version: 66.07
glider: 543
mission: 6
dive: 136
start: 12 30 112 17 0 19
data:
$ID,543
$MISSION,6
$DIVE,136
$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,-8248.6963
$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,53
$R_STBD_OVSHOOT,59
$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
$GPS1,301212,165104,-4156.961,823.839,42,1.2,42,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-21.8
$GPS2,301212,165924,-4156.987,823.777,17,1.2,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.051,0.233
$KALMAN_X,-88882.7,729.2,422.8,117903.9,-6257.7
$KALMAN_Y,38389.2,1099.7,548.4,21149.4,-10722.2
$MHEAD_RNG_PITCHd_Wd,37.2,7627,-16.9,-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,-0.55,-130.1,0.0,0.0,0,112,0.00,0.00,-90.05,0.000,2,0.000,0.000,60,3393,2766,0,0,0,0,0,0
$GC,117,-0.59,-194.7,3.2,-4.1,11,143,5.62,2.22,-12.52,0.000,4,0.235,0.046,1450,1946,3269,0,0,0,0,0,0
$GC,236,-0.59,-194.7,21.1,-11.5,28,247,0.00,2.25,0.00,0.000,6,0.000,0.056,1441,3307,3271,0,0,0,0,0,0
$GC,324,-0.59,-194.7,35.6,-22.5,41,332,0.00,1.05,0.00,0.000,4,0.000,0.060,1436,3954,3271,0,0,0,0,0,0
$GC,402,-0.59,-194.7,49.0,-17.8,53,410,0.00,0.90,0.00,0.000,6,0.000,0.036,1436,3364,3271,0,0,0,0,0,0
$GC,648,-0.59,-194.7,83.0,-13.2,94,655,0.00,0.95,0.00,0.000,4,0.000,0.059,1431,3958,3271,0,0,0,0,0,0
$GC,792,-0.59,-194.7,102.3,-14.0,117,796,0.00,0.93,0.00,0.000,6,0.000,0.034,1432,3344,3272,0,0,0,0,0,0
$GC,1125,-0.59,-194.7,150.7,-15.1,138,1128,0.00,0.98,0.00,0.000,4,0.000,0.058,1427,3958,3273,0,0,0,0,0,0
$GC,1253,-0.59,-194.7,170.7,-16.0,145,1257,0.08,0.90,0.00,0.000,6,0.152,0.034,1450,3357,3273,0,0,0,0,0,0
$GC,1585,-0.59,-194.7,213.4,-12.4,166,1588,0.00,0.95,0.00,0.000,4,0.000,0.059,1447,3956,3274,0,0,0,0,0,0
$GC,1623,-0.59,-194.7,218.9,-13.5,168,1627,0.00,0.90,0.00,0.000,6,0.000,0.035,1447,3354,3274,0,0,0,0,0,0
$GC,1949,-0.59,-194.7,258.6,-12.6,188,1952,0.00,0.95,0.00,0.000,4,0.000,0.058,1443,3956,3273,0,0,0,0,0,0
$GC,2000,-0.59,-194.7,265.8,-13.3,190,2006,0.00,0.90,0.00,0.000,6,0.000,0.035,1443,3354,3274,0,0,0,0,0,0
$GC,2330,-0.59,-194.7,306.4,-12.4,206,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3353,3273,0,0,0,0,0,0
$GC,2640,-0.59,-194.7,344.2,-11.9,221,2645,0.00,0.95,0.00,0.000,4,0.000,0.059,1439,3955,3273,0,0,0,0,0,0
$GC,2712,-0.59,-194.7,353.1,-12.0,224,2717,0.00,0.93,0.00,0.000,6,0.000,0.035,1439,3337,3273,0,0,0,0,0,0
$GC,3047,-0.59,-194.7,394.1,-12.6,240,3050,0.00,0.98,0.00,0.000,4,0.000,0.058,1434,3955,3273,0,0,0,0,0,0
$GC,3138,-0.59,-194.7,407.1,-13.7,243,3141,0.00,0.90,0.00,0.000,6,0.000,0.035,1434,3353,3273,0,0,0,0,0,0
$GC,3457,-0.59,-194.7,449.4,-13.5,254,3460,0.00,0.98,0.00,0.000,4,0.000,0.060,1430,3955,3272,0,0,0,0,0,0
$GC,3492,-0.59,-194.7,454.4,-14.5,255,3495,0.00,0.90,0.00,0.000,6,0.000,0.035,1430,3353,3272,0,0,0,0,0,0
