version: 66.07
glider: 543
mission: 6
dive: 76
start: 12 20 112 19 47 25
data:
$ID,543
$MISSION,6
$DIVE,76
$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,-8047.2378
$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,54
$R_STBD_OVSHOOT,25
$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
$GPS1,201212,193704,-4228.430,819.174,36,0.9,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-32.3
$GPS2,201212,194629,-4228.448,819.203,17,1.3,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.188,-0.163
$KALMAN_X,4523.4,29.4,-151.1,19552.2,5252.6
$KALMAN_Y,92005.4,546.5,207.4,-89827.1,755.6
$MHEAD_RNG_PITCHd_Wd,253.9,3074,-16.0,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.53,-143.5,0.0,0.0,0,121,0.00,0.00,-97.15,0.000,2,0.000,0.000,62,3361,2900,0,0,0,0,0,0
$GC,125,-0.56,-194.7,3.5,-4.8,12,145,5.75,1.00,-8.95,0.000,4,0.241,0.092,1459,3956,3270,0,0,0,0,0,0
$GC,310,-0.56,-194.7,34.6,-15.4,39,317,0.00,0.90,0.00,0.000,6,0.000,0.037,1459,3370,3272,0,0,0,0,0,0
$GC,559,-0.56,-194.7,68.9,-13.0,80,566,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3945,3273,0,0,0,0,0,0
$GC,673,-0.56,-194.7,83.6,-13.4,99,680,0.00,0.90,0.00,0.000,6,0.000,0.036,1455,3352,3273,0,0,0,0,0,0
$GC,1007,-0.56,-194.7,125.7,-12.2,134,1010,0.00,0.95,0.00,0.000,4,0.000,0.058,1450,3950,3274,0,0,0,0,0,0
$GC,1180,-0.56,-194.7,148.4,-13.3,143,1186,0.00,0.90,0.00,0.000,6,0.000,0.034,1450,3352,3274,0,0,0,0,0,0
$GC,1501,-0.56,-194.7,179.9,-6.8,164,1505,0.00,0.93,0.00,0.000,4,0.000,0.047,1450,3957,3275,0,0,0,0,0,0
$GC,1583,-0.56,-194.7,185.2,-9.2,168,1591,0.00,0.93,0.00,0.000,6,0.000,0.034,1450,3337,3275,0,0,0,0,0,0
$GC,1906,-0.56,-194.7,222.5,-12.1,189,1910,0.00,0.95,0.00,0.000,4,0.000,0.055,1445,3945,3275,0,0,0,0,0,0
$GC,2014,-0.56,-194.7,236.3,-12.7,195,2018,0.00,0.88,0.00,0.000,6,0.000,0.034,1446,3352,3275,0,0,0,0,0,0
$GC,2334,-0.56,-194.7,276.5,-12.4,212,2337,0.00,0.93,0.00,0.000,4,0.000,0.057,1441,3945,3275,0,0,0,0,0,0
$GC,2398,-0.56,-194.7,285.1,-12.7,214,2408,0.00,0.88,0.00,0.000,6,0.000,0.034,1441,3352,3275,0,0,0,0,0,0
$GC,2716,-0.56,-194.7,325.5,-12.8,230,2719,0.00,0.93,0.00,0.000,4,0.000,0.056,1436,3945,3275,0,0,0,0,0,0
$GC,2818,-0.56,-194.7,339.9,-13.6,234,2822,0.08,0.88,0.00,0.000,6,0.143,0.034,1461,3352,3274,0,0,0,0,0,0
$GC,3140,-0.56,-194.7,374.3,-10.7,250,3144,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3943,3274,0,0,0,0,0,0
$GC,3238,-0.56,-194.7,385.5,-10.6,254,3241,0.00,0.88,0.00,0.000,6,0.000,0.034,1459,3354,3274,0,0,0,0,0,0
$GC,3563,-0.56,-194.7,420.3,-10.7,267,3567,0.00,0.93,0.00,0.000,4,0.000,0.057,1454,3946,3274,0,0,0,0,0,0
$GC,3635,-0.56,-194.7,427.9,-11.1,269,3639,0.00,0.88,0.00,0.000,6,0.000,0.035,1454,3355,3274,0,0,0,0,0,0
