version: 66.07
glider: 543
mission: 6
dive: 85
start: 12 22 112 3 12 53
data:
$ID,543
$MISSION,6
$DIVE,85
$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,-8079.5889
$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,59
$R_STBD_OVSHOOT,32
$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
$GPS1,221212,025822,-4230.364,822.038,27,0.8,41,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-30.1
$GPS2,221212,031157,-4230.170,822.210,20,2.2,39,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.088,0.129
$KALMAN_X,-684.3,362.0,309.2,28055.1,-2093.4
$KALMAN_Y,96747.9,-203.7,-11.9,-96769.3,-1021.9
$MHEAD_RNG_PITCHd_Wd,350.5,3035,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.79,-53.9,0.0,0.0,0,118,0.00,0.00,-89.80,0.000,6,0.000,0.000,54,3365,2694,0,0,0,0,0,0
$GC,122,-0.81,-86.3,3.7,-5.4,12,141,5.32,2.20,-3.47,0.000,4,0.232,0.042,1391,1946,2828,0,0,0,0,0,0
$GC,425,-0.81,-86.3,49.6,-13.0,59,432,0.00,2.25,0.00,0.000,6,0.000,0.051,1382,3342,2829,0,0,0,0,0,0
$GC,667,-0.81,-86.3,87.6,-16.2,100,674,0.00,2.10,0.00,0.000,4,0.000,0.031,1382,1946,2830,0,0,0,0,0,0
$GC,797,-0.81,-86.3,106.4,-13.4,117,801,0.00,2.25,0.00,0.000,6,0.000,0.054,1372,3356,2830,0,0,0,0,0,0
$GC,1123,-0.81,-86.3,155.0,-14.7,138,1128,0.00,0.93,0.00,0.000,4,0.000,0.055,1367,3950,2830,0,0,0,0,0,0
$GC,1222,-0.81,-86.3,171.7,-16.6,143,1229,0.00,0.88,0.00,0.000,6,0.000,0.034,1367,3363,2830,0,0,0,0,0,0
$GC,1543,-0.81,-86.3,218.9,-14.4,164,1547,0.00,0.93,0.00,0.000,4,0.000,0.055,1363,3951,2831,0,0,0,0,0,0
$GC,1590,-0.81,-86.3,226.9,-15.9,166,1597,0.00,0.90,0.00,0.000,6,0.000,0.034,1363,3351,2830,0,0,0,0,0,0
$GC,1920,-0.81,-86.3,277.5,-15.3,185,1925,0.00,0.95,0.00,0.000,4,0.000,0.055,1358,3958,2831,0,0,0,0,0,0
$GC,2062,-0.81,-86.3,301.0,-17.4,191,2067,0.08,0.90,0.00,0.000,6,0.184,0.034,1380,3357,2830,0,0,0,0,0,0
$GC,2397,-0.81,-86.3,350.9,-14.6,207,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,1380,3357,2831,0,0,0,0,0,0
$GC,2706,-0.81,-86.3,395.2,-14.1,222,2710,0.00,0.93,0.00,0.000,4,0.000,0.057,1377,3950,2830,0,0,0,0,0,0
$GC,2853,-0.81,-86.3,417.8,-15.2,227,2856,0.00,0.90,0.00,0.000,6,0.000,0.035,1376,3347,2830,0,0,0,0,0,0
$GC,3183,-0.81,-86.3,462.6,-13.4,238,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3346,2830,0,0,0,0,0,0
$GC,3489,-0.81,-86.3,503.0,-13.0,248,3492,0.00,0.95,0.00,0.000,4,0.000,0.057,1372,3955,2829,0,0,0,0,0,0
$GC,3746,-0.81,-86.3,540.9,-16.0,255,3749,0.00,0.90,0.00,0.000,6,0.000,0.036,1372,3353,2829,0,0,0,0,0,0
$GC,4065,-0.81,-86.3,585.4,-14.1,266,4068,0.00,0.95,0.00,0.000,4,0.000,0.059,1368,3947,2828,0,0,0,0,0,0
$GC,4167,-0.81,-86.3,600.8,-15.6,269,4172,0.00,0.90,0.00,0.000,6,0.000,0.036,1368,3344,2828,0,0,0,0,0,0
$GC,4510,-0.81,-86.3,648.7,-14.2,280,4514,0.00,0.95,0.00,0.000,4,0.000,0.057,1363,3950,2827,0,0,0,0,0,0
$GC,4584,-0.81,-86.3,660.1,-15.6,282,4588,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3349,2827,0,0,0,0,0,0
$GC,4920,-0.81,-86.3,707.7,-13.8,293,4924,0.00,2.10,0.00,0.000,4,0.000,0.033,1363,1944,2826,0,0,0,0,0,0
$GC,4949,-0.81,-86.3,711.7,-13.5,294,4954,0.15,2.25,0.00,0.000,6,0.186,0.057,1390,3362,2825,0,0,0,0,0,0
$GC,5285,-0.81,-86.3,753.3,-12.0,305,5289,0.00,0.93,0.00,0.000,4,0.000,0.060,1387,3954,2825,0,0,0,0,0,0
$GC,5545,-0.81,-86.3,788.6,-14.0,312,5549,0.00,0.90,0.00,0.000,6,0.000,0.037,1387,3352,2824,0,0,0,0,0,0
$GC,5865,-0.81,-86.3,827.5,-11.7,323,5869,0.00,0.95,0.00,0.000,4,0.000,0.059,1382,3958,2823,0,0,0,0,0,0
$GC,5983,-0.81,-86.3,843.3,-13.8,326,5987,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3360,2823,0,0,0,0,0,0
$GC,6307,-0.81,-86.3,882.7,-12.3,337,6310,0.00,0.93,0.00,0.000,4,0.000,0.060,1378,3949,2823,0,0,0,0,0,0
