version: 66.07
glider: 543
mission: 6
dive: 93
start: 12 23 112 6 13 2
data:
$ID,543
$MISSION,6
$DIVE,93
$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,-8107.3794
$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,27
$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
$GPS1,231212,060041,-4233.100,818.649,30,1.2,30,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-49.9
$GPS2,231212,061206,-4233.138,818.692,25,0.8,27,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.100,0.120
$KALMAN_X,4665.1,-269.8,-37.7,18905.4,889.4
$KALMAN_Y,103310.9,-673.7,-381.6,-107977.1,4727.6
$MHEAD_RNG_PITCHd_Wd,64.7,6080,-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,-53.9,0.0,0.0,0,106,0.00,0.00,-81.82,0.000,2,0.000,0.000,54,3362,2544,0,0,0,0,0,0
$GC,110,-0.82,-105.6,3.0,-3.2,10,138,5.28,0.95,-12.12,0.000,4,0.227,0.086,1378,3945,2903,0,0,0,0,0,0
$GC,419,-0.82,-105.6,57.8,-18.8,58,427,0.00,0.90,0.00,0.000,6,0.000,0.034,1378,3352,2904,0,0,0,0,0,0
$GC,659,-0.82,-105.6,97.0,-16.3,99,665,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3352,2905,0,0,0,0,0,0
$GC,992,-0.82,-105.6,151.5,-16.2,122,993,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3352,2906,0,0,0,0,0,0
$GC,1305,-0.82,-105.6,202.4,-15.5,142,1308,0.00,0.93,0.00,0.000,4,0.000,0.055,1374,3940,2906,0,0,0,0,0,0
$GC,1573,-0.82,-105.6,250.5,-18.3,157,1576,0.00,0.88,0.00,0.000,6,0.000,0.034,1374,3358,2906,0,0,0,0,0,0
$GC,1896,-0.82,-105.6,304.1,-16.3,173,1902,0.00,0.93,0.00,0.000,4,0.000,0.056,1369,3946,2906,0,0,0,0,0,0
$GC,2064,-0.82,-105.6,333.2,-17.8,180,2067,0.00,0.90,0.00,0.000,6,0.000,0.034,1369,3343,2906,0,0,0,0,0,0
$GC,2392,-0.82,-105.6,386.2,-15.6,196,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3342,2906,0,0,0,0,0,0
$GC,2709,-0.82,-105.6,434.9,-15.4,208,2712,0.00,0.95,0.00,0.000,4,0.000,0.056,1365,3948,2906,0,0,0,0,0,0
$GC,2938,-0.82,-105.6,472.0,-16.0,214,2945,0.00,0.88,0.00,0.000,6,0.000,0.034,1365,3357,2906,0,0,0,0,0,0
$GC,3251,-0.82,-105.6,515.8,-13.8,225,3255,0.00,0.93,0.00,0.000,4,0.000,0.057,1360,3947,2906,0,0,0,0,0,0
$GC,3341,-0.82,-105.6,530.1,-16.3,227,3344,0.00,0.90,0.00,0.000,6,0.000,0.034,1361,3341,2906,0,0,0,0,0,0
$GC,3659,-0.82,-105.6,576.3,-14.7,238,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3341,2905,0,0,0,0,0,0
$GC,3966,-0.82,-105.6,622.2,-14.9,248,3971,0.00,0.95,0.00,0.000,4,0.000,0.057,1356,3946,2904,0,0,0,0,0,0
$GC,4224,-0.82,-105.6,665.0,-16.3,255,4228,0.00,0.88,0.00,0.000,6,0.000,0.035,1356,3357,2904,0,0,0,0,0,0
$GC,4545,-0.82,-105.6,713.0,-15.2,266,4549,0.12,0.95,0.00,0.000,4,0.200,0.058,1381,3949,2904,0,0,0,0,0,0
$GC,4639,-0.82,-105.6,727.6,-15.0,268,4646,0.00,0.90,0.00,0.000,6,0.000,0.035,1381,3346,2903,0,0,0,0,0,0
$GC,4952,-0.82,-105.6,771.4,-14.4,279,4956,0.00,0.95,0.00,0.000,4,0.000,0.058,1377,3952,2902,0,0,0,0,0,0
$GC,5027,-0.82,-105.6,782.9,-14.9,281,5031,0.00,0.90,0.00,0.000,6,0.000,0.036,1377,3352,2902,0,0,0,0,0,0
$GC,5362,-0.82,-105.6,830.9,-14.2,292,5366,0.00,0.93,0.00,0.000,4,0.000,0.060,1373,3937,2901,0,0,0,0,0,0
$GC,5603,-0.82,-105.6,867.6,-14.0,299,5606,0.00,0.88,0.00,0.000,6,0.000,0.037,1373,3354,2901,0,0,0,0,0,0
$GC,5938,-0.82,-105.6,911.2,-13.0,310,5942,0.00,0.93,0.00,0.000,4,0.000,0.060,1368,3941,2900,0,0,0,0,0,0
