version: 66.07
glider: 543
mission: 6
dive: 142
start: 12 31 112 14 23 17
data:
$ID,543
$MISSION,6
$DIVE,142
$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,-8266.2764
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,311212,141352,-4156.989,825.018,37,0.9,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-49.5
$GPS2,311212,142217,-4157.004,825.034,20,0.9,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,0.027
$KALMAN_X,-98121.8,462.1,612.2,128932.6,-9575.4
$KALMAN_Y,34653.0,626.9,354.6,25522.1,-6044.9
$MHEAD_RNG_PITCHd_Wd,104.1,8876,-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,-48.0,0.0,0.0,0,64,0.00,0.00,-41.78,0.000,2,0.000,0.000,63,3400,2461,0,0,0,0,0,0
$GC,68,-0.78,-86.2,3.1,-3.9,5,94,5.47,0.88,-12.00,0.000,4,0.243,0.089,1369,3932,2827,0,0,0,0,0,0
$GC,377,-0.78,-86.2,57.2,-19.5,53,385,0.00,0.85,0.00,0.000,6,0.000,0.036,1369,3378,2831,0,0,0,0,0,0
$GC,617,-0.78,-86.2,95.8,-15.4,94,624,0.00,0.90,0.00,0.000,4,0.000,0.057,1365,3945,2832,0,0,0,0,0,0
$GC,886,-0.78,-86.2,138.4,-16.0,113,889,0.00,0.85,0.00,0.000,6,0.000,0.035,1367,3383,2833,0,0,0,0,0,0
$GC,1210,-0.78,-86.2,186.2,-14.5,134,1214,0.00,0.90,0.00,0.000,4,0.000,0.057,1364,3945,2834,0,0,0,0,0,0
$GC,1479,-0.78,-86.2,230.9,-16.9,149,1483,0.00,0.85,0.00,0.000,6,0.000,0.035,1364,3377,2834,0,0,0,0,0,0
$GC,1804,-0.78,-86.2,281.2,-15.8,167,1809,0.00,0.88,0.00,0.000,4,0.000,0.055,1360,3933,2834,0,0,0,0,0,0
$GC,2066,-0.78,-86.2,325.2,-15.7,178,2070,0.00,0.82,0.00,0.000,6,0.000,0.035,1360,3381,2834,0,0,0,0,0,0
$GC,2390,-0.78,-86.2,373.2,-13.6,194,2393,0.00,0.90,0.00,0.000,4,0.000,0.058,1356,3936,2834,0,0,0,0,0,0
$GC,2653,-0.78,-86.2,414.6,-15.5,204,2656,0.00,0.82,0.00,0.000,6,0.000,0.035,1355,3385,2834,0,0,0,0,0,0
$GC,2972,-0.78,-86.2,460.1,-14.3,215,2975,0.00,0.88,0.00,0.000,4,0.000,0.057,1352,3942,2834,0,0,0,0,0,0
$GC,3230,-0.78,-86.2,501.0,-15.7,222,3234,0.08,0.85,0.00,0.000,6,0.189,0.035,1373,3377,2834,0,0,0,0,0,0
$GC,3549,-0.78,-86.2,542.7,-13.2,233,3552,0.00,0.90,0.00,0.000,4,0.000,0.057,1370,3950,2834,0,0,0,0,0,0
$GC,3810,-0.78,-86.2,579.3,-14.6,240,3814,0.00,0.85,0.00,0.000,6,0.000,0.037,1370,3382,2834,0,0,0,0,0,0
$GC,4131,-0.78,-86.2,624.3,-14.3,251,4134,0.00,0.88,0.00,0.000,4,0.000,0.057,1366,3937,2833,0,0,0,0,0,0
$GC,4389,-0.78,-86.2,664.5,-16.2,258,4392,0.00,0.85,0.00,0.000,6,0.000,0.037,1366,3374,2833,0,0,0,0,0,0
$GC,4708,-0.78,-86.2,710.2,-14.2,269,4712,0.00,0.90,0.00,0.000,4,0.000,0.058,1362,3944,2832,0,0,0,0,0,0
$GC,4966,-0.78,-86.2,748.7,-14.6,276,4969,0.00,0.85,0.00,0.000,6,0.000,0.037,1362,3381,2831,0,0,0,0,0,0
$GC,5284,-0.78,-86.2,790.1,-12.8,287,5288,0.00,0.88,0.00,0.000,4,0.000,0.058,1358,3935,2830,0,0,0,0,0,0
$GC,5546,-0.78,-86.2,828.4,-15.3,294,5550,0.00,0.85,0.00,0.000,6,0.000,0.037,1358,3374,2830,0,0,0,0,0,0
$GC,5867,-0.78,-86.2,874.2,-14.3,305,5871,0.00,0.90,0.00,0.000,4,0.000,0.059,1354,3942,2829,0,0,0,0,0,0
$GC,6124,-0.78,-86.2,913.3,-15.3,312,6128,0.00,0.85,0.00,0.000,6,0.000,0.037,1354,3381,2829,0,0,0,0,0,0
$GC,6443,-0.78,-86.2,955.7,-13.0,323,6447,0.00,0.88,0.00,0.000,4,0.000,0.059,1350,3934,2827,0,0,0,0,0,0
$GC,6701,-0.78,-86.2,993.1,-14.5,330,6706,0.08,0.85,0.00,0.000,6,0.193,0.038,1371,3378,2827,0,0,0,0,0,0
$STATE,6772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6772,begin apogee
