version: 66.07
glider: 543
mission: 6
dive: 77
start: 12 20 112 23 56 4
data:
$ID,543
$MISSION,6
$DIVE,77
$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,-8050.7061
$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,57
$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
$GPS1,201212,234134,-4228.913,816.675,34,0.8,34,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-18.8
$GPS2,201212,235506,-4228.989,816.774,16,1.5,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.055,-0.191
$KALMAN_X,5880.0,-632.4,-506.2,15911.1,5603.9
$KALMAN_Y,94988.3,477.7,136.9,-93669.8,2385.8
$MHEAD_RNG_PITCHd_Wd,220.9,4786,-20.9,-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,-0.64,-88.1,0.0,0.0,0,118,0.00,0.00,-94.72,0.000,6,0.000,0.000,60,3364,2834,0,0,0,0,0,0
$GC,122,-0.68,-158.4,3.3,-4.2,12,141,5.50,0.90,-7.15,0.000,4,0.234,0.086,1420,3941,3122,0,0,0,0,0,0
$GC,419,-0.68,-158.4,61.4,-18.1,59,423,0.00,0.88,0.00,0.000,6,0.000,0.035,1420,3369,3124,0,0,0,0,0,0
$GC,769,-0.68,-158.4,118.2,-16.1,107,774,0.00,0.90,0.00,0.000,4,0.000,0.059,1416,3931,3125,0,0,0,0,0,0
$GC,1036,-0.68,-158.4,163.7,-16.9,122,1040,0.00,0.88,0.00,0.000,6,0.000,0.035,1416,3351,3125,0,0,0,0,0,0
$GC,1365,-0.68,-158.4,213.9,-15.2,143,1369,0.00,0.93,0.00,0.000,4,0.000,0.059,1412,3936,3125,0,0,0,0,0,0
$GC,1585,-0.68,-158.4,252.2,-17.8,155,1589,0.00,0.88,0.00,0.000,6,0.000,0.036,1412,3353,3125,0,0,0,0,0,0
$GC,1909,-0.68,-158.4,303.2,-16.0,171,1915,0.00,0.95,0.00,0.000,4,0.000,0.060,1408,3936,3125,0,0,0,0,0,0
$GC,2086,-0.68,-158.4,332.7,-16.8,178,2090,0.00,0.88,0.00,0.000,6,0.000,0.036,1408,3354,3125,0,0,0,0,0,0
$GC,2409,-0.68,-158.4,384.8,-16.1,194,2413,0.00,0.93,0.00,0.000,4,0.000,0.059,1404,3941,3125,0,0,0,0,0,0
$GC,2586,-0.68,-158.4,416.0,-17.1,201,2589,0.00,0.88,0.00,0.000,6,0.000,0.036,1404,3357,3125,0,0,0,0,0,0
$GC,2922,-0.68,-158.4,472.5,-16.5,212,2925,0.00,0.93,0.00,0.000,4,0.000,0.059,1399,3943,3124,0,0,0,0,0,0
$GC,3117,-0.68,-158.4,507.6,-16.9,217,3126,0.08,0.90,0.00,0.000,6,0.172,0.036,1422,3345,3124,0,0,0,0,0,0
$GC,3431,-0.68,-158.4,553.0,-14.2,228,3434,0.00,0.95,0.00,0.000,4,0.000,0.060,1419,3948,3124,0,0,0,0,0,0
$GC,3627,-0.68,-158.4,582.3,-14.4,233,3634,0.00,0.90,0.00,0.000,6,0.000,0.037,1419,3346,3123,0,0,0,0,0,0
$GC,3940,-0.68,-158.4,624.8,-13.2,244,3944,0.00,0.93,0.00,0.000,4,0.000,0.060,1414,3932,3122,0,0,0,0,0,0
$GC,4057,-0.68,-158.4,641.6,-13.7,247,4063,0.00,0.88,0.00,0.000,6,0.000,0.037,1414,3352,3122,0,0,0,0,0,0
$GC,4383,-0.68,-158.4,684.0,-13.2,258,4388,0.00,0.93,0.00,0.000,4,0.000,0.060,1410,3937,3121,0,0,0,0,0,0
$GC,4542,-0.68,-158.4,707.2,-14.6,262,4546,0.00,0.88,0.00,0.000,6,0.000,0.037,1410,3355,3120,0,0,0,0,0,0
$GC,4861,-0.68,-158.4,751.4,-13.8,273,4865,0.00,0.93,0.00,0.000,4,0.000,0.061,1406,3944,3120,0,0,0,0,0,0
$GC,5093,-0.68,-158.4,785.8,-14.9,279,5100,0.00,0.90,0.00,0.000,6,0.000,0.037,1406,3346,3119,0,0,0,0,0,0
$GC,5406,-0.68,-158.4,829.1,-13.9,290,5412,0.00,0.93,0.00,0.000,4,0.000,0.062,1402,3934,3118,0,0,0,0,0,0
$GC,5525,-0.68,-158.4,847.2,-15.9,293,5528,0.00,0.88,0.00,0.000,6,0.000,0.038,1402,3352,3117,0,0,0,0,0,0
$GC,5849,-0.68,-158.4,892.3,-13.6,304,5853,0.00,0.93,0.00,0.000,4,0.000,0.061,1397,3939,3116,0,0,0,0,0,0
$GC,5955,-0.68,-158.4,908.6,-15.1,307,5962,0.08,0.88,0.00,0.000,6,0.173,0.039,1421,3357,3116,0,0,0,0,0,0
