version: 66.07
glider: 543
mission: 6
dive: 94
start: 12 23 112 9 32 13
data:
$ID,543
$MISSION,6
$DIVE,94
$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,-8110.8105
$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,56
$R_STBD_OVSHOOT,25
$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
$GPS1,231212,091953,-4232.057,820.005,40,1.2,40,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-40.1
$GPS2,231212,093117,-4232.134,820.015,16,1.2,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.033,0.152
$KALMAN_X,4098.5,-206.9,-121.5,21292.7,341.4
$KALMAN_Y,101648.1,-548.8,-375.2,-104586.1,2247.9
$MHEAD_RNG_PITCHd_Wd,12.6,3953,-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,-87.62,0.000,6,0.000,0.000,55,3362,2695,0,0,0,0,0,0
$GC,117,-0.82,-105.3,2.9,-3.2,11,136,5.30,0.95,-6.38,0.000,4,0.229,0.083,1372,3947,2905,0,0,0,0,0,0
$GC,418,-0.82,-105.3,61.6,-20.8,58,425,0.00,0.88,0.00,0.000,6,0.000,0.034,1372,3369,2908,0,0,0,0,0,0
$GC,776,-0.82,-105.3,124.6,-17.5,103,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3369,2909,0,0,0,0,0,0
$GC,1089,-0.82,-105.3,176.1,-16.1,123,1094,0.00,0.90,0.00,0.000,4,0.000,0.055,1367,3941,2910,0,0,0,0,0,0
$GC,1219,-0.82,-105.3,199.2,-17.1,130,1224,0.00,0.88,0.00,0.000,6,0.000,0.034,1367,3351,2910,0,0,0,0,0,0
$GC,1546,-0.82,-105.3,251.1,-15.9,151,1549,0.00,0.95,0.00,0.000,4,0.000,0.054,1363,3952,2910,0,0,0,0,0,0
$GC,1655,-0.82,-105.3,270.4,-18.1,155,1662,0.00,0.90,0.00,0.000,6,0.000,0.034,1363,3345,2910,0,0,0,0,0,0
$GC,1973,-0.82,-105.3,321.0,-16.4,171,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3345,2910,0,0,0,0,0,0
$GC,2282,-0.82,-105.3,371.6,-16.1,186,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3345,2910,0,0,0,0,0,0
$GC,2589,-0.82,-105.3,420.0,-15.6,199,2594,0.00,0.95,0.00,0.000,4,0.000,0.056,1359,3952,2909,0,0,0,0,0,0
$GC,2838,-0.82,-105.3,462.9,-16.9,206,2842,0.00,0.90,0.00,0.000,6,0.000,0.034,1359,3349,2910,0,0,0,0,0,0
$GC,3169,-0.82,-105.3,516.1,-16.3,217,3172,0.00,0.93,0.00,0.000,4,0.000,0.056,1354,3940,2909,0,0,0,0,0,0
$GC,3300,-0.82,-105.3,540.1,-18.5,220,3307,0.00,0.88,0.00,0.000,6,0.000,0.034,1354,3352,2909,0,0,0,0,0,0
$GC,3613,-0.82,-105.3,593.2,-16.9,231,3619,0.12,0.95,0.00,0.000,4,0.203,0.058,1380,3949,2908,0,0,0,0,0,0
$GC,3710,-0.82,-105.3,609.4,-17.0,233,3718,0.00,0.90,0.00,0.000,6,0.000,0.035,1380,3343,2908,0,0,0,0,0,0
$GC,4023,-0.82,-105.3,655.0,-14.3,244,4028,0.00,0.95,0.00,0.000,4,0.000,0.058,1375,3949,2908,0,0,0,0,0,0
$GC,4147,-0.82,-105.3,674.7,-16.4,247,4150,0.00,0.88,0.00,0.000,6,0.000,0.035,1375,3358,2907,0,0,0,0,0,0
$GC,4466,-0.82,-105.3,719.1,-13.7,258,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3359,2906,0,0,0,0,0,0
$GC,4773,-0.82,-105.3,760.9,-13.5,268,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3358,2906,0,0,0,0,0,0
$GC,5078,-0.82,-105.3,801.8,-13.3,278,5084,0.00,0.93,0.00,0.000,4,0.000,0.059,1371,3947,2904,0,0,0,0,0,0
$GC,5191,-0.82,-105.3,818.6,-14.8,281,5194,0.00,0.90,0.00,0.000,6,0.000,0.036,1371,3348,2904,0,0,0,0,0,0
$GC,5521,-0.82,-105.3,863.5,-13.5,292,5524,0.00,0.95,0.00,0.000,4,0.000,0.060,1366,3952,2903,0,0,0,0,0,0
$GC,5581,-0.82,-105.3,872.7,-15.2,293,5589,0.00,0.90,0.00,0.000,6,0.000,0.036,1366,3351,2903,0,0,0,0,0,0
$GC,5895,-0.82,-105.3,914.4,-12.8,304,5901,0.00,0.93,0.00,0.000,4,0.000,0.060,1362,3940,2902,0,0,0,0,0,0
$GC,5991,-0.82,-105.3,928.0,-13.9,306,5999,0.00,0.88,0.00,0.000,6,0.000,0.037,1362,3356,2902,0,0,0,0,0,0
