version: 66.07
glider: 543
mission: 6
dive: 92
start: 12 23 112 2 58 37
data:
$ID,543
$MISSION,6
$DIVE,92
$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,-8103.9297
$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,53
$R_STBD_OVSHOOT,34
$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
$GPS1,231212,024958,-4232.726,816.367,40,0.9,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-44.4
$GPS2,231212,025741,-4232.765,816.383,15,1.1,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.148,-0.050
$KALMAN_X,5622.6,-379.9,-351.0,15226.4,2921.0
$KALMAN_Y,103691.1,-726.2,-438.6,-107560.4,5785.4
$MHEAD_RNG_PITCHd_Wd,133.7,7114,-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,-87.75,0.000,6,0.000,0.000,56,3370,2695,0,0,0,0,0,0
$GC,115,-0.82,-103.8,3.0,-3.4,11,135,5.35,2.20,-6.10,0.000,4,0.232,0.044,1381,1940,2897,0,0,0,0,0,0
$GC,215,-0.82,-103.8,16.8,-16.1,25,224,0.00,2.33,0.00,0.000,6,0.000,0.055,1372,3339,2899,0,0,0,0,0,0
$GC,300,-0.82,-103.8,33.3,-18.8,38,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3339,2899,0,0,0,0,0,0
$GC,554,-0.82,-103.8,76.3,-17.8,79,558,0.00,0.98,0.00,0.000,4,0.000,0.055,1367,3954,2899,0,0,0,0,0,0
$GC,710,-0.82,-103.8,105.5,-17.8,103,716,0.00,0.90,0.00,0.000,6,0.000,0.035,1367,3361,2899,0,0,0,0,0,0
$GC,1042,-0.82,-103.8,161.6,-17.0,124,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3360,2900,0,0,0,0,0,0
$GC,1354,-0.82,-103.8,217.6,-17.7,144,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3360,2901,0,0,0,0,0,0
$GC,1666,-0.82,-103.8,272.6,-17.3,162,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3360,2901,0,0,0,0,0,0
$GC,1976,-0.82,-103.8,324.9,-16.4,177,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3359,2901,0,0,0,0,0,0
$GC,2285,-0.82,-103.8,374.5,-15.8,192,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3360,2901,0,0,0,0,0,0
$GC,2602,-0.82,-103.8,422.8,-14.8,205,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3360,2901,0,0,0,0,0,0
$GC,2909,-0.82,-103.8,469.3,-14.6,215,2913,0.00,0.93,0.00,0.000,4,0.000,0.055,1363,3952,2901,0,0,0,0,0,0
$GC,3167,-0.82,-103.8,511.8,-15.9,222,3171,0.00,0.90,0.00,0.000,6,0.000,0.035,1363,3349,2901,0,0,0,0,0,0
$GC,3485,-0.82,-103.8,559.7,-15.3,233,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3348,2901,0,0,0,0,0,0
$GC,3792,-0.82,-103.8,607.2,-15.2,243,3795,0.00,0.95,0.00,0.000,4,0.000,0.056,1359,3956,2901,0,0,0,0,0,0
$GC,4049,-0.82,-103.8,650.3,-17.0,250,4053,0.00,0.90,0.00,0.000,6,0.000,0.036,1359,3354,2900,0,0,0,0,0,0
$GC,4369,-0.82,-103.8,699.7,-15.9,261,4372,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3959,2899,0,0,0,0,0,0
$GC,4629,-0.82,-103.8,745.8,-18.6,268,4633,0.08,0.90,0.00,0.000,6,0.188,0.037,1375,3360,2899,0,0,0,0,0,0
$GC,4949,-0.82,-103.8,795.0,-15.2,279,4953,0.00,0.93,0.00,0.000,4,0.000,0.058,1372,3952,2898,0,0,0,0,0,0
$GC,5102,-0.82,-103.8,820.1,-16.1,283,5106,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3353,2897,0,0,0,0,0,0
$GC,5427,-0.82,-103.8,867.8,-14.4,294,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3352,2897,0,0,0,0,0,0
$GC,5733,-0.82,-103.8,911.2,-14.1,304,5739,0.00,0.95,0.00,0.000,4,0.000,0.058,1368,3958,2896,0,0,0,0,0,0
