version: 66.07
glider: 543
mission: 6
dive: 78
start: 12 21 112 3 17 25
data:
$ID,543
$MISSION,6
$DIVE,78
$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,-8054.2539
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,211212,030706,-4230.216,815.753,49,1.2,49,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-31.8
$GPS2,211212,031629,-4230.240,815.940,17,1.1,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.021,-0.225
$KALMAN_X,5983.4,-1330.3,-438.7,15305.6,5992.1
$KALMAN_Y,97789.0,-105.6,-186.9,-97870.0,5440.3
$MHEAD_RNG_PITCHd_Wd,210.3,5562,-18.0,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.57,-116.0,0.0,0.0,0,119,0.00,0.00,-96.97,0.000,2,0.000,0.000,61,3371,2883,0,0,0,0,0,0
$GC,123,-0.62,-194.7,3.1,-3.8,12,143,5.60,0.95,-9.73,0.000,4,0.236,0.086,1440,3950,3269,0,0,0,0,0,0
$GC,423,-0.62,-194.7,58.2,-16.3,59,430,0.00,0.93,0.00,0.000,6,0.000,0.036,1440,3346,3272,0,0,0,0,0,0
$GC,664,-0.62,-194.7,95.6,-16.1,100,673,0.00,0.93,0.00,0.000,4,0.000,0.059,1436,3925,3272,0,0,0,0,0,0
$GC,715,-0.62,-194.7,104.1,-16.6,105,722,0.00,0.88,0.00,0.000,6,0.000,0.037,1437,3350,3272,0,0,0,0,0,0
$GC,1034,-0.62,-194.7,153.7,-15.3,126,1038,0.00,0.93,0.00,0.000,4,0.000,0.059,1432,3931,3273,0,0,0,0,0,0
$GC,1161,-0.62,-194.7,174.1,-16.0,133,1167,0.00,0.88,0.00,0.000,6,0.000,0.036,1432,3353,3273,0,0,0,0,0,0
$GC,1488,-0.62,-194.7,222.4,-14.9,154,1492,0.00,0.95,0.00,0.000,4,0.000,0.060,1428,3935,3273,0,0,0,0,0,0
$GC,1669,-0.62,-194.7,249.5,-14.6,164,1673,0.00,0.88,0.00,0.000,6,0.000,0.036,1428,3352,3273,0,0,0,0,0,0
$GC,1998,-0.62,-194.7,295.9,-14.1,180,2001,0.00,0.93,0.00,0.000,4,0.000,0.059,1424,3939,3273,0,0,0,0,0,0
$GC,2118,-0.62,-194.7,315.0,-15.5,185,2122,0.00,0.88,0.00,0.000,6,0.000,0.035,1424,3352,3273,0,0,0,0,0,0
$GC,2448,-0.62,-194.7,364.1,-15.0,201,2454,0.00,0.93,0.00,0.000,4,0.000,0.059,1419,3940,3273,0,0,0,0,0,0
$GC,2616,-0.62,-194.7,391.0,-15.7,208,2620,0.00,0.88,0.00,0.000,6,0.000,0.036,1419,3355,3273,0,0,0,0,0,0
$GC,2951,-0.62,-194.7,441.9,-15.1,220,2953,0.10,0.00,0.00,0.000,6,0.187,0.000,1444,3355,3273,0,0,0,0,0,0
$GC,3258,-0.62,-194.7,480.1,-12.4,230,3261,0.00,0.90,0.00,0.000,4,0.000,0.060,1440,3924,3272,0,0,0,0,0,0
$GC,3398,-0.62,-194.7,498.5,-12.7,234,3401,0.00,0.85,0.00,0.000,6,0.000,0.037,1440,3358,3272,0,0,0,0,0,0
$GC,3733,-0.62,-194.7,541.5,-13.0,245,3737,0.00,0.90,0.00,0.000,4,0.000,0.060,1436,3927,3272,0,0,0,0,0,0
$GC,3856,-0.62,-194.7,558.7,-13.8,248,3859,0.00,0.88,0.00,0.000,6,0.000,0.037,1437,3346,3272,0,0,0,0,0,0
$GC,4176,-0.62,-194.7,600.9,-13.5,259,4179,0.00,0.93,0.00,0.000,4,0.000,0.059,1432,3932,3271,0,0,0,0,0,0
$GC,4277,-0.62,-194.7,615.3,-14.3,262,4281,0.00,0.88,0.00,0.000,6,0.000,0.037,1432,3348,3271,0,0,0,0,0,0
$GC,4619,-0.62,-194.7,660.9,-13.2,273,4624,0.00,0.93,0.00,0.000,4,0.000,0.060,1428,3932,3270,0,0,0,0,0,0
$GC,4726,-0.62,-194.7,676.2,-14.3,276,4729,0.00,0.88,0.00,0.000,6,0.000,0.037,1427,3352,3270,0,0,0,0,0,0
$GC,5061,-0.62,-194.7,720.1,-13.1,287,5065,0.00,0.93,0.00,0.000,4,0.000,0.060,1423,3938,3269,0,0,0,0,0,0
$GC,5220,-0.62,-194.7,741.8,-12.7,291,5225,0.00,0.88,0.00,0.000,6,0.000,0.037,1423,3356,3268,0,0,0,0,0,0
$GC,5540,-0.62,-194.7,782.6,-12.9,302,5545,0.00,0.93,0.00,0.000,4,0.000,0.061,1419,3940,3267,0,0,0,0,0,0
$GC,5652,-0.62,-194.7,798.5,-13.7,305,5655,0.00,0.88,0.00,0.000,6,0.000,0.038,1419,3356,3267,0,0,0,0,0,0
$GC,5982,-0.62,-194.7,842.3,-13.2,316,5986,0.10,0.93,0.00,0.000,4,0.186,0.063,1440,3929,3267,0,0,0,0,0,0
$GC,6090,-0.62,-194.7,855.0,-10.6,319,6093,0.00,0.88,0.00,0.000,6,0.000,0.039,1440,3351,3266,0,0,0,0,0,0
