version: 66.07
glider: 543
mission: 6
dive: 68
start: 12 19 112 16 2 20
data:
$ID,543
$MISSION,6
$DIVE,68
$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,-8019.5669
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,191212,155304,-4232.201,816.563,33,1.1,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-42.5
$GPS2,191212,160124,-4232.196,816.603,18,1.1,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.124,-0.160
$KALMAN_X,-363.8,-1080.6,-161.9,22027.3,1874.3
$KALMAN_Y,93595.0,-794.3,-520.5,-96259.1,7590.8
$MHEAD_RNG_PITCHd_Wd,167.2,6169,-20.6,-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,16,begin dive
$GC,19,-0.63,-90.6,0.0,0.0,0,111,0.00,0.00,-89.55,0.000,2,0.000,0.000,58,3379,2746,0,0,0,0,0,0
$GC,115,-0.68,-172.9,3.1,-3.5,11,142,5.57,2.25,-12.12,0.000,4,0.240,0.045,1422,1940,3180,0,0,0,0,0,0
$GC,235,-0.68,-172.9,19.4,-14.0,28,246,0.00,2.33,0.00,0.000,6,0.000,0.056,1413,3337,3181,0,0,0,0,0,0
$GC,322,-0.68,-172.9,35.1,-19.8,41,330,0.00,1.00,0.00,0.000,4,0.000,0.060,1408,3953,3181,0,0,0,0,0,0
$GC,542,-0.68,-172.9,78.1,-18.8,78,551,0.00,0.90,0.00,0.000,6,0.000,0.036,1408,3364,3182,0,0,0,0,0,0
$GC,877,-0.68,-172.9,134.5,-17.0,113,879,0.00,0.00,0.00,0.000,6,0.000,0.000,1408,3364,3183,0,0,0,0,0,0
$GC,1190,-0.68,-172.9,184.6,-16.4,133,1195,0.00,0.93,0.00,0.000,4,0.000,0.058,1404,3947,3183,0,0,0,0,0,0
$GC,1248,-0.68,-172.9,195.5,-18.0,136,1254,0.00,0.90,0.00,0.000,6,0.000,0.036,1403,3352,3183,0,0,0,0,0,0
$GC,1575,-0.68,-172.9,250.0,-17.1,157,1579,0.00,0.95,0.00,0.000,4,0.000,0.058,1399,3951,3183,0,0,0,0,0,0
$GC,1692,-0.68,-172.9,271.8,-18.4,162,1696,0.08,0.90,0.00,0.000,6,0.177,0.036,1422,3355,3183,0,0,0,0,0,0
$GC,2026,-0.68,-172.9,322.5,-14.8,178,2030,0.00,0.95,0.00,0.000,4,0.000,0.058,1418,3956,3183,0,0,0,0,0,0
$GC,2101,-0.68,-172.9,334.9,-16.3,181,2106,0.00,0.90,0.00,0.000,6,0.000,0.035,1418,3353,3183,0,0,0,0,0,0
$GC,2431,-0.68,-172.9,384.4,-15.0,197,2436,0.00,0.95,0.00,0.000,4,0.000,0.059,1414,3956,3183,0,0,0,0,0,0
$GC,2551,-0.68,-172.9,404.1,-15.4,202,2555,0.00,0.90,0.00,0.000,6,0.000,0.036,1414,3354,3183,0,0,0,0,0,0
$GC,2875,-0.68,-172.9,452.5,-14.9,213,2879,0.00,0.95,0.00,0.000,4,0.000,0.059,1410,3956,3183,0,0,0,0,0,0
$GC,3005,-0.68,-172.9,473.4,-16.4,216,3012,0.00,0.90,0.00,0.000,6,0.000,0.037,1409,3357,3183,0,0,0,0,0,0
$GC,3318,-0.68,-172.9,520.0,-14.7,227,3324,0.00,0.95,0.00,0.000,4,0.000,0.059,1405,3957,3182,0,0,0,0,0,0
