version: 66.07
glider: 543
mission: 6
dive: 117
start: 12 27 112 17 32 27
data:
$ID,543
$MISSION,6
$DIVE,117
$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,-8190.2246
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,271212,171027,-4159.802,825.601,54,1.0,57,-24.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-32.8
$GPS2,271212,173130,-4200.017,825.473,16,1.0,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.277,0.009
$KALMAN_X,-49507.0,1448.4,713.7,79812.7,-13576.1
$KALMAN_Y,66956.9,-86.4,-203.1,-11068.6,-161.8
$MHEAD_RNG_PITCHd_Wd,113.1,7533,-13.9,-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,-0.50,-183.9,0.0,0.0,0,120,0.00,0.00,-97.38,0.000,2,0.000,0.000,55,3365,2948,0,0,0,0,0,0
$GC,124,-0.50,-194.7,3.8,-4.8,12,143,5.55,0.93,-7.10,0.000,4,0.220,0.081,1474,3961,3267,0,0,0,0,0,0
$GC,427,-0.50,-194.7,47.3,-10.1,59,434,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3341,3269,0,0,0,0,0,0
$GC,672,-0.50,-194.7,71.1,-9.9,100,681,0.00,0.98,0.00,0.000,4,0.000,0.059,1469,3949,3269,0,0,0,0,0,0
$GC,941,-0.50,-194.7,101.9,-12.6,145,945,0.00,0.90,0.00,0.000,6,0.000,0.036,1470,3352,3270,0,0,0,0,0,0
$GC,1268,-0.50,-194.7,141.7,-12.8,166,1272,0.00,0.95,0.00,0.000,4,0.000,0.059,1465,3951,3270,0,0,0,0,0,0
$GC,1538,-0.50,-194.7,177.9,-13.3,181,1542,0.00,0.90,0.00,0.000,6,0.000,0.035,1465,3349,3270,0,0,0,0,0,0
$GC,1865,-0.50,-194.7,217.4,-11.6,202,1869,0.00,0.95,0.00,0.000,4,0.000,0.060,1461,3949,3270,0,0,0,0,0,0
$GC,2039,-0.50,-194.7,238.6,-12.0,211,2046,0.00,0.90,0.00,0.000,6,0.000,0.036,1461,3350,3270,0,0,0,0,0,0
$GC,2369,-0.50,-194.7,276.3,-11.6,229,2374,0.00,0.95,0.00,0.000,4,0.000,0.060,1457,3953,3269,0,0,0,0,0,0
$GC,2543,-0.50,-194.7,298.2,-12.4,236,2549,0.00,0.90,0.00,0.000,6,0.000,0.036,1456,3350,3269,0,0,0,0,0,0
$GC,2867,-0.50,-194.7,338.3,-12.9,252,2872,0.10,0.95,0.00,0.000,4,0.169,0.061,1479,3941,3269,0,0,0,0,0,0
$GC,3025,-0.50,-194.7,356.8,-11.7,258,3034,0.00,0.88,0.00,0.000,6,0.000,0.037,1479,3358,3268,0,0,0,0,0,0
$GC,3343,-0.50,-194.7,392.3,-11.1,274,3346,0.00,0.93,0.00,0.000,4,0.000,0.060,1474,3946,3268,0,0,0,0,0,0
$GC,3490,-0.50,-194.7,410.0,-11.4,279,3493,0.00,0.90,0.00,0.000,6,0.000,0.036,1475,3346,3268,0,0,0,0,0,0
$GC,3820,-0.50,-194.7,445.9,-10.7,290,3823,0.00,0.95,0.00,0.000,4,0.000,0.060,1470,3949,3266,0,0,0,0,0,0
$GC,3948,-0.50,-194.7,460.2,-10.5,293,3954,0.00,0.90,0.00,0.000,6,0.000,0.037,1470,3347,3267,0,0,0,0,0,0
$GC,4262,-0.50,-194.7,492.2,-10.3,304,4266,0.00,0.95,0.00,0.000,4,0.000,0.060,1466,3949,3266,0,0,0,0,0,0
$GC,4401,-0.50,-194.7,506.5,-9.7,308,4405,0.00,0.90,0.00,0.000,6,0.000,0.037,1466,3349,3266,0,0,0,0,0,0
$GC,4737,-0.50,-194.7,538.8,-9.7,319,4741,0.00,0.95,0.00,0.000,4,0.000,0.060,1461,3951,3265,0,0,0,0,0,0
$GC,4928,-0.50,-194.7,558.1,-9.4,324,4932,0.00,0.90,0.00,0.000,6,0.000,0.037,1461,3350,3265,0,0,0,0,0,0
$GC,5247,-0.50,-194.7,587.0,-8.9,335,5250,0.00,0.95,0.00,0.000,4,0.000,0.060,1457,3952,3265,0,0,0,0,0,0