$GC,3977,-0.56,-194.7,465.3,-10.7,280,3980,0.00,0.93,0.00,0.000,4,0.000,0.058,1450,3947,3274,0,0,0,0,0,0
$GC,4071,-0.56,-194.7,476.3,-11.2,282,4078,0.00,0.88,0.00,0.000,6,0.000,0.036,1450,3357,3274,0,0,0,0,0,0
$GC,4385,-0.56,-194.7,510.3,-10.9,293,4388,0.00,0.93,0.00,0.000,4,0.000,0.057,1445,3947,3273,0,0,0,0,0,0
$GC,4496,-0.56,-194.7,523.3,-10.9,296,4502,0.00,0.88,0.00,0.000,6,0.000,0.036,1445,3359,3273,0,0,0,0,0,0
$GC,4827,-0.56,-194.7,561.3,-11.6,307,4832,0.00,0.93,0.00,0.000,4,0.000,0.058,1441,3950,3272,0,0,0,0,0,0
$GC,4939,-0.56,-194.7,575.7,-12.3,310,4943,0.00,0.90,0.00,0.000,6,0.000,0.036,1441,3344,3271,0,0,0,0,0,0
$GC,5270,-0.56,-194.7,615.0,-12.0,321,5273,0.00,0.95,0.00,0.000,4,0.000,0.059,1437,3949,3271,0,0,0,0,0,0
$GC,5359,-0.56,-194.7,626.4,-12.4,323,5363,0.08,0.90,0.00,0.000,6,0.143,0.036,1461,3347,3271,0,0,0,0,0,0
$GC,5677,-0.56,-194.7,658.4,-10.0,334,5680,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3953,3269,0,0,0,0,0,0
$GC,5741,-0.56,-194.7,664.8,-10.8,335,5747,0.00,0.90,0.00,0.000,6,0.000,0.037,1458,3350,3270,0,0,0,0,0,0
$GC,6054,-0.56,-194.7,695.1,-9.3,346,6059,0.00,0.93,0.00,0.000,4,0.000,0.060,1454,3940,3268,0,0,0,0,0,0
$GC,6133,-0.56,-194.7,703.0,-9.4,348,6136,0.00,0.88,0.00,0.000,6,0.000,0.037,1454,3354,3269,0,0,0,0,0,0
$GC,6463,-0.56,-194.7,728.9,-7.9,359,6469,0.00,0.93,0.00,0.000,4,0.000,0.063,1449,3938,3268,0,0,0,0,0,0
$GC,6511,-0.56,-194.7,733.2,-10.6,360,6515,0.00,0.88,0.00,0.000,6,0.000,0.038,1449,3357,3268,0,0,0,0,0,0
$GC,6842,-0.56,-194.7,767.6,-10.2,371,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3357,3266,0,0,0,0,0,0
$GC,7148,-0.56,-194.7,798.7,-10.1,381,7153,0.00,0.93,0.00,0.000,4,0.000,0.060,1445,3943,3266,0,0,0,0,0,0
$GC,7260,-0.56,-194.7,811.0,-11.3,384,7264,0.00,0.90,0.00,0.000,6,0.000,0.038,1445,3346,3266,0,0,0,0,0,0
$GC,7590,-0.56,-194.7,845.8,-10.6,395,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3347,3265,0,0,0,0,0,0
$GC,7898,-0.56,-194.7,878.7,-10.7,405,7902,0.00,0.95,0.00,0.000,4,0.000,0.061,1440,3949,3264,0,0,0,0,0,0
$GC,7958,-0.56,-194.7,885.9,-11.4,406,7965,0.00,0.90,0.00,0.000,6,0.000,0.039,1440,3349,3264,0,0,0,0,0,0
$GC,8272,-0.56,-194.7,920.9,-11.2,417,8275,0.00,0.95,0.00,0.000,4,0.000,0.062,1436,3952,3263,0,0,0,0,0,0
$GC,8344,-0.56,-194.7,928.9,-11.3,419,8348,0.08,0.90,0.00,0.000,6,0.147,0.039,1460,3356,3263,0,0,0,0,0,0
$GC,8685,-0.56,-194.7,960.5,-9.0,430,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3356,3263,0,0,0,0,0,0
$GC,8992,-0.56,-194.7,986.9,-8.4,440,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3356,3262,0,0,0,0,0,0
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9179,-0.14,0.0,1001.7,8.0,446,9370,0.45,0.00,182.25,1.854,6,0.132,0.000,1603,3246,2473,0,0,0,0,1,0