$GC,6779,-0.14,0.0,1002.5,13.3,333,6875,0.75,0.00,92.25,1.193,6,0.171,0.000,1587,3268,2473,0,0,0,0,0,0
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6879,0.78,86.2,1005.4,0.0,336,6976,0.88,0.00,91.25,1.167,6,0.083,0.000,1885,3267,2122,0,0,0,0,0,0
$GC,7279,0.78,86.2,932.0,21.0,349,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,3268,2099,0,0,0,0,0,0
$GC,7587,0.78,86.2,868.9,20.4,359,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,3268,2096,0,0,0,0,0,0
$GC,7892,0.78,86.2,806.7,20.5,369,7897,0.00,1.08,0.00,0.000,4,0.000,0.055,1885,3935,2094,0,0,0,0,0,0
$GC,8016,0.78,86.2,778.4,22.5,372,8019,0.00,1.02,0.00,0.000,6,0.000,0.034,1890,3256,2094,0,0,0,0,0,0
$GC,8335,0.78,86.2,713.7,20.1,383,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3256,2093,0,0,0,0,0,0
$GC,8642,0.78,86.2,652.8,19.6,393,8645,0.00,1.10,0.00,0.000,4,0.000,0.054,1890,3941,2092,0,0,0,0,0,0
$GC,8778,0.78,86.2,623.5,22.8,397,8782,0.00,1.00,0.00,0.000,6,0.000,0.033,1895,3272,2091,0,0,0,0,0,0
$GC,9120,0.78,86.2,558.0,19.0,408,9123,0.00,1.08,0.00,0.000,4,0.000,0.054,1895,3946,2091,0,0,0,0,0,0
$GC,9233,0.78,86.2,534.1,22.7,411,9236,0.00,1.02,0.00,0.000,6,0.000,0.033,1900,3261,2090,0,0,0,0,0,0
$GC,9564,0.78,86.2,470.4,18.9,422,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3260,2090,0,0,0,0,0,0
$GC,9869,0.78,86.2,411.1,19.3,432,9874,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3948,2089,0,0,0,0,0,0
$GC,10035,0.78,86.2,375.4,22.6,438,10039,0.00,1.00,0.00,0.000,6,0.000,0.034,1905,3275,2089,0,0,0,0,0,0
$GC,10364,0.78,86.2,308.9,19.8,454,10368,0.00,1.05,0.00,0.000,4,0.000,0.054,1905,3936,2089,0,0,0,0,0,0
$GC,10520,0.78,86.2,273.5,22.6,460,10528,0.00,1.00,0.00,0.000,6,0.000,0.032,1911,3265,2089,0,0,0,0,0,0
$GC,10840,0.78,86.2,206.7,21.1,479,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3264,2088,0,0,0,0,0,0
$GC,11152,0.78,86.2,141.0,21.0,499,11158,0.00,1.08,0.00,0.000,4,0.000,0.054,1910,3942,2089,0,0,0,0,0,0
$GC,11235,0.78,86.2,122.3,21.8,503,11242,0.00,1.00,0.00,0.000,6,0.000,0.031,1915,3268,2089,0,0,0,0,0,0
$GC,11580,0.78,86.2,58.6,17.1,550,11589,0.00,1.08,0.00,0.000,4,0.000,0.053,1916,3946,2088,0,0,0,0,0,0
$GC,11873,0.78,86.2,9.7,17.6,596,11885,0.10,1.00,0.00,0.000,6,0.216,0.032,1894,3268,2089,0,0,0,0,0,0
$STATE,11910,end climb,SURFACE_DEPTH_REACHED
$STATE,11910,begin surface coast
$FINISH,1.2,1.011059
$STATE,11930,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,11946,72.57,0.750,1,0,1451,250.20
$SM_GC,1.70,0.00,0.00,72.57,0.000,0.000,0.750,67,3384,1451,-4.90,0.11,250.20
$IRIDIUM_FIX,-4140.91,822.12,311212,101009
$TT8_MAMPS,0.025466
$HUMID,56.53
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.8,27.446
$10V_AH,10.1,14.861
$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,12.225,35.725,183.500,72.575,0.000,27.686,20.118,289.738,0.000,0.000,25.050,1635.580,7449.256,315.290,2408.633,724.725,33.358,1198.379,0.000,2180.065,0.000,1.010,0.000
$DEVICE_MAMPS,243.270,88.740,1193.400,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.146,1313.301,621.391,279.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,43709,604
$CAP_FILE_SIZE,105200,0
$CFSIZE,259252224,249802752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,311212,174458,-4157.638,825.666,35,0.8,35,-24.9