.00,0.000,6,0.000,0.037,1364,3347,2913,0,0,0,0,0,0
$GC,4524,-0.82,-107.2,719.6,-14.6,268,4528,0.00,0.95,0.00,0.000,4,0.000,0.059,1360,3949,2912,0,0,0,0,0,0
$GC,4781,-0.82,-107.2,760.4,-16.8,275,4784,0.00,0.90,0.00,0.000,6,0.000,0.037,1360,3352,2912,0,0,0,0,0,0
$GC,5100,-0.82,-107.2,808.7,-15.4,286,5103,0.00,0.95,0.00,0.000,4,0.000,0.060,1356,3954,2910,0,0,0,0,0,0
$GC,5217,-0.82,-107.2,829.1,-17.0,289,5221,0.08,0.90,0.00,0.000,6,0.184,0.037,1376,3359,2910,0,0,0,0,0,0
$GC,5542,-0.82,-107.2,875.7,-14.2,300,5546,0.00,0.93,0.00,0.000,4,0.000,0.060,1373,3946,2909,0,0,0,0,0,0
$GC,5597,-0.82,-107.2,884.6,-16.2,301,5601,0.00,0.90,0.00,0.000,6,0.000,0.037,1373,3352,2909,0,0,0,0,0,0
$GC,5916,-0.82,-107.2,929.7,-14.5,312,5920,0.00,0.95,0.00,0.000,4,0.000,0.060,1369,3951,2908,0,0,0,0,0,0
$GC,5955,-0.82,-107.2,935.8,-15.1,313,5958,0.00,0.90,0.00,0.000,6,0.000,0.037,1369,3357,2908,0,0,0,0,0,0
$GC,6290,-0.82,-107.2,984.0,-14.7,324,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3356,2907,0,0,0,0,0,0
$STATE,6410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6410,begin apogee
$GC,6417,-0.14,0.0,1002.5,15.2,328,6534,0.77,0.00,112.53,1.193,6,0.164,0.000,1596,3246,2469,0,0,0,0,0,0
$STATE,6536,end apogee,CONTROL_FINISHED_OK
$STATE,6536,begin climb
$GC,6539,0.82,107.2,1006.2,0.0,332,6660,0.93,0.00,113.18,1.157,6,0.076,0.000,1911,3247,2027,0,0,0,0,0,0
$GC,6968,0.82,107.2,914.1,24.7,346,6972,0.00,1.17,0.00,0.000,4,0.000,0.056,1911,3957,2011,0,0,0,0,0,0
$GC,7211,0.82,107.2,847.0,27.4,353,7214,0.00,1.10,0.00,0.000,6,0.000,0.034,1916,3239,2009,0,0,0,0,0,0
$GC,7546,0.82,107.2,765.0,24.4,364,7552,0.00,1.15,0.00,0.000,4,0.000,0.055,1916,3951,2007,0,0,0,0,0,0
$GC,7805,0.82,107.2,697.2,26.4,371,7809,0.00,1.05,0.00,0.000,6,0.000,0.033,1921,3254,2006,0,0,0,0,0,0
$GC,8125,0.82,107.2,621.1,23.9,382,8128,0.00,1.12,0.00,0.000,4,0.000,0.054,1921,3958,2004,0,0,0,0,0,0
$GC,8371,0.82,107.2,557.0,25.9,389,8375,0.00,1.05,0.00,0.000,6,0.000,0.032,1926,3254,2004,0,0,0,0,0,0
$GC,8702,0.82,107.2,481.8,22.7,400,8706,0.00,1.12,0.00,0.000,4,0.000,0.054,1926,3958,2003,0,0,0,0,0,0
$GC,8964,0.82,107.2,416.1,24.2,407,8968,0.00,1.05,0.00,0.000,6,0.000,0.032,1931,3254,2002,0,0,0,0,0,0
$GC,9287,0.82,107.2,342.3,22.9,422,9290,0.00,1.10,0.00,0.000,4,0.000,0.053,1931,3949,2002,0,0,0,0,0,0
$GC,9480,0.82,107.2,294.4,24.7,430,9484,0.00,1.05,0.00,0.000,6,0.000,0.032,1937,3244,2002,0,0,0,0,0,0
$GC,9810,0.82,107.2,217.4,23.5,448,9814,0.00,1.12,0.00,0.000,4,0.000,0.053,1937,3954,2001,0,0,0,0,0,0
$GC,10078,0.82,107.2,147.8,26.1,463,10082,0.00,1.05,0.00,0.000,6,0.000,0.031,1942,3247,2001,0,0,0,0,0,0
$GC,10416,0.82,107.2,65.0,24.2,499,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,3246,2001,0,0,0,0,0,0
$STATE,10677,end climb,SURFACE_DEPTH_REACHED
$STATE,10678,begin surface coast
$FINISH,1.0,1.026362
$STATE,10690,end surface coast,CONTROL_FINISHED_OK
$STATE,10690,begin surface
$SM_CCo,10706,173.05,0.737,1,0,502,482.50
$SM_GC,1.27,0.00,0.00,173.05,0.000,0.000,0.737,72,3381,502,-4.92,0.79,482.50
$IRIDIUM_FIX,-4146.69,826.26,301212,000059
$TT8_MAMPS,0.025466
$HUMID,54.96
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.6,25.907
$10V_AH,10.1,13.903
$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,12.075,38.275,225.700,173.050,0.000,31.814,24.524,279.570,0.000,0.000,21.581,1467.719,6595.090,482.286,2172.203,663.759,33.356,1286.001,0.000,1959.724,0.000,1.010,0.000
$DEVICE_MAMPS,227.205,70.380,1193.400,737.460,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.872,1197.793,580.051,280.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,40484,543
$CAP_FILE_SIZE,95886,0
$CFSIZE,259252224,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,301212,063503,-4158.939,827.170,43,1.6,43,-24.9