version: 66.07
glider: 543
mission: 6
dive: 119
start: 12 28 112 2 22 51
data:
$ID,543
$MISSION,6
$DIVE,119
$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,-8196.0439
$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,39
$R_STBD_OVSHOOT,33
$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
$GPS1,281212,021204,-4159.926,826.672,67,0.8,67,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-23.7
$GPS2,281212,022154,-4159.867,826.733,22,1.2,22,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.102,0.118
$KALMAN_X,-55996.1,1132.2,748.7,88298.0,-11310.7
$KALMAN_Y,62872.4,-169.8,119.3,-6946.9,-2765.9
$MHEAD_RNG_PITCHd_Wd,65.6,9270,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,119,0.00,0.00,-90.50,0.000,6,0.000,0.000,69,3366,2693,0,0,0,0,0,0
$GC,123,-0.81,-99.0,3.3,-4.0,12,142,5.40,0.93,-5.05,0.000,4,0.240,0.086,1381,3934,2877,0,0,0,0,0,0
$GC,222,-0.81,-99.0,21.9,-20.7,26,231,0.00,0.90,0.00,0.000,6,0.000,0.034,1381,3345,2880,0,0,0,0,0,0
$GC,310,-0.81,-99.0,36.4,-14.1,39,318,0.00,0.95,0.00,0.000,4,0.000,0.054,1377,3943,2880,0,0,0,0,0,0
$GC,586,-0.81,-99.0,81.4,-17.1,85,592,0.00,0.90,0.00,0.000,6,0.000,0.034,1377,3347,2880,0,0,0,0,0,0
$GC,927,-0.81,-99.0,134.3,-15.2,119,931,0.00,2.12,0.00,0.000,4,0.000,0.031,1376,1931,2880,0,0,0,0,0,0
$GC,1174,-0.81,-99.0,167.3,-13.6,133,1181,0.00,2.25,0.00,0.000,6,0.000,0.051,1366,3341,2881,0,0,0,0,0,0
$GC,1494,-0.81,-99.0,221.0,-17.9,154,1497,0.00,0.95,0.00,0.000,4,0.000,0.056,1361,3949,2881,0,0,0,0,0,0
$GC,1761,-0.81,-99.0,273.2,-19.1,168,1765,0.00,0.90,0.00,0.000,6,0.000,0.034,1361,3346,2881,0,0,0,0,0,0
$GC,2085,-0.81,-99.0,329.9,-17.2,184,2088,0.00,0.95,0.00,0.000,4,0.000,0.055,1357,3951,2881,0,0,0,0,0,0
$GC,2349,-0.81,-99.0,376.5,-15.8,195,2353,0.00,0.90,0.00,0.000,6,0.000,0.034,1357,3346,2881,0,0,0,0,0,0
$GC,2690,-0.81,-99.0,427.4,-14.4,209,2695,0.12,0.95,0.00,0.000,4,0.199,0.057,1382,3946,2881,0,0,0,0,0,0
$GC,2948,-0.81,-99.0,462.9,-14.1,216,2953,0.00,0.88,0.00,0.000,6,0.000,0.035,1382,3359,2881,0,0,0,0,0,0
$GC,3268,-0.81,-99.0,502.8,-12.4,227,3273,0.00,0.93,0.00,0.000,4,0.000,0.057,1378,3949,2880,0,0,0,0,0,0
$GC,3526,-0.81,-99.0,541.2,-15.7,234,3530,0.00,0.90,0.00,0.000,6,0.000,0.035,1378,3346,2880,0,0,0,0,0,0
$GC,3847,-0.81,-99.0,586.8,-14.3,245,3850,0.00,0.95,0.00,0.000,4,0.000,0.057,1373,3950,2878,0,0,0,0,0,0
$GC,4104,-0.81,-99.0,628.4,-16.4,252,4107,0.00,0.90,0.00,0.000,6,0.000,0.036,1374,3348,2879,0,0,0,0,0,0
$GC,4423,-0.81,-99.0,674.9,-14.5,263,4426,0.00,0.95,0.00,0.000,4,0.000,0.057,1369,3953,2878,0,0,0,0,0,0
$GC,4685,-0.81,-99.0,716.4,-17.2,270,4689,0.00,0.90,0.00,0.000,6,0.000,0.037,1369,3352,2877,0,0,0,0,0,0
$GC,5005,-0.81,-99.0,761.7,-14.2,281,5009,0.00,0.95,0.00,0.000,4,0.000,0.058,1365,3955,2876,0,0,0,0,0,0
$GC,5264,-0.81,-99.0,805.1,-17.2,288,5267,0.00,0.90,0.00,0.000,6,0.000,0.037,1365,3356,2875,0,0,0,0,0,0
$GC,5584,-0.81,-99.0,855.6,-16.0,299,5587,0.00,0.93,0.00,0.000,4,0.000,0.058,1360,3947,2874,0,0,0,0,0,0
$GC,5841,-0.81,-99.0,900.1,-17.1,306,5845,0.00,0.90,0.00,0.000,6,0.000,0.037,1360,3349,2874,0,0,0,0,0,0
$GC,6159,-0.81,-99.0,946.0,-14.2,317,6163,0.00,0.95,0.00,0.000,4,0.000,0.060,1356,3951,2872,0,0,0,0,0,0
$GC,6421,-0.81,-99.0,986.2,-15.8,324,6425,0.08,0.90,0.00,0.000,6,0.188,0.038,1377,3357,2871,0,0,0,0,0,0
