version: 66.07
glider: 543
mission: 6
dive: 141
start: 12 31 112 10 35 52
data:
$ID,543
$MISSION,6
$DIVE,141
$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,-8262.082
$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,53
$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
$GPS1,311212,102659,-4157.023,823.323,40,0.9,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-53.0
$GPS2,311212,103452,-4157.073,823.337,20,0.9,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.199,0.063
$KALMAN_X,-96207.0,429.8,333.0,125027.0,-9318.9
$KALMAN_Y,35149.5,834.1,324.7,24720.7,-6901.1
$MHEAD_RNG_PITCHd_Wd,97.4,7105,-18.0,-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,-0.55,-102.6,0.0,0.0,0,71,0.00,0.00,-49.40,0.000,2,0.000,0.000,51,3388,2644,0,0,0,0,0,0
$GC,76,-0.58,-146.1,3.2,-3.3,6,104,5.70,0.90,-12.25,0.000,4,0.237,0.090,1440,3935,3070,0,0,0,0,0,0
$GC,381,-0.58,-146.1,55.9,-15.7,54,392,0.00,0.82,0.00,0.000,6,0.000,0.037,1440,3398,3074,0,0,0,0,0,0
$GC,631,-0.58,-146.1,86.6,-13.0,95,635,0.00,0.88,0.00,0.000,4,0.000,0.059,1436,3946,3074,0,0,0,0,0,0
$GC,896,-0.58,-146.1,126.8,-15.7,121,899,0.00,0.88,0.00,0.000,6,0.000,0.036,1436,3365,3075,0,0,0,0,0,0
$GC,1226,-0.58,-146.1,176.1,-14.4,142,1230,0.00,0.90,0.00,0.000,4,0.000,0.058,1432,3932,3077,0,0,0,0,0,0
$GC,1415,-0.58,-146.1,204.9,-15.3,152,1423,0.00,0.82,0.00,0.000,6,0.000,0.035,1432,3382,3077,0,0,0,0,0,0
$GC,1736,-0.58,-146.1,250.8,-14.0,173,1742,0.00,0.90,0.00,0.000,4,0.000,0.058,1428,3946,3077,0,0,0,0,0,0
$GC,1880,-0.58,-146.1,272.4,-15.9,179,1883,0.00,0.85,0.00,0.000,6,0.000,0.036,1428,3379,3077,0,0,0,0,0,0
$GC,2215,-0.58,-146.1,321.6,-14.6,195,2220,0.00,0.90,0.00,0.000,4,0.000,0.058,1424,3945,3077,0,0,0,0,0,0
$GC,2279,-0.58,-146.1,332.0,-15.9,197,2286,0.00,0.85,0.00,0.000,6,0.000,0.036,1424,3382,3077,0,0,0,0,0,0
$GC,2597,-0.58,-146.1,377.5,-14.5,213,2603,0.00,0.88,0.00,0.000,4,0.000,0.059,1419,3934,3077,0,0,0,0,0,0
$GC,2695,-0.58,-146.1,393.3,-15.5,217,2701,0.00,0.85,0.00,0.000,6,0.000,0.036,1419,3369,3077,0,0,0,0,0,0
$GC,3031,-0.58,-146.1,442.1,-14.7,229,3035,0.00,0.90,0.00,0.000,4,0.000,0.059,1416,3938,3077,0,0,0,0,0,0
$GC,3120,-0.58,-146.1,456.2,-15.7,231,3124,0.08,0.82,0.00,0.000,6,0.164,0.037,1439,3388,3076,0,0,0,0,0,0
$GC,3438,-0.58,-146.1,495.6,-12.3,242,3442,0.00,0.88,0.00,0.000,4,0.000,0.060,1436,3940,3076,0,0,0,0,0,0
$GC,3550,-0.58,-146.1,510.8,-13.4,245,3556,0.00,0.85,0.00,0.000,6,0.000,0.037,1438,3375,3076,0,0,0,0,0,0
$GC,3883,-0.58,-146.1,552.2,-12.6,256,3887,0.00,0.90,0.00,0.000,4,0.000,0.060,1434,3944,3076,0,0,0,0,0,0
$GC,3939,-0.58,-146.1,560.5,-13.9,257,3943,0.00,0.85,0.00,0.000,6,0.000,0.037,1434,3378,3076,0,0,0,0,0,0
