version: 66.07
glider: 543
mission: 6
dive: 134
start: 12 30 112 10 0 19
data:
$ID,543
$MISSION,6
$DIVE,134
$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,-8242.043
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,301212,095034,-4159.039,826.968,26,1.0,26,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-32.0
$GPS2,301212,095923,-4158.955,826.966,15,1.0,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.045,0.214
$KALMAN_X,-88570.6,1003.7,588.1,121493.1,-8468.9
$KALMAN_Y,44131.5,-277.9,111.4,13598.7,-6695.6
$MHEAD_RNG_PITCHd_Wd,12.9,9781,-18.7,-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,-0.59,-108.4,0.0,0.0,0,102,0.00,0.00,-79.82,0.000,2,0.000,0.000,65,3356,2494,0,0,0,0,0,0
$GC,106,-0.64,-194.7,3.0,-3.5,10,152,5.53,2.20,-26.58,0.000,4,0.231,0.050,1432,1960,3269,0,0,0,0,0,0
$GC,353,-0.64,-194.7,30.1,-12.5,46,361,0.00,2.28,0.00,0.000,6,0.000,0.056,1423,3344,3271,0,0,0,0,0,0
$GC,602,-0.64,-194.7,69.0,-14.6,87,609,0.00,2.15,0.00,0.000,4,0.000,0.033,1423,1950,3272,0,0,0,0,0,0
$GC,802,-0.64,-194.7,92.3,-11.9,121,809,0.00,2.30,0.00,0.000,6,0.000,0.057,1413,3355,3272,0,0,0,0,0,0
$GC,1138,-0.64,-194.7,146.0,-16.6,148,1142,0.10,0.95,0.00,0.000,4,0.190,0.059,1434,3949,3272,0,0,0,0,0,0
$GC,1300,-0.64,-194.7,170.6,-15.0,157,1304,0.00,0.90,0.00,0.000,6,0.000,0.035,1434,3348,3273,0,0,0,0,0,0
$GC,1630,-0.64,-194.7,220.3,-14.9,178,1634,0.00,0.95,0.00,0.000,4,0.000,0.058,1430,3951,3273,0,0,0,0,0,0
$GC,1684,-0.64,-194.7,228.3,-15.2,181,1687,0.00,0.90,0.00,0.000,6,0.000,0.035,1430,3349,3273,0,0,0,0,0,0
$GC,2017,-0.64,-194.7,279.0,-15.1,199,2021,0.00,0.95,0.00,0.000,4,0.000,0.059,1425,3952,3273,0,0,0,0,0,0
$GC,2073,-0.64,-194.7,289.2,-16.4,201,2079,0.00,0.90,0.00,0.000,6,0.000,0.035,1425,3350,3273,0,0,0,0,0,0
$GC,2398,-0.64,-194.7,340.9,-15.7,217,2403,0.00,0.95,0.00,0.000,4,0.000,0.058,1421,3952,3273,0,0,0,0,0,0
$GC,2448,-0.64,-194.7,348.7,-16.3,219,2452,0.00,0.90,0.00,0.000,6,0.000,0.035,1421,3349,3273,0,0,0,0,0,0
$GC,2783,-0.64,-194.7,400.3,-15.0,235,2788,0.00,0.95,0.00,0.000,4,0.000,0.058,1416,3950,3273,0,0,0,0,0,0
$GC,2856,-0.64,-194.7,412.2,-15.2,237,2859,0.00,0.90,0.00,0.000,6,0.000,0.035,1416,3347,3273,0,0,0,0,0,0
$GC,3191,-0.64,-194.7,463.7,-15.4,248,3197,0.00,0.95,0.00,0.000,4,0.000,0.059,1412,3950,3273,0,0,0,0,0,0
$GC,3287,-0.64,-194.7,479.8,-16.3,250,3296,0.08,0.90,0.00,0.000,6,0.155,0.035,1436,3350,3273,0,0,0,0,0,0
$GC,3600,-0.64,-194.7,519.8,-13.0,261,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3350,3273,0,0,0,0,0,0
$GC,3907,-0.64,-194.7,560.1,-13.2,271,3910,0.00,0.95,0.00,0.000,4,0.000,0.059,1432,3953,3272,0,0,0,0,0,0
$GC,3968,-0.64,-194.7,569.1,-14.1,272,3976,0.00,0.90,0.00,0.000,6,0.000,0.036,1432,3351,3272,0,0,0,0,0,0
