version: 66.07
glider: 543
mission: 6
dive: 127
start: 12 29 112 10 55 14
data:
$ID,543
$MISSION,6
$DIVE,127
$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,-8219.3926
$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,53
$R_STBD_OVSHOOT,52
$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
$GPS1,291212,104528,-4157.296,826.182,57,0.9,57,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-30.9
$GPS2,291212,105418,-4157.282,826.194,17,1.7,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.203,-0.000
$KALMAN_X,-81444.4,1119.3,690.6,113086.1,-12921.3
$KALMAN_Y,49127.1,641.3,339.4,10530.3,-5002.4
$MHEAD_RNG_PITCHd_Wd,115.0,9900,-20.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.63,-91.8,0.0,0.0,0,118,0.00,0.00,-95.38,0.000,6,0.000,0.000,48,3374,2850,0,0,0,0,0,0
$GC,123,-0.67,-164.3,3.4,-4.2,12,142,5.32,0.88,-7.32,0.000,4,0.216,0.088,1422,3919,3145,0,0,0,0,0,0
$GC,423,-0.67,-164.3,60.7,-16.5,59,429,0.00,0.85,0.00,0.000,6,0.000,0.035,1422,3358,3148,0,0,0,0,0,0
$GC,775,-0.67,-164.3,119.2,-14.5,106,779,0.00,0.88,0.00,0.000,4,0.000,0.057,1418,3908,3149,0,0,0,0,0,0
$GC,1043,-0.67,-164.3,163.9,-16.4,121,1047,0.00,0.82,0.00,0.000,6,0.000,0.035,1418,3358,3149,0,0,0,0,0,0
$GC,1369,-0.67,-164.3,215.7,-15.5,142,1372,0.00,0.88,0.00,0.000,4,0.000,0.057,1414,3910,3149,0,0,0,0,0,0
$GC,1534,-0.67,-164.3,242.6,-17.7,151,1538,0.00,0.82,0.00,0.000,6,0.000,0.036,1414,3358,3149,0,0,0,0,0,0
$GC,1853,-0.67,-164.3,294.0,-15.6,167,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,1414,3358,3150,0,0,0,0,0,0
$GC,2162,-0.67,-164.3,342.7,-15.8,182,2165,0.00,0.88,0.00,0.000,4,0.000,0.057,1410,3912,3150,0,0,0,0,0,0
$GC,2264,-0.67,-164.3,360.4,-16.5,186,2267,0.00,0.85,0.00,0.000,6,0.000,0.036,1410,3343,3150,0,0,0,0,0,0
$GC,2585,-0.67,-164.3,410.3,-15.2,201,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,1410,3343,3149,0,0,0,0,0,0
$GC,2892,-0.67,-164.3,457.1,-14.9,211,2896,0.00,0.90,0.00,0.000,4,0.000,0.057,1406,3914,3149,0,0,0,0,0,0
$GC,2994,-0.67,-164.3,473.3,-15.7,214,2998,0.00,0.85,0.00,0.000,6,0.000,0.036,1406,3346,3149,0,0,0,0,0,0
$GC,3336,-0.67,-164.3,525.9,-15.2,225,3342,0.00,0.90,0.00,0.000,4,0.000,0.058,1402,3916,3149,0,0,0,0,0,0
$GC,3415,-0.67,-164.3,539.1,-16.1,227,3419,0.08,0.85,0.00,0.000,6,0.164,0.036,1425,3350,3148,0,0,0,0,0,0
$GC,3745,-0.67,-164.3,581.8,-12.9,238,3750,0.00,0.90,0.00,0.000,4,0.000,0.060,1422,3917,3148,0,0,0,0,0,0
$GC,3869,-0.67,-164.3,599.5,-14.7,241,3872,0.00,0.85,0.00,0.000,6,0.000,0.037,1422,3354,3147,0,0,0,0,0,0
$GC,4187,-0.67,-164.3,641.4,-13.3,252,4191,0.00,0.90,0.00,0.000,4,0.000,0.060,1418,3921,3147,0,0,0,0,0,0
$GC,4324,-0.67,-164.3,660.6,-13.5,256,4327,0.00,0.85,0.00,0.000,6,0.000,0.037,1418,3355,3146,0,0,0,0,0,0
$GC,4665,-0.67,-164.3,704.9,-12.7,267,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,1418,3354,3146,0,0,0,0,0,0
$GC,4971,-0.67,-164.3,742.2,-11.9,277,4975,0.00,0.90,0.00,0.000,4,0.000,0.060,1414,3921,3144,0,0,0,0,0,0