$GC,5908,-0.82,-103.8,937.5,-14.0,309,5911,0.00,0.93,0.00,0.000,6,0.000,0.037,1368,3345,2895,0,0,0,0,0,0
$GC,6243,-0.82,-103.8,980.9,-12.9,320,6248,0.00,0.95,0.00,0.000,4,0.000,0.058,1364,3950,2895,0,0,0,0,0,0
$STATE,6381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6381,begin apogee
$GC,6391,-0.14,0.0,1000.7,13.5,324,6501,0.77,0.00,106.75,1.202,6,0.173,0.000,1592,3252,2472,0,0,0,0,0,0
$STATE,6502,end apogee,CONTROL_FINISHED_OK
$STATE,6502,begin climb
$GC,6505,0.82,103.8,1003.0,0.0,327,6617,0.93,0.00,107.82,1.173,6,0.083,0.000,1903,3252,2049,0,0,0,0,0,0
$GC,6906,0.82,103.8,916.2,23.8,340,6909,0.00,1.15,0.00,0.000,4,0.000,0.054,1904,3952,2027,0,0,0,0,0,0
$GC,7023,0.82,103.8,885.5,25.3,343,7027,0.00,1.10,0.00,0.000,6,0.000,0.031,1909,3238,2026,0,0,0,0,0,0
$GC,7348,0.82,103.8,810.2,23.1,354,7352,0.00,1.17,0.00,0.000,4,0.000,0.054,1909,3961,2022,0,0,0,0,0,0
$GC,7500,0.82,103.8,771.0,25.3,358,7503,0.00,1.08,0.00,0.000,6,0.000,0.032,1914,3251,2021,0,0,0,0,0,0
$GC,7824,0.82,103.8,696.3,22.3,369,7828,0.00,1.12,0.00,0.000,4,0.000,0.054,1914,3952,2019,0,0,0,0,0,0
$GC,7941,0.82,103.8,667.2,24.3,372,7945,0.00,1.05,0.00,0.000,6,0.000,0.031,1919,3252,2019,0,0,0,0,0,0
$GC,8266,0.82,103.8,591.9,23.5,383,8270,0.00,1.12,0.00,0.000,4,0.000,0.053,1919,3957,2018,0,0,0,0,0,0
$GC,8456,0.82,103.8,540.0,26.8,388,8459,0.00,1.05,0.00,0.000,6,0.000,0.032,1924,3252,2018,0,0,0,0,0,0
$GC,8774,0.82,103.8,460.7,24.9,399,8778,0.00,1.12,0.00,0.000,4,0.000,0.054,1924,3962,2016,0,0,0,0,0,0
$GC,8964,0.82,103.8,407.2,28.4,404,8968,0.00,1.05,0.00,0.000,6,0.000,0.031,1930,3253,2016,0,0,0,0,0,0
$GC,9298,0.82,103.8,323.4,24.6,420,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3253,2015,0,0,0,0,0,0
$GC,9607,0.82,103.8,248.7,23.9,435,9613,0.00,1.10,0.00,0.000,4,0.000,0.052,1930,3954,2015,0,0,0,0,0,0
$GC,9878,0.82,103.8,177.7,26.0,450,9881,0.00,1.05,0.00,0.000,6,0.000,0.032,1935,3247,2015,0,0,0,0,0,0
$GC,10206,0.82,103.8,104.9,21.4,471,10210,0.00,1.12,0.00,0.000,4,0.000,0.051,1935,3962,2015,0,0,0,0,0,0
$GC,10413,0.82,103.8,56.1,23.4,502,10424,0.00,1.05,0.00,0.000,6,0.000,0.031,1940,3251,2015,0,0,0,0,0,0
$STATE,10651,end climb,SURFACE_DEPTH_REACHED
$STATE,10652,begin surface coast
$FINISH,1.0,1.001070
$STATE,10667,end surface coast,CONTROL_FINISHED_OK
$STATE,10667,begin surface
$SM_CCo,10683,164.52,0.745,1,0,505,482.50
$SM_GC,1.56,0.00,0.00,164.52,0.000,0.000,0.745,54,3362,505,-4.99,0.25,482.50
$IRIDIUM_FIX,-4212.81,814.82,221212,232354
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.7,18.484
$10V_AH,10.1,9.540
$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,12.175,33.175,214.575,164.525,0.000,28.725,19.101,268.735,0.000,0.000,18.701,1422.721,6814.578,454.198,1976.843,650.604,33.360,1194.213,0.000,1807.149,0.000,1.012,0.000
$DEVICE_MAMPS,231.795,84.915,1201.815,745.110,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.573,1203.918,580.697,275.537,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,40441,541
$CAP_FILE_SIZE,89888,0
$CFSIZE,259252224,252997632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,060041,-4233.100,818.649,30,1.2,30,-24.9