version: 66.07
glider: 543
mission: 6
dive: 86
start: 12 22 112 6 50 55
data:
$ID,543
$MISSION,6
$DIVE,86
$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,-8083.0688
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,221212,063828,-4229.091,821.713,39,1.3,39,-25.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-26.1
$GPS2,221212,064959,-4228.968,821.676,19,1.0,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.156,-0.005
$KALMAN_X,993.6,413.1,231.9,25673.9,-229.4
$KALMAN_Y,95834.1,6.7,100.3,-93961.3,-1846.2
$MHEAD_RNG_PITCHd_Wd,293.2,2982,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.79,-53.9,0.0,0.0,0,113,0.00,0.00,-88.62,0.000,6,0.000,0.000,57,3372,2695,0,0,0,0,0,0
$GC,117,-0.81,-94.8,3.1,-4.4,11,136,5.45,2.22,-4.90,0.000,4,0.239,0.045,1388,1953,2859,0,0,0,0,0,0
$GC,310,-0.81,-94.8,33.2,-17.7,40,321,0.00,2.28,0.00,0.000,6,0.000,0.054,1379,3331,2861,0,0,0,0,0,0
$GC,561,-0.81,-94.8,83.6,-17.2,81,567,0.00,2.12,0.00,0.000,4,0.000,0.032,1379,1955,2861,0,0,0,0,0,0
$GC,592,-0.81,-94.8,88.0,-16.1,85,596,0.00,2.30,0.00,0.000,6,0.000,0.060,1368,3358,2862,0,0,0,0,0,0
$GC,932,-0.81,-94.8,141.4,-16.0,114,935,0.00,0.93,0.00,0.000,4,0.000,0.055,1364,3947,2862,0,0,0,0,0,0
$GC,1049,-0.81,-94.8,162.5,-16.9,120,1057,0.00,0.90,0.00,0.000,6,0.000,0.034,1364,3350,2862,0,0,0,0,0,0
$GC,1372,-0.81,-94.8,215.6,-16.5,141,1376,0.00,2.12,0.00,0.000,4,0.000,0.031,1364,1936,2862,0,0,0,0,0,0
$GC,1405,-0.81,-94.8,221.9,-15.2,143,1411,0.10,2.30,0.00,0.000,6,0.167,0.057,1382,3347,2862,0,0,0,0,0,0
$GC,1735,-0.81,-94.8,272.3,-15.0,162,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3347,2862,0,0,0,0,0,0
$GC,2046,-0.81,-94.8,321.7,-16.7,177,2052,0.00,0.95,0.00,0.000,4,0.000,0.057,1379,3953,2862,0,0,0,0,0,0
$GC,2104,-0.81,-94.8,332.7,-17.8,179,2108,0.00,0.90,0.00,0.000,6,0.000,0.034,1379,3350,2862,0,0,0,0,0,0
$GC,2428,-0.81,-94.8,383.8,-15.7,195,2434,0.00,0.95,0.00,0.000,4,0.000,0.056,1375,3958,2862,0,0,0,0,0,0
$GC,2524,-0.81,-94.8,399.6,-16.7,199,2528,0.00,0.90,0.00,0.000,6,0.000,0.034,1374,3353,2862,0,0,0,0,0,0
$GC,2854,-0.81,-94.8,449.4,-15.2,210,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2862,0,0,0,0,0,0
$GC,3161,-0.81,-94.8,493.5,-14.2,220,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2862,0,0,0,0,0,0
$GC,3467,-0.81,-94.8,535.2,-13.6,230,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2862,0,0,0,0,0,0
$GC,3772,-0.81,-94.8,574.6,-12.6,240,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2861,0,0,0,0,0,0
$GC,4079,-0.81,-94.8,613.5,-13.0,250,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2861,0,0,0,0,0,0
$GC,4386,-0.81,-94.8,653.1,-13.1,260,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2860,0,0,0,0,0,0
$GC,4691,-0.81,-94.8,694.3,-13.5,270,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2858,0,0,0,0,0,0
$GC,4997,-0.81,-94.8,736.2,-13.9,280,5001,0.00,2.15,0.00,0.000,4,0.000,0.034,1375,1935,2858,0,0,0,0,0,0
$GC,5036,-0.81,-94.8,741.6,-12.6,281,5040,0.00,2.30,0.00,0.000,6,0.000,0.057,1364,3364,2858,0,0,0,0,0,0
$GC,5360,-0.81,-94.8,787.7,-14.4,292,5363,0.00,0.93,0.00,0.000,4,0.000,0.058,1359,3953,2857,0,0,0,0,0,0
$GC,5437,-0.81,-94.8,799.8,-16.0,294,5441,0.00,0.90,0.00,0.000,6,0.000,0.037,1360,3357,2856,0,0,0,0,0,0
$GC,5767,-0.81,-94.8,845.3,-13.5,305,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3357,2856,0,0,0,0,0,0
