version: 66.07
glider: 543
mission: 6
dive: 116
start: 12 27 112 13 58 16
data:
$ID,543
$MISSION,6
$DIVE,116
$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,-8187.9038
$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,38
$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
$GPS1,271212,134722,-4159.021,825.122,37,1.0,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-25.0
$GPS2,271212,135718,-4159.007,825.000,30,1.4,30,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.200,-0.042
$KALMAN_X,-46006.2,1263.6,587.3,75978.0,-11216.3
$KALMAN_Y,67336.0,-6.6,261.5,-10135.7,-890.3
$MHEAD_RNG_PITCHd_Wd,126.8,7123,-20.4,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-92.7,0.0,0.0,0,111,0.00,0.00,-89.15,0.000,2,0.000,0.000,56,3373,2709,0,0,0,0,0,0
$GC,115,-0.67,-175.3,3.1,-3.6,11,137,5.30,0.95,-12.38,0.000,4,0.216,0.095,1419,3935,3191,0,0,0,0,0,0
$GC,417,-0.67,-175.3,59.1,-15.7,58,428,0.00,0.88,0.00,0.000,6,0.000,0.037,1419,3362,3193,0,0,0,0,0,0
$GC,664,-0.67,-175.3,97.2,-15.2,99,671,0.00,0.90,0.00,0.000,4,0.000,0.058,1415,3924,3194,0,0,0,0,0,0
$GC,932,-0.67,-175.3,141.8,-16.8,116,936,0.00,0.88,0.00,0.000,6,0.000,0.036,1415,3346,3194,0,0,0,0,0,0
$GC,1260,-0.67,-175.3,193.2,-15.9,137,1265,0.00,0.93,0.00,0.000,4,0.000,0.058,1411,3929,3195,0,0,0,0,0,0
$GC,1435,-0.67,-175.3,222.6,-16.9,146,1444,0.00,0.88,0.00,0.000,6,0.000,0.036,1411,3349,3195,0,0,0,0,0,0
$GC,1761,-0.67,-175.3,273.4,-15.5,165,1766,0.00,0.93,0.00,0.000,4,0.000,0.057,1407,3932,3195,0,0,0,0,0,0
$GC,1892,-0.67,-175.3,296.0,-16.7,170,1904,0.00,0.88,0.00,0.000,6,0.000,0.035,1407,3349,3195,0,0,0,0,0,0
$GC,2210,-0.67,-175.3,345.8,-16.1,186,2213,0.00,0.90,0.00,0.000,4,0.000,0.058,1403,3920,3195,0,0,0,0,0,0
$GC,2289,-0.67,-175.3,360.3,-17.2,189,2295,0.00,0.85,0.00,0.000,6,0.000,0.036,1403,3350,3194,0,0,0,0,0,0
$GC,2621,-0.67,-175.3,417.2,-17.4,204,2625,0.10,0.93,0.00,0.000,4,0.190,0.058,1423,3924,3194,0,0,0,0,0,0
$GC,2723,-0.67,-175.3,434.2,-15.5,207,2728,0.00,0.85,0.00,0.000,6,0.000,0.037,1423,3357,3194,0,0,0,0,0,0
$GC,3066,-0.67,-175.3,487.8,-15.4,218,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,3357,3194,0,0,0,0,0,0
$GC,3371,-0.67,-175.3,534.1,-14.9,228,3377,0.00,0.90,0.00,0.000,4,0.000,0.060,1420,3924,3194,0,0,0,0,0,0
$GC,3495,-0.67,-175.3,554.5,-15.9,231,3499,0.00,0.85,0.00,0.000,6,0.000,0.037,1419,3359,3194,0,0,0,0,0,0
$GC,3814,-0.67,-175.3,602.4,-14.9,242,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,1419,3359,3193,0,0,0,0,0,0
$GC,4121,-0.67,-175.3,646.1,-14.1,252,4125,0.00,0.90,0.00,0.000,4,0.000,0.060,1415,3926,3192,0,0,0,0,0,0
$GC,4325,-0.67,-175.3,675.9,-14.9,258,4329,0.00,0.85,0.00,0.000,6,0.000,0.039,1415,3360,3192,0,0,0,0,0,0
$GC,4667,-0.67,-175.3,723.6,-14.0,269,4672,0.00,0.90,0.00,0.000,4,0.000,0.060,1411,3930,3191,0,0,0,0,0,0
$GC,4796,-0.67,-175.3,743.3,-14.8,272,4803,0.00,0.88,0.00,0.000,6,0.000,0.037,1411,3348,3190,0,0,0,0,0,0
$GC,5110,-0.67,-175.3,789.2,-14.8,283,5113,0.00,0.93,0.00,0.000,4,0.000,0.060,1406,3932,3189,0,0,0,0,0,0
$GC,5193,-0.67,-175.3,802.9,-16.2,285,5197,0.00,0.88,0.00,0.000,6,0.000,0.039,1407,3354,3189,0,0,0,0,0,0
$GC,5518,-0.67,-175.3,851.6,-15.0,296,5522,0.00,0.90,0.00,0.000,4,0.000,0.061,1403,3922,3188,0,0,0,0,0,0
$GC,5607,-0.67,-175.3,866.2,-16.7,298,5610,0.00,0.85,0.00,0.000,6,0.000,0.039,1402,3359,3187,0,0,0,0,0,0
$GC,5925,-0.67,-175.3,912.1,-13.9,309,5927,0.10,0.00,0.00,0.000,6,0.188,0.000,1427,3360,3187,0,0,0,0,0,0
