version: 66.07
glider: 543
mission: 6
dive: 81
start: 12 21 112 13 43 39
data:
$ID,543
$MISSION,6
$DIVE,81
$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,-8064.5874
$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,52
$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
$GPS1,211212,133304,-4234.134,817.618,33,0.9,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-35.1
$GPS2,211212,134241,-4234.173,817.620,15,1.2,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.218,-0.012
$KALMAN_X,466.7,40.3,-98.8,21392.9,-1596.9
$KALMAN_Y,102050.5,-1073.4,-725.9,-107877.4,7957.7
$MHEAD_RNG_PITCHd_Wd,118.0,8383,-18.9,-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,20,-0.59,-107.1,0.0,0.0,0,111,0.00,0.00,-89.53,0.000,2,0.000,0.000,57,3363,2702,0,0,0,0,0,0
$GC,115,-0.64,-194.4,3.0,-4.1,11,145,5.55,2.17,-15.45,0.000,4,0.231,0.044,1434,1943,3268,0,0,0,0,0,0
$GC,279,-0.64,-194.4,24.9,-14.0,34,288,0.00,2.30,0.00,0.000,6,0.000,0.057,1425,3332,3271,0,0,0,0,0,0
$GC,365,-0.64,-194.4,40.1,-18.3,47,372,0.00,1.00,0.00,0.000,4,0.000,0.058,1420,3951,3271,0,0,0,0,0,0
$GC,424,-0.64,-194.4,51.0,-19.0,56,433,0.00,0.90,0.00,0.000,6,0.000,0.035,1420,3368,3271,0,0,0,0,0,0
$GC,671,-0.64,-194.4,96.5,-17.6,97,675,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3368,3271,0,0,0,0,0,0
$GC,1003,-0.64,-194.4,151.5,-16.7,120,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3368,3272,0,0,0,0,0,0
$GC,1315,-0.64,-194.4,203.5,-16.1,140,1319,0.00,0.93,0.00,0.000,4,0.000,0.059,1416,3953,3272,0,0,0,0,0,0
$GC,1514,-0.64,-194.4,238.5,-17.4,151,1517,0.00,0.90,0.00,0.000,6,0.000,0.035,1416,3349,3272,0,0,0,0,0,0
$GC,1837,-0.64,-194.4,290.9,-16.2,168,1841,0.00,0.95,0.00,0.000,4,0.000,0.059,1411,3952,3272,0,0,0,0,0,0
$GC,1994,-0.64,-194.4,319.3,-18.3,174,2003,0.00,0.90,0.00,0.000,6,0.000,0.035,1412,3350,3272,0,0,0,0,0,0
$GC,2312,-0.64,-194.4,370.5,-15.7,190,2316,0.12,0.98,0.00,0.000,4,0.181,0.060,1440,3957,3272,0,0,0,0,0,0
$GC,2391,-0.64,-194.4,381.9,-12.8,193,2397,0.00,0.90,0.00,0.000,6,0.000,0.036,1440,3355,3272,0,0,0,0,0,0
$GC,2733,-0.64,-194.4,423.9,-12.5,207,2736,0.00,0.95,0.00,0.000,4,0.000,0.059,1435,3956,3272,0,0,0,0,0,0
$GC,2828,-0.64,-194.4,436.9,-13.3,209,2834,0.00,0.90,0.00,0.000,6,0.000,0.036,1435,3356,3272,0,0,0,0,0,0
$GC,3141,-0.64,-194.4,477.2,-12.8,220,3144,0.00,0.95,0.00,0.000,4,0.000,0.060,1431,3956,3271,0,0,0,0,0,0
$GC,3224,-0.64,-194.4,489.5,-14.7,222,3228,0.00,0.90,0.00,0.000,6,0.000,0.037,1431,3356,3272,0,0,0,0,0,0
$GC,3548,-0.64,-194.4,531.8,-13.1,233,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3357,3271,0,0,0,0,0,0
$GC,3856,-0.64,-194.4,571.0,-13.0,243,3859,0.00,0.95,0.00,0.000,4,0.000,0.060,1427,3956,3270,0,0,0,0,0,0
$GC,3930,-0.64,-194.4,581.9,-14.6,245,3934,0.00,0.90,0.00,0.000,6,0.000,0.037,1427,3357,3271,0,0,0,0,0,0
$GC,4266,-0.64,-194.4,630.5,-14.4,256,4270,0.00,0.95,0.00,0.000,4,0.000,0.060,1422,3957,3270,0,0,0,0,0,0
$GC,4345,-0.64,-194.4,642.7,-15.4,258,4348,0.00,0.90,0.00,0.000,6,0.000,0.037,1422,3360,3269,0,0,0,0,0,0
$GC,4675,-0.64,-194.4,689.8,-14.1,269,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,1422,3360,3269,0,0,0,0,0,0
$GC,4982,-0.64,-194.4,732.0,-13.7,279,4986,0.00,0.95,0.00,0.000,4,0.000,0.061,1418,3958,3268,0,0,0,0,0,0
$GC,5088,-0.64,-194.4,747.9,-14.6,282,5091,0.00,0.93,0.00,0.000,6,0.000,0.037,1418,3345,3268,0,0,0,0,0,0
$GC,5423,-0.64,-194.4,794.7,-14.0,293,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,1418,3345,3266,0,0,0,0,0,0
$GC,5729,-0.64,-194.4,837.1,-13.6,303,5733,0.00,0.98,0.00,0.000,4,0.000,0.061,1413,3958,3265,0,0,0,0,0,0
$GC,5791,-0.64,-194.4,846.3,-15.2,304,5798,0.00,0.93,0.00,0.000,6,0.000,0.037,1413,3345,3264,0,0,0,0,0,0