$STATE,6553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6553,begin apogee
$GC,6560,-0.14,0.0,1002.8,12.0,329,6663,0.75,0.00,94.60,1.772,6,0.167,0.000,1596,3247,2473,0,0,0,0,1,0
$STATE,6664,end apogee,CONTROL_FINISHED_OK
$STATE,6664,begin climb
$GC,6667,0.81,99.0,1004.8,0.0,332,6782,0.90,2.42,99.32,1.757,4,0.075,0.031,1914,1832,2071,0,0,0,0,1,0
$GC,7024,0.81,99.0,940.4,19.1,342,7031,0.00,2.35,0.00,0.000,6,0.000,0.050,1913,3251,2063,0,0,0,0,0,0
$GC,7337,0.81,99.0,867.6,23.5,353,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3251,2062,0,0,0,0,0,0
$GC,7644,0.81,99.0,798.3,22.5,363,7648,0.00,2.20,0.00,0.000,4,0.000,0.033,1923,1821,2060,0,0,0,0,0,0
$GC,7699,0.81,99.0,786.8,19.0,364,7706,0.00,2.33,0.00,0.000,6,0.000,0.050,1923,3264,2058,0,0,0,0,0,0
$GC,8013,0.81,99.0,717.0,22.6,375,8017,0.00,2.17,0.00,0.000,4,0.000,0.033,1934,1831,2058,0,0,0,0,0,0
$GC,8042,0.81,99.0,711.1,20.6,376,8046,0.00,2.28,0.00,0.000,6,0.000,0.050,1934,3248,2057,0,0,0,0,0,0
$GC,8377,0.81,99.0,636.2,22.4,387,8381,0.00,2.15,0.00,0.000,4,0.000,0.033,1945,1821,2057,0,0,0,0,0,0
$GC,8426,0.81,99.0,625.6,18.9,388,8432,0.10,2.30,0.00,0.000,6,0.188,0.050,1916,3247,2056,0,0,0,0,0,0
$GC,8747,0.81,99.0,558.1,21.2,399,8752,0.00,2.17,0.00,0.000,4,0.000,0.032,1926,1821,2055,0,0,0,0,0,0
$GC,8782,0.81,99.0,551.1,19.1,400,8787,0.00,2.28,0.00,0.000,6,0.000,0.047,1926,3254,2055,0,0,0,0,0,0
$GC,9118,0.81,99.0,480.1,21.3,411,9123,0.00,1.10,0.00,0.000,4,0.000,0.054,1926,3947,2055,0,0,0,0,0,0
$GC,9236,0.81,99.0,453.2,23.8,414,9239,0.00,1.08,0.00,0.000,6,0.000,0.033,1931,3231,2055,0,0,0,0,0,0
$GC,9561,0.81,99.0,383.7,21.9,426,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3230,2054,0,0,0,0,0,0
$GC,9872,0.81,99.0,314.0,23.1,441,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3231,2054,0,0,0,0,0,0
$GC,10192,0.81,99.0,242.1,21.9,457,10197,0.00,1.15,0.00,0.000,4,0.000,0.053,1931,3956,2053,0,0,0,0,0,0
$GC,10291,0.81,99.0,217.9,25.1,462,10299,0.00,1.05,0.00,0.000,6,0.000,0.032,1937,3247,2054,0,0,0,0,0,0
$GC,10615,0.81,99.0,147.5,22.1,483,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3248,2053,0,0,0,0,0,0
$GC,10939,0.81,99.0,73.7,23.5,515,10944,0.00,2.10,0.00,0.000,4,0.000,0.031,1947,1833,2054,0,0,0,0,0,0
$GC,10993,0.81,99.0,62.5,18.0,524,11000,0.12,2.22,0.00,0.000,6,0.211,0.046,1919,3254,2053,0,0,0,0,0,0
$STATE,11336,end climb,SURFACE_DEPTH_REACHED
$STATE,11336,begin surface coast
$FINISH,0.9,1.026045
$STATE,11358,end surface coast,CONTROL_FINISHED_OK
$STATE,11358,begin surface
$SM_CCo,11375,169.20,0.738,1,0,504,482.50
$SM_GC,1.25,0.00,0.00,169.20,0.000,0.000,0.738,61,3373,504,-4.96,0.57,482.50
$IRIDIUM_FIX,-4146.69,828.70,271212,222251
$TT8_MAMPS,0.025466
$HUMID,55.11
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.8,23.676
$10V_AH,10.1,12.605
$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,12.525,56.275,193.925,169.200,0.000,24.811,25.760,364.889,0.000,0.000,24.236,1559.337,7037.061,461.220,2359.773,720.806,33.353,1329.600,0.000,2084.875,0.000,1.014,0.000
$DEVICE_MAMPS,240.210,85.680,1771.740,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.034,1288.876,622.497,298.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,43867,582
$CAP_FILE_SIZE,104697,0
$CFSIZE,259252224,251138048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,281212,053639,-4200.062,826.254,37,1.5,37,-24.9