version: 66.07
glider: 543
mission: 6
dive: 133
start: 12 30 112 6 44 18
data:
$ID,543
$MISSION,6
$DIVE,133
$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,-8238.5625
$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,51
$R_STBD_OVSHOOT,34
$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
$GPS1,301212,063503,-4158.939,827.170,43,1.6,43,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-41.9
$GPS2,301212,064323,-4158.945,827.246,36,0.8,36,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.039,0.151
$KALMAN_X,-88750.8,995.3,812.1,121835.1,-10274.3
$KALMAN_Y,47696.4,-371.0,-13.6,10271.7,-3600.3
$MHEAD_RNG_PITCHd_Wd,39.2,10162,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,103,0.00,0.00,-80.47,0.000,2,0.000,0.000,72,3380,2498,0,0,0,0,0,0
$GC,107,-0.82,-104.5,3.0,-3.3,10,136,5.25,2.22,-15.43,0.000,4,0.230,0.044,1375,1929,2900,0,0,0,0,0,0
$GC,303,-0.82,-104.5,25.5,-16.6,38,312,0.00,2.33,0.00,0.000,6,0.000,0.053,1365,3345,2901,0,0,0,0,0,0
$GC,389,-0.82,-104.5,41.6,-18.2,51,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3345,2901,0,0,0,0,0,0
$GC,634,-0.82,-104.5,85.7,-17.8,92,640,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3345,2902,0,0,0,0,0,0
$GC,961,-0.82,-104.5,139.1,-16.5,123,965,0.00,0.95,0.00,0.000,4,0.000,0.057,1361,3949,2902,0,0,0,0,0,0
$GC,1226,-0.82,-104.5,187.6,-18.1,138,1230,0.00,0.88,0.00,0.000,6,0.000,0.035,1361,3364,2903,0,0,0,0,0,0
$GC,1555,-0.82,-104.5,242.3,-17.1,159,1559,0.00,0.93,0.00,0.000,4,0.000,0.056,1357,3951,2904,0,0,0,0,0,0
$GC,1818,-0.82,-104.5,293.9,-19.4,171,1822,0.00,0.90,0.00,0.000,6,0.000,0.034,1356,3351,2904,0,0,0,0,0,0
$GC,2142,-0.82,-104.5,352.5,-18.3,187,2148,0.12,0.98,0.00,0.000,4,0.198,0.057,1382,3952,2903,0,0,0,0,0,0
$GC,2405,-0.82,-104.5,401.1,-18.0,198,2408,0.00,0.90,0.00,0.000,6,0.000,0.034,1382,3349,2903,0,0,0,0,0,0
$GC,2723,-0.82,-104.5,452.1,-15.6,209,2729,0.00,0.95,0.00,0.000,4,0.000,0.057,1379,3953,2903,0,0,0,0,0,0
$GC,2982,-0.82,-104.5,495.5,-15.6,216,2986,0.00,0.90,0.00,0.000,6,0.000,0.034,1379,3349,2903,0,0,0,0,0,0
$GC,3302,-0.82,-104.5,542.9,-15.0,227,3306,0.00,0.95,0.00,0.000,4,0.000,0.058,1375,3953,2903,0,0,0,0,0,0
$GC,3559,-0.82,-104.5,587.2,-16.9,234,3563,0.00,0.90,0.00,0.000,6,0.000,0.035,1375,3353,2903,0,0,0,0,0,0
$GC,3878,-0.82,-104.5,638.5,-16.2,245,3882,0.00,0.95,0.00,0.000,4,0.000,0.058,1370,3955,2902,0,0,0,0,0,0
$GC,4141,-0.82,-104.5,685.6,-18.2,252,4145,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3356,2902,0,0,0,0,0,0
$GC,4461,-0.82,-104.5,737.0,-15.7,263,4465,0.00,0.95,0.00,0.000,4,0.000,0.058,1366,3958,2901,0,0,0,0,0,0
$GC,4718,-0.82,-104.5,781.9,-17.1,270,4722,0.00,0.90,0.00,0.000,6,0.000,0.037,1366,3357,2901,0,0,0,0,0,0
$GC,5038,-0.82,-104.5,828.2,-14.0,281,5042,0.00,0.95,0.00,0.000,4,0.000,0.059,1361,3958,2900,0,0,0,0,0,0
$GC,5295,-0.82,-104.5,865.9,-15.0,288,5299,0.00,0.90,0.00,0.000,6,0.000,0.037,1361,3358,2900,0,0,0,0,0,0
$GC,5614,-0.82,-104.5,909.4,-13.8,299,5618,0.00,0.93,0.00,0.000,4,0.000,0.060,1357,3946,2898,0,0,0,0,0,0
$GC,5876,-0.82,-104.5,949.4,-15.6,306,5880,0.00,0.90,0.00,0.000,6,0.000,0.037,1357,3351,2898,0,0,0,0,0,0
$GC,6196,-0.82,-104.5,997.6,-15.3,317,6200,0.00,0.95,0.00,0.000,4,0.000,0.060,1353,3951,2897,0,0,0,0,0,0
$STATE,6210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6210,begin apogee
