version: 66.07
glider: 543
mission: 6
dive: 88
start: 12 22 112 13 43 33
data:
$ID,543
$MISSION,6
$DIVE,88
$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,-8090.0381
$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,60
$R_STBD_OVSHOOT,23
$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
$GPS1,221212,132734,-4228.604,818.748,24,1.3,24,-24.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-25.8
$GPS2,221212,134235,-4228.670,818.733,17,1.0,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.092,-0.126
$KALMAN_X,4657.9,9.0,-210.0,18856.3,3272.5
$KALMAN_Y,97618.9,589.2,222.5,-95910.0,-340.0
$MHEAD_RNG_PITCHd_Wd,241.2,3009,-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,-53.9,0.0,0.0,0,111,0.00,0.00,-87.47,0.000,6,0.000,0.000,62,3331,2695,0,0,0,0,0,0
$GC,115,-0.81,-100.1,3.1,-3.8,11,134,5.20,0.00,-5.43,0.000,6,0.224,0.000,1374,3331,2884,0,0,0,0,0,0
$GC,214,-0.81,-100.1,20.1,-19.2,25,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3331,2885,0,0,0,0,0,0
$GC,297,-0.81,-100.1,38.6,-22.7,38,305,0.00,1.00,0.00,0.000,4,0.000,0.056,1371,3955,2885,0,0,0,0,0,0
$GC,529,-0.81,-100.1,82.1,-16.8,76,537,0.00,0.90,0.00,0.000,6,0.000,0.034,1371,3362,2885,0,0,0,0,0,0
$GC,873,-0.81,-100.1,140.5,-17.1,109,875,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3362,2886,0,0,0,0,0,0
$GC,1187,-0.81,-100.1,194.3,-17.4,129,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3362,2887,0,0,0,0,0,0
$GC,1502,-0.81,-100.1,245.6,-16.8,149,1505,0.00,0.93,0.00,0.000,4,0.000,0.055,1367,3949,2887,0,0,0,0,0,0
$GC,1765,-0.81,-100.1,293.6,-16.3,161,1768,0.00,0.90,0.00,0.000,6,0.000,0.034,1367,3350,2887,0,0,0,0,0,0
$GC,2088,-0.81,-100.1,343.0,-15.5,177,2094,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3954,2887,0,0,0,0,0,0
$GC,2231,-0.81,-100.1,366.3,-17.4,183,2234,0.00,0.90,0.00,0.000,6,0.000,0.034,1362,3351,2886,0,0,0,0,0,0
$GC,2553,-0.81,-100.1,416.5,-15.7,197,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3350,2886,0,0,0,0,0,0
$GC,2859,-0.81,-100.1,462.4,-14.7,207,2863,0.00,0.93,0.00,0.000,4,0.000,0.056,1358,3943,2886,0,0,0,0,0,0
$GC,3055,-0.81,-100.1,494.1,-16.1,212,3062,0.00,0.88,0.00,0.000,6,0.000,0.034,1358,3355,2886,0,0,0,0,0,0
$GC,3368,-0.81,-100.1,541.5,-15.4,223,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3355,2885,0,0,0,0,0,0
$GC,3676,-0.81,-100.1,589.2,-15.7,233,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3355,2885,0,0,0,0,0,0
$GC,3981,-0.81,-100.1,637.7,-16.0,243,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3355,2884,0,0,0,0,0,0
$GC,4287,-0.81,-100.1,686.5,-15.7,253,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3355,2883,0,0,0,0,0,0
$GC,4594,-0.81,-100.1,734.0,-15.3,263,4598,0.00,0.93,0.00,0.000,4,0.000,0.057,1354,3943,2882,0,0,0,0,0,0
$GC,4656,-0.81,-100.1,744.7,-17.0,264,4663,0.10,0.90,0.00,0.000,6,0.181,0.036,1382,3348,2882,0,0,0,0,0,0
$GC,4969,-0.81,-100.1,786.8,-13.1,275,4972,0.00,0.95,0.00,0.000,4,0.000,0.059,1379,3954,2881,0,0,0,0,0,0
$GC,5114,-0.81,-100.1,807.7,-13.9,279,5117,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3352,2881,0,0,0,0,0,0
$GC,5444,-0.81,-100.1,849.8,-12.8,290,5448,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3957,2880,0,0,0,0,0,0
$GC,5566,-0.81,-100.1,867.3,-14.2,293,5570,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3353,2879,0,0,0,0,0,0
$GC,5886,-0.81,-100.1,909.3,-13.2,304,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3353,2878,0,0,0,0,0,0
