version: 66.07
glider: 543
mission: 6
dive: 56
start: 12 17 112 22 2 17
data:
$ID,543
$MISSION,6
$DIVE,56
$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,-7976.9102
$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,32
$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
$GPS1,171212,214503,-4231.998,816.438,44,1.3,48,-24.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-20.4
$GPS2,171212,220119,-4231.935,816.443,17,0.9,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.061,-0.172
$KALMAN_X,228.3,-901.4,-706.2,21581.2,3477.7
$KALMAN_Y,85257.8,-541.6,-214.2,-87998.4,7381.0
$MHEAD_RNG_PITCHd_Wd,185.3,6035,-23.1,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.69,-73.4,0.0,0.0,0,105,0.00,0.00,-82.57,0.000,2,0.000,0.000,71,3373,2554,0,0,0,0,0,0
$GC,108,-0.73,-145.5,3.0,-3.1,10,137,5.28,2.22,-15.52,0.000,4,0.226,0.046,1408,1931,3068,0,0,0,0,0,0
$GC,147,-0.74,-166.1,6.5,-7.3,14,158,0.00,2.40,-1.92,0.000,6,0.000,0.066,1399,3343,3152,0,0,0,0,0,0
$GC,242,-0.74,-166.1,23.0,-21.0,27,251,0.00,2.22,0.00,0.000,4,0.000,0.040,1398,1943,3154,0,0,0,0,0,0
$GC,445,-0.74,-166.1,53.6,-13.4,59,452,0.00,2.30,0.00,0.000,6,0.000,0.060,1388,3358,3154,0,0,0,0,0,0
$GC,687,-0.74,-166.1,99.5,-18.1,100,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3357,3155,0,0,0,0,0,0
$GC,1008,-0.74,-166.1,157.8,-18.3,121,1013,0.00,0.95,0.00,0.000,4,0.000,0.060,1384,3955,3155,0,0,0,0,0,0
$GC,1223,-0.74,-166.1,201.0,-20.1,133,1226,0.00,0.93,0.00,0.000,6,0.000,0.037,1384,3345,3155,0,0,0,0,0,0
$GC,1560,-0.74,-166.1,266.7,-19.3,153,1565,0.00,0.95,0.00,0.000,4,0.000,0.058,1379,3948,3155,0,0,0,0,0,0
$GC,1671,-0.74,-166.1,289.3,-19.8,157,1677,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3355,3155,0,0,0,0,0,0
$GC,1989,-0.74,-166.1,349.6,-19.0,173,1995,0.12,0.95,0.00,0.000,4,0.195,0.060,1405,3946,3155,0,0,0,0,0,0
$GC,2134,-0.74,-166.1,374.8,-17.0,179,2138,0.00,0.90,0.00,0.000,6,0.000,0.037,1405,3349,3155,0,0,0,0,0,0
$GC,2457,-0.74,-166.1,427.5,-16.1,192,2460,0.00,0.95,0.00,0.000,4,0.000,0.060,1401,3953,3154,0,0,0,0,0,0
$GC,2568,-0.74,-166.1,446.9,-17.1,195,2571,0.00,0.90,0.00,0.000,6,0.000,0.037,1401,3348,3155,0,0,0,0,0,0
$GC,2898,-0.74,-166.1,498.7,-15.5,206,2903,0.00,0.95,0.00,0.000,4,0.000,0.060,1396,3954,3154,0,0,0,0,0,0
$GC,3070,-0.74,-166.1,527.0,-16.0,211,3074,0.00,0.90,0.00,0.000,6,0.000,0.036,1396,3351,3154,0,0,0,0,0,0
$GC,3412,-0.74,-166.1,582.2,-16.1,222,3417,0.00,0.95,0.00,0.000,4,0.000,0.060,1392,3952,3153,0,0,0,0,0,0
$GC,3598,-0.74,-166.1,615.0,-18.0,227,3603,0.00,0.90,0.00,0.000,6,0.000,0.037,1392,3352,3153,0,0,0,0,0,0
$GC,3923,-0.74,-166.1,668.9,-16.6,238,3928,0.00,0.98,0.00,0.000,4,0.000,0.060,1388,3955,3152,0,0,0,0,0,0
$GC,4030,-0.74,-166.1,688.0,-18.1,241,4033,0.00,0.90,0.00,0.000,6,0.000,0.037,1388,3355,3152,0,0,0,0,0,0
$GC,4366,-0.74,-166.1,741.1,-15.5,252,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3354,3150,0,0,0,0,0,0
$GC,4673,-0.74,-166.1,788.4,-15.3,262,4676,0.00,0.95,0.00,0.000,4,0.000,0.060,1383,3955,3150,0,0,0,0,0,0
$GC,4929,-0.74,-166.1,832.0,-16.7,269,4933,0.00,0.90,0.00,0.000,6,0.000,0.038,1383,3356,3149,0,0,0,0,0,0
$GC,5248,-0.74,-166.1,881.5,-15.8,280,5252,0.00,0.95,0.00,0.000,4,0.000,0.061,1379,3956,3147,0,0,0,0,0,0
$GC,5423,-0.74,-166.1,911.5,-16.7,285,5427,0.08,0.90,0.00,0.000,6,0.184,0.038,1401,3359,3147,0,0,0,0,0,0
$GC,5758,-0.74,-166.1,959.9,-14.4,296,5762,0.00,0.93,0.00,0.000,4,0.000,0.063,1398,3944,3147,0,0,0,0,0,0
