version: 66.07
glider: 543
mission: 6
dive: 137
start: 12 30 112 21 0 21
data:
$ID,543
$MISSION,6
$DIVE,137
$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,-8252.1865
$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,52
$R_STBD_OVSHOOT,32
$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
$GPS1,301212,204405,-4155.738,823.117,25,1.1,25,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-18.7
$GPS2,301212,205925,-4155.798,823.204,23,0.9,24,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.038,0.151
$KALMAN_X,-89701.6,384.9,245.6,118465.3,-5062.4
$KALMAN_Y,36093.5,1414.1,553.2,25317.8,-10524.8
$MHEAD_RNG_PITCHd_Wd,39.2,8944,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.79,-53.9,0.0,0.0,0,112,0.00,0.00,-86.78,0.000,6,0.000,0.000,55,3367,2695,0,0,0,0,0,0
$GC,116,-0.81,-101.2,3.0,-3.7,11,136,5.38,2.20,-5.32,0.000,4,0.233,0.044,1380,1953,2889,0,0,0,0,0,0
$GC,346,-0.81,-101.2,42.8,-16.3,46,355,0.00,2.28,0.00,0.000,6,0.000,0.052,1371,3341,2890,0,0,0,0,0,0
$GC,591,-0.81,-101.2,85.9,-15.9,87,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3341,2890,0,0,0,0,0,0
$GC,929,-0.81,-101.2,139.3,-16.1,118,935,0.00,0.95,0.00,0.000,4,0.000,0.056,1366,3946,2891,0,0,0,0,0,0
$GC,1177,-0.81,-101.2,183.2,-18.7,132,1181,0.00,0.88,0.00,0.000,6,0.000,0.034,1366,3361,2892,0,0,0,0,0,0
$GC,1511,-0.81,-101.2,240.8,-17.2,153,1515,0.00,0.93,0.00,0.000,4,0.000,0.055,1362,3952,2892,0,0,0,0,0,0
$GC,1619,-0.81,-101.2,262.4,-20.3,158,1627,0.00,0.90,0.00,0.000,6,0.000,0.034,1362,3348,2892,0,0,0,0,0,0
$GC,1936,-0.81,-101.2,317.3,-16.7,174,1940,0.00,0.95,0.00,0.000,4,0.000,0.056,1358,3955,2892,0,0,0,0,0,0
$GC,1997,-0.81,-101.2,328.2,-17.9,176,2001,0.08,0.90,0.00,0.000,6,0.187,0.034,1378,3356,2892,0,0,0,0,0,0
$GC,2320,-0.81,-101.2,381.2,-17.1,192,2323,0.00,0.93,0.00,0.000,4,0.000,0.057,1375,3948,2892,0,0,0,0,0,0
$GC,2413,-0.81,-101.2,398.1,-17.8,196,2416,0.00,0.90,0.00,0.000,6,0.000,0.035,1375,3344,2892,0,0,0,0,0,0
$GC,2743,-0.81,-101.2,452.9,-16.2,207,2748,0.00,0.95,0.00,0.000,4,0.000,0.056,1371,3952,2891,0,0,0,0,0,0
$GC,2968,-0.81,-101.2,491.4,-17.0,213,2971,0.00,0.90,0.00,0.000,6,0.000,0.035,1371,3350,2891,0,0,0,0,0,0
$GC,3286,-0.81,-101.2,538.9,-14.9,224,3290,0.00,0.95,0.00,0.000,4,0.000,0.057,1366,3955,2891,0,0,0,0,0,0
$GC,3388,-0.81,-101.2,555.7,-16.7,227,3394,0.00,0.90,0.00,0.000,6,0.000,0.035,1366,3352,2891,0,0,0,0,0,0
$GC,3732,-0.81,-101.2,609.5,-15.9,238,3735,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3957,2890,0,0,0,0,0,0
$GC,3963,-0.81,-101.2,649.9,-16.8,244,3970,0.00,0.90,0.00,0.000,6,0.000,0.036,1362,3357,2889,0,0,0,0,0,0
$GC,4277,-0.81,-101.2,700.7,-16.3,255,4282,0.00,0.95,0.00,0.000,4,0.000,0.058,1357,3959,2887,0,0,0,0,0,0
$GC,4350,-0.81,-101.2,713.9,-17.4,257,4354,0.00,0.93,0.00,0.000,6,0.000,0.035,1357,3342,2887,0,0,0,0,0,0
$GC,4686,-0.81,-101.2,768.1,-15.9,268,4692,0.12,0.98,0.00,0.000,4,0.200,0.059,1382,3953,2886,0,0,0,0,0,0
$GC,4840,-0.81,-101.2,792.1,-15.1,272,4844,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3357,2886,0,0,0,0,0,0
$GC,5164,-0.81,-101.2,836.9,-13.8,283,5168,0.00,0.95,0.00,0.000,4,0.000,0.059,1378,3956,2885,0,0,0,0,0,0
$GC,5382,-0.81,-101.2,870.1,-15.2,289,5388,0.00,0.90,0.00,0.000,6,0.000,0.037,1378,3357,2884,0,0,0,0,0,0
$GC,5708,-0.81,-101.2,915.8,-14.3,300,5713,0.00,0.95,0.00,0.000,4,0.000,0.060,1374,3958,2883,0,0,0,0,0,0
