version: 66.07
glider: 543
mission: 6
dive: 135
start: 12 30 112 13 39 21
data:
$ID,543
$MISSION,6
$DIVE,135
$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,-8246.3682
$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,55
$R_STBD_OVSHOOT,36
$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
$GPS1,301212,132433,-4157.884,825.494,37,1.5,40,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-30.8
$GPS2,301212,133824,-4157.803,825.409,15,2.0,15,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.044,0.181
$KALMAN_X,-88463.4,949.9,389.9,119517.9,-6381.0
$KALMAN_Y,41166.6,299.4,388.9,17827.5,-8065.1
$MHEAD_RNG_PITCHd_Wd,11.2,8483,-22.6,-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,-0.67,-76.4,0.0,0.0,0,112,0.00,0.00,-89.90,0.000,2,0.000,0.000,48,3366,2749,0,0,0,0,0,0
$GC,117,-0.71,-136.2,3.2,-4.3,11,136,5.38,2.17,-7.70,0.000,4,0.221,0.044,1421,1949,3031,0,0,0,0,0,0
$GC,230,-0.71,-136.2,18.7,-12.4,27,241,0.00,2.30,0.00,0.000,6,0.000,0.057,1412,3335,3033,0,0,0,0,0,0
$GC,318,-0.71,-136.2,35.1,-20.0,40,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1412,3335,3033,0,0,0,0,0,0
$GC,567,-0.71,-136.2,74.3,-15.4,81,576,0.00,0.98,0.00,0.000,4,0.000,0.057,1407,3950,3034,0,0,0,0,0,0
$GC,835,-0.71,-136.2,116.7,-15.3,114,838,0.00,0.88,0.00,0.000,6,0.000,0.035,1407,3369,3034,0,0,0,0,0,0
$GC,1163,-0.71,-136.2,164.9,-15.1,135,1167,0.00,0.93,0.00,0.000,4,0.000,0.057,1403,3955,3034,0,0,0,0,0,0
$GC,1276,-0.71,-136.2,184.6,-17.0,141,1283,0.00,0.90,0.00,0.000,6,0.000,0.034,1402,3354,3034,0,0,0,0,0,0
$GC,1596,-0.71,-136.2,236.8,-16.7,162,1599,0.00,0.95,0.00,0.000,4,0.000,0.057,1398,3957,3034,0,0,0,0,0,0
$GC,1688,-0.71,-136.2,252.4,-17.6,167,1695,0.00,0.93,0.00,0.000,6,0.000,0.035,1398,3341,3034,0,0,0,0,0,0
$GC,2007,-0.71,-136.2,306.0,-16.6,183,2012,0.00,0.98,0.00,0.000,4,0.000,0.057,1394,3958,3034,0,0,0,0,0,0
$GC,2070,-0.71,-136.2,318.2,-18.2,185,2077,0.00,0.90,0.00,0.000,6,0.000,0.035,1394,3357,3034,0,0,0,0,0,0
$GC,2389,-0.71,-136.2,371.1,-17.4,201,2394,0.00,0.95,0.00,0.000,4,0.000,0.057,1390,3958,3034,0,0,0,0,0,0
$GC,2486,-0.71,-136.2,389.7,-18.1,205,2493,0.08,0.90,0.00,0.000,6,0.172,0.035,1411,3358,3034,0,0,0,0,0,0
$GC,2813,-0.71,-136.2,440.4,-15.4,217,2818,0.00,0.95,0.00,0.000,4,0.000,0.059,1408,3959,3033,0,0,0,0,0,0
$GC,2870,-0.71,-136.2,449.8,-16.9,218,2873,0.00,0.93,0.00,0.000,6,0.000,0.035,1408,3343,3034,0,0,0,0,0,0
$GC,3190,-0.71,-136.2,495.2,-13.8,229,3193,0.00,0.95,0.00,0.000,4,0.000,0.058,1404,3945,3033,0,0,0,0,0,0
$GC,3279,-0.71,-136.2,508.9,-15.1,231,3282,0.00,0.90,0.00,0.000,6,0.000,0.035,1404,3344,3033,0,0,0,0,0,0
$GC,3599,-0.71,-136.2,552.1,-13.5,242,3602,0.00,0.95,0.00,0.000,4,0.000,0.059,1399,3948,3032,0,0,0,0,0,0
$GC,3648,-0.71,-136.2,559.7,-15.2,243,3651,0.00,0.90,0.00,0.000,6,0.000,0.036,1399,3346,3032,0,0,0,0,0,0
$GC,3972,-0.71,-136.2,605.6,-14.7,254,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,1399,3346,3032,0,0,0,0,0,0
$GC,4278,-0.71,-136.2,649.3,-14.2,264,4282,0.00,0.95,0.00,0.000,4,0.000,0.059,1395,3949,3031,0,0,0,0,0,0
$GC,4362,-0.71,-136.2,662.8,-16.8,266,4366,0.00,0.90,0.00,0.000,6,0.000,0.037,1395,3348,3031,0,0,0,0,0,0
$GC,4686,-0.71,-136.2,710.8,-15.2,277,4690,0.00,0.95,0.00,0.000,4,0.000,0.060,1391,3951,3030,0,0,0,0,0,0
$GC,4721,-0.71,-136.2,716.4,-16.1,278,4726,0.05,0.90,0.00,0.000,6,0.187,0.037,1406,3352,3030,0,0,0,0,0,0
$GC,5062,-0.71,-136.2,766.3,-14.3,289,5066,0.00,0.95,0.00,0.000,4,0.000,0.060,1402,3955,3029,0,0,0,0,0,0
$GC,5101,-0.71,-136.2,772.6,-16.0,290,5105,0.00,0.90,0.00,0.000,6,0.000,0.037,1402,3357,3029,0,0,0,0,0,0
