version: 66.07
glider: 543
mission: 6
dive: 84
start: 12 21 112 23 44 26
data:
$ID,543
$MISSION,6
$DIVE,84
$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,-8076.1655
$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,55
$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
$GPS1,211212,232824,-4231.417,822.264,35,0.9,36,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-27.0
$GPS2,211212,234329,-4231.526,822.363,16,1.2,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.026,0.154
$KALMAN_X,-1317.9,330.3,169.5,29070.9,-2980.5
$KALMAN_Y,98490.6,-397.3,-348.5,-100484.4,1439.8
$MHEAD_RNG_PITCHd_Wd,15.3,4290,-27.1,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,112,0.00,0.00,-88.60,0.000,6,0.000,0.000,62,3390,2695,0,0,0,0,0,0
$GC,116,-0.82,-101.6,2.9,-3.7,11,135,5.40,0.00,-5.78,0.000,6,0.239,0.000,1377,3390,2890,0,0,0,0,0,0
$GC,215,-0.82,-101.6,19.4,-20.5,25,224,0.00,2.22,0.00,0.000,4,0.000,0.033,1378,1955,2892,0,0,0,0,0,0
$GC,284,-0.82,-101.6,32.3,-16.9,35,292,0.00,2.28,0.00,0.000,6,0.000,0.056,1369,3330,2892,0,0,0,0,0,0
$GC,527,-0.82,-101.6,76.2,-17.9,76,536,0.00,2.12,0.00,0.000,4,0.000,0.033,1370,1955,2893,0,0,0,0,0,0
$GC,561,-0.82,-101.6,81.6,-15.9,81,567,0.00,2.30,0.00,0.000,6,0.000,0.060,1359,3345,2893,0,0,0,0,0,0
$GC,894,-0.82,-101.6,136.1,-16.3,114,895,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3344,2893,0,0,0,0,0,0
$GC,1204,-0.82,-101.6,188.9,-16.0,134,1208,0.00,0.95,0.00,0.000,4,0.000,0.055,1355,3949,2893,0,0,0,0,0,0
$GC,1241,-0.82,-101.6,195.5,-18.0,136,1246,0.08,0.88,0.00,0.000,6,0.183,0.035,1376,3369,2893,0,0,0,0,0,0
$GC,1577,-0.82,-101.6,247.8,-15.9,157,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3369,2893,0,0,0,0,0,0
$GC,1898,-0.82,-101.6,301.2,-16.1,173,1904,0.00,2.17,0.00,0.000,4,0.000,0.031,1376,1935,2894,0,0,0,0,0,0
$GC,1949,-0.82,-101.6,308.3,-13.8,175,1953,0.00,2.30,0.00,0.000,6,0.000,0.056,1367,3365,2893,0,0,0,0,0,0
$GC,2278,-0.82,-101.6,360.3,-15.6,191,2283,0.00,0.93,0.00,0.000,4,0.000,0.056,1362,3956,2893,0,0,0,0,0,0
$GC,2381,-0.82,-101.6,379.0,-17.0,195,2387,0.00,0.90,0.00,0.000,6,0.000,0.036,1362,3357,2893,0,0,0,0,0,0
$GC,2723,-0.82,-101.6,430.0,-14.8,209,2726,0.00,0.93,0.00,0.000,4,0.000,0.056,1358,3948,2893,0,0,0,0,0,0
$GC,2801,-0.82,-101.6,442.8,-15.9,211,2804,0.00,0.90,0.00,0.000,6,0.000,0.035,1358,3348,2893,0,0,0,0,0,0
$GC,3131,-0.82,-101.6,494.0,-15.8,222,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3347,2893,0,0,0,0,0,0
$GC,3438,-0.82,-101.6,541.0,-15.3,232,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3347,2892,0,0,0,0,0,0
$GC,3743,-0.82,-101.6,586.5,-14.7,242,3749,0.00,2.12,0.00,0.000,4,0.000,0.032,1358,1938,2891,0,0,0,0,0,0
$GC,3779,-0.82,-101.6,591.4,-12.7,243,3784,0.15,2.25,0.00,0.000,6,0.184,0.057,1384,3357,2892,0,0,0,0,0,0
$GC,4115,-0.82,-101.6,636.8,-13.6,254,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,1384,3357,2891,0,0,0,0,0,0
$GC,4421,-0.82,-101.6,678.3,-13.5,264,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,1384,3357,2890,0,0,0,0,0,0
$GC,4729,-0.82,-101.6,719.8,-13.5,274,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,1384,3357,2889,0,0,0,0,0,0
$GC,5034,-0.82,-101.6,761.4,-13.6,284,5040,0.00,2.15,0.00,0.000,4,0.000,0.034,1385,1938,2888,0,0,0,0,0,0
$GC,5090,-0.82,-101.6,768.6,-12.5,285,5094,0.00,2.28,0.00,0.000,6,0.000,0.057,1375,3358,2887,0,0,0,0,0,0
$GC,5406,-0.82,-101.6,811.3,-13.7,295,5409,0.00,0.93,0.00,0.000,4,0.000,0.060,1371,3947,2887,0,0,0,0,0,0
$GC,5604,-0.82,-101.6,841.9,-15.9,300,5610,0.00,0.90,0.00,0.000,6,0.000,0.038,1371,3351,2886,0,0,0,0,0,0
$GC,5917,-0.82,-101.6,886.6,-14.2,311,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3350,2885,0,0,0,0,0,0