$GC,4281,-0.64,-194.7,610.8,-13.2,283,4287,0.00,0.95,0.00,0.000,4,0.000,0.059,1428,3953,3271,0,0,0,0,0,0
$GC,4351,-0.64,-194.7,620.2,-12.9,285,4354,0.00,0.90,0.00,0.000,6,0.000,0.036,1427,3352,3271,0,0,0,0,0,0
$GC,4692,-0.64,-194.7,664.1,-13.0,296,4698,0.00,0.95,0.00,0.000,4,0.000,0.060,1424,3953,3269,0,0,0,0,0,0
$GC,4741,-0.64,-194.7,670.8,-14.6,297,4744,0.00,0.90,0.00,0.000,6,0.000,0.036,1423,3354,3270,0,0,0,0,0,0
$GC,5072,-0.64,-194.7,717.0,-14.0,308,5076,0.00,0.98,0.00,0.000,4,0.000,0.060,1419,3956,3269,0,0,0,0,0,0
$GC,5111,-0.64,-194.7,723.2,-14.6,309,5114,0.00,0.90,0.00,0.000,6,0.000,0.036,1419,3357,3269,0,0,0,0,0,0
$GC,5446,-0.64,-194.7,770.4,-13.8,320,5450,0.00,0.95,0.00,0.000,4,0.000,0.060,1415,3955,3268,0,0,0,0,0,0
$GC,5516,-0.64,-194.7,780.0,-14.1,322,5521,0.08,0.90,0.00,0.000,6,0.155,0.037,1439,3356,3268,0,0,0,0,0,0
$GC,5858,-0.64,-194.7,819.4,-11.1,333,5861,0.00,0.95,0.00,0.000,4,0.000,0.060,1435,3954,3267,0,0,0,0,0,0
$GC,5913,-0.64,-194.7,825.8,-12.2,334,5919,0.00,0.90,0.00,0.000,6,0.000,0.037,1435,3354,3267,0,0,0,0,0,0
$GC,6233,-0.64,-194.7,859.2,-10.4,345,6238,0.00,0.95,0.00,0.000,4,0.000,0.060,1431,3953,3266,0,0,0,0,0,0
$GC,6272,-0.64,-194.7,863.7,-10.8,346,6278,0.00,0.90,0.00,0.000,6,0.000,0.037,1431,3355,3266,0,0,0,0,0,0
$GC,6610,-0.64,-194.7,899.3,-10.9,357,6613,0.00,0.95,0.00,0.000,4,0.000,0.060,1426,3954,3265,0,0,0,0,0,0
$GC,6647,-0.64,-194.7,904.0,-12.2,358,6651,0.00,0.90,0.00,0.000,6,0.000,0.037,1426,3354,3264,0,0,0,0,0,0
$GC,6984,-0.64,-194.7,941.2,-10.9,369,6987,0.00,0.98,0.00,0.000,4,0.000,0.061,1422,3955,3264,0,0,0,0,0,0
$GC,7048,-0.64,-194.7,948.6,-11.7,370,7055,0.00,0.90,0.00,0.000,6,0.000,0.037,1422,3357,3264,0,0,0,0,0,0
$GC,7361,-0.64,-194.7,983.5,-10.9,381,7367,0.00,0.95,0.00,0.000,4,0.000,0.060,1418,3953,3263,0,0,0,0,0,0
$GC,7410,-0.64,-194.7,989.1,-12.2,382,7413,0.00,0.93,0.00,0.000,6,0.000,0.038,1418,3340,3263,0,0,0,0,0,0
$STATE,7523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7523,begin apogee
$GC,7530,-0.14,0.0,1002.6,11.5,386,7736,0.60,0.00,197.80,1.161,6,0.140,0.000,1601,3249,2464,0,0,0,0,0,0
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7737,begin climb
$GC,7740,0.64,194.7,1007.5,0.0,393,7946,0.70,0.00,200.90,1.108,6,0.045,0.000,1867,3248,1679,0,0,0,0,0,0
$GC,8232,0.64,194.7,898.6,25.5,409,8236,0.00,1.17,0.00,0.000,4,0.000,0.057,1867,3948,1648,0,0,0,0,0,0
$GC,8288,0.64,194.7,883.4,26.2,410,8292,0.00,1.10,0.00,0.000,6,0.000,0.033,1873,3242,1647,0,0,0,0,0,0
$GC,8606,0.64,194.7,804.2,25.0,421,8610,0.00,1.17,0.00,0.000,4,0.000,0.055,1873,3958,1645,0,0,0,0,0,0
$GC,8662,0.64,194.7,788.8,27.7,422,8668,0.00,1.08,0.00,0.000,6,0.000,0.033,1878,3254,1645,0,0,0,0,0,0
