version: 66.07
glider: 543
mission: 6
dive: 140
start: 12 31 112 7 7 33
data:
$ID,543
$MISSION,6
$DIVE,140
$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,400
$T_MISSION,420
$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,150
$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,250
$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,-8259.7393
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,18
$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
$GPS1,311212,064030,-4155.673,823.662,38,0.8,38,-24.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-26.3
$GPS2,311212,070635,-4155.766,823.330,18,1.6,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.140,-0.034
$KALMAN_X,-93087.9,532.4,95.4,122032.7,-6464.2
$KALMAN_Y,35767.9,844.2,596.9,26224.1,-7337.6
$MHEAD_RNG_PITCHd_Wd,128.5,9083,-27.0,-8.333
$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,-0.76,-48.0,0.0,0.0,0,112,0.00,0.00,-84.97,0.000,6,0.000,0.000,53,3349,2670,0,0,0,0,0,0
$GC,116,-0.78,-88.9,3.3,-3.6,11,135,5.18,0.98,-4.57,0.000,4,0.219,0.076,1368,3961,2838,0,0,0,0,0,0
$GC,413,-0.78,-88.9,62.2,-18.4,58,420,0.00,0.88,0.00,0.000,6,0.000,0.034,1369,3385,2839,0,0,0,0,0,0
$GC,761,-0.78,-88.9,114.1,-14.9,107,766,0.00,0.90,0.00,0.000,4,0.000,0.054,1366,3954,2840,0,0,0,0,0,0
$GC,1029,-0.78,-88.9,158.4,-17.9,122,1032,0.00,0.88,0.00,0.000,6,0.000,0.034,1366,3371,2840,0,0,0,0,0,0
$GC,1358,-0.78,-88.9,210.5,-16.0,143,1361,0.00,0.93,0.00,0.000,4,0.000,0.055,1361,3959,2841,0,0,0,0,0,0
$GC,1627,-0.78,-88.9,260.3,-18.6,158,1630,0.00,0.88,0.00,0.000,6,0.000,0.034,1362,3374,2841,0,0,0,0,0,0
$GC,1950,-0.78,-88.9,314.6,-16.5,174,1953,0.00,0.90,0.00,0.000,4,0.000,0.055,1358,3951,2840,0,0,0,0,0,0
$GC,2216,-0.78,-88.9,362.7,-17.7,185,2220,0.00,0.85,0.00,0.000,6,0.000,0.034,1357,3383,2840,0,0,0,0,0,0
$GC,2547,-0.78,-88.9,415.8,-16.0,200,2550,0.00,0.90,0.00,0.000,4,0.000,0.056,1353,3960,2839,0,0,0,0,0,0
$GC,2808,-0.78,-88.9,461.9,-17.2,207,2812,0.00,0.88,0.00,0.000,6,0.000,0.035,1353,3374,2839,0,0,0,0,0,0
$GC,3129,-0.78,-88.9,509.3,-14.2,218,3133,0.00,0.90,0.00,0.000,4,0.000,0.056,1349,3951,2837,0,0,0,0,0,0
$GC,3387,-0.78,-88.9,550.5,-16.5,225,3391,0.08,0.85,0.00,0.000,6,0.187,0.036,1370,3383,2837,0,0,0,0,0,0
$GC,3705,-0.78,-88.9,593.6,-13.3,236,3709,0.00,0.90,0.00,0.000,4,0.000,0.057,1367,3956,2836,0,0,0,0,0,0
$GC,3968,-0.78,-88.9,632.2,-14.9,243,3971,0.00,0.88,0.00,0.000,6,0.000,0.037,1367,3373,2836,0,0,0,0,0,0
$GC,4288,-0.78,-88.9,676.8,-14.3,254,4291,0.00,0.90,0.00,0.000,4,0.000,0.058,1363,3946,2835,0,0,0,0,0,0
$GC,4546,-0.78,-88.9,717.8,-15.1,261,4549,0.00,0.85,0.00,0.000,6,0.000,0.037,1363,3380,2834,0,0,0,0,0,0
$GC,4864,-0.78,-88.9,761.4,-13.3,272,4868,0.00,0.93,0.00,0.000,4,0.000,0.060,1359,3951,2833,0,0,0,0,0,0
$GC,5123,-0.78,-88.9,800.3,-16.0,279,5126,0.00,0.85,0.00,0.000,6,0.000,0.037,1359,3383,2832,0,0,0,0,0,0
$GC,5441,-0.78,-88.9,842.5,-13.0,290,5445,0.00,0.90,0.00,0.000,4,0.000,0.059,1355,3953,2831,0,0,0,0,0,0
$GC,5704,-0.78,-88.9,880.2,-15.0,297,5707,0.00,0.88,0.00,0.000,6,0.000,0.037,1355,3374,2830,0,0,0,0,0,0
$GC,6025,-0.78,-88.9,924.1,-13.4,308,6028,0.00,0.93,0.00,0.000,4,0.000,0.060,1350,3958,2829,0,0,0,0,0,0
$GC,6282,-0.78,-88.9,962.7,-14.7,315,6287,0.08,0.88,0.00,0.000,6,0.190,0.038,1372,3382,2829,0,0,0,0,0,0
$STATE,6598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6598,begin apogee
$GC,6606,-0.14,0.0,1000.7,12.1,326,6700,0.73,0.00,91.22,1.183,6,0.170,0.000,1582,3272,2473,0,0,0,0,0,0