$GC,6294,-0.68,-158.4,950.8,-12.5,318,6297,0.00,0.93,0.00,0.000,4,0.000,0.063,1417,3942,3115,0,0,0,0,0,0
$GC,6438,-0.68,-158.4,970.9,-13.4,322,6441,0.00,0.90,0.00,0.000,6,0.000,0.039,1417,3345,3115,0,0,0,0,0,0
$STATE,6673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6673,begin apogee
$GC,6681,-0.14,0.0,1001.3,12.7,330,6845,0.60,0.00,161.12,1.191,6,0.147,0.000,1600,3252,2472,0,0,0,0,0,0
$STATE,6846,end apogee,CONTROL_FINISHED_OK
$STATE,6846,begin climb
$GC,6849,0.68,158.4,1006.4,0.0,335,7020,0.75,2.42,160.65,1.157,4,0.055,0.033,1884,1833,1816,0,0,0,0,0,0
$GC,7065,0.68,158.4,969.7,19.5,341,7073,0.00,2.45,0.00,0.000,6,0.000,0.050,1884,3240,1803,0,0,0,0,0,0
$GC,7378,0.68,158.4,892.9,25.4,352,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,3240,1798,0,0,0,0,0,0
$GC,7685,0.68,158.4,815.9,25.2,362,7689,0.00,2.20,0.00,0.000,4,0.000,0.034,1895,1827,1795,0,0,0,0,0,0
$GC,7717,0.68,158.4,807.8,23.5,363,7722,0.00,2.33,0.00,0.000,6,0.000,0.051,1895,3256,1794,0,0,0,0,0,0
$GC,8047,0.68,158.4,722.9,26.1,374,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3257,1793,0,0,0,0,0,0
$GC,8353,0.68,158.4,643.9,25.8,384,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3256,1793,0,0,0,0,0,0
$GC,8660,0.68,158.4,565.3,25.4,394,8664,0.00,2.17,0.00,0.000,4,0.000,0.032,1906,1827,1793,0,0,0,0,0,0
$GC,8740,0.68,158.4,547.4,20.4,396,8744,0.15,2.28,0.00,0.000,6,0.196,0.050,1870,3251,1792,0,0,0,0,0,0
$GC,9060,0.68,158.4,475.2,22.4,407,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3251,1791,0,0,0,0,0,0
$GC,9365,0.68,158.4,407.5,22.3,417,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3251,1791,0,0,0,0,0,0
$GC,9675,0.68,158.4,337.4,23.2,431,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3251,1791,0,0,0,0,0,0
$GC,9985,0.68,158.4,266.7,23.3,446,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3250,1791,0,0,0,0,0,0
$GC,10303,0.68,158.4,195.5,21.7,465,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3251,1791,0,0,0,0,0,0
$GC,10617,0.68,158.4,124.5,22.6,485,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3251,1791,0,0,0,0,0,0
$GC,10954,0.68,158.4,48.2,20.4,531,10961,0.00,2.17,0.00,0.000,4,0.000,0.032,1879,1819,1791,0,0,0,0,0,0
$GC,10997,0.68,158.4,39.1,18.1,538,11008,0.00,2.28,0.00,0.000,6,0.000,0.048,1880,3246,1790,0,0,0,0,0,0
$STATE,11190,end climb,SURFACE_DEPTH_REACHED
$STATE,11190,begin surface coast
$FINISH,0.9,1.013208
$STATE,11210,end surface coast,CONTROL_FINISHED_OK
$STATE,11210,begin surface
$SM_CCo,11226,140.07,0.744,1,0,503,482.50
$SM_GC,1.08,0.00,0.00,140.07,0.000,0.000,0.744,61,3371,503,-4.96,0.51,482.50
$IRIDIUM_FIX,-4215.72,818.13,201212,191933
$TT8_MAMPS,0.025466
$HUMID,55.04
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.4,16.184
$10V_AH,10.1,8.209
$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,12.000,42.100,321.775,140.075,0.000,85.170,42.280,438.288,0.000,0.000,18.957,1472.249,7202.170,514.695,2293.998,702.180,33.359,1314.225,0.000,1865.783,0.000,1.013,0.000
$DEVICE_MAMPS,234.090,86.445,1191.105,743.580,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.984,1266.187,595.845,273.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,40464,570
$CAP_FILE_SIZE,98896,0
$CFSIZE,259252224,253767680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,211212,030706,-4230.216,815.753,49,1.2,49,-24.9