$GC,5456,-0.50,-194.7,607.1,-9.4,341,5460,0.00,0.90,0.00,0.000,6,0.000,0.037,1457,3355,3264,0,0,0,0,0,0
$GC,5793,-0.50,-194.7,636.8,-8.7,352,5796,0.00,0.93,0.00,0.000,4,0.000,0.060,1453,3941,3263,0,0,0,0,0,0
$GC,5968,-0.50,-194.7,653.6,-9.2,357,5973,0.08,0.90,0.00,0.000,6,0.140,0.037,1478,3345,3263,0,0,0,0,0,0
$GC,6304,-0.50,-194.7,678.2,-7.5,368,6308,0.00,0.95,0.00,0.000,4,0.000,0.061,1475,3945,3262,0,0,0,0,0,0
$GC,6517,-0.50,-194.7,697.7,-9.7,374,6522,0.00,0.90,0.00,0.000,6,0.000,0.038,1474,3347,3262,0,0,0,0,0,0
$GC,6850,-0.50,-194.7,728.2,-9.3,385,6853,0.00,0.95,0.00,0.000,4,0.000,0.060,1470,3949,3261,0,0,0,0,0,0
$GC,7029,-0.50,-194.7,746.2,-9.9,390,7034,0.00,0.90,0.00,0.000,6,0.000,0.038,1470,3352,3260,0,0,0,0,0,0
$GC,7361,-0.50,-194.7,774.6,-8.2,401,7365,0.00,0.95,0.00,0.000,4,0.000,0.061,1466,3952,3259,0,0,0,0,0,0
$GC,7484,-0.50,-194.7,785.3,-8.5,404,7490,0.00,0.90,0.00,0.000,6,0.000,0.039,1466,3356,3259,0,0,0,0,0,0
$GC,7805,-0.50,-194.7,810.5,-7.8,415,7810,0.00,0.93,0.00,0.000,4,0.000,0.061,1462,3943,3258,0,0,0,0,0,0
$GC,7929,-0.50,-194.7,821.2,-8.4,418,7933,0.00,0.90,0.00,0.000,6,0.000,0.039,1462,3349,3258,0,0,0,0,0,0
$GC,8248,-0.50,-194.7,846.5,-7.8,429,8251,0.00,0.95,0.00,0.000,4,0.000,0.061,1457,3949,3257,0,0,0,0,0,0
$GC,8439,-0.50,-194.7,864.5,-10.0,434,8442,0.00,0.90,0.00,0.000,6,0.000,0.039,1457,3352,3256,0,0,0,0,0,0
$GC,8757,-0.50,-194.7,893.7,-9.4,445,8761,0.00,0.95,0.00,0.000,4,0.000,0.061,1453,3950,3256,0,0,0,0,0,0
$GC,8942,-0.50,-194.7,913.2,-10.4,450,8947,0.08,0.90,0.00,0.000,6,0.140,0.040,1478,3355,3256,0,0,0,0,0,0
$GC,9267,-0.50,-194.7,936.9,-7.1,461,9270,0.00,0.95,0.00,0.000,4,0.000,0.062,1475,3951,3254,0,0,0,0,0,0
$GC,9520,-0.50,-194.7,955.8,-7.8,468,9526,0.00,0.90,0.00,0.000,6,0.000,0.041,1475,3355,3254,0,0,0,0,0,0
$GC,9846,-0.50,-194.7,976.8,-6.1,479,9851,0.00,0.95,0.00,0.000,4,0.000,0.063,1471,3951,3254,0,0,0,0,0,0
$GC,10072,-0.50,-194.7,991.7,-6.8,485,10075,0.00,0.93,0.00,0.000,6,0.000,0.040,1471,3344,3253,0,0,0,0,0,0
$STATE,10205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10205,begin apogee
$GC,10212,-0.14,0.0,1000.1,6.3,490,10401,0.43,0.00,180.32,1.827,6,0.125,0.000,1605,3251,2473,0,0,0,0,1,0
$STATE,10402,end apogee,CONTROL_FINISHED_OK
$STATE,10402,begin climb
$GC,10405,0.50,194.7,1004.3,0.0,496,10615,0.57,2.53,192.98,1.779,4,0.045,0.034,1831,1836,1680,0,0,0,0,1,0
$GC,10787,0.50,194.7,946.0,14.9,507,10791,0.00,2.42,0.00,0.000,6,0.000,0.052,1832,3256,1675,0,0,0,0,0,0
$GC,11101,0.50,194.7,882.2,21.1,517,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3256,1671,0,0,0,0,0,0
$GC,11406,0.50,194.7,817.9,21.2,527,11412,0.00,2.25,0.00,0.000,4,0.000,0.036,1843,1827,1671,0,0,0,0,0,0
$GC,11459,0.50,194.7,808.1,17.7,528,11463,0.00,2.33,0.00,0.000,6,0.000,0.054,1843,3251,1670,0,0,0,0,0,0
$GC,11778,0.50,194.7,738.2,22.2,539,11782,0.00,2.20,0.00,0.000,4,0.000,0.035,1853,1824,1669,0,0,0,0,0,0