$GC,6074,-0.81,-94.8,885.8,-13.1,315,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3357,2855,0,0,0,0,0,0
$GC,6381,-0.81,-94.8,925.7,-13.1,325,6385,0.00,0.95,0.00,0.000,4,0.000,0.059,1355,3957,2854,0,0,0,0,0,0
$GC,6538,-0.81,-94.8,948.9,-15.1,329,6542,0.08,0.93,0.00,0.000,6,0.188,0.037,1376,3346,2854,0,0,0,0,0,0
$GC,6856,-0.81,-94.8,986.7,-11.5,340,6860,0.00,0.95,0.00,0.000,4,0.000,0.060,1373,3950,2852,0,0,0,0,0,0
$GC,6928,-0.81,-94.8,996.0,-12.3,342,6932,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3352,2853,0,0,0,0,0,0
$STATE,6986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6986,begin apogee
$GC,6993,-0.14,0.0,1003.0,12.0,344,7094,0.77,0.00,98.07,1.194,6,0.169,0.000,1598,3257,2473,0,0,0,0,0,0
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7096,begin climb
$GC,7099,0.81,94.8,1004.3,0.0,347,7203,0.93,0.00,99.55,1.174,6,0.079,0.000,1906,3257,2083,0,0,0,0,0,0
$GC,7510,0.81,94.8,916.2,23.8,361,7514,0.00,1.15,0.00,0.000,4,0.000,0.055,1907,3957,2064,0,0,0,0,0,0
$GC,7772,0.81,94.8,847.6,25.5,368,7776,0.00,1.10,0.00,0.000,6,0.000,0.033,1912,3234,2061,0,0,0,0,0,0
$GC,8093,0.81,94.8,772.5,22.9,379,8097,0.00,1.17,0.00,0.000,4,0.000,0.054,1912,3961,2060,0,0,0,0,0,0
$GC,8351,0.81,94.8,706.9,25.2,386,8354,0.00,1.08,0.00,0.000,6,0.000,0.032,1917,3247,2059,0,0,0,0,0,0
$GC,8671,0.81,94.8,634.4,22.9,397,8674,0.00,1.12,0.00,0.000,4,0.000,0.054,1916,3949,2058,0,0,0,0,0,0
$GC,8927,0.81,94.8,567.6,26.0,404,8931,0.00,1.05,0.00,0.000,6,0.000,0.031,1922,3247,2057,0,0,0,0,0,0
$GC,9246,0.81,94.8,492.4,23.7,415,9250,0.00,1.12,0.00,0.000,4,0.000,0.053,1922,3952,2055,0,0,0,0,0,0
$GC,9509,0.81,94.8,427.1,24.2,422,9513,0.00,1.05,0.00,0.000,6,0.000,0.032,1928,3247,2055,0,0,0,0,0,0
$GC,9830,0.81,94.8,354.9,21.8,436,9834,0.00,1.12,0.00,0.000,4,0.000,0.053,1928,3955,2055,0,0,0,0,0,0
$GC,10096,0.81,94.8,289.4,23.6,447,10100,0.00,1.05,0.00,0.000,6,0.000,0.033,1933,3246,2054,0,0,0,0,0,0
$GC,10420,0.81,94.8,216.9,22.6,465,10424,0.00,2.12,0.00,0.000,4,0.000,0.031,1944,1826,2054,0,0,0,0,0,0
$GC,10659,0.81,94.8,169.0,18.8,479,10664,0.12,2.25,0.00,0.000,6,0.213,0.047,1916,3256,2051,0,0,0,0,0,0
$GC,10986,0.81,94.8,100.3,21.8,499,10989,0.00,1.08,0.00,0.000,4,0.000,0.051,1915,3946,2052,0,0,0,0,0,0
$GC,11254,0.81,94.8,37.9,17.9,542,11263,0.00,1.02,0.00,0.000,6,0.000,0.032,1920,3250,2052,0,0,0,0,0,0
$STATE,11452,end climb,SURFACE_DEPTH_REACHED
$STATE,11452,begin surface coast
$FINISH,0.8,1.013452
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11488,170.62,0.738,1,0,504,482.50
$SM_GC,1.17,0.00,0.00,170.62,0.000,0.000,0.738,66,3384,504,-4.95,0.88,482.50
$IRIDIUM_FIX,-4212.81,820.60,221212,060640
$TT8_MAMPS,0.025466
$HUMID,53.78
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.8,17.708
$10V_AH,10.1,9.019
$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,12.325,46.675,197.625,170.625,0.000,64.895,98.503,314.053,0.000,0.000,22.407,1508.614,7550.754,454.208,2158.110,684.901,33.360,1201.706,0.000,1837.833,0.000,1.013,0.000
$DEVICE_MAMPS,238.680,74.205,1194.165,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.296,1295.455,606.982,276.750,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,43727,575
$CAP_FILE_SIZE,95999,0
$CFSIZE,259252224,253292544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,100634,-4228.732,820.674,34,1.0,34,-24.9