$GC,6191,-0.81,-100.1,947.6,-12.3,314,6196,0.00,0.98,0.00,0.000,4,0.000,0.061,1370,3956,2878,0,0,0,0,0,0
$GC,6450,-0.81,-100.1,982.1,-13.4,321,6453,0.00,0.90,0.00,0.000,6,0.000,0.038,1370,3358,2877,0,0,0,0,0,0
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6620,-0.14,0.0,1001.4,11.8,327,6726,0.80,0.00,103.45,1.200,6,0.172,0.000,1601,3260,2473,0,0,0,0,0,0
$STATE,6728,end apogee,CONTROL_FINISHED_OK
$STATE,6728,begin climb
$GC,6731,0.81,100.1,1002.8,0.0,330,6845,0.90,2.40,103.32,1.168,4,0.076,0.032,1919,1828,2058,0,0,0,0,0,0
$GC,6893,0.81,100.1,974.3,21.1,335,6898,0.00,2.42,0.00,0.000,6,0.000,0.049,1919,3251,2047,0,0,0,0,0,0
$GC,7235,0.81,100.1,890.1,24.7,346,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3251,2040,0,0,0,0,0,0
$GC,7545,0.81,100.1,814.7,24.7,356,7548,0.00,1.12,0.00,0.000,4,0.000,0.054,1919,3958,2038,0,0,0,0,0,0
$GC,7687,0.81,100.1,776.4,26.7,360,7691,0.00,1.10,0.00,0.000,6,0.000,0.032,1925,3234,2037,0,0,0,0,0,0
$GC,8022,0.81,100.1,695.6,23.6,371,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3233,2035,0,0,0,0,0,0
$GC,8330,0.81,100.1,624.3,23.1,381,8333,0.00,1.15,0.00,0.000,4,0.000,0.054,1924,3951,2034,0,0,0,0,0,0
$GC,8514,0.81,100.1,578.1,25.1,386,8517,0.00,1.05,0.00,0.000,6,0.000,0.032,1930,3250,2033,0,0,0,0,0,0
$GC,8838,0.81,100.1,502.8,23.2,397,8842,0.00,1.10,0.00,0.000,4,0.000,0.054,1930,3947,2032,0,0,0,0,0,0
$GC,8899,0.81,100.1,487.3,24.6,398,8906,0.00,1.05,0.00,0.000,6,0.000,0.032,1935,3244,2032,0,0,0,0,0,0
$GC,9212,0.81,100.1,413.8,23.2,409,9216,0.00,1.12,0.00,0.000,4,0.000,0.053,1935,3951,2031,0,0,0,0,0,0
$GC,9304,0.81,100.1,391.0,26.1,412,9307,0.00,1.05,0.00,0.000,6,0.000,0.032,1940,3247,2031,0,0,0,0,0,0
$GC,9638,0.81,100.1,312.0,23.3,428,9642,0.00,1.12,0.00,0.000,4,0.000,0.052,1940,3957,2030,0,0,0,0,0,0
$GC,9725,0.81,100.1,290.1,25.4,431,9732,0.10,1.05,0.00,0.000,6,0.216,0.032,1919,3248,2030,0,0,0,0,0,0
$GC,10044,0.81,100.1,218.0,22.9,449,10050,0.00,1.12,0.00,0.000,4,0.000,0.051,1918,3963,2030,0,0,0,0,0,0
$GC,10208,0.81,100.1,178.4,26.0,458,10211,0.00,1.05,0.00,0.000,6,0.000,0.032,1922,3254,2029,0,0,0,0,0,0
$GC,10540,0.81,100.1,105.6,21.7,479,10545,0.00,1.10,0.00,0.000,4,0.000,0.053,1923,3951,2030,0,0,0,0,0,0
$GC,10600,0.81,100.1,91.8,22.7,485,10605,0.00,1.05,0.00,0.000,6,0.000,0.031,1928,3239,2030,0,0,0,0,0,0
$GC,10970,0.81,100.1,14.7,19.7,546,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3239,2030,0,0,0,0,0,0
$STATE,11027,end climb,SURFACE_DEPTH_REACHED
$STATE,11027,begin surface coast
$FINISH,1.0,1.014445
$STATE,11045,end surface coast,CONTROL_FINISHED_OK
$STATE,11045,begin surface
$SM_CCo,11061,162.43,0.751,1,0,504,482.50
$SM_GC,1.50,0.00,0.00,162.43,0.000,0.000,0.751,55,3372,504,-4.98,0.54,482.50
$IRIDIUM_FIX,-4212.81,821.02,221212,131350
$TT8_MAMPS,0.025466
$HUMID,54.25
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.7,17.981
$10V_AH,10.1,9.198
$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,12.100,35.175,206.775,162.425,0.000,105.599,215.287,303.269,0.000,0.000,20.385,1440.945,7324.806,451.550,2265.718,651.030,33.357,1194.393,0.000,1757.476,0.000,1.013,0.000
$DEVICE_MAMPS,224.145,72.675,1199.520,751.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.157,1225.670,579.209,263.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,40299,556
$CAP_FILE_SIZE,94434,0
$CFSIZE,259252224,253190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,165158,-4229.516,817.736,35,0.8,35,-24.9