$GC,6490,-0.81,-86.3,908.2,-15.1,342,6494,0.00,0.90,0.00,0.000,6,0.000,0.037,1378,3353,2822,0,0,0,0,0,0
$GC,6815,-0.81,-86.3,949.7,-12.5,353,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3353,2821,0,0,0,0,0,0
$GC,7121,-0.81,-86.3,987.5,-12.2,363,7124,0.00,0.98,0.00,0.000,4,0.000,0.061,1373,3956,2820,0,0,0,0,0,0
$GC,7210,-0.81,-86.3,999.5,-13.7,365,7213,0.00,0.90,0.00,0.000,6,0.000,0.038,1374,3359,2820,0,0,0,0,0,0
$STATE,7219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7219,begin apogee
$GC,7226,-0.14,0.0,1000.8,12.8,366,7319,0.77,0.00,89.65,1.196,6,0.169,0.000,1599,3263,2473,0,0,0,0,0,0
$STATE,7320,end apogee,CONTROL_FINISHED_OK
$STATE,7321,begin climb
$GC,7323,0.81,86.3,1003.4,0.0,369,7419,0.93,0.00,91.90,1.173,6,0.077,0.000,1910,3263,2121,0,0,0,0,0,0
$GC,7709,0.81,86.3,927.1,22.1,382,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3263,2101,0,0,0,0,0,0
$GC,8016,0.81,86.3,859.0,22.4,392,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3263,2098,0,0,0,0,0,0
$GC,8325,0.81,86.3,790.3,22.2,402,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3263,2096,0,0,0,0,0,0
$GC,8627,0.81,86.3,724.4,21.2,412,8631,0.00,1.10,0.00,0.000,4,0.000,0.055,1910,3952,2095,0,0,0,0,0,0
$GC,8716,0.81,86.3,703.0,24.2,414,8720,0.00,1.08,0.00,0.000,6,0.000,0.032,1915,3237,2095,0,0,0,0,0,0
$GC,9034,0.81,86.3,635.4,21.1,425,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3235,2094,0,0,0,0,0,0
$GC,9341,0.81,86.3,571.1,21.3,435,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3236,2092,0,0,0,0,0,0
$GC,9648,0.81,86.3,506.8,21.1,445,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3236,2092,0,0,0,0,0,0
$GC,9953,0.81,86.3,440.8,21.7,455,9959,0.00,1.15,0.00,0.000,4,0.000,0.054,1915,3959,2091,0,0,0,0,0,0
$GC,10009,0.81,86.3,427.3,24.0,456,10013,0.00,1.05,0.00,0.000,6,0.000,0.032,1921,3252,2091,0,0,0,0,0,0
$GC,10331,0.81,86.3,356.9,22.3,470,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3251,2091,0,0,0,0,0,0
$GC,10641,0.81,86.3,289.0,21.6,485,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3251,2090,0,0,0,0,0,0
$GC,10952,0.81,86.3,223.6,20.2,502,10956,0.00,1.12,0.00,0.000,4,0.000,0.054,1921,3961,2090,0,0,0,0,0,0
$GC,11024,0.81,86.3,207.3,22.4,506,11028,0.00,1.05,0.00,0.000,6,0.000,0.032,1926,3249,2090,0,0,0,0,0,0
$GC,11358,0.81,86.3,139.4,20.4,527,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3249,2090,0,0,0,0,0,0
$GC,11679,0.81,86.3,71.0,19.6,563,11686,0.00,1.12,0.00,0.000,4,0.000,0.053,1926,3959,2090,0,0,0,0,0,0
$GC,11828,0.81,86.3,42.4,18.4,587,11836,0.00,1.05,0.00,0.000,6,0.000,0.031,1931,3250,2090,0,0,0,0,0,0
$STATE,12036,end climb,SURFACE_DEPTH_REACHED
$STATE,12036,begin surface coast
$FINISH,0.8,1.016132
$STATE,12060,end surface coast,CONTROL_FINISHED_OK
$STATE,12060,begin surface
$SM_CCo,12076,173.52,0.728,1,0,503,482.50
$SM_GC,1.16,0.00,0.00,173.52,0.000,0.000,0.728,58,3372,503,-4.98,0.54,482.50
$IRIDIUM_FIX,-4215.72,823.91,221212,030327
$TT8_MAMPS,0.025466
$HUMID,53.93
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.8,17.581
$10V_AH,10.1,8.928
$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,12.250,42.400,181.550,173.525,0.000,52.221,94.842,404.501,0.000,0.000,43.177,1592.152,8003.875,464.256,2289.509,723.835,33.358,1207.931,0.000,1891.511,0.000,1.014,0.000
$DEVICE_MAMPS,231.795,74.970,1196.460,728.280,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.553,1384.168,652.298,305.024,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,46938,622
$CAP_FILE_SIZE,99676,0
$CFSIZE,259252224,253337600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,063828,-4229.091,821.713,39,1.3,39,-25.0