$GC,6104,-0.64,-194.4,891.3,-14.3,315,6110,0.00,0.98,0.00,0.000,4,0.000,0.061,1409,3959,3263,0,0,0,0,0,0
$GC,6177,-0.64,-194.4,902.6,-14.5,317,6182,0.08,0.93,0.00,0.000,6,0.165,0.037,1433,3347,3263,0,0,0,0,0,0
$GC,6513,-0.64,-194.4,944.0,-12.3,328,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3346,3263,0,0,0,0,0,0
$GC,6819,-0.64,-194.4,980.5,-11.5,338,6823,0.00,0.98,0.00,0.000,4,0.000,0.063,1430,3961,3262,0,0,0,0,0,0
$GC,6897,-0.64,-194.4,990.3,-12.3,340,6900,0.00,0.93,0.00,0.000,6,0.000,0.038,1430,3350,3262,0,0,0,0,0,0
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6986,-0.14,0.0,1000.0,11.7,343,7192,0.55,0.00,198.77,1.167,6,0.138,0.000,1599,3257,2465,0,0,0,0,0,0
$STATE,7193,end apogee,CONTROL_FINISHED_OK
$STATE,7193,begin climb
$GC,7196,0.64,194.4,1005.2,0.0,350,7397,0.73,0.00,196.77,1.140,6,0.050,0.000,1869,3257,1680,0,0,0,0,0,0
$GC,7685,0.64,194.4,896.2,24.9,366,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3257,1647,0,0,0,0,0,0
$GC,7992,0.64,194.4,819.8,24.8,376,7996,0.00,1.15,0.00,0.000,4,0.000,0.057,1869,3953,1645,0,0,0,0,0,0
$GC,8104,0.64,194.4,789.4,27.8,379,8107,0.00,1.10,0.00,0.000,6,0.000,0.033,1875,3236,1644,0,0,0,0,0,0
$GC,8434,0.64,194.4,709.1,24.3,390,8439,0.00,1.17,0.00,0.000,4,0.000,0.056,1875,3958,1643,0,0,0,0,0,0
$GC,8518,0.64,194.4,686.3,27.1,392,8522,0.00,1.08,0.00,0.000,6,0.000,0.033,1880,3247,1643,0,0,0,0,0,0
$GC,8843,0.64,194.4,604.6,25.0,403,8846,0.00,1.15,0.00,0.000,4,0.000,0.055,1880,3958,1642,0,0,0,0,0,0
$GC,8892,0.64,194.4,591.3,26.6,404,8898,0.00,1.08,0.00,0.000,6,0.000,0.032,1885,3241,1641,0,0,0,0,0,0
$GC,9218,0.64,194.4,509.0,24.9,415,9223,0.00,1.15,0.00,0.000,4,0.000,0.055,1885,3955,1641,0,0,0,0,0,0
$GC,9287,0.64,194.4,490.2,28.6,417,9292,0.10,1.05,0.00,0.000,6,0.197,0.032,1864,3251,1641,0,0,0,0,0,0
$GC,9628,0.64,194.4,412.3,22.7,428,9634,0.00,1.12,0.00,0.000,4,0.000,0.054,1863,3959,1640,0,0,0,0,0,0
$GC,9690,0.64,194.4,396.4,26.0,429,9697,0.00,1.05,0.00,0.000,6,0.000,0.031,1867,3251,1640,0,0,0,0,0,0
$GC,10009,0.64,194.4,318.1,25.2,445,10014,0.00,2.15,0.00,0.000,4,0.000,0.032,1878,1841,1640,0,0,0,0,0,0
$GC,10042,0.64,194.4,309.4,22.3,446,10047,0.00,2.25,0.00,0.000,6,0.000,0.047,1878,3264,1640,0,0,0,0,0,0
$GC,10372,0.64,194.4,223.6,26.7,463,10376,0.00,1.08,0.00,0.000,4,0.000,0.053,1878,3949,1639,0,0,0,0,0,0
$GC,10461,0.64,194.4,198.3,27.1,468,10464,0.00,1.02,0.00,0.000,6,0.000,0.032,1884,3252,1639,0,0,0,0,0,0
$GC,10795,0.64,194.4,110.5,26.3,489,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3252,1639,0,0,0,0,0,0
$GC,11146,0.64,194.4,22.5,24.1,543,11156,0.00,2.12,0.00,0.000,4,0.000,0.031,1895,1846,1639,0,0,0,0,0,0
$GC,11199,0.64,194.4,11.7,18.6,550,11211,0.10,2.22,0.00,0.000,6,0.166,0.048,1864,3246,1639,0,0,0,0,0,0
$STATE,11243,end climb,SURFACE_DEPTH_REACHED
$STATE,11244,begin surface coast
$FINISH,0.8,1.000875
$STATE,11264,end surface coast,CONTROL_FINISHED_OK
$STATE,11264,begin surface
$SM_CCo,11280,124.93,0.755,1,0,504,482.50
$SM_GC,1.33,0.00,0.00,124.93,0.000,0.000,0.755,49,3378,504,-5.00,0.71,482.50
$IRIDIUM_FIX,-4218.64,812.77,211212,101048
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.0,16.992
$10V_AH,10.1,8.570
$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,12.025,49.150,395.550,124.925,0.000,26.723,25.040,378.121,0.000,0.000,17.781,1433.658,7300.768,619.530,1936.541,700.991,33.383,1362.352,0.000,1680.172,0.000,1.015,0.000
$DEVICE_MAMPS,231.030,72.675,1166.625,755.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.981,1231.898,571.338,265.639,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,40425,559
$CAP_FILE_SIZE,97121,0
$CFSIZE,259252224,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,211212,165503,-4233.954,820.611,33,1.6,33,-25.0