$GC,3424,-0.68,-172.9,536.2,-16.2,230,3427,0.00,0.90,0.00,0.000,6,0.000,0.036,1405,3354,3182,0,0,0,0,0,0
$GC,3765,-0.68,-172.9,588.2,-15.1,241,3769,0.00,0.95,0.00,0.000,4,0.000,0.060,1401,3956,3182,0,0,0,0,0,0
$GC,3853,-0.68,-172.9,603.4,-17.1,243,3857,0.00,0.90,0.00,0.000,6,0.000,0.037,1401,3356,3182,0,0,0,0,0,0
$GC,4172,-0.68,-172.9,655.8,-16.8,254,4176,0.00,0.95,0.00,0.000,4,0.000,0.060,1397,3956,3181,0,0,0,0,0,0
$GC,4236,-0.68,-172.9,666.9,-17.6,255,4243,0.10,0.93,0.00,0.000,6,0.170,0.037,1427,3343,3181,0,0,0,0,0,0
$GC,4553,-0.68,-172.9,712.3,-14.0,266,4556,0.00,0.98,0.00,0.000,4,0.000,0.061,1423,3960,3180,0,0,0,0,0,0
$GC,4613,-0.68,-172.9,722.1,-15.4,267,4620,0.00,0.93,0.00,0.000,6,0.000,0.037,1423,3343,3180,0,0,0,0,0,0
$GC,4927,-0.68,-172.9,765.4,-13.7,278,4930,0.00,0.98,0.00,0.000,4,0.000,0.061,1418,3957,3179,0,0,0,0,0,0
$GC,5021,-0.68,-172.9,779.4,-14.4,280,5028,0.00,0.93,0.00,0.000,6,0.000,0.037,1419,3346,3179,0,0,0,0,0,0
$GC,5335,-0.68,-172.9,820.6,-12.9,291,5338,0.00,0.95,0.00,0.000,4,0.000,0.061,1414,3948,3178,0,0,0,0,0,0
$GC,5423,-0.68,-172.9,833.1,-13.9,293,5427,0.00,0.90,0.00,0.000,6,0.000,0.037,1414,3349,3178,0,0,0,0,0,0
$GC,5743,-0.68,-172.9,875.4,-13.4,304,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,1414,3350,3177,0,0,0,0,0,0
$GC,6050,-0.68,-172.9,915.1,-12.8,314,6053,0.00,0.95,0.00,0.000,4,0.000,0.062,1410,3950,3176,0,0,0,0,0,0
$GC,6201,-0.68,-172.9,935.9,-13.8,318,6205,0.00,0.90,0.00,0.000,6,0.000,0.039,1410,3355,3175,0,0,0,0,0,0
$GC,6525,-0.68,-172.9,977.6,-12.6,329,6529,0.00,0.95,0.00,0.000,4,0.000,0.062,1406,3953,3174,0,0,0,0,0,0
$GC,6638,-0.68,-172.9,993.3,-13.9,332,6642,0.00,0.90,0.00,0.000,6,0.000,0.039,1406,3357,3174,0,0,0,0,0,0
$STATE,6693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6693,begin apogee
$GC,6700,-0.14,0.0,1000.5,13.2,334,6875,0.65,0.00,164.20,1.844,6,0.155,0.000,1601,3261,2476,0,0,0,0,1,0
$STATE,6877,end apogee,CONTROL_FINISHED_OK
$STATE,6877,begin climb
$GC,6879,0.68,172.9,1006.3,0.0,340,7069,0.75,2.45,171.95,1.789,4,0.050,0.031,1884,1839,1768,0,0,0,0,1,0
$GC,7127,0.68,172.9,963.8,19.5,347,7132,0.00,2.47,0.00,0.000,6,0.000,0.050,1884,3253,1766,0,0,0,0,0,0
$GC,7441,0.68,172.9,885.4,25.5,357,7446,0.00,1.15,0.00,0.000,4,0.000,0.054,1884,3947,1761,0,0,0,0,0,0
$GC,7503,0.68,172.9,868.3,27.4,358,7510,0.00,1.10,0.00,0.000,6,0.000,0.031,1890,3240,1760,0,0,0,0,0,0
$GC,7817,0.68,172.9,787.7,25.7,369,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3240,1758,0,0,0,0,0,0