$GC,6233,-0.67,-175.3,949.0,-12.0,319,6237,0.00,0.90,0.00,0.000,4,0.000,0.063,1423,3923,3186,0,0,0,0,0,0
$GC,6362,-0.67,-175.3,966.3,-13.1,322,6369,0.00,0.88,0.00,0.000,6,0.000,0.040,1423,3349,3186,0,0,0,0,0,0
$STATE,6673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6673,begin apogee
$GC,6680,-0.14,0.0,1003.0,11.5,333,6859,0.57,0.00,175.68,1.171,6,0.142,0.000,1599,3257,2473,0,0,0,0,0,0
$STATE,6860,end apogee,CONTROL_FINISHED_OK
$STATE,6860,begin climb
$GC,6863,0.67,175.3,1006.3,0.0,339,7046,0.75,2.40,175.10,1.129,4,0.055,0.032,1882,1838,1751,0,0,0,0,0,0
$GC,7130,0.67,175.3,956.3,20.1,347,7136,0.00,2.42,0.00,0.000,6,0.000,0.051,1882,3224,1734,0,0,0,0,0,0
$GC,7462,0.67,175.3,874.9,24.7,358,7466,0.00,2.20,0.00,0.000,4,0.000,0.034,1893,1834,1728,0,0,0,0,0,0
$GC,7495,0.67,175.3,866.8,21.8,359,7499,0.00,2.35,0.00,0.000,6,0.000,0.051,1893,3256,1727,0,0,0,0,0,0
$GC,7825,0.67,175.3,785.1,25.0,370,7829,0.00,2.22,0.00,0.000,4,0.000,0.034,1903,1826,1726,0,0,0,0,0,0
$GC,7874,0.67,175.3,773.7,20.1,371,7879,0.15,2.33,0.00,0.000,6,0.190,0.052,1868,3255,1726,0,0,0,0,0,0
$GC,8188,0.67,175.3,704.1,22.5,381,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3255,1726,0,0,0,0,0,0
$GC,8495,0.67,175.3,635.9,22.0,391,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3255,1726,0,0,0,0,0,0
$GC,8800,0.67,175.3,568.5,21.7,401,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3255,1724,0,0,0,0,0,0
$GC,9106,0.67,175.3,501.6,21.9,411,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3255,1724,0,0,0,0,0,0
$GC,9414,0.67,175.3,433.6,22.4,421,9417,0.00,2.15,0.00,0.000,4,0.000,0.031,1877,1820,1723,0,0,0,0,0,0
$GC,9493,0.67,175.3,417.9,17.1,423,9497,0.00,2.28,0.00,0.000,6,0.000,0.049,1877,3253,1723,0,0,0,0,0,0
$GC,9825,0.67,175.3,338.5,25.0,438,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,3253,1722,0,0,0,0,0,0
$GC,10135,0.67,175.3,262.4,24.4,453,10141,0.00,2.17,0.00,0.000,4,0.000,0.033,1888,1830,1722,0,0,0,0,0,0
$GC,10210,0.67,175.3,245.6,20.1,456,10216,0.00,2.28,0.00,0.000,6,0.000,0.050,1889,3245,1722,0,0,0,0,0,0
$GC,10538,0.67,175.3,165.0,24.5,477,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3245,1722,0,0,0,0,0,0
$GC,10854,0.67,175.3,88.8,24.7,501,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3245,1722,0,0,0,0,0,0
$GC,11227,0.67,175.3,7.9,17.4,562,11237,0.00,2.15,0.00,0.000,4,0.000,0.032,1899,1821,1722,0,0,0,0,0,0
$STATE,11252,end climb,SURFACE_DEPTH_REACHED
$STATE,11252,begin surface coast
$FINISH,0.9,1.007248
$STATE,11274,end surface coast,CONTROL_FINISHED_OK
$STATE,11274,begin surface
$SM_CCo,11292,134.68,0.733,1,0,503,482.50
$SM_GC,1.20,0.00,0.00,134.68,0.000,0.000,0.733,55,3365,503,-4.98,0.34,482.50
$IRIDIUM_FIX,-4143.80,822.54,271212,080845
$TT8_MAMPS,0.025466
$HUMID,55.27
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.0,23.084
$10V_AH,10.1,12.273
$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,11.850,48.900,350.775,134.675,0.000,28.180,26.165,353.097,0.000,0.000,32.143,1447.815,7308.951,531.229,2048.327,688.179,33.363,1319.337,0.000,1793.423,0.000,1.013,0.000
$DEVICE_MAMPS,215.730,94.860,1171.215,732.870,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.420,1266.660,587.740,272.119,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,43808,568
$CAP_FILE_SIZE,95100,0
$CFSIZE,259252224,251342848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,271212,171027,-4159.802,825.601,54,1.0,57,-24.9