$GC,6176,-0.82,-105.6,944.7,-13.7,317,6179,0.00,0.88,0.00,0.000,6,0.000,0.037,1369,3357,2899,0,0,0,0,0,0
$GC,6517,-0.82,-105.6,987.9,-12.5,328,6522,0.00,0.93,0.00,0.000,4,0.000,0.060,1364,3942,2898,0,0,0,0,0,0
$STATE,6604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6612,-0.14,0.0,1000.4,13.8,330,6723,0.77,0.00,107.40,1.206,6,0.173,0.000,1592,3242,2473,0,0,0,0,0,0
$STATE,6724,end apogee,CONTROL_FINISHED_OK
$STATE,6724,begin climb
$GC,6727,0.82,105.6,1002.4,0.0,334,6840,0.95,0.00,108.38,1.177,6,0.083,0.000,1911,3242,2042,0,0,0,0,0,0
$GC,7127,0.82,105.6,915.9,24.2,347,7131,0.00,1.15,0.00,0.000,4,0.000,0.055,1911,3936,2018,0,0,0,0,0,0
$GC,7318,0.82,105.6,865.4,26.2,352,7321,0.00,1.05,0.00,0.000,6,0.000,0.032,1916,3249,2017,0,0,0,0,0,0
$GC,7637,0.82,105.6,789.2,23.9,363,7641,0.00,1.12,0.00,0.000,4,0.000,0.054,1916,3944,2014,0,0,0,0,0,0
$GC,7787,0.82,105.6,749.5,25.8,367,7791,0.00,1.05,0.00,0.000,6,0.000,0.031,1921,3244,2014,0,0,0,0,0,0
$GC,8112,0.82,105.6,672.1,23.7,378,8116,0.00,1.12,0.00,0.000,4,0.000,0.053,1921,3945,2013,0,0,0,0,0,0
$GC,8184,0.82,105.6,653.0,26.8,380,8188,0.00,1.02,0.00,0.000,6,0.000,0.031,1926,3253,2013,0,0,0,0,0,0
$GC,8519,0.82,105.6,573.2,24.0,391,8523,0.00,1.10,0.00,0.000,4,0.000,0.054,1926,3944,2011,0,0,0,0,0,0
$GC,8780,0.82,105.6,507.3,25.1,398,8783,0.00,1.02,0.00,0.000,6,0.000,0.031,1931,3253,2011,0,0,0,0,0,0
$GC,9100,0.82,105.6,435.2,22.2,409,9104,0.00,1.10,0.00,0.000,4,0.000,0.054,1931,3946,2009,0,0,0,0,0,0
$GC,9276,0.82,105.6,390.8,25.9,414,9287,0.00,1.02,0.00,0.000,6,0.000,0.031,1937,3251,2009,0,0,0,0,0,0
$GC,9593,0.82,105.6,315.2,24.5,430,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3251,2008,0,0,0,0,0,0
$GC,9909,0.82,105.6,236.8,25.0,446,9912,0.00,1.10,0.00,0.000,4,0.000,0.053,1937,3943,2008,0,0,0,0,0,0
$GC,9990,0.82,105.6,214.3,27.4,450,9998,0.00,1.02,0.00,0.000,6,0.000,0.031,1942,3250,2008,0,0,0,0,0,0
$GC,10314,0.82,105.6,135.3,25.0,471,10317,0.00,1.10,0.00,0.000,4,0.000,0.053,1942,3952,2008,0,0,0,0,0,0
$GC,10399,0.82,105.6,112.4,26.9,476,10403,0.10,1.05,0.00,0.000,6,0.216,0.031,1921,3237,2008,0,0,0,0,0,0
$GC,10751,0.82,105.6,35.2,21.5,529,10758,0.00,2.08,0.00,0.000,4,0.000,0.031,1930,1835,2007,0,0,0,0,0,0
$GC,10889,0.82,105.6,11.0,17.6,550,10898,0.00,2.25,0.00,0.000,6,0.000,0.047,1930,3251,2006,0,0,0,0,0,0
$STATE,10934,end climb,SURFACE_DEPTH_REACHED
$STATE,10934,begin surface coast
$FINISH,1.0,1.012202
$STATE,10949,end surface coast,CONTROL_FINISHED_OK
$STATE,10949,begin surface
$SM_CCo,10965,159.32,0.747,1,0,504,482.50
$SM_GC,1.56,0.00,0.00,159.32,0.000,0.000,0.747,55,3362,504,-4.98,0.25,482.50
$IRIDIUM_FIX,-4218.64,821.44,231212,060648
$TT8_MAMPS,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.7,18.614
$10V_AH,10.1,9.631
$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,12.225,39.800,215.775,159.325,0.000,56.014,123.423,285.754,0.000,0.000,29.432,1478.202,6930.405,454.308,2281.615,673.528,33.357,1269.698,0.000,1931.748,0.000,1.013,0.000
$DEVICE_MAMPS,227.205,90.270,1205.640,747.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.651,1223.462,594.172,273.663,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,40603,558
$CAP_FILE_SIZE,97814,0
$CFSIZE,259252224,252940288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,091953,-4232.057,820.005,40,1.2,40,-24.9