version: 66.07
glider: 543
mission: 6
dive: 139
start: 12 31 112 3 37 40
data:
$ID,543
$MISSION,6
$DIVE,139
$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,-8257.4053
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,311212,032808,-4154.386,823.122,42,1.0,42,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-25.0
$GPS2,311212,033645,-4154.295,823.106,27,1.0,27,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.120,-0.100
$KALMAN_X,-91211.6,404.2,334.5,119734.5,-5263.0
$KALMAN_Y,34899.3,935.7,741.2,29578.1,-9657.5
$MHEAD_RNG_PITCHd_Wd,154.8,11397,-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,-80.35,0.000,2,0.000,0.000,54,3351,2536,0,0,0,0,0,0
$GC,107,-0.82,-106.1,3.1,-3.2,10,129,5.40,1.00,-11.57,0.000,4,0.233,0.092,1377,3950,2909,0,0,0,0,0,0
$GC,408,-0.82,-106.1,62.9,-17.1,57,415,0.00,0.93,0.00,0.000,6,0.000,0.035,1378,3342,2911,0,0,0,0,0,0
$GC,751,-0.82,-106.1,112.8,-13.8,106,754,0.00,0.95,0.00,0.000,4,0.000,0.056,1373,3943,2911,0,0,0,0,0,0
$GC,1019,-0.82,-106.1,158.1,-18.1,121,1022,0.00,0.90,0.00,0.000,6,0.000,0.034,1373,3346,2912,0,0,0,0,0,0
$GC,1344,-0.82,-106.1,214.4,-16.9,142,1348,0.00,0.95,0.00,0.000,4,0.000,0.055,1369,3950,2913,0,0,0,0,0,0
$GC,1604,-0.82,-106.1,260.8,-18.2,156,1608,0.00,0.90,0.00,0.000,6,0.000,0.034,1369,3346,2913,0,0,0,0,0,0
$GC,1927,-0.82,-106.1,315.0,-17.6,172,1930,0.00,0.95,0.00,0.000,4,0.000,0.056,1364,3953,2913,0,0,0,0,0,0
$GC,2193,-0.82,-106.1,365.1,-19.1,183,2196,0.00,0.90,0.00,0.000,6,0.000,0.034,1365,3350,2913,0,0,0,0,0,0
$GC,2535,-0.82,-106.1,421.5,-16.2,198,2539,0.00,0.95,0.00,0.000,4,0.000,0.056,1360,3956,2913,0,0,0,0,0,0
$GC,2793,-0.82,-106.1,467.8,-17.6,205,2796,0.00,0.90,0.00,0.000,6,0.000,0.035,1360,3355,2913,0,0,0,0,0,0
$GC,3111,-0.82,-106.1,516.8,-15.1,216,3115,0.00,0.93,0.00,0.000,4,0.000,0.057,1355,3947,2912,0,0,0,0,0,0
$GC,3373,-0.82,-106.1,561.6,-17.9,223,3377,0.00,0.90,0.00,0.000,6,0.000,0.036,1355,3348,2911,0,0,0,0,0,0
$GC,3693,-0.82,-106.1,611.6,-15.7,234,3697,0.12,0.98,0.00,0.000,4,0.200,0.059,1381,3956,2910,0,0,0,0,0,0
$GC,3951,-0.82,-106.1,651.8,-16.2,241,3954,0.00,0.90,0.00,0.000,6,0.000,0.037,1381,3357,2910,0,0,0,0,0,0
$GC,4270,-0.82,-106.1,697.3,-14.9,252,4274,0.00,0.93,0.00,0.000,4,0.000,0.058,1376,3945,2909,0,0,0,0,0,0
$GC,4528,-0.82,-106.1,740.1,-17.6,259,4531,0.00,0.88,0.00,0.000,6,0.000,0.037,1376,3361,2908,0,0,0,0,0,0
$GC,4846,-0.82,-106.1,786.8,-14.7,270,4850,0.00,0.93,0.00,0.000,4,0.000,0.059,1372,3949,2907,0,0,0,0,0,0
$GC,5107,-0.82,-106.1,828.4,-16.0,277,5111,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3353,2907,0,0,0,0,0,0
$GC,5428,-0.82,-106.1,873.1,-13.8,288,5432,0.00,0.95,0.00,0.000,4,0.000,0.060,1368,3953,2906,0,0,0,0,0,0
$GC,5686,-0.82,-106.1,913.4,-16.7,295,5690,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3355,2905,0,0,0,0,0,0
$GC,6005,-0.82,-106.1,959.0,-14.1,306,6009,0.00,0.95,0.00,0.000,4,0.000,0.060,1363,3954,2905,0,0,0,0,0,0
$GC,6263,-0.82,-106.1,999.0,-15.2,313,6267,0.00,0.93,0.00,0.000,6,0.000,0.038,1364,3344,2904,0,0,0,0,0,0