$GC,6425,-0.62,-194.7,892.2,-10.9,330,6429,0.00,0.93,0.00,0.000,4,0.000,0.063,1436,3935,3265,0,0,0,0,0,0
$GC,6519,-0.62,-194.7,903.6,-12.0,332,6526,0.00,0.88,0.00,0.000,6,0.000,0.038,1436,3355,3265,0,0,0,0,0,0
$GC,6833,-0.62,-194.7,939.9,-11.6,343,6836,0.00,0.90,0.00,0.000,4,0.000,0.063,1432,3924,3264,0,0,0,0,0,0
$GC,6944,-0.62,-194.7,953.6,-11.7,346,6949,0.00,0.88,0.00,0.000,6,0.000,0.039,1432,3345,3263,0,0,0,0,0,0
$GC,7275,-0.62,-194.7,991.7,-11.5,357,7280,0.00,0.93,0.00,0.000,4,0.000,0.063,1427,3927,3262,0,0,0,0,0,0
$STATE,7341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7341,begin apogee
$GC,7349,-0.14,0.0,1000.1,12.1,359,7540,0.55,0.00,183.15,1.840,6,0.139,0.000,1598,3247,2473,0,0,0,0,1,0
$STATE,7542,end apogee,CONTROL_FINISHED_OK
$STATE,7542,begin climb
$GC,7545,0.62,194.7,1007.0,0.0,365,7754,0.70,2.50,193.35,1.795,4,0.050,0.034,1865,1846,1680,0,0,0,0,1,0
$GC,7850,0.62,194.7,954.0,18.7,374,7855,0.00,2.45,0.00,0.000,6,0.000,0.052,1865,3239,1675,0,0,0,0,0,0
$GC,8177,0.62,194.7,875.6,24.6,385,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,3239,1671,0,0,0,0,0,0
$GC,8481,0.62,194.7,799.7,24.5,395,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,3239,1669,0,0,0,0,0,0
$GC,8787,0.62,194.7,725.4,24.2,405,8791,0.00,2.17,0.00,0.000,4,0.000,0.035,1876,1835,1669,0,0,0,0,0,0
$GC,8831,0.62,194.7,715.2,20.7,406,8836,0.00,2.33,0.00,0.000,6,0.000,0.052,1876,3264,1667,0,0,0,0,0,0
$GC,9150,0.62,194.7,637.9,24.9,417,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,3264,1667,0,0,0,0,0,0
$GC,9456,0.62,194.7,562.4,24.5,427,9460,0.00,2.20,0.00,0.000,4,0.000,0.033,1886,1831,1667,0,0,0,0,0,0
$GC,9522,0.62,194.7,548.8,19.7,429,9527,0.12,2.28,0.00,0.000,6,0.187,0.050,1857,3253,1666,0,0,0,0,0,0
$GC,9858,0.62,194.7,472.2,23.3,440,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3253,1666,0,0,0,0,0,0
$GC,10165,0.62,194.7,400.8,23.7,450,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3253,1665,0,0,0,0,0,0
$GC,10485,0.62,194.7,322.3,24.5,465,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3253,1665,0,0,0,0,0,0
$GC,10794,0.62,194.7,249.3,23.7,480,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3253,1665,0,0,0,0,0,0
$GC,11106,0.62,194.7,175.5,23.4,500,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3253,1665,0,0,0,0,0,0
$GC,11419,0.62,194.7,103.7,23.5,520,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3253,1665,0,0,0,0,0,0
$GC,11764,0.62,194.7,27.8,23.1,576,11773,0.00,2.17,0.00,0.000,4,0.000,0.031,1866,1822,1665,0,0,0,0,0,0
$GC,11845,0.62,194.7,12.6,16.6,588,11856,0.00,2.28,0.00,0.000,6,0.000,0.050,1866,3246,1665,0,0,0,0,0,0
$STATE,11897,end climb,SURFACE_DEPTH_REACHED
$STATE,11897,begin surface coast
$FINISH,1.0,1.026141
$STATE,11912,end surface coast,CONTROL_FINISHED_OK
$STATE,11912,begin surface
$SM_CCo,11928,127.68,0.742,1,0,505,482.50
$SM_GC,1.02,0.00,0.00,127.68,0.000,0.000,0.742,60,3364,505,-4.97,0.31,482.50
$IRIDIUM_FIX,-4212.81,814.82,201212,232329
$TT8_MAMPS,0.025466
$HUMID,55.35
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.1,16.425
$10V_AH,10.1,8.301
$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,11.950,47.525,376.500,127.675,0.000,33.882,21.376,357.677,0.000,0.000,20.487,1532.863,7704.341,557.340,2145.219,685.937,33.353,1386.019,0.000,1860.825,0.000,1.015,0.000
$DEVICE_MAMPS,235.620,85.680,1839.825,742.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.845,1293.141,599.929,273.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,43850,597
$CAP_FILE_SIZE,101297,0
$CFSIZE,259252224,253710336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,211212,063951,-4231.643,815.284,37,1.2,45,-24.9