$GC,11841,0.50,194.7,725.7,18.5,541,11846,0.15,2.33,0.00,0.000,6,0.174,0.053,1816,3263,1669,0,0,0,0,0,0
$GC,12177,0.50,194.7,661.4,19.0,552,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3263,1668,0,0,0,0,0,0
$GC,12483,0.50,194.7,604.4,18.1,562,12487,0.00,2.20,0.00,0.000,4,0.000,0.034,1825,1817,1668,0,0,0,0,0,0
$GC,12527,0.50,194.7,596.9,14.5,563,12531,0.00,2.30,0.00,0.000,6,0.000,0.050,1825,3255,1667,0,0,0,0,0,0
$GC,12846,0.50,194.7,537.4,19.2,574,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3255,1667,0,0,0,0,0,0
$GC,13152,0.50,194.7,480.1,18.7,584,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3255,1667,0,0,0,0,0,0
$GC,13459,0.50,194.7,425.5,17.6,594,13463,0.00,2.15,0.00,0.000,4,0.000,0.032,1836,1824,1667,0,0,0,0,0,0
$GC,13514,0.50,194.7,416.7,13.3,595,13521,0.00,2.25,0.00,0.000,6,0.000,0.050,1836,3250,1666,0,0,0,0,0,0
$GC,13841,0.50,194.7,356.9,18.8,610,13843,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1666,0,0,0,0,0,0
$GC,14151,0.50,194.7,299.5,18.4,625,14157,0.00,2.17,0.00,0.000,4,0.000,0.032,1847,1819,1666,0,0,0,0,0,0
$GC,14202,0.50,194.7,291.4,14.7,627,14207,0.12,2.28,0.00,0.000,6,0.177,0.049,1816,3256,1666,0,0,0,0,0,0
$GC,14534,0.50,194.7,237.4,16.1,644,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3256,1665,0,0,0,0,0,0
$GC,14845,0.50,194.7,186.4,16.0,664,14849,0.00,2.15,0.00,0.000,4,0.000,0.031,1825,1817,1665,0,0,0,0,0,0
$GC,14880,0.50,194.7,180.7,14.0,666,14884,0.00,2.28,0.00,0.000,6,0.000,0.050,1825,3256,1666,0,0,0,0,0,0
$GC,15200,0.50,194.7,124.2,18.8,686,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3256,1665,0,0,0,0,0,0
$GC,15529,0.50,194.7,63.5,18.3,728,15536,0.00,2.15,0.00,0.000,4,0.000,0.031,1836,1812,1665,0,0,0,0,0,0
$GC,15598,0.50,194.7,53.2,14.3,739,15605,0.00,2.28,0.00,0.000,6,0.000,0.049,1836,3249,1665,0,0,0,0,0,0
$GC,15860,0.50,194.7,11.0,13.0,780,15869,0.00,2.15,0.00,0.000,4,0.000,0.031,1848,1814,1665,0,0,0,0,0,0
$STATE,15914,end climb,SURFACE_DEPTH_REACHED
$STATE,15914,begin surface coast
$FINISH,0.9,1.026007
$STATE,15929,end surface coast,CONTROL_FINISHED_OK
$STATE,15929,begin surface
$SM_CCo,15947,127.88,0.735,1,0,506,482.50
$SM_GC,1.18,0.00,0.00,127.88,0.000,0.000,0.735,49,3364,506,-5.00,0.31,482.50
$IRIDIUM_FIX,-4146.69,822.96,271212,171759
$TT8_MAMPS,0.025466
$HUMID,54.44
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.3,23.342
$10V_AH,10.1,12.400
$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,11.775,77.975,373.300,127.875,0.000,138.895,275.744,439.003,0.000,0.000,18.219,2076.085,10395.067,579.007,3343.876,953.678,33.354,1724.992,0.000,2682.411,0.000,1.015,0.000
$DEVICE_MAMPS,220.320,81.090,1826.820,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.609,1709.566,779.667,359.721,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,57086,790
$CAP_FILE_SIZE,143722,0
$CFSIZE,259252224,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,271212,220228,-4200.951,826.330,78,1.4,78,-24.9