$GC,3833,-0.59,-194.7,501.6,-13.5,266,3839,0.00,0.98,0.00,0.000,4,0.000,0.060,1425,3955,3272,0,0,0,0,0,0
$GC,3886,-0.59,-194.7,509.2,-15.0,267,3890,0.08,0.90,0.00,0.000,6,0.154,0.036,1450,3357,3272,0,0,0,0,0,0
$GC,4211,-0.59,-194.7,546.4,-11.4,278,4215,0.00,0.95,0.00,0.000,4,0.000,0.060,1447,3956,3271,0,0,0,0,0,0
$GC,4247,-0.59,-194.7,550.8,-12.4,279,4250,0.00,0.90,0.00,0.000,6,0.000,0.036,1446,3352,3271,0,0,0,0,0,0
$GC,4588,-0.59,-194.7,590.5,-11.1,290,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3352,3271,0,0,0,0,0,0
$GC,4894,-0.59,-194.7,624.4,-11.1,300,4898,0.00,0.95,0.00,0.000,4,0.000,0.060,1442,3952,3269,0,0,0,0,0,0
$GC,5021,-0.59,-194.7,639.5,-12.3,303,5024,0.00,0.90,0.00,0.000,6,0.000,0.037,1442,3354,3269,0,0,0,0,0,0
$GC,5341,-0.59,-194.7,675.8,-11.0,314,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3353,3269,0,0,0,0,0,0
$GC,5646,-0.59,-194.7,709.4,-11.0,324,5651,0.00,0.98,0.00,0.000,4,0.000,0.062,1438,3953,3268,0,0,0,0,0,0
$GC,5685,-0.59,-194.7,714.3,-11.0,325,5691,0.00,0.90,0.00,0.000,6,0.000,0.037,1438,3354,3268,0,0,0,0,0,0
$GC,6023,-0.59,-194.7,751.2,-11.1,336,6027,0.00,0.95,0.00,0.000,4,0.000,0.060,1433,3954,3268,0,0,0,0,0,0
$GC,6072,-0.59,-194.7,757.6,-13.1,337,6076,0.00,0.90,0.00,0.000,6,0.000,0.037,1433,3356,3268,0,0,0,0,0,0
$GC,6396,-0.59,-194.7,795.8,-11.6,348,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3356,3267,0,0,0,0,0,0
$GC,6702,-0.59,-194.7,833.3,-12.2,358,6706,0.00,0.95,0.00,0.000,4,0.000,0.061,1429,3953,3265,0,0,0,0,0,0
$GC,6758,-0.59,-194.7,841.0,-13.7,359,6761,0.00,0.90,0.00,0.000,6,0.000,0.037,1429,3354,3265,0,0,0,0,0,0
$GC,7076,-0.59,-194.7,879.3,-11.8,370,7078,0.10,0.00,0.00,0.000,6,0.186,0.000,1453,3353,3264,0,0,0,0,0,0
$GC,7383,-0.59,-194.7,908.4,-9.2,380,7386,0.00,0.98,0.00,0.000,4,0.000,0.064,1450,3950,3264,0,0,0,0,0,0
$GC,7427,-0.59,-194.7,913.2,-10.5,381,7431,0.00,0.93,0.00,0.000,6,0.000,0.038,1450,3341,3263,0,0,0,0,0,0
$GC,7757,-0.59,-194.7,944.5,-9.6,392,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3340,3263,0,0,0,0,0,0
$GC,8063,-0.59,-194.7,972.6,-9.0,402,8067,0.00,0.98,0.00,0.000,4,0.000,0.063,1445,3954,3262,0,0,0,0,0,0
$GC,8175,-0.59,-194.7,983.8,-9.9,405,8180,0.00,0.90,0.00,0.000,6,0.000,0.038,1445,3357,3262,0,0,0,0,0,0
$STATE,8350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8350,begin apogee
$GC,8357,-0.14,0.0,1000.1,9.3,411,8565,0.50,0.00,198.65,1.164,6,0.132,0.000,1600,3248,2463,0,0,0,0,0,0
$STATE,8566,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8569,0.59,194.7,1005.8,0.0,418,8779,0.65,2.42,200.82,1.120,4,0.051,0.032,1855,1834,1672,0,0,0,0,0,0
$GC,8897,0.59,194.7,952.5,17.5,428,8901,0.00,2.45,0.00,0.000,6,0.000,0.053,1855,3260,1651,0,0,0,0,0,0
$GC,9227,0.59,194.7,877.2,23.6,439,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3261,1647,0,0,0,0,0,0