$GC,5860,-0.74,-166.1,975.3,-14.4,299,5866,0.00,0.90,0.00,0.000,6,0.000,0.039,1398,3347,3147,0,0,0,0,0,0
$STATE,6047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6047,begin apogee
$GC,6054,-0.14,0.0,1003.0,14.7,305,6223,0.68,0.00,165.95,1.151,6,0.155,0.000,1601,3255,2473,0,0,0,0,0,0
$STATE,6224,end apogee,CONTROL_FINISHED_OK
$STATE,6224,begin climb
$GC,6227,0.74,166.1,1009.2,0.0,310,6403,0.80,2.42,165.73,1.133,4,0.055,0.034,1899,1833,1784,0,0,0,0,0,0
$GC,6470,0.74,166.1,964.9,20.6,317,6475,0.00,2.42,0.00,0.000,6,0.000,0.050,1900,3259,1772,0,0,0,0,0,0
$GC,6785,0.74,166.1,882.4,26.5,327,6789,0.00,2.25,0.00,0.000,4,0.000,0.035,1910,1831,1767,0,0,0,0,0,0
$GC,6834,0.74,166.1,869.6,23.1,328,6838,0.00,2.35,0.00,0.000,6,0.000,0.052,1910,3258,1765,0,0,0,0,0,0
$GC,7148,0.74,166.1,785.9,26.9,338,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3258,1764,0,0,0,0,0,0
$GC,7455,0.74,166.1,704.9,26.5,348,7459,0.00,2.20,0.00,0.000,4,0.000,0.034,1919,1830,1763,0,0,0,0,0,0
$GC,7538,0.74,166.1,685.0,21.3,350,7542,0.00,2.28,0.00,0.000,6,0.000,0.052,1919,3252,1763,0,0,0,0,0,0
$GC,7853,0.74,166.1,600.4,27.6,360,7857,0.00,2.17,0.00,0.000,4,0.000,0.034,1930,1830,1762,0,0,0,0,0,0
$GC,7908,0.74,166.1,585.8,23.2,361,7916,0.15,2.28,0.00,0.000,6,0.201,0.050,1895,3253,1761,0,0,0,0,0,0
$GC,8222,0.74,166.1,506.6,25.7,372,8226,0.00,2.17,0.00,0.000,4,0.000,0.033,1904,1818,1761,0,0,0,0,0,0
$GC,8245,0.74,166.1,500.9,24.4,372,8252,0.00,2.30,0.00,0.000,6,0.000,0.050,1904,3259,1761,0,0,0,0,0,0
$GC,8560,0.74,166.1,419.5,26.4,383,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3260,1761,0,0,0,0,0,0
$GC,8879,0.74,166.1,334.7,26.4,397,8884,0.00,2.20,0.00,0.000,4,0.000,0.033,1915,1824,1760,0,0,0,0,0,0
$GC,8918,0.74,166.1,324.4,21.5,398,8926,0.00,2.30,0.00,0.000,6,0.000,0.050,1915,3250,1760,0,0,0,0,0,0
$GC,9247,0.74,166.1,238.9,26.0,415,9253,0.00,2.17,0.00,0.000,4,0.000,0.033,1926,1824,1759,0,0,0,0,0,0
$GC,9275,0.74,166.1,231.2,23.3,416,9287,0.10,2.30,0.00,0.000,6,0.185,0.050,1897,3256,1759,0,0,0,0,0,0
$GC,9598,0.74,166.1,152.9,24.4,437,9602,0.00,2.17,0.00,0.000,4,0.000,0.034,1907,1819,1759,0,0,0,0,0,0
$GC,9632,0.74,166.1,145.4,23.1,439,9636,0.00,2.28,0.00,0.000,6,0.000,0.050,1907,3266,1759,0,0,0,0,0,0
$GC,9967,0.74,166.1,62.6,24.9,477,9975,0.00,2.20,0.00,0.000,4,0.000,0.035,1918,1826,1758,0,0,0,0,0,0
$GC,10066,0.74,166.1,43.1,18.4,493,10074,0.00,2.28,0.00,0.000,6,0.000,0.050,1918,3246,1758,0,0,0,0,0,0
$STATE,10241,end climb,SURFACE_DEPTH_REACHED
$STATE,10241,begin surface coast
$FINISH,1.0,1.013371
$STATE,10256,end surface coast,CONTROL_FINISHED_OK
$STATE,10256,begin surface
$SM_CCo,10272,136.70,0.714,1,0,505,482.50
$SM_GC,1.19,0.00,0.00,136.70,0.000,0.000,0.714,59,3364,505,-4.97,0.31,482.50
$IRIDIUM_FIX,-4215.72,815.24,171212,212131
$TT8_MAMPS,0.025466
$HUMID,54.56
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.5,12.583
$10V_AH,10.1,6.271
$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,12.175,68.725,331.675,136.700,0.000,60.148,63.129,597.357,0.000,0.000,21.128,1365.590,6484.758,535.248,2302.247,699.127,33.358,1317.490,0.000,1722.807,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,81.855,1150.560,713.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.732,1143.857,555.381,267.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354212
$DATA_FILE_SIZE,40416,522
$CAP_FILE_SIZE,101411,0
$CFSIZE,259252224,254922752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,181212,005710,-4233.293,816.777,38,1.2,38,-24.9