$GC,8982,0.64,194.7,707.6,25.4,433,8987,0.00,1.12,0.00,0.000,4,0.000,0.056,1878,3951,1645,0,0,0,0,0,0
$GC,9051,0.64,194.7,689.0,27.7,435,9055,0.00,1.08,0.00,0.000,6,0.000,0.033,1883,3236,1645,0,0,0,0,0,0
$GC,9393,0.64,194.7,602.0,25.8,446,9398,0.00,1.15,0.00,0.000,4,0.000,0.054,1884,3949,1644,0,0,0,0,0,0
$GC,9429,0.64,194.7,592.3,27.0,447,9433,0.10,1.05,0.00,0.000,6,0.203,0.032,1862,3247,1644,0,0,0,0,0,0
$GC,9770,0.64,194.7,512.8,23.0,458,9775,0.00,1.15,0.00,0.000,4,0.000,0.054,1862,3961,1643,0,0,0,0,0,0
$GC,9822,0.64,194.7,499.8,26.2,459,9826,0.00,1.08,0.00,0.000,6,0.000,0.032,1866,3240,1643,0,0,0,0,0,0
$GC,10148,0.64,194.7,424.1,23.3,470,10152,0.00,1.15,0.00,0.000,4,0.000,0.054,1866,3956,1642,0,0,0,0,0,0
$GC,10231,0.64,194.7,402.7,26.1,472,10234,0.00,1.05,0.00,0.000,6,0.000,0.032,1872,3253,1642,0,0,0,0,0,0
$GC,10560,0.64,194.7,326.6,23.2,488,10564,0.00,1.12,0.00,0.000,4,0.000,0.054,1871,3958,1642,0,0,0,0,0,0
$GC,10594,0.64,194.7,317.2,25.1,489,10598,0.00,1.05,0.00,0.000,6,0.000,0.031,1877,3251,1642,0,0,0,0,0,0
$GC,10913,0.64,194.7,242.8,23.6,505,10919,0.00,1.10,0.00,0.000,4,0.000,0.054,1877,3950,1642,0,0,0,0,0,0
$GC,10953,0.64,194.7,233.3,26.8,507,10957,0.00,1.02,0.00,0.000,6,0.000,0.032,1882,3254,1642,0,0,0,0,0,0
$GC,11283,0.64,194.7,151.8,24.5,528,11287,0.00,1.12,0.00,0.000,4,0.000,0.054,1882,3960,1642,0,0,0,0,0,0
$GC,11318,0.64,194.7,142.7,27.1,530,11325,0.10,1.05,0.00,0.000,6,0.197,0.031,1859,3248,1642,0,0,0,0,0,0
$GC,11655,0.64,194.7,69.5,19.8,567,11663,0.00,2.12,0.00,0.000,4,0.000,0.031,1869,1839,1642,0,0,0,0,0,0
$GC,11690,0.64,194.7,63.1,17.6,572,11697,0.00,2.22,0.00,0.000,6,0.000,0.048,1869,3258,1642,0,0,0,0,0,0
$STATE,12005,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FINISH,1.2,1.021638
$STATE,12024,end surface coast,CONTROL_FINISHED_OK
$STATE,12024,begin surface
$SM_CCo,12039,128.15,0.716,1,0,506,482.50
$SM_GC,1.55,0.00,0.00,128.15,0.000,0.000,0.716,48,3365,506,-5.00,0.37,482.50
$IRIDIUM_FIX,-4143.80,825.41,301212,060605
$TT8_MAMPS,0.025466
$HUMID,55.94
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.0,26.237
$10V_AH,10.1,14.090
$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,12.025,63.050,398.700,128.150,0.000,31.887,55.997,290.011,0.000,0.000,17.763,1595.022,7675.150,590.996,2100.861,740.908,33.358,1452.727,0.000,1873.793,0.000,1.013,0.000
$DEVICE_MAMPS,231.030,89.505,1160.505,716.040,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.759,1350.893,658.698,326.359,0.000,0.000,0.000,0.000,0.000,0.000
$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,47032,625
$CAP_FILE_SIZE,108000,0
$CFSIZE,259252224,250249216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,301212,132433,-4157.884,825.494,37,1.5,40,-24.9