version: 66.07
glider: 543
mission: 6
dive: 138
start: 12 31 112 0 13 42
data:
$ID,543
$MISSION,6
$DIVE,138
$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,-8255.084
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,311212,000404,-4155.118,822.964,33,1.4,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-26.6
$GPS2,311212,001247,-4155.061,823.028,26,1.3,27,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.063,0.143
$KALMAN_X,-90289.7,261.0,349.2,118833.6,-5123.3
$KALMAN_Y,35084.9,1213.0,807.5,27633.4,-11406.7
$MHEAD_RNG_PITCHd_Wd,48.6,10053,-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,-80.50,0.000,2,0.000,0.000,60,3361,2537,0,0,0,0,0,0
$GC,107,-0.81,-99.5,3.3,-3.9,10,129,5.30,2.17,-9.62,0.000,4,0.230,0.044,1375,1941,2881,0,0,0,0,0,0
$GC,413,-0.81,-99.5,55.4,-15.5,57,420,0.00,2.28,0.00,0.000,6,0.000,0.052,1366,3354,2883,0,0,0,0,0,0
$GC,655,-0.81,-99.5,92.8,-13.0,98,663,0.00,2.12,0.00,0.000,4,0.000,0.031,1366,1957,2883,0,0,0,0,0,0
$GC,883,-0.81,-99.5,119.6,-12.5,119,888,0.12,2.25,0.00,0.000,6,0.184,0.054,1385,3363,2884,0,0,0,0,0,0
$GC,1211,-0.81,-99.5,166.4,-14.8,140,1215,0.00,0.93,0.00,0.000,4,0.000,0.057,1382,3953,2885,0,0,0,0,0,0
$GC,1478,-0.81,-99.5,211.1,-16.7,155,1481,0.00,0.88,0.00,0.000,6,0.000,0.034,1382,3365,2885,0,0,0,0,0,0
$GC,1817,-0.81,-99.5,263.4,-15.0,175,1820,0.00,0.93,0.00,0.000,4,0.000,0.056,1377,3956,2885,0,0,0,0,0,0
$GC,1972,-0.81,-99.5,289.5,-16.3,181,1979,0.00,0.90,0.00,0.000,6,0.000,0.034,1378,3354,2885,0,0,0,0,0,0
$GC,2291,-0.81,-99.5,335.6,-14.1,197,2296,0.00,0.95,0.00,0.000,4,0.000,0.057,1373,3946,2885,0,0,0,0,0,0
$GC,2325,-0.81,-99.5,341.3,-14.8,198,2328,0.00,0.90,0.00,0.000,6,0.000,0.035,1373,3346,2885,0,0,0,0,0,0
$GC,2648,-0.81,-99.5,386.6,-14.5,214,2651,0.00,0.95,0.00,0.000,4,0.000,0.056,1368,3950,2886,0,0,0,0,0,0
$GC,2906,-0.81,-99.5,428.2,-16.2,223,2909,0.00,0.90,0.00,0.000,6,0.000,0.034,1369,3345,2885,0,0,0,0,0,0
$GC,3224,-0.81,-99.5,474.1,-14.4,234,3228,0.00,0.95,0.00,0.000,4,0.000,0.056,1364,3952,2885,0,0,0,0,0,0
$GC,3289,-0.81,-99.5,484.0,-15.4,235,3296,0.00,0.90,0.00,0.000,6,0.000,0.035,1364,3349,2884,0,0,0,0,0,0
$GC,3602,-0.81,-99.5,533.0,-15.7,246,3608,0.00,0.95,0.00,0.000,4,0.000,0.057,1360,3956,2884,0,0,0,0,0,0
$GC,3767,-0.81,-99.5,560.4,-16.4,250,3774,0.00,0.90,0.00,0.000,6,0.000,0.036,1360,3357,2884,0,0,0,0,0,0
$GC,4080,-0.81,-99.5,608.5,-15.0,261,4084,0.00,0.93,0.00,0.000,4,0.000,0.057,1356,3947,2883,0,0,0,0,0,0
$GC,4338,-0.81,-99.5,651.0,-17.4,268,4342,0.10,0.90,0.00,0.000,6,0.184,0.036,1383,3345,2883,0,0,0,0,0,0
$GC,4656,-0.81,-99.5,695.2,-13.7,279,4660,0.00,0.95,0.00,0.000,4,0.000,0.058,1380,3949,2882,0,0,0,0,0,0
$GC,4880,-0.81,-99.5,728.7,-15.1,285,4884,0.00,0.90,0.00,0.000,6,0.000,0.037,1380,3350,2881,0,0,0,0,0,0
$GC,5199,-0.81,-99.5,771.1,-13.4,296,5203,0.00,0.95,0.00,0.000,4,0.000,0.060,1376,3953,2880,0,0,0,0,0,0
$GC,5364,-0.81,-99.5,795.2,-15.5,300,5372,0.00,0.90,0.00,0.000,6,0.000,0.037,1376,3354,2880,0,0,0,0,0,0
$GC,5678,-0.81,-99.5,837.2,-13.3,311,5683,0.00,0.93,0.00,0.000,4,0.000,0.059,1372,3943,2879,0,0,0,0,0,0
$GC,5740,-0.81,-99.5,846.4,-14.2,312,5746,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3343,2879,0,0,0,0,0,0
