version: 66.07
glider: 543
mission: 6
dive: 79
start: 12 21 112 6 53 10
data:
$ID,543
$MISSION,6
$DIVE,79
$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,-8057.6768
$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,37
$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
$GPS1,211212,063951,-4231.643,815.284,37,1.2,45,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-22.0
$GPS2,211212,065212,-4231.610,815.455,15,1.4,15,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.077,-0.201
$KALMAN_X,4949.9,-1235.8,-437.6,15582.3,4460.3
$KALMAN_Y,100552.7,-688.7,-256.6,-102506.2,7436.1
$MHEAD_RNG_PITCHd_Wd,183.9,6885,-19.1,-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,-0.60,-104.5,0.0,0.0,0,119,0.00,0.00,-96.95,0.000,6,0.000,0.000,60,3365,2902,0,0,0,0,0,0
$GC,123,-0.65,-194.7,3.2,-3.7,12,142,5.43,2.28,-9.02,0.000,4,0.227,0.047,1435,1935,3270,0,0,0,0,0,0
$GC,354,-0.65,-194.7,38.4,-13.4,47,362,0.00,2.33,0.00,0.000,6,0.000,0.057,1426,3336,3272,0,0,0,0,0,0
$GC,602,-0.65,-194.7,79.6,-16.5,88,609,0.00,0.98,0.00,0.000,4,0.000,0.059,1421,3949,3272,0,0,0,0,0,0
$GC,695,-0.65,-194.7,95.8,-16.1,104,703,0.00,0.93,0.00,0.000,6,0.000,0.034,1421,3340,3272,0,0,0,0,0,0
$GC,1026,-0.65,-194.7,146.0,-15.1,128,1030,0.00,0.98,0.00,0.000,4,0.000,0.058,1416,3955,3273,0,0,0,0,0,0
$GC,1175,-0.65,-194.7,171.3,-15.8,136,1186,0.00,0.93,0.00,0.000,6,0.000,0.034,1416,3341,3273,0,0,0,0,0,0
$GC,1496,-0.65,-194.7,222.5,-16.2,157,1502,0.00,0.95,0.00,0.000,4,0.000,0.058,1412,3946,3273,0,0,0,0,0,0
$GC,1607,-0.65,-194.7,241.3,-16.9,163,1610,0.00,0.90,0.00,0.000,6,0.000,0.035,1412,3345,3273,0,0,0,0,0,0
$GC,1941,-0.65,-194.7,295.7,-16.3,180,1944,0.00,0.95,0.00,0.000,4,0.000,0.057,1407,3948,3273,0,0,0,0,0,0
$GC,2035,-0.65,-194.7,311.9,-17.2,184,2039,0.08,0.90,0.00,0.000,6,0.163,0.035,1432,3348,3273,0,0,0,0,0,0
$GC,2369,-0.65,-194.7,358.8,-13.8,200,2372,0.00,0.95,0.00,0.000,4,0.000,0.060,1429,3952,3273,0,0,0,0,0,0
$GC,2465,-0.65,-194.7,373.1,-13.7,204,2469,0.00,0.90,0.00,0.000,6,0.000,0.035,1428,3348,3273,0,0,0,0,0,0
$GC,2793,-0.65,-194.7,415.9,-12.8,218,2797,0.00,0.95,0.00,0.000,4,0.000,0.059,1424,3953,3273,0,0,0,0,0,0
$GC,2867,-0.65,-194.7,426.4,-14.2,220,2871,0.00,0.90,0.00,0.000,6,0.000,0.036,1424,3353,3273,0,0,0,0,0,0
$GC,3203,-0.65,-194.7,473.4,-14.4,231,3207,0.00,0.95,0.00,0.000,4,0.000,0.060,1420,3955,3272,0,0,0,0,0,0
$GC,3306,-0.65,-194.7,489.4,-15.5,234,3309,0.00,0.90,0.00,0.000,6,0.000,0.036,1420,3352,3272,0,0,0,0,0,0
$GC,3647,-0.65,-194.7,541.7,-15.5,245,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,1419,3352,3272,0,0,0,0,0,0
$GC,3953,-0.65,-194.7,588.2,-15.0,255,3957,0.00,0.95,0.00,0.000,4,0.000,0.060,1415,3952,3271,0,0,0,0,0,0
$GC,4084,-0.65,-194.7,608.6,-15.9,258,4091,0.00,0.90,0.00,0.000,6,0.000,0.037,1415,3352,3271,0,0,0,0,0,0
$GC,4397,-0.65,-194.7,654.4,-14.2,269,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3352,3270,0,0,0,0,0,0
$GC,4704,-0.65,-194.7,696.8,-13.9,279,4707,0.00,0.95,0.00,0.000,4,0.000,0.061,1411,3954,3269,0,0,0,0,0,0
$GC,4844,-0.65,-194.7,717.7,-14.6,283,4847,0.00,0.90,0.00,0.000,6,0.000,0.037,1411,3352,3269,0,0,0,0,0,0
$GC,5179,-0.65,-194.7,765.1,-14.1,294,5183,0.00,0.95,0.00,0.000,4,0.000,0.061,1406,3953,3268,0,0,0,0,0,0
$GC,5263,-0.65,-194.7,778.2,-15.9,296,5267,0.08,0.90,0.00,0.000,6,0.164,0.037,1431,3357,3267,0,0,0,0,0,0
$GC,5587,-0.65,-194.7,818.5,-12.4,307,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3357,3267,0,0,0,0,0,0
$GC,5893,-0.65,-194.7,856.6,-12.4,317,5897,0.00,0.95,0.00,0.000,4,0.000,0.063,1427,3955,3265,0,0,0,0,0,0
