version: 66.07
glider: 543
mission: 6
dive: 124
start: 12 28 112 23 14 31
data:
$ID,543
$MISSION,6
$DIVE,124
$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,-8211.2314
$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,49
$R_STBD_OVSHOOT,49
$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
$GPS1,281212,230359,-4157.147,825.069,36,1.0,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-29.1
$GPS2,281212,231335,-4157.068,825.139,19,1.1,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.148,0.068
$KALMAN_X,-71768.5,1071.5,453.9,102261.2,-10255.9
$KALMAN_Y,50411.8,695.2,570.9,9353.7,-6901.6
$MHEAD_RNG_PITCHd_Wd,90.3,8916,-26.1,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.76,-58.1,0.0,0.0,0,120,0.00,0.00,-90.10,0.000,6,0.000,0.000,55,3393,2712,0,0,0,0,0,0
$GC,124,-0.79,-112.1,3.2,-3.4,12,143,5.30,2.22,-5.60,0.000,4,0.227,0.044,1395,1937,2932,0,0,0,0,0,0
$GC,311,-0.79,-112.1,36.0,-16.3,40,320,0.00,2.28,0.00,0.000,6,0.000,0.056,1386,3317,2935,0,0,0,0,0,0
$GC,559,-0.79,-112.1,78.3,-15.9,81,566,0.00,1.00,0.00,0.000,4,0.000,0.057,1380,3947,2935,0,0,0,0,0,0
$GC,823,-0.79,-112.1,128.5,-18.6,110,827,0.00,0.88,0.00,0.000,6,0.000,0.035,1381,3364,2936,0,0,0,0,0,0
$GC,1154,-0.79,-112.1,181.6,-15.5,131,1158,0.00,0.93,0.00,0.000,4,0.000,0.057,1377,3954,2936,0,0,0,0,0,0
$GC,1422,-0.79,-112.1,227.2,-16.1,146,1426,0.00,0.90,0.00,0.000,6,0.000,0.034,1377,3351,2936,0,0,0,0,0,0
$GC,1759,-0.79,-112.1,276.0,-15.1,165,1763,0.00,0.95,0.00,0.000,4,0.000,0.057,1372,3956,2937,0,0,0,0,0,0
$GC,2021,-0.79,-112.1,321.1,-16.8,176,2025,0.00,0.90,0.00,0.000,6,0.000,0.035,1372,3354,2936,0,0,0,0,0,0
$GC,2345,-0.79,-112.1,373.5,-17.0,192,2348,0.00,0.95,0.00,0.000,4,0.000,0.057,1368,3958,2936,0,0,0,0,0,0
$GC,2608,-0.79,-112.1,424.1,-18.9,202,2612,0.00,0.90,0.00,0.000,6,0.000,0.036,1368,3354,2936,0,0,0,0,0,0
$GC,2926,-0.79,-112.1,479.0,-17.3,213,2930,0.00,0.95,0.00,0.000,4,0.000,0.057,1363,3960,2936,0,0,0,0,0,0
$GC,3183,-0.79,-112.1,527.4,-19.9,220,3187,0.08,0.93,0.00,0.000,6,0.179,0.036,1385,3344,2936,0,0,0,0,0,0
$GC,3502,-0.79,-112.1,575.9,-14.8,231,3505,0.00,0.95,0.00,0.000,4,0.000,0.058,1382,3951,2935,0,0,0,0,0,0
$GC,3744,-0.79,-112.1,614.6,-15.7,238,3747,0.00,0.90,0.00,0.000,6,0.000,0.036,1382,3349,2935,0,0,0,0,0,0
$GC,4079,-0.79,-112.1,663.3,-14.5,249,4085,0.00,0.95,0.00,0.000,4,0.000,0.058,1378,3954,2933,0,0,0,0,0,0
$GC,4141,-0.79,-112.1,673.3,-15.8,250,4148,0.00,0.90,0.00,0.000,6,0.000,0.036,1378,3353,2933,0,0,0,0,0,0
$GC,4456,-0.79,-112.1,717.9,-13.8,261,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3353,2932,0,0,0,0,0,0
$GC,4761,-0.79,-112.1,759.3,-13.5,271,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3353,2931,0,0,0,0,0,0
$GC,5067,-0.79,-112.1,800.1,-13.1,281,5071,0.00,0.98,0.00,0.000,4,0.000,0.061,1373,3954,2931,0,0,0,0,0,0
$GC,5243,-0.79,-112.1,825.6,-14.2,286,5247,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3357,2930,0,0,0,0,0,0
$GC,5578,-0.79,-112.1,868.9,-12.9,297,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3358,2929,0,0,0,0,0,0
$GC,5885,-0.79,-112.1,908.3,-12.7,307,5890,0.00,0.95,0.00,0.000,4,0.000,0.060,1369,3958,2928,0,0,0,0,0,0
$GC,6014,-0.79,-112.1,927.1,-14.0,310,6021,0.00,0.93,0.00,0.000,6,0.000,0.038,1369,3344,2928,0,0,0,0,0,0