$GC,6304,-0.82,-105.3,967.1,-12.6,317,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3356,2902,0,0,0,0,0,0
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6578,begin apogee
$GC,6585,-0.14,0.0,1002.0,12.6,326,6701,0.82,0.00,108.35,1.206,6,0.172,0.000,1601,3257,2467,0,0,0,0,0,0
$STATE,6702,end apogee,CONTROL_FINISHED_OK
$STATE,6703,begin climb
$GC,6705,0.82,105.3,1003.6,0.0,330,6818,0.90,0.00,109.22,1.168,6,0.076,0.000,1908,3257,2043,0,0,0,0,0,0
$GC,7106,0.82,105.3,917.2,24.1,343,7110,0.00,2.22,0.00,0.000,4,0.000,0.031,1919,1821,2019,0,0,0,0,0,0
$GC,7138,0.82,105.3,908.8,21.9,344,7143,0.00,2.33,0.00,0.000,6,0.000,0.050,1919,3247,2017,0,0,0,0,0,0
$GC,7468,0.82,105.3,830.7,23.6,355,7472,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3942,2015,0,0,0,0,0,0
$GC,7530,0.82,105.3,814.7,27.7,356,7537,0.00,1.08,0.00,0.000,6,0.000,0.032,1925,3236,2015,0,0,0,0,0,0
$GC,7843,0.82,105.3,737.2,24.5,367,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3236,2014,0,0,0,0,0,0
$GC,8150,0.82,105.3,662.7,24.3,377,8153,0.00,2.10,0.00,0.000,4,0.000,0.032,1935,1836,2012,0,0,0,0,0,0
$GC,8182,0.82,105.3,654.9,21.5,378,8186,0.00,2.25,0.00,0.000,6,0.000,0.050,1936,3253,2011,0,0,0,0,0,0
$GC,8512,0.82,105.3,574.4,24.5,389,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3253,2011,0,0,0,0,0,0
$GC,8818,0.82,105.3,498.9,24.2,399,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,3252,2010,0,0,0,0,0,0
$GC,9125,0.82,105.3,422.8,25.0,409,9129,0.00,2.12,0.00,0.000,4,0.000,0.031,1946,1835,2009,0,0,0,0,0,0
$GC,9147,0.82,105.3,416.8,23.8,409,9155,0.10,2.28,0.00,0.000,6,0.192,0.049,1918,3250,2008,0,0,0,0,0,0
$GC,9474,0.82,105.3,337.9,24.0,424,9477,0.00,1.10,0.00,0.000,4,0.000,0.052,1918,3949,2008,0,0,0,0,0,0
$GC,9538,0.82,105.3,320.7,26.7,426,9547,0.00,1.05,0.00,0.000,6,0.000,0.031,1922,3245,2008,0,0,0,0,0,0
$GC,9867,0.82,105.3,241.3,23.6,443,9873,0.00,2.12,0.00,0.000,4,0.000,0.031,1933,1834,2008,0,0,0,0,0,0
$GC,9914,0.82,105.3,230.6,21.4,445,9921,0.00,2.22,0.00,0.000,6,0.000,0.048,1934,3251,2007,0,0,0,0,0,0
$GC,10234,0.82,105.3,154.9,23.6,466,10237,0.00,1.10,0.00,0.000,4,0.000,0.051,1933,3954,2007,0,0,0,0,0,0
$GC,10279,0.82,105.3,143.5,26.8,468,10288,0.00,1.05,0.00,0.000,6,0.000,0.031,1939,3242,2006,0,0,0,0,0,0
$GC,10616,0.82,105.3,66.3,22.8,505,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,3242,2007,0,0,0,0,0,0
$STATE,10909,end climb,SURFACE_DEPTH_REACHED
$STATE,10909,begin surface coast
$FINISH,1.0,1.018492
$STATE,10927,end surface coast,CONTROL_FINISHED_OK
$STATE,10927,begin surface
$SM_CCo,10944,168.23,0.738,1,0,506,482.50
$SM_GC,1.46,0.00,0.00,168.23,0.000,0.000,0.738,58,3368,506,-4.97,0.40,482.50
$IRIDIUM_FIX,-4215.72,818.13,231212,090953
$TT8_MAMPS,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,18.747
$10V_AH,10.1,9.715
$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,12.150,42.725,217.575,168.225,0.000,52.459,125.243,297.421,0.000,0.000,19.662,1399.129,7331.805,499.095,1942.233,631.211,33.358,1175.787,0.000,1617.291,0.000,1.014,0.000
$DEVICE_MAMPS,228.735,83.385,1205.640,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.677,1221.917,578.478,258.036,0.000,0.000,0.000,0.000,0.000,0.000
$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,40375,555
$CAP_FILE_SIZE,88713,0
$CFSIZE,259252224,252895232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,123834,-4230.882,819.753,23,1.2,23,-24.9