$GC,4257,-0.58,-146.1,602.6,-13.0,268,4261,0.00,0.88,0.00,0.000,4,0.000,0.060,1431,3931,3075,0,0,0,0,0,0
$GC,4341,-0.58,-146.1,614.8,-14.1,270,4345,0.00,0.82,0.00,0.000,6,0.000,0.037,1430,3384,3075,0,0,0,0,0,0
$GC,4666,-0.58,-146.1,658.2,-13.4,281,4670,0.00,0.88,0.00,0.000,4,0.000,0.060,1426,3935,3074,0,0,0,0,0,0
$GC,4749,-0.58,-146.1,670.1,-14.2,283,4753,0.00,0.85,0.00,0.000,6,0.000,0.037,1426,3373,3074,0,0,0,0,0,0
$GC,5074,-0.58,-146.1,712.6,-13.1,294,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3372,3073,0,0,0,0,0,0
$GC,5380,-0.58,-146.1,752.1,-12.7,304,5385,0.00,0.90,0.00,0.000,4,0.000,0.061,1422,3945,3073,0,0,0,0,0,0
$GC,5533,-0.58,-146.1,772.7,-13.0,308,5537,0.00,0.85,0.00,0.000,6,0.000,0.038,1422,3381,3073,0,0,0,0,0,0
$GC,5858,-0.58,-146.1,810.5,-11.5,319,5862,0.00,0.88,0.00,0.000,4,0.000,0.061,1418,3931,3072,0,0,0,0,0,0
$GC,5970,-0.58,-146.1,825.3,-13.7,322,5976,0.00,0.82,0.00,0.000,6,0.000,0.038,1418,3385,3072,0,0,0,0,0,0
$GC,6301,-0.58,-146.1,864.7,-12.0,333,6307,0.10,0.90,0.00,0.000,4,0.193,0.063,1439,3940,3070,0,0,0,0,0,0
$GC,6392,-0.58,-146.1,875.3,-11.8,335,6397,0.00,0.85,0.00,0.000,6,0.000,0.039,1439,3381,3070,0,0,0,0,0,0
$GC,6711,-0.58,-146.1,909.1,-10.9,346,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3381,3070,0,0,0,0,0,0
$GC,7019,-0.58,-146.1,942.9,-11.1,356,7022,0.00,0.90,0.00,0.000,4,0.000,0.062,1435,3943,3069,0,0,0,0,0,0
$GC,7132,-0.58,-146.1,957.1,-12.2,359,7136,0.00,0.85,0.00,0.000,6,0.000,0.039,1435,3384,3069,0,0,0,0,0,0
$GC,7464,-0.58,-146.1,995.2,-11.3,370,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,1435,3383,3068,0,0,0,0,0,0
$STATE,7521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7521,begin apogee
$GC,7528,-0.14,0.0,1002.3,11.3,372,7676,0.50,0.00,139.82,1.799,6,0.144,0.000,1586,3271,2473,0,0,0,0,1,0
$STATE,7678,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7681,0.58,146.1,1006.7,0.0,377,7842,0.70,2.53,146.82,1.769,4,0.083,0.032,1826,1848,1878,0,0,0,0,1,0
$GC,7888,0.58,146.1,980.4,14.6,383,7893,0.00,2.50,0.00,0.000,6,0.000,0.052,1826,3256,1875,0,0,0,0,0,0
$GC,8213,0.58,146.1,914.6,21.0,394,8218,0.00,1.15,0.00,0.000,4,0.000,0.056,1827,3949,1869,0,0,0,0,0,0
$GC,8286,0.58,146.1,897.6,24.5,396,8290,0.00,1.08,0.00,0.000,6,0.000,0.033,1832,3257,1868,0,0,0,0,0,0
$GC,8622,0.58,146.1,824.1,21.7,407,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3256,1867,0,0,0,0,0,0
$GC,8928,0.58,146.1,758.6,21.0,417,8932,0.00,1.12,0.00,0.000,4,0.000,0.057,1832,3948,1866,0,0,0,0,0,0
$GC,9012,0.58,146.1,739.5,23.3,419,9016,0.00,1.02,0.00,0.000,6,0.000,0.034,1837,3272,1866,0,0,0,0,0,0
$GC,9337,0.58,146.1,671.8,20.9,430,9341,0.00,2.15,0.00,0.000,4,0.000,0.034,1848,1854,1865,0,0,0,0,0,0