$GC,6327,-0.79,-112.1,967.7,-13.0,321,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3344,2927,0,0,0,0,0,0
$STATE,6600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6600,begin apogee
$GC,6608,-0.14,0.0,1002.0,12.3,330,6725,0.80,0.00,106.18,1.804,6,0.170,0.000,1599,3253,2474,0,0,0,0,1,0
$STATE,6726,end apogee,CONTROL_FINISHED_OK
$STATE,6726,begin climb
$GC,6729,0.79,112.1,1003.2,0.0,334,6857,0.88,0.00,112.90,1.763,6,0.071,0.000,1899,3253,2018,0,0,0,0,1,0
$GC,7159,0.79,112.1,904.6,25.8,348,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3253,2009,0,0,0,0,0,0
$GC,7467,0.79,112.1,829.1,24.1,358,7471,0.00,1.15,0.00,0.000,4,0.000,0.055,1899,3953,2006,0,0,0,0,0,0
$GC,7606,0.79,112.1,791.5,26.7,362,7610,0.00,1.10,0.00,0.000,6,0.000,0.033,1905,3238,2005,0,0,0,0,0,0
$GC,7942,0.79,112.1,712.4,23.2,373,7946,0.00,1.15,0.00,0.000,4,0.000,0.054,1905,3952,2003,0,0,0,0,0,0
$GC,8036,0.79,112.1,688.4,25.1,375,8043,0.00,1.08,0.00,0.000,6,0.000,0.034,1910,3243,2003,0,0,0,0,0,0
$GC,8349,0.79,112.1,616.4,22.8,386,8353,0.00,1.15,0.00,0.000,4,0.000,0.054,1910,3959,2002,0,0,0,0,0,0
$GC,8433,0.79,112.1,595.1,25.1,388,8437,0.00,1.08,0.00,0.000,6,0.000,0.033,1915,3242,2002,0,0,0,0,0,0
$GC,8758,0.79,112.1,520.0,23.2,399,8761,0.00,1.15,0.00,0.000,4,0.000,0.053,1915,3961,2001,0,0,0,0,0,0
$GC,8847,0.79,112.1,497.2,24.5,401,8851,0.00,1.08,0.00,0.000,6,0.000,0.033,1921,3247,2001,0,0,0,0,0,0
$GC,9166,0.79,112.1,422.9,22.9,412,9170,0.00,1.12,0.00,0.000,4,0.000,0.053,1921,3954,2000,0,0,0,0,0,0
$GC,9327,0.79,112.1,382.8,25.4,418,9331,0.00,1.05,0.00,0.000,6,0.000,0.032,1926,3248,2000,0,0,0,0,0,0
$GC,9661,0.79,112.1,304.8,23.3,434,9664,0.00,1.12,0.00,0.000,4,0.000,0.052,1926,3956,1999,0,0,0,0,0,0
$GC,9763,0.79,112.1,278.3,25.9,438,9766,0.00,1.05,0.00,0.000,6,0.000,0.032,1931,3251,1999,0,0,0,0,0,0
$GC,10090,0.79,112.1,203.1,22.7,457,10094,0.00,1.12,0.00,0.000,4,0.000,0.053,1931,3962,1998,0,0,0,0,0,0
$GC,10232,0.79,112.1,168.0,26.0,465,10236,0.10,1.05,0.00,0.000,6,0.216,0.032,1910,3248,1999,0,0,0,0,0,0
$GC,10567,0.79,112.1,97.0,20.3,486,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3247,1998,0,0,0,0,0,0
$GC,10931,0.79,112.1,34.5,17.1,547,10938,0.00,1.12,0.00,0.000,4,0.000,0.051,1909,3958,1998,0,0,0,0,0,0
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,0.9,1.010189
$STATE,11113,end surface coast,CONTROL_FINISHED_OK
$STATE,11113,begin surface
$SM_CCo,11130,166.32,0.727,1,0,505,482.50
$SM_GC,1.19,0.00,0.00,166.32,0.000,0.000,0.727,57,3336,505,-4.98,-0.48,482.50
$IRIDIUM_FIX,-4140.91,825.41,281212,181800
$TT8_MAMPS,0.025466
$HUMID,55.35
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.5,24.596
$10V_AH,10.1,13.147
$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,12.050,38.850,219.075,166.325,0.000,36.816,18.497,348.190,0.000,0.000,20.828,1499.200,7013.647,479.175,2188.724,693.493,33.358,1276.388,0.000,1923.966,0.000,1.016,0.000
$DEVICE_MAMPS,227.205,75.735,1803.870,726.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.459,1266.389,612.113,298.650,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,43710,575
$CAP_FILE_SIZE,96631,0
$CFSIZE,259252224,250818560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291212,022416,-4156.977,825.032,43,0.7,43,-24.9