$GC,9533,0.59,194.7,805.6,23.2,449,9536,0.00,1.12,0.00,0.000,4,0.000,0.057,1856,3951,1646,0,0,0,0,0,0
$GC,9567,0.59,194.7,797.3,24.9,450,9571,0.00,1.10,0.00,0.000,6,0.000,0.033,1861,3231,1646,0,0,0,0,0,0
$GC,9909,0.59,194.7,718.2,22.8,461,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3231,1645,0,0,0,0,0,0
$GC,10215,0.59,194.7,650.4,21.8,471,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3231,1644,0,0,0,0,0,0
$GC,10522,0.59,194.7,581.6,22.6,481,10526,0.00,1.15,0.00,0.000,4,0.000,0.056,1861,3945,1644,0,0,0,0,0,0
$GC,10558,0.59,194.7,573.1,24.1,482,10562,0.00,1.05,0.00,0.000,6,0.000,0.032,1866,3242,1644,0,0,0,0,0,0
$GC,10901,0.59,194.7,494.6,22.8,493,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3242,1644,0,0,0,0,0,0
$GC,11206,0.59,194.7,425.5,22.9,503,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,3242,1644,0,0,0,0,0,0
$GC,11515,0.59,194.7,355.4,23.2,516,11519,0.00,1.15,0.00,0.000,4,0.000,0.055,1866,3958,1643,0,0,0,0,0,0
$GC,11543,0.59,194.7,349.3,24.2,517,11547,0.10,1.05,0.00,0.000,6,0.190,0.032,1844,3253,1643,0,0,0,0,0,0
$GC,11877,0.59,194.7,277.9,21.1,533,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3253,1642,0,0,0,0,0,0
$GC,12195,0.59,194.7,212.4,20.9,551,12199,0.00,2.12,0.00,0.000,4,0.000,0.031,1853,1833,1642,0,0,0,0,0,0
$GC,12225,0.59,194.7,206.0,19.5,553,12230,0.00,2.25,0.00,0.000,6,0.000,0.048,1853,3258,1642,0,0,0,0,0,0
$GC,12550,0.59,194.7,134.6,22.3,574,12554,0.00,1.08,0.00,0.000,4,0.000,0.053,1853,3940,1642,0,0,0,0,0,0
$GC,12622,0.59,194.7,117.8,22.8,578,12626,0.00,1.02,0.00,0.000,6,0.000,0.031,1858,3244,1642,0,0,0,0,0,0
$GC,12968,0.59,194.7,47.7,18.9,628,12977,0.00,1.12,0.00,0.000,4,0.000,0.054,1858,3948,1641,0,0,0,0,0,0
$GC,13033,0.59,194.7,34.7,17.2,638,13042,0.00,1.02,0.00,0.000,6,0.000,0.031,1864,3251,1642,0,0,0,0,0,0
$STATE,13189,end climb,SURFACE_DEPTH_REACHED
$STATE,13191,begin surface coast
$FINISH,1.3,1.026112
$STATE,13210,end surface coast,CONTROL_FINISHED_OK
$STATE,13210,begin surface
$SM_CCo,13226,127.85,0.734,1,0,503,482.50
$SM_GC,1.74,0.00,0.00,127.85,0.000,0.000,0.734,55,3368,503,-4.98,0.42,482.50
$IRIDIUM_FIX,-4140.91,828.27,301212,131342
$TT8_MAMPS,0.025466
$HUMID,56.34
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.9,26.608
$10V_AH,10.1,14.282
$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,11.925,54.875,399.475,127.850,0.000,28.333,23.715,287.999,0.000,0.000,20.114,1667.738,8772.210,574.266,2086.654,759.390,33.355,1419.981,0.000,1914.777,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,79.560,1164.330,733.635,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.415,1465.278,667.337,292.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,50506,664
$CAP_FILE_SIZE,108895,0
$CFSIZE,259252224,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,301212,204405,-4155.738,823.117,25,1.1,25,-24.9