version: 66.07
glider: 543
mission: 6
dive: 89
start: 12 22 112 17 1 20
data:
$ID,543
$MISSION,6
$DIVE,89
$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,-8093.4985
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,221212,165158,-4229.516,817.736,35,0.8,35,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-24.1
$GPS2,221212,170024,-4229.505,817.802,19,1.1,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.074,-0.137
$KALMAN_X,5680.6,-509.4,-248.2,17123.9,4357.2
$KALMAN_Y,99439.2,436.4,9.8,-98905.6,1621.1
$MHEAD_RNG_PITCHd_Wd,233.3,3138,-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,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-88.35,0.000,6,0.000,0.000,55,3371,2695,0,0,0,0,0,0
$GC,115,-0.82,-102.1,2.9,-3.6,11,135,5.35,2.20,-6.00,0.000,4,0.232,0.045,1376,1944,2891,0,0,0,0,0,0
$GC,207,-0.82,-102.1,16.0,-16.4,24,218,0.00,2.30,0.00,0.000,6,0.000,0.056,1367,3330,2892,0,0,0,0,0,0
$GC,299,-0.82,-102.1,33.7,-20.2,37,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3330,2892,0,0,0,0,0,0
$GC,545,-0.82,-102.1,79.7,-17.2,78,554,0.00,0.98,0.00,0.000,4,0.000,0.055,1362,3948,2893,0,0,0,0,0,0
$GC,617,-0.82,-102.1,92.7,-18.3,90,625,0.00,0.90,0.00,0.000,6,0.000,0.034,1362,3353,2893,0,0,0,0,0,0
$GC,952,-0.82,-102.1,148.5,-16.0,116,953,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3353,2894,0,0,0,0,0,0
$GC,1262,-0.82,-102.1,199.7,-16.0,136,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3353,2895,0,0,0,0,0,0
$GC,1576,-0.82,-102.1,250.3,-16.2,156,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3353,2895,0,0,0,0,0,0
$GC,1886,-0.82,-102.1,300.4,-16.8,171,1892,0.00,0.98,0.00,0.000,4,0.000,0.057,1358,3959,2895,0,0,0,0,0,0
$GC,2017,-0.82,-102.1,324.7,-17.7,176,2027,0.00,0.90,0.00,0.000,6,0.000,0.034,1358,3357,2895,0,0,0,0,0,0
$GC,2334,-0.82,-102.1,376.5,-16.3,192,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3357,2895,0,0,0,0,0,0
$GC,2651,-0.82,-102.1,427.1,-16.0,205,2653,0.12,0.00,0.00,0.000,6,0.200,0.000,1386,3357,2895,0,0,0,0,0,0
$GC,2959,-0.82,-102.1,467.6,-13.0,215,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3357,2894,0,0,0,0,0,0
$GC,3264,-0.82,-102.1,506.3,-12.6,225,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3357,2894,0,0,0,0,0,0
$GC,3570,-0.82,-102.1,546.3,-13.1,235,3574,0.00,2.12,0.00,0.000,4,0.000,0.031,1386,1933,2894,0,0,0,0,0,0
$GC,3614,-0.82,-102.1,551.7,-11.5,236,3618,0.00,2.30,0.00,0.000,6,0.000,0.056,1377,3366,2894,0,0,0,0,0,0
$GC,3932,-0.82,-102.1,595.4,-14.2,247,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3366,2894,0,0,0,0,0,0
$GC,4238,-0.82,-102.1,637.3,-13.6,257,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3366,2894,0,0,0,0,0,0
$GC,4546,-0.82,-102.1,678.7,-13.7,267,4550,0.00,0.93,0.00,0.000,4,0.000,0.057,1371,3956,2893,0,0,0,0,0,0
$GC,4657,-0.82,-102.1,695.5,-15.1,270,4660,0.00,0.90,0.00,0.000,6,0.000,0.036,1372,3354,2892,0,0,0,0,0,0
$GC,4987,-0.82,-102.1,740.5,-13.6,281,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3354,2892,0,0,0,0,0,0
$GC,5293,-0.82,-102.1,783.7,-14.3,291,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3354,2890,0,0,0,0,0,0
$GC,5600,-0.82,-102.1,827.5,-14.4,301,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3354,2889,0,0,0,0,0,0