$STATE,6274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6275,begin apogee
$GC,6282,-0.14,0.0,1000.6,15.3,314,6398,0.82,0.00,102.55,1.776,6,0.170,0.000,1601,3253,2477,0,0,0,0,1,0
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6402,0.82,106.1,1003.5,0.0,318,6530,0.90,2.50,108.20,1.750,4,0.066,0.031,1924,1828,2040,0,0,0,0,1,0
$GC,6590,0.82,106.1,973.3,20.2,323,6594,0.00,2.47,0.00,0.000,6,0.000,0.049,1924,3261,2037,0,0,0,0,0,0
$GC,6903,0.82,106.1,895.7,24.6,333,6908,0.00,1.12,0.00,0.000,4,0.000,0.054,1924,3946,2031,0,0,0,0,0,0
$GC,7051,0.82,106.1,856.0,27.2,337,7054,0.00,1.10,0.00,0.000,6,0.000,0.032,1930,3232,2030,0,0,0,0,0,0
$GC,7381,0.82,106.1,774.0,24.7,348,7385,0.00,1.15,0.00,0.000,4,0.000,0.053,1930,3944,2028,0,0,0,0,0,0
$GC,7534,0.82,106.1,733.2,26.7,352,7538,0.00,1.05,0.00,0.000,6,0.000,0.032,1934,3248,2028,0,0,0,0,0,0
$GC,7859,0.82,106.1,654.2,24.1,363,7862,0.00,1.12,0.00,0.000,4,0.000,0.053,1935,3949,2026,0,0,0,0,0,0
$GC,8038,0.82,106.1,605.8,26.1,368,8042,0.00,1.05,0.00,0.000,6,0.000,0.031,1940,3246,2026,0,0,0,0,0,0
$GC,8369,0.82,106.1,526.4,24.3,379,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,3246,2025,0,0,0,0,0,0
$GC,8675,0.82,106.1,453.1,23.9,389,8678,0.00,1.12,0.00,0.000,4,0.000,0.053,1940,3949,2024,0,0,0,0,0,0
$GC,8854,0.82,106.1,407.3,23.6,394,8858,0.10,1.05,0.00,0.000,6,0.217,0.032,1919,3246,2024,0,0,0,0,0,0
$GC,9179,0.82,106.1,337.7,21.4,409,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3245,2023,0,0,0,0,0,0
$GC,9487,0.82,106.1,269.6,22.4,424,9491,0.00,1.12,0.00,0.000,4,0.000,0.052,1917,3950,2022,0,0,0,0,0,0
$GC,9752,0.82,106.1,203.3,26.2,438,9755,0.00,1.05,0.00,0.000,6,0.000,0.032,1921,3247,2022,0,0,0,0,0,0
$GC,10079,0.82,106.1,127.3,23.1,459,10084,0.00,1.12,0.00,0.000,4,0.000,0.053,1921,3957,2022,0,0,0,0,0,0
$GC,10223,0.82,106.1,90.6,24.7,471,10229,0.00,1.05,0.00,0.000,6,0.000,0.031,1926,3246,2022,0,0,0,0,0,0
$GC,10593,0.82,106.1,16.5,18.5,532,10603,0.00,2.12,0.00,0.000,4,0.000,0.029,1937,1823,2021,0,0,0,0,0,0
$STATE,10689,end climb,SURFACE_DEPTH_REACHED
$STATE,10689,begin surface coast
$FINISH,1.4,1.026093
$STATE,10699,end surface coast,CONTROL_FINISHED_OK
$STATE,10699,begin surface
$SM_CCo,10718,166.07,0.725,1,0,505,482.50
$SM_GC,1.59,0.00,0.00,166.07,0.000,0.000,0.725,53,3349,505,-4.99,-0.11,482.50
$IRIDIUM_FIX,-4140.91,819.26,311212,000008
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.5,27.032
$10V_AH,10.1,14.562
$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,12.300,43.200,210.750,166.075,0.000,26.873,41.083,284.348,0.000,0.000,29.241,1498.866,6443.276,449.325,2329.634,686.289,33.359,1321.133,0.000,2099.675,0.000,1.012,0.000
$DEVICE_MAMPS,232.560,91.800,1776.330,725.220,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.617,1205.526,591.343,274.868,0.000,0.000,0.000,0.000,0.000,0.000
$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,40454,547
$CAP_FILE_SIZE,100652,0
$CFSIZE,259252224,249982976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,311212,064030,-4155.673,823.662,38,0.8,38,-24.9