$GC,6218,-0.14,0.0,1000.8,15.4,317,6328,0.85,0.00,101.20,1.782,6,0.175,0.000,1599,3254,2473,0,0,0,0,1,0
$STATE,6329,end apogee,CONTROL_FINISHED_OK
$STATE,6329,begin climb
$GC,6332,0.82,104.5,1005.1,0.0,321,6452,0.90,2.42,105.93,1.763,4,0.070,0.031,1918,1839,2046,0,0,0,0,1,0
$GC,6627,0.82,104.5,959.3,17.8,329,6631,0.00,2.40,0.00,0.000,6,0.000,0.050,1918,3262,2042,0,0,0,0,0,0
$GC,6956,0.82,104.5,888.1,22.0,340,6960,0.00,1.12,0.00,0.000,4,0.000,0.054,1918,3953,2038,0,0,0,0,0,0
$GC,7020,0.82,104.5,873.3,23.3,341,7027,0.00,1.10,0.00,0.000,6,0.000,0.033,1923,3238,2038,0,0,0,0,0,0
$GC,7334,0.82,104.5,804.5,21.7,352,7339,0.00,1.15,0.00,0.000,4,0.000,0.054,1923,3949,2035,0,0,0,0,0,0
$GC,7390,0.82,104.5,790.9,23.3,353,7394,0.00,1.05,0.00,0.000,6,0.000,0.033,1927,3254,2035,0,0,0,0,0,0
$GC,7710,0.82,104.5,719.7,22.3,364,7714,0.00,1.12,0.00,0.000,4,0.000,0.054,1927,3954,2034,0,0,0,0,0,0
$GC,7884,0.82,104.5,679.1,25.8,369,7888,0.00,1.08,0.00,0.000,6,0.000,0.032,1931,3237,2034,0,0,0,0,0,0
$GC,8225,0.82,104.5,602.4,22.0,380,8229,0.00,1.15,0.00,0.000,4,0.000,0.054,1931,3956,2032,0,0,0,0,0,0
$GC,8351,0.82,104.5,572.1,24.0,383,8354,0.00,1.05,0.00,0.000,6,0.000,0.031,1936,3253,2032,0,0,0,0,0,0
$GC,8671,0.82,104.5,498.7,22.7,394,8675,0.00,1.12,0.00,0.000,4,0.000,0.054,1936,3958,2031,0,0,0,0,0,0
$GC,8727,0.82,104.5,484.3,25.6,395,8730,0.00,1.05,0.00,0.000,6,0.000,0.032,1941,3250,2031,0,0,0,0,0,0
$GC,9045,0.82,104.5,410.7,23.2,406,9049,0.00,1.12,0.00,0.000,4,0.000,0.052,1941,3956,2030,0,0,0,0,0,0
$GC,9220,0.82,104.5,367.4,24.7,412,9224,0.10,1.05,0.00,0.000,6,0.214,0.032,1920,3250,2030,0,0,0,0,0,0
$GC,9544,0.82,104.5,295.5,21.9,428,9547,0.00,1.10,0.00,0.000,4,0.000,0.052,1919,3951,2029,0,0,0,0,0,0
$GC,9616,0.82,104.5,278.0,24.5,431,9620,0.00,1.05,0.00,0.000,6,0.000,0.032,1923,3248,2029,0,0,0,0,0,0
$GC,9946,0.82,104.5,201.2,23.4,450,9949,0.00,1.12,0.00,0.000,4,0.000,0.053,1923,3957,2029,0,0,0,0,0,0
$GC,10018,0.82,104.5,182.9,25.9,454,10021,0.00,1.05,0.00,0.000,6,0.000,0.031,1928,3250,2029,0,0,0,0,0,0
$GC,10347,0.82,104.5,105.8,23.0,475,10350,0.00,1.10,0.00,0.000,4,0.000,0.054,1929,3951,2029,0,0,0,0,0,0
$GC,10427,0.82,104.5,87.5,22.5,484,10434,0.00,1.02,0.00,0.000,6,0.000,0.031,1934,3252,2029,0,0,0,0,0,0
$GC,10795,0.82,104.5,22.6,14.8,545,10805,0.00,1.10,0.00,0.000,4,0.000,0.050,1934,3956,2029,0,0,0,0,0,0
$STATE,10902,end climb,SURFACE_DEPTH_REACHED
$STATE,10902,begin surface coast
$FINISH,1.1,1.004578
$STATE,10917,end surface coast,CONTROL_FINISHED_OK
$STATE,10919,begin surface
$SM_CCo,10936,167.38,0.730,1,0,505,482.50
$SM_GC,1.37,0.00,0.00,167.38,0.000,0.000,0.730,65,3355,505,-4.94,0.06,482.50
$IRIDIUM_FIX,-4146.69,829.12,301212,030313
$TT8_MAMPS,0.025466
$HUMID,54.21
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.5,26.063
$10V_AH,10.1,13.996
$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,12.225,49.625,207.125,167.375,0.000,26.544,21.728,279.733,0.000,0.000,38.663,1531.266,6618.995,455.943,2302.876,701.267,33.355,1329.825,0.000,2065.525,0.000,1.011,0.000
$DEVICE_MAMPS,230.265,59.670,1781.685,729.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.750,1220.623,615.575,312.322,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,40489,563
$CAP_FILE_SIZE,103513,0
$CFSIZE,259252224,250314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,301212,095034,-4159.039,826.968,26,1.0,26,-24.9