$GC,5436,-0.71,-136.2,821.3,-14.6,301,5442,0.00,0.95,0.00,0.000,4,0.000,0.060,1398,3956,3028,0,0,0,0,0,0
$GC,5476,-0.71,-136.2,827.8,-15.5,302,5482,0.00,0.93,0.00,0.000,6,0.000,0.037,1398,3340,3028,0,0,0,0,0,0
$GC,5814,-0.71,-136.2,875.8,-14.0,313,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,1398,3340,3027,0,0,0,0,0,0
$GC,6119,-0.71,-136.2,916.4,-13.1,323,6124,0.00,0.98,0.00,0.000,4,0.000,0.060,1394,3956,3026,0,0,0,0,0,0
$GC,6188,-0.71,-136.2,926.1,-14.0,325,6192,0.00,0.90,0.00,0.000,6,0.000,0.037,1393,3358,3026,0,0,0,0,0,0
$GC,6530,-0.71,-136.2,971.2,-13.2,336,6535,0.00,0.95,0.00,0.000,4,0.000,0.061,1389,3956,3025,0,0,0,0,0,0
$GC,6578,-0.71,-136.2,977.9,-14.6,337,6582,0.08,0.93,0.00,0.000,6,0.179,0.038,1411,3347,3025,0,0,0,0,0,0
$STATE,6784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6784,begin apogee
$GC,6791,-0.14,0.0,1003.3,12.0,344,6937,0.62,0.00,131.20,1.789,6,0.148,0.000,1601,3255,2474,0,0,0,0,1,0
$STATE,6938,end apogee,CONTROL_FINISHED_OK
$STATE,6938,begin climb
$GC,6942,0.71,136.2,1006.5,0.0,349,7091,0.77,2.47,136.65,1.761,4,0.049,0.032,1895,1832,1917,0,0,0,0,1,0
$GC,7144,0.71,136.2,973.6,20.1,355,7148,0.00,2.47,0.00,0.000,6,0.000,0.050,1896,3255,1914,0,0,0,0,0,0
$GC,7469,0.71,136.2,893.5,25.2,366,7472,0.00,1.15,0.00,0.000,4,0.000,0.055,1895,3950,1908,0,0,0,0,0,0
$GC,7699,0.71,136.2,829.8,27.8,372,7706,0.00,1.10,0.00,0.000,6,0.000,0.032,1901,3234,1905,0,0,0,0,0,0
$GC,8012,0.71,136.2,748.5,25.4,383,8018,0.00,1.15,0.00,0.000,4,0.000,0.054,1900,3946,1904,0,0,0,0,0,0
$GC,8271,0.71,136.2,676.6,26.4,390,8275,0.00,1.05,0.00,0.000,6,0.000,0.032,1904,3249,1904,0,0,0,0,0,0
$GC,8592,0.71,136.2,598.1,24.3,401,8595,0.00,1.12,0.00,0.000,4,0.000,0.054,1904,3950,1902,0,0,0,0,0,0
$GC,8804,0.71,136.2,542.0,26.8,407,8810,0.08,1.05,0.00,0.000,6,0.219,0.032,1889,3247,1902,0,0,0,0,0,0
$GC,9137,0.71,136.2,469.5,21.4,418,9141,0.00,1.12,0.00,0.000,4,0.000,0.054,1889,3953,1900,0,0,0,0,0,0
$GC,9357,0.71,136.2,416.3,24.4,424,9360,0.00,1.05,0.00,0.000,6,0.000,0.032,1893,3244,1901,0,0,0,0,0,0
$GC,9686,0.71,136.2,343.4,22.1,439,9691,0.00,1.12,0.00,0.000,4,0.000,0.054,1893,3946,1900,0,0,0,0,0,0
$GC,9879,0.71,136.2,295.8,23.9,447,9883,0.00,1.02,0.00,0.000,6,0.000,0.032,1898,3254,1900,0,0,0,0,0,0
$GC,10210,0.71,136.2,223.8,21.9,465,10215,0.00,1.10,0.00,0.000,4,0.000,0.054,1898,3946,1899,0,0,0,0,0,0
$GC,10423,0.71,136.2,172.9,24.2,477,10427,0.00,1.02,0.00,0.000,6,0.000,0.032,1903,3252,1900,0,0,0,0,0,0
$GC,10754,0.71,136.2,101.4,21.1,498,10758,0.00,1.10,0.00,0.000,4,0.000,0.053,1903,3945,1899,0,0,0,0,0,0
$GC,11027,0.71,136.2,39.8,22.5,542,11036,0.00,1.02,0.00,0.000,6,0.000,0.031,1908,3247,1899,0,0,0,0,0,0
$STATE,11222,end climb,SURFACE_DEPTH_REACHED
$STATE,11222,begin surface coast
$FINISH,1.1,1.026206
$STATE,11243,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11259,154.25,0.732,1,0,504,482.50
$SM_GC,1.32,0.00,0.00,154.25,0.000,0.000,0.732,60,3393,504,-4.97,1.10,482.50
$IRIDIUM_FIX,-4143.80,831.56,301212,131348
$TT8_MAMPS,0.025466
$HUMID,55.35
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.4,26.434
$10V_AH,10.1,14.185
$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,11.975,50.950,267.850,154.250,0.000,52.016,77.915,451.397,0.000,0.000,20.107,1507.622,7130.508,501.627,2366.076,745.891,33.356,1353.797,0.000,1932.942,0.000,1.012,0.000
$DEVICE_MAMPS,221.085,72.675,1788.570,732.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.540,1275.686,614.678,292.056,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,43785,575
$CAP_FILE_SIZE,106141,0
$CFSIZE,259252224,250200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,301212,165104,-4156.961,823.839,42,1.2,42,-24.9