$GC,5933,-0.81,-101.2,951.8,-16.1,306,5936,0.00,0.93,0.00,0.000,6,0.000,0.037,1374,3344,2883,0,0,0,0,0,0
$GC,6252,-0.81,-101.2,997.7,-14.5,317,6255,0.00,0.95,0.00,0.000,4,0.000,0.060,1370,3947,2882,0,0,0,0,0,0
$STATE,6265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6265,begin apogee
$GC,6273,-0.14,0.0,1000.4,14.7,317,6381,0.77,0.00,105.28,1.184,6,0.171,0.000,1596,3251,2473,0,0,0,0,0,0
$STATE,6383,end apogee,CONTROL_FINISHED_OK
$STATE,6383,begin climb
$GC,6386,0.81,101.2,1003.8,0.0,321,6494,0.90,0.00,103.70,1.167,6,0.077,0.000,1903,3252,2060,0,0,0,0,0,0
$GC,6786,0.81,101.2,926.1,21.7,334,6790,0.00,1.15,0.00,0.000,4,0.000,0.055,1903,3948,2036,0,0,0,0,0,0
$GC,6922,0.81,101.2,893.8,23.8,338,6926,0.00,1.08,0.00,0.000,6,0.000,0.032,1909,3245,2034,0,0,0,0,0,0
$GC,7263,0.81,101.2,817.8,22.1,349,7266,0.00,1.15,0.00,0.000,4,0.000,0.055,1909,3952,2031,0,0,0,0,0,0
$GC,7390,0.81,101.2,786.5,25.0,352,7397,0.00,1.08,0.00,0.000,6,0.000,0.033,1913,3241,2031,0,0,0,0,0,0
$GC,7704,0.81,101.2,716.4,22.1,363,7707,0.00,1.15,0.00,0.000,4,0.000,0.054,1911,3958,2029,0,0,0,0,0,0
$GC,7806,0.81,101.2,692.1,23.6,366,7809,0.00,1.05,0.00,0.000,6,0.000,0.033,1915,3256,2029,0,0,0,0,0,0
$GC,8147,0.81,101.2,614.7,22.8,377,8153,0.00,1.12,0.00,0.000,4,0.000,0.054,1915,3958,2028,0,0,0,0,0,0
$GC,8209,0.81,101.2,599.1,25.6,378,8216,0.00,1.05,0.00,0.000,6,0.000,0.032,1920,3249,2028,0,0,0,0,0,0
$GC,8524,0.81,101.2,525.6,23.7,389,8527,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3961,2028,0,0,0,0,0,0
$GC,8607,0.81,101.2,503.8,26.6,391,8610,0.00,1.05,0.00,0.000,6,0.000,0.031,1925,3254,2027,0,0,0,0,0,0
$GC,8932,0.81,101.2,426.5,23.4,402,8936,0.00,1.12,0.00,0.000,4,0.000,0.053,1926,3963,2026,0,0,0,0,0,0
$GC,9034,0.81,101.2,401.0,26.5,405,9037,0.00,1.08,0.00,0.000,6,0.000,0.031,1931,3238,2026,0,0,0,0,0,0
$GC,9359,0.81,101.2,324.7,23.5,420,9362,0.00,1.15,0.00,0.000,4,0.000,0.054,1930,3958,2026,0,0,0,0,0,0
$GC,9451,0.81,101.2,301.1,26.1,424,9455,0.00,1.05,0.00,0.000,6,0.000,0.032,1936,3251,2026,0,0,0,0,0,0
$GC,9777,0.81,101.2,224.3,24.1,441,9783,0.00,1.12,0.00,0.000,4,0.000,0.053,1936,3959,2026,0,0,0,0,0,0
$GC,9888,0.81,101.2,196.5,25.9,447,9891,0.00,1.05,0.00,0.000,6,0.000,0.031,1941,3250,2026,0,0,0,0,0,0
$GC,10218,0.81,101.2,115.1,24.0,468,10222,0.00,1.10,0.00,0.000,4,0.000,0.053,1941,3953,2026,0,0,0,0,0,0
$GC,10376,0.81,101.2,75.2,23.7,487,10384,0.10,1.02,0.00,0.000,6,0.212,0.031,1920,3251,2026,0,0,0,0,0,0
$STATE,10741,end climb,SURFACE_DEPTH_REACHED
$STATE,10741,begin surface coast
$FINISH,1.2,1.007087
$STATE,10764,end surface coast,CONTROL_FINISHED_OK
$STATE,10764,begin surface
$SM_CCo,10780,163.65,0.742,1,0,505,482.50
$SM_GC,1.71,0.00,0.00,163.65,0.000,0.000,0.742,61,3360,505,-4.97,0.23,482.50
$IRIDIUM_FIX,-4140.91,822.12,301212,202015
$TT8_MAMPS,0.025466
$HUMID,54.88
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.7,26.750
$10V_AH,10.1,14.375
$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,12.300,46.725,208.975,163.650,0.000,53.337,66.201,549.649,0.000,0.000,25.870,1467.213,6791.371,447.995,2448.574,715.170,33.355,1266.969,0.000,1908.180,0.000,1.013,0.000
$DEVICE_MAMPS,233.325,84.150,1184.220,742.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.978,1209.021,586.172,280.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,40606,549
$CAP_FILE_SIZE,103758,0
$CFSIZE,259252224,250089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,311212,000404,-4155.118,822.964,33,1.4,33,-24.9