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6702,begin climb
$GC,6704,0.78,88.9,1003.3,0.0,329,6809,0.90,2.30,93.15,1.160,4,0.087,0.031,1896,1850,2101,0,0,0,0,0,0
$GC,6979,0.78,88.9,958.2,19.0,337,6984,0.00,2.35,0.00,0.000,6,0.000,0.050,1896,3274,2088,0,0,0,0,0,0
$GC,7304,0.78,88.9,884.7,23.2,348,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3274,2084,0,0,0,0,0,0
$GC,7611,0.78,88.9,815.7,22.2,358,7614,0.00,1.08,0.00,0.000,4,0.000,0.055,1896,3947,2082,0,0,0,0,0,0
$GC,7694,0.78,88.9,794.4,24.9,360,7698,0.00,1.05,0.00,0.000,6,0.000,0.034,1901,3255,2082,0,0,0,0,0,0
$GC,8019,0.78,88.9,723.0,22.0,371,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3255,2080,0,0,0,0,0,0
$GC,8326,0.78,88.9,659.6,19.6,381,8330,0.00,2.10,0.00,0.000,4,0.000,0.034,1911,1857,2079,0,0,0,0,0,0
$GC,8382,0.78,88.9,649.0,16.9,382,8389,0.00,2.28,0.00,0.000,6,0.000,0.052,1912,3281,2078,0,0,0,0,0,0
$GC,8696,0.78,88.9,586.6,20.5,393,8700,0.00,2.17,0.00,0.000,4,0.000,0.034,1923,1854,2078,0,0,0,0,0,0
$GC,8773,0.78,88.9,572.0,17.2,395,8778,0.12,2.25,0.00,0.000,6,0.204,0.050,1894,3270,2078,0,0,0,0,0,0
$GC,9092,0.78,88.9,509.5,20.2,406,9096,0.00,2.10,0.00,0.000,4,0.000,0.031,1903,1855,2077,0,0,0,0,0,0
$GC,9204,0.78,88.9,489.5,17.7,409,9210,0.00,2.28,0.00,0.000,6,0.000,0.049,1903,3273,2076,0,0,0,0,0,0
$GC,9530,0.78,88.9,425.6,19.3,420,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3273,2076,0,0,0,0,0,0
$GC,9850,0.78,88.9,367.3,18.3,433,9855,0.00,2.15,0.00,0.000,4,0.000,0.031,1914,1855,2075,0,0,0,0,0,0
$GC,9934,0.78,88.9,353.9,15.5,436,9938,0.00,2.25,0.00,0.000,6,0.000,0.048,1914,3277,2075,0,0,0,0,0,0
$GC,10252,0.78,88.9,293.1,20.2,451,10258,0.00,2.15,0.00,0.000,4,0.000,0.031,1925,1855,2075,0,0,0,0,0,0
$GC,10303,0.78,88.9,284.3,17.0,453,10308,0.15,2.25,0.00,0.000,6,0.203,0.049,1890,3281,2075,0,0,0,0,0,0
$GC,10631,0.78,88.9,222.2,19.5,471,10637,0.00,1.05,0.00,0.000,4,0.000,0.054,1890,3949,2074,0,0,0,0,0,0
$GC,10897,0.78,88.9,163.5,21.4,486,10900,0.00,1.00,0.00,0.000,6,0.000,0.033,1893,3273,2074,0,0,0,0,0,0
$GC,11224,0.78,88.9,100.6,19.4,507,11229,0.00,1.08,0.00,0.000,4,0.000,0.053,1894,3954,2075,0,0,0,0,0,0
$GC,11435,0.78,88.9,54.9,19.7,541,11442,0.00,1.02,0.00,0.000,6,0.000,0.032,1899,3257,2074,0,0,0,0,0,0
$GC,11696,0.78,88.9,12.2,14.4,582,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3257,2074,0,0,0,0,0,0
$STATE,11763,end climb,SURFACE_DEPTH_REACHED
$STATE,11763,begin surface coast
$FINISH,1.2,1.025328
$STATE,11791,end surface coast,CONTROL_FINISHED_OK
$STATE,11791,begin surface
$SM_CCo,11807,71.32,0.730,1,0,1449,250.20
$SM_GC,1.71,0.00,0.00,71.32,0.000,0.000,0.730,51,3388,1449,-4.95,0.23,250.20
$IRIDIUM_FIX,-4140.91,816.40,311212,060614
$TT8_MAMPS,0.025466
$HUMID,56.34
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.8,27.180
$10V_AH,10.1,14.669
$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,11.975,52.825,184.375,71.325,0.000,86.844,110.539,1041.188,0.000,0.000,21.797,1617.888,7454.439,330.052,3030.555,1020.015,33.361,1225.189,0.000,2161.025,0.000,1.015,0.000
$DEVICE_MAMPS,218.790,75.735,1183.455,729.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.719,1322.924,628.714,290.648,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354112
$DATA_FILE_SIZE,43881,596
$CAP_FILE_SIZE,114859,0
$CFSIZE,259252224,249909248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,311212,102659,-4157.023,823.323,40,0.9,40,-24.9