$GC,5906,-0.82,-102.1,869.9,-13.8,311,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3354,2889,0,0,0,0,0,0
$GC,6212,-0.82,-102.1,912.4,-13.7,321,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3354,2888,0,0,0,0,0,0
$GC,6519,-0.82,-102.1,952.9,-13.1,331,6523,0.00,0.95,0.00,0.000,4,0.000,0.058,1368,3957,2887,0,0,0,0,0,0
$GC,6621,-0.82,-102.1,967.4,-14.6,334,6625,0.00,0.90,0.00,0.000,6,0.000,0.038,1368,3359,2887,0,0,0,0,0,0
$STATE,6899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6899,begin apogee
$GC,6906,-0.14,0.0,1003.7,12.8,343,7015,0.80,0.00,105.85,1.202,6,0.173,0.000,1599,3249,2473,0,0,0,0,0,0
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7019,0.82,102.1,1005.7,0.0,346,7129,0.93,0.00,106.18,1.170,6,0.080,0.000,1909,3249,2056,0,0,0,0,0,0
$GC,7428,0.82,102.1,918.1,24.1,360,7431,0.00,1.15,0.00,0.000,4,0.000,0.055,1909,3949,2031,0,0,0,0,0,0
$GC,7690,0.82,102.1,849.8,26.0,367,7693,0.00,1.10,0.00,0.000,6,0.000,0.033,1915,3235,2029,0,0,0,0,0,0
$GC,8010,0.82,102.1,775.1,22.6,378,8014,0.00,1.15,0.00,0.000,4,0.000,0.054,1914,3945,2028,0,0,0,0,0,0
$GC,8268,0.82,102.1,710.6,26.8,385,8271,0.00,1.05,0.00,0.000,6,0.000,0.033,1919,3250,2027,0,0,0,0,0,0
$GC,8588,0.82,102.1,636.8,23.2,396,8591,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3958,2026,0,0,0,0,0,0
$GC,8844,0.82,102.1,571.8,25.5,403,8847,0.00,1.08,0.00,0.000,6,0.000,0.032,1925,3238,2025,0,0,0,0,0,0
$GC,9162,0.82,102.1,498.2,22.8,414,9166,0.00,1.15,0.00,0.000,4,0.000,0.053,1925,3958,2023,0,0,0,0,0,0
$GC,9424,0.82,102.1,433.0,25.4,421,9428,0.00,1.05,0.00,0.000,6,0.000,0.032,1930,3253,2023,0,0,0,0,0,0
$GC,9758,0.82,102.1,356.1,23.3,435,9762,0.00,1.10,0.00,0.000,4,0.000,0.051,1930,3953,2022,0,0,0,0,0,0
$GC,10021,0.82,102.1,287.1,24.9,446,10026,0.00,1.05,0.00,0.000,6,0.000,0.033,1935,3249,2022,0,0,0,0,0,0
$GC,10341,0.82,102.1,211.0,24.8,464,10345,0.00,1.10,0.00,0.000,4,0.000,0.053,1935,3953,2021,0,0,0,0,0,0
$GC,10609,0.82,102.1,139.4,27.1,479,10613,0.00,1.05,0.00,0.000,6,0.000,0.032,1941,3247,2020,0,0,0,0,0,0
$GC,10949,0.82,102.1,58.6,22.4,519,10956,0.00,1.12,0.00,0.000,4,0.000,0.052,1941,3962,2021,0,0,0,0,0,0
$STATE,11189,end climb,SURFACE_DEPTH_REACHED
$STATE,11189,begin surface coast
$FINISH,0.9,1.012657
$STATE,11207,end surface coast,CONTROL_FINISHED_OK
$STATE,11207,begin surface
$SM_CCo,11224,168.55,0.748,1,0,506,482.50
$SM_GC,1.44,0.00,0.00,168.55,0.000,0.000,0.748,57,3342,506,-4.98,-0.34,482.50
$IRIDIUM_FIX,-4212.81,817.71,221212,131337
$TT8_MAMPS,0.024717
$HUMID,54.25
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.7,18.107
$10V_AH,10.1,9.283
$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,12.150,31.700,212.025,168.550,0.000,30.864,41.993,280.805,0.000,0.000,22.045,1431.706,7427.616,466.998,1934.594,645.389,33.365,1167.164,0.000,1714.214,0.000,1.013,0.000
$DEVICE_MAMPS,231.795,68.085,1201.815,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.991,1235.989,564.267,268.494,0.000,0.000,0.000,0.000,0.000,0.000
$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,40283,559
$CAP_FILE_SIZE,87815,0
$CFSIZE,259252224,253145088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,201234,-4230.426,817.506,35,0.9,35,-24.9