$GC,6223,-0.82,-101.6,929.5,-13.9,321,6227,0.00,2.10,0.00,0.000,4,0.000,0.034,1371,1932,2884,0,0,0,0,0,0
$GC,6253,-0.82,-101.6,933.3,-12.9,322,6257,0.00,2.28,0.00,0.000,6,0.000,0.058,1360,3352,2885,0,0,0,0,0,0
$GC,6588,-0.82,-101.6,981.3,-14.5,333,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3352,2883,0,0,0,0,0,0
$STATE,6740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6740,begin apogee
$GC,6747,-0.14,0.0,1003.0,14.3,338,6853,0.82,0.00,97.70,1.802,6,0.171,0.000,1600,3250,2472,0,0,0,0,1,0
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6857,0.82,101.6,1006.1,0.0,341,6969,0.90,0.00,103.72,1.772,6,0.074,0.000,1906,3250,2058,0,0,0,0,1,0
$GC,7257,0.82,101.6,924.7,23.7,354,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3250,2052,0,0,0,0,0,0
$GC,7563,0.82,101.6,853.6,22.9,364,7567,0.00,1.15,0.00,0.000,4,0.000,0.056,1906,3949,2049,0,0,0,0,0,0
$GC,7631,0.82,101.6,836.0,27.0,366,7637,0.00,1.10,0.00,0.000,6,0.000,0.034,1911,3235,2048,0,0,0,0,0,0
$GC,7975,0.82,101.6,757.0,22.5,377,7978,0.00,1.17,0.00,0.000,4,0.000,0.055,1911,3958,2047,0,0,0,0,0,0
$GC,8119,0.82,101.6,720.9,24.6,381,8122,0.00,1.08,0.00,0.000,6,0.000,0.033,1916,3250,2047,0,0,0,0,0,0
$GC,8449,0.82,101.6,647.2,22.2,392,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3250,2045,0,0,0,0,0,0
$GC,8755,0.82,101.6,579.3,22.3,402,8759,0.00,1.10,0.00,0.000,4,0.000,0.054,1916,3946,2044,0,0,0,0,0,0
$GC,8811,0.82,101.6,565.4,24.4,403,8815,0.00,1.05,0.00,0.000,6,0.000,0.033,1922,3246,2044,0,0,0,0,0,0
$GC,9129,0.82,101.6,495.7,21.9,414,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3245,2043,0,0,0,0,0,0
$GC,9436,0.82,101.6,428.6,22.2,424,9439,0.00,1.12,0.00,0.000,4,0.000,0.054,1922,3951,2042,0,0,0,0,0,0
$GC,9581,0.82,101.6,392.2,25.8,428,9584,0.00,1.05,0.00,0.000,6,0.000,0.033,1926,3249,2042,0,0,0,0,0,0
$GC,9904,0.82,101.6,319.5,22.7,444,9907,0.00,1.10,0.00,0.000,4,0.000,0.054,1927,3950,2041,0,0,0,0,0,0
$GC,10024,0.82,101.6,290.3,25.2,449,10028,0.00,1.05,0.00,0.000,6,0.000,0.033,1932,3243,2041,0,0,0,0,0,0
$GC,10355,0.82,101.6,214.3,23.4,467,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3243,2040,0,0,0,0,0,0
$GC,10668,0.82,101.6,143.2,22.7,487,10673,0.00,1.12,0.00,0.000,4,0.000,0.053,1932,3952,2041,0,0,0,0,0,0
$GC,10741,0.82,101.6,125.4,24.4,491,10745,0.00,1.05,0.00,0.000,6,0.000,0.031,1937,3242,2040,0,0,0,0,0,0
$GC,11084,0.82,101.6,51.4,20.8,538,11095,0.00,1.12,0.00,0.000,4,0.000,0.052,1937,3955,2041,0,0,0,0,0,0
$GC,11103,0.82,101.6,47.1,21.7,540,11114,0.08,1.05,0.00,0.000,6,0.221,0.031,1923,3237,2041,0,0,0,0,0,0
$STATE,11344,end climb,SURFACE_DEPTH_REACHED
$STATE,11344,begin surface coast
$FINISH,0.9,1.013966
$STATE,11367,end surface coast,CONTROL_FINISHED_OK
$STATE,11367,begin surface
$SM_CCo,11383,165.52,0.737,1,0,504,482.50
$SM_GC,1.27,0.00,0.00,165.52,0.000,0.000,0.737,55,3365,504,-4.99,0.34,482.50
$IRIDIUM_FIX,-4212.81,821.02,211212,232313
$TT8_MAMPS,0.025466
$HUMID,53.85
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.9,17.454
$10V_AH,10.1,8.832
$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,12.400,49.550,201.425,165.525,0.000,79.449,147.231,386.865,0.000,0.000,21.273,1461.883,7719.069,475.813,2106.073,700.302,33.357,1162.863,0.000,1659.840,0.000,1.013,0.000
$DEVICE_MAMPS,238.680,74.205,1801.575,736.695,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.356,1292.554,608.080,279.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,43893,580
$CAP_FILE_SIZE,94607,0
$CFSIZE,259252224,253399040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,221212,025822,-4230.364,822.038,27,0.8,41,-25.0