$GC,9375,0.58,146.1,664.3,17.9,431,9379,0.00,2.30,0.00,0.000,6,0.000,0.052,1848,3281,1864,0,0,0,0,0,0
$GC,9699,0.58,146.1,597.1,20.9,442,9703,0.00,1.08,0.00,0.000,4,0.000,0.056,1848,3956,1863,0,0,0,0,0,0
$GC,9769,0.58,146.1,581.4,24.4,444,9773,0.10,1.02,0.00,0.000,6,0.197,0.033,1826,3268,1862,0,0,0,0,0,0
$GC,10110,0.58,146.1,518.2,17.9,455,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3268,1862,0,0,0,0,0,0
$GC,10417,0.58,146.1,462.5,18.2,465,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3268,1862,0,0,0,0,0,0
$GC,10724,0.58,146.1,406.8,18.1,475,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3268,1861,0,0,0,0,0,0
$GC,11037,0.58,146.1,349.8,18.9,489,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3268,1861,0,0,0,0,0,0
$GC,11342,0.58,146.1,292.2,18.5,504,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3268,1861,0,0,0,0,0,0
$GC,11652,0.58,146.1,235.9,17.8,520,11656,0.00,1.10,0.00,0.000,4,0.000,0.056,1826,3957,1861,0,0,0,0,0,0
$GC,11693,0.58,146.1,227.7,18.5,522,11696,0.00,1.02,0.00,0.000,6,0.000,0.032,1830,3268,1861,0,0,0,0,0,0
$GC,12022,0.58,146.1,167.6,18.7,543,12025,0.00,1.08,0.00,0.000,4,0.000,0.054,1830,3946,1861,0,0,0,0,0,0
$GC,12060,0.58,146.1,158.9,21.5,545,12066,0.00,1.00,0.00,0.000,6,0.000,0.032,1835,3269,1861,0,0,0,0,0,0
$GC,12383,0.58,146.1,95.5,20.1,567,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,3269,1861,0,0,0,0,0,0
$GC,12747,0.58,146.1,27.4,14.7,628,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,3268,1861,0,0,0,0,0,0
$GC,12839,0.58,146.1,12.2,16.8,641,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3268,1861,0,0,0,0,0,0
$STATE,12902,end climb,SURFACE_DEPTH_REACHED
$STATE,12902,begin surface coast
$FINISH,1.1,1.020208
$STATE,12928,end surface coast,CONTROL_FINISHED_OK
$STATE,12928,begin surface
$SM_CCo,12944,50.83,0.713,1,0,1451,250.20
$SM_GC,2.19,0.00,0.00,50.83,0.000,0.000,0.713,64,3399,1451,-4.91,0.57,250.20
$IRIDIUM_FIX,-4138.02,807.81,311212,060630
$TT8_MAMPS,0.025466
$HUMID,57.24
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.4,27.351
$10V_AH,10.1,14.765
$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,11.875,46.500,286.650,50.825,0.000,30.719,19.557,258.085,0.000,0.000,22.951,1690.041,8481.386,390.032,2182.800,733.666,33.358,1254.558,0.000,1982.570,0.000,1.014,0.000
$DEVICE_MAMPS,237.150,89.505,1799.280,712.980,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.248,1416.862,655.924,302.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,47068,654
$CAP_FILE_SIZE,107156,0
$CFSIZE,259252224,249856000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,311212,141352,-4156.989,825.018,37,0.9,37,-24.9