$GC,6054,-0.81,-99.5,886.9,-12.7,323,6058,0.00,0.95,0.00,0.000,4,0.000,0.060,1367,3949,2878,0,0,0,0,0,0
$GC,6272,-0.81,-99.5,919.4,-15.5,329,6277,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3349,2877,0,0,0,0,0,0
$GC,6597,-0.81,-99.5,963.3,-13.8,340,6602,0.00,0.95,0.00,0.000,4,0.000,0.060,1363,3952,2876,0,0,0,0,0,0
$STATE,6825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6825,begin apogee
$GC,6832,-0.14,0.0,1000.1,16.1,346,6940,0.80,0.00,103.70,1.194,6,0.172,0.000,1596,3252,2473,0,0,0,0,0,0
$STATE,6941,end apogee,CONTROL_FINISHED_OK
$STATE,6941,begin climb
$GC,6944,0.81,99.5,1004.0,0.0,350,7052,0.90,0.00,104.12,1.171,6,0.076,0.000,1904,3252,2067,0,0,0,0,0,0
$GC,7344,0.81,99.5,924.9,23.2,363,7348,0.00,1.15,0.00,0.000,4,0.000,0.055,1904,3949,2042,0,0,0,0,0,0
$GC,7605,0.81,99.5,858.8,25.6,370,7608,0.00,1.08,0.00,0.000,6,0.000,0.033,1909,3243,2040,0,0,0,0,0,0
$GC,7925,0.81,99.5,785.6,22.7,381,7929,0.00,1.15,0.00,0.000,4,0.000,0.054,1909,3955,2037,0,0,0,0,0,0
$GC,8098,0.81,99.5,742.6,25.7,386,8101,0.00,1.08,0.00,0.000,6,0.000,0.033,1913,3241,2037,0,0,0,0,0,0
$GC,8439,0.81,99.5,664.4,23.0,397,8445,0.00,1.12,0.00,0.000,4,0.000,0.054,1913,3945,2035,0,0,0,0,0,0
$GC,8613,0.81,99.5,621.6,25.4,402,8616,0.00,1.02,0.00,0.000,6,0.000,0.032,1919,3257,2035,0,0,0,0,0,0
$GC,8954,0.81,99.5,543.2,22.5,413,8959,0.00,1.10,0.00,0.000,4,0.000,0.053,1918,3947,2034,0,0,0,0,0,0
$GC,9213,0.81,99.5,478.4,24.4,420,9216,0.00,1.02,0.00,0.000,6,0.000,0.032,1923,3256,2033,0,0,0,0,0,0
$GC,9533,0.81,99.5,408.2,21.5,431,9536,0.00,1.10,0.00,0.000,4,0.000,0.053,1924,3950,2032,0,0,0,0,0,0
$GC,9786,0.81,99.5,349.7,23.9,441,9790,0.00,1.05,0.00,0.000,6,0.000,0.032,1929,3244,2032,0,0,0,0,0,0
$GC,10121,0.81,99.5,277.9,21.5,457,10127,0.00,1.12,0.00,0.000,4,0.000,0.053,1929,3953,2031,0,0,0,0,0,0
$GC,10300,0.81,99.5,233.4,24.5,466,10303,0.00,1.05,0.00,0.000,6,0.000,0.031,1934,3243,2031,0,0,0,0,0,0
$GC,10627,0.81,99.5,160.8,22.1,487,10633,0.00,1.12,0.00,0.000,4,0.000,0.052,1934,3953,2031,0,0,0,0,0,0
$GC,10794,0.81,99.5,119.3,24.8,496,10801,0.08,1.05,0.00,0.000,6,0.215,0.031,1920,3241,2031,0,0,0,0,0,0
$GC,11141,0.81,99.5,48.4,16.9,546,11152,0.00,1.12,0.00,0.000,4,0.000,0.053,1919,3953,2030,0,0,0,0,0,0
$STATE,11380,end climb,SURFACE_DEPTH_REACHED
$STATE,11380,begin surface coast
$FINISH,1.1,1.026099
$STATE,11387,end surface coast,CONTROL_FINISHED_OK
$STATE,11387,begin surface
$SM_CCo,11404,171.62,0.731,1,0,502,482.50
$SM_GC,1.70,0.00,0.00,171.62,0.000,0.000,0.731,54,3351,502,-4.99,-0.06,482.50
$IRIDIUM_FIX,-4140.91,822.54,301212,202027
$TT8_MAMPS,0.025466
$HUMID,54.88
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.7,26.874
$10V_AH,10.1,14.470
$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,12.175,48.350,207.825,171.625,0.000,28.141,43.512,284.697,0.000,0.000,29.607,1574.658,6923.857,477.567,2394.883,735.536,33.360,1372.313,0.000,2162.162,0.000,1.014,0.000
$DEVICE_MAMPS,230.265,60.435,1194.165,731.340,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.567,1284.261,614.597,295.964,0.000,0.000,0.000,0.000,0.000,0.000
$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,43829,583
$CAP_FILE_SIZE,104346,0
$CFSIZE,259252224,250032128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,311212,032808,-4154.386,823.122,42,1.0,42,-24.9