$GC,5982,-0.65,-194.7,868.8,-13.7,319,5986,0.00,0.93,0.00,0.000,6,0.000,0.038,1427,3341,3265,0,0,0,0,0,0
$GC,6300,-0.65,-194.7,909.3,-13.0,330,6304,0.00,0.98,0.00,0.000,4,0.000,0.063,1423,3956,3264,0,0,0,0,0,0
$GC,6384,-0.65,-194.7,921.3,-13.8,332,6388,0.00,0.93,0.00,0.000,6,0.000,0.038,1423,3346,3264,0,0,0,0,0,0
$GC,6709,-0.65,-194.7,963.9,-13.1,343,6713,0.00,0.95,0.00,0.000,4,0.000,0.062,1418,3947,3263,0,0,0,0,0,0
$GC,6769,-0.65,-194.7,972.7,-14.0,344,6776,0.00,0.90,0.00,0.000,6,0.000,0.039,1418,3351,3262,0,0,0,0,0,0
$STATE,6988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6988,begin apogee
$GC,6995,-0.14,0.0,1001.6,13.1,352,7193,0.60,0.00,194.88,1.181,6,0.142,0.000,1603,3257,2473,0,0,0,0,0,0
$STATE,7195,end apogee,CONTROL_FINISHED_OK
$STATE,7195,begin climb
$GC,7198,0.65,194.7,1008.7,0.0,358,7401,0.70,1.25,194.95,1.138,4,0.050,0.056,1864,3947,1671,0,0,0,0,0,0
$GC,7521,0.65,194.7,941.9,27.5,368,7525,0.00,1.15,0.00,0.000,6,0.000,0.032,1870,3235,1653,0,0,0,0,0,0
$GC,7863,0.65,194.7,856.7,24.9,379,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3235,1649,0,0,0,0,0,0
$GC,8169,0.65,194.7,781.0,24.7,389,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3235,1648,0,0,0,0,0,0
$GC,8476,0.65,194.7,706.3,24.5,399,8480,0.00,1.17,0.00,0.000,4,0.000,0.057,1870,3956,1647,0,0,0,0,0,0
$GC,8593,0.65,194.7,674.3,26.7,402,8599,0.00,1.08,0.00,0.000,6,0.000,0.032,1876,3243,1647,0,0,0,0,0,0
$GC,8918,0.65,194.7,594.2,24.5,413,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,3243,1646,0,0,0,0,0,0
$GC,9225,0.65,194.7,519.8,24.2,423,9228,0.00,1.15,0.00,0.000,4,0.000,0.056,1876,3956,1645,0,0,0,0,0,0
$GC,9285,0.65,194.7,503.6,26.8,424,9294,0.00,1.05,0.00,0.000,6,0.000,0.032,1881,3251,1645,0,0,0,0,0,0
$GC,9599,0.65,194.7,427.0,24.5,435,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3251,1645,0,0,0,0,0,0
$GC,9908,0.65,194.7,351.0,25.4,448,9912,0.00,1.12,0.00,0.000,4,0.000,0.056,1881,3953,1644,0,0,0,0,0,0
$GC,10027,0.65,194.7,318.9,27.7,453,10031,0.00,1.05,0.00,0.000,6,0.000,0.032,1886,3247,1644,0,0,0,0,0,0
$GC,10348,0.65,194.7,235.6,25.3,469,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,3246,1644,0,0,0,0,0,0
$GC,10660,0.65,194.7,156.9,25.1,489,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,3246,1644,0,0,0,0,0,0
$GC,10981,0.65,194.7,79.4,24.6,517,10988,0.00,1.12,0.00,0.000,4,0.000,0.055,1886,3954,1644,0,0,0,0,0,0
$GC,11035,0.65,194.7,64.2,27.6,526,11045,0.10,1.05,0.00,0.000,6,0.197,0.031,1864,3239,1644,0,0,0,0,0,0
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,0.9,1.020036
$STATE,11325,end surface coast,CONTROL_FINISHED_OK
$STATE,11325,begin surface
$SM_CCo,11341,126.10,0.749,1,0,506,482.50
$SM_GC,1.15,0.00,0.00,126.10,0.000,0.000,0.749,58,3365,506,-4.97,0.34,482.50
$IRIDIUM_FIX,-4218.64,812.77,211212,060658
$TT8_MAMPS,0.025466
$HUMID,55.00
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.0,16.607
$10V_AH,10.1,8.391
$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,11.675,40.350,389.825,126.100,0.000,60.637,100.462,371.592,0.000,0.000,18.575,1456.151,7396.012,561.698,2108.352,694.694,33.385,1334.608,0.000,1762.035,0.000,1.013,0.000
$DEVICE_MAMPS,227.205,76.500,1181.160,748.935,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.557,1272.474,596.617,276.568,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,40510,572
$CAP_FILE_SIZE,97037,0
$CFSIZE,259252224,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,211212,100535,-4233.182,816.233,32,0.9,32,-24.9