$GC,8122,0.68,172.9,709.9,25.4,379,8128,0.00,1.15,0.00,0.000,4,0.000,0.054,1890,3952,1757,0,0,0,0,0,0
$GC,8201,0.68,172.9,688.3,27.3,381,8205,0.00,1.08,0.00,0.000,6,0.000,0.032,1895,3242,1757,0,0,0,0,0,0
$GC,8530,0.68,172.9,603.7,25.6,392,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3243,1756,0,0,0,0,0,0
$GC,8837,0.68,172.9,526.5,25.0,402,8840,0.00,1.12,0.00,0.000,4,0.000,0.054,1895,3950,1756,0,0,0,0,0,0
$GC,8909,0.68,172.9,508.0,27.8,404,8914,0.10,1.05,0.00,0.000,6,0.205,0.031,1874,3244,1755,0,0,0,0,0,0
$GC,9250,0.68,172.9,429.4,22.0,415,9254,0.00,1.12,0.00,0.000,4,0.000,0.054,1873,3949,1754,0,0,0,0,0,0
$GC,9312,0.68,172.9,414.3,25.1,416,9320,0.00,1.05,0.00,0.000,6,0.000,0.032,1877,3248,1754,0,0,0,0,0,0
$GC,9632,0.68,172.9,341.1,23.8,431,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,3249,1754,0,0,0,0,0,0
$GC,9939,0.68,172.9,266.7,24.0,446,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,3249,1753,0,0,0,0,0,0
$GC,10257,0.68,172.9,190.7,23.6,465,10261,0.00,1.12,0.00,0.000,4,0.000,0.054,1877,3957,1753,0,0,0,0,0,0
$GC,10313,0.68,172.9,175.2,25.5,468,10317,0.00,1.05,0.00,0.000,6,0.000,0.031,1882,3247,1753,0,0,0,0,0,0
$GC,10643,0.68,172.9,100.5,22.1,489,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,3247,1753,0,0,0,0,0,0
$GC,10995,0.68,172.9,25.3,19.7,547,11003,0.00,1.12,0.00,0.000,4,0.000,0.054,1883,3954,1753,0,0,0,0,0,0
$GC,11076,0.68,172.9,8.0,20.9,559,11086,0.00,1.05,0.00,0.000,6,0.000,0.031,1888,3239,1753,0,0,0,0,0,0
$STATE,11101,end climb,SURFACE_DEPTH_REACHED
$STATE,11101,begin surface coast
$FINISH,1.1,1.012710
$STATE,11119,end surface coast,CONTROL_FINISHED_OK
$STATE,11119,begin surface
$SM_CCo,11135,137.15,0.747,1,0,503,482.50
$SM_GC,1.30,0.00,0.00,137.15,0.000,0.000,0.747,63,3364,503,-4.96,0.31,482.50
$IRIDIUM_FIX,-4215.72,815.66,191212,121241
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.1,14.725
$10V_AH,10.1,7.379
$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,12.150,49.050,336.150,137.150,0.000,27.861,45.648,274.954,0.000,0.000,21.245,1450.956,7142.224,554.016,1957.513,675.646,33.350,1343.083,0.000,1737.914,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,78.030,1844.415,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.250,1238.094,593.428,263.810,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,40461,564
$CAP_FILE_SIZE,99101,0
$CFSIZE,259252224,254255104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,191212,191135,-4233.154,818.088,36,1.1,36,-24.9