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9374,0.56,194.7,1006.8,0.0,452,9583,0.62,1.30,193.32,1.795,4,0.045,0.056,1840,3933,1679,0,0,0,0,1,0
$GC,9841,0.56,194.7,909.6,26.8,466,9844,0.00,1.10,0.00,0.000,6,0.000,0.033,1845,3242,1672,0,0,0,0,0,0
$GC,10176,0.56,194.7,830.7,23.4,477,10180,0.00,1.17,0.00,0.000,4,0.000,0.057,1846,3949,1669,0,0,0,0,0,0
$GC,10324,0.56,194.7,792.4,26.5,481,10328,0.00,1.08,0.00,0.000,6,0.000,0.033,1851,3251,1668,0,0,0,0,0,0
$GC,10653,0.56,194.7,715.5,23.0,492,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3251,1668,0,0,0,0,0,0
$GC,10960,0.56,194.7,647.1,22.6,502,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3251,1667,0,0,0,0,0,0
$GC,11267,0.56,194.7,579.5,21.9,512,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3251,1666,0,0,0,0,0,0
$GC,11572,0.56,194.7,511.9,22.3,522,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3251,1665,0,0,0,0,0,0
$GC,11878,0.56,194.7,444.0,22.3,532,11882,0.00,1.12,0.00,0.000,4,0.000,0.055,1851,3950,1665,0,0,0,0,0,0
$GC,11934,0.56,194.7,430.3,23.8,533,11938,0.00,1.05,0.00,0.000,6,0.000,0.032,1856,3246,1665,0,0,0,0,0,0
$GC,12269,0.56,194.7,356.0,23.1,547,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3246,1665,0,0,0,0,0,0
$GC,12575,0.56,194.7,285.0,22.9,562,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3246,1665,0,0,0,0,0,0
$GC,12895,0.56,194.7,211.3,23.0,580,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3246,1664,0,0,0,0,0,0
$GC,13207,0.56,194.7,139.4,23.1,600,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3246,1664,0,0,0,0,0,0
$GC,13530,0.56,194.7,65.2,22.3,638,13538,0.00,1.12,0.00,0.000,4,0.000,0.054,1856,3951,1665,0,0,0,0,0,0
$GC,13590,0.56,194.7,51.2,23.0,648,13601,0.00,1.05,0.00,0.000,6,0.000,0.031,1862,3237,1664,0,0,0,0,0,0
$STATE,13809,end climb,SURFACE_DEPTH_REACHED
$STATE,13809,begin surface coast
$FINISH,0.9,1.026101
$STATE,13824,end surface coast,CONTROL_FINISHED_OK
$STATE,13824,begin surface
$SM_CCo,13840,128.85,0.740,1,0,503,482.50
$SM_GC,1.20,0.00,0.00,128.85,0.000,0.000,0.740,60,3365,503,-4.97,0.34,482.50
$IRIDIUM_FIX,-4212.81,821.02,201212,151541
$TT8_MAMPS,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.1,16.017
$10V_AH,10.1,8.117
$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,11.850,44.075,375.575,128.850,0.000,33.933,57.013,314.649,0.000,0.000,19.846,1745.355,9116.445,572.141,2319.656,786.150,33.356,1476.785,0.000,2092.869,0.000,1.014,0.000
$DEVICE_MAMPS,240.975,91.800,1853.595,739.755,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.614,1506.037,677.542,293.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,50379,684
$CAP_FILE_SIZE,113818,0
$CFSIZE,259252224,253804544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,201212,234134,-4228.913,816.675,34,0.8,34,-24.9