$GC,5108,-0.67,-164.3,758.8,-11.5,281,5111,0.00,0.85,0.00,0.000,6,0.000,0.037,1414,3357,3144,0,0,0,0,0,0
$GC,5449,-0.67,-164.3,799.0,-11.9,292,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,1414,3357,3144,0,0,0,0,0,0
$GC,5755,-0.67,-164.3,836.7,-12.6,302,5759,0.00,0.90,0.00,0.000,4,0.000,0.061,1410,3921,3143,0,0,0,0,0,0
$GC,5829,-0.67,-164.3,846.8,-13.6,304,5832,0.00,0.85,0.00,0.000,6,0.000,0.038,1410,3360,3143,0,0,0,0,0,0
$GC,6165,-0.67,-164.3,891.2,-13.3,315,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,1409,3360,3143,0,0,0,0,0,0
$GC,6472,-0.67,-164.3,931.7,-13.2,325,6476,0.00,0.88,0.00,0.000,4,0.000,0.062,1405,3908,3142,0,0,0,0,0,0
$GC,6566,-0.67,-164.3,945.6,-14.4,327,6573,0.00,0.85,0.00,0.000,6,0.000,0.039,1406,3347,3142,0,0,0,0,0,0
$GC,6880,-0.67,-164.3,987.8,-13.5,338,6884,0.00,0.90,0.00,0.000,4,0.000,0.061,1401,3911,3141,0,0,0,0,0,0
$GC,6964,-0.67,-164.3,1000.0,-15.0,340,6968,0.08,0.85,0.00,0.000,6,0.164,0.039,1425,3352,3141,0,0,0,0,0,0
$STATE,6971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6971,begin apogee
$GC,6978,-0.14,0.0,1001.3,13.7,340,7151,0.55,0.00,169.32,1.176,6,0.145,0.000,1597,3256,2472,0,0,0,0,0,0
$STATE,7152,end apogee,CONTROL_FINISHED_OK
$STATE,7152,begin climb
$GC,7155,0.67,164.3,1005.5,0.0,346,7331,0.75,0.00,169.38,1.127,6,0.056,0.000,1870,3255,1803,0,0,0,0,0,0
$GC,7616,0.67,164.3,906.4,24.6,361,7619,0.00,1.12,0.00,0.000,4,0.000,0.056,1870,3917,1771,0,0,0,0,0,0
$GC,7694,0.67,164.3,885.7,25.9,363,7698,0.00,1.08,0.00,0.000,6,0.000,0.033,1875,3231,1771,0,0,0,0,0,0
$GC,8023,0.67,164.3,806.2,23.8,374,8027,0.00,1.12,0.00,0.000,4,0.000,0.056,1875,3910,1768,0,0,0,0,0,0
$GC,8130,0.67,164.3,778.1,26.8,377,8133,0.00,1.00,0.00,0.000,6,0.000,0.034,1880,3255,1768,0,0,0,0,0,0
$GC,8466,0.67,164.3,695.9,24.0,388,8471,0.00,1.08,0.00,0.000,4,0.000,0.056,1880,3913,1767,0,0,0,0,0,0
$GC,8539,0.67,164.3,676.2,26.2,390,8542,0.00,1.00,0.00,0.000,6,0.000,0.033,1885,3251,1767,0,0,0,0,0,0
$GC,8874,0.67,164.3,591.8,24.7,401,8880,0.00,1.08,0.00,0.000,4,0.000,0.054,1885,3914,1766,0,0,0,0,0,0
$GC,9034,0.67,164.3,549.1,27.2,405,9037,0.00,1.00,0.00,0.000,6,0.000,0.032,1890,3248,1766,0,0,0,0,0,0
$GC,9352,0.67,164.3,470.9,23.9,416,9356,0.00,1.08,0.00,0.000,4,0.000,0.054,1890,3912,1765,0,0,0,0,0,0
$GC,9464,0.67,164.3,440.3,27.7,419,9468,0.00,1.00,0.00,0.000,6,0.000,0.032,1894,3247,1765,0,0,0,0,0,0
$GC,9786,0.67,164.3,362.1,24.5,432,9789,0.00,1.08,0.00,0.000,4,0.000,0.054,1894,3912,1764,0,0,0,0,0,0
$GC,9882,0.67,164.3,336.2,26.7,436,9887,0.10,1.00,0.00,0.000,6,0.203,0.033,1873,3243,1764,0,0,0,0,0,0
$GC,10210,0.67,164.3,262.4,22.8,452,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3243,1764,0,0,0,0,0,0
$GC,10523,0.67,164.3,191.5,22.6,471,10529,0.00,1.08,0.00,0.000,4,0.000,0.054,1872,3912,1763,0,0,0,0,0,0
$GC,10649,0.67,164.3,158.5,26.2,478,10652,0.00,0.98,0.00,0.000,6,0.000,0.032,1876,3252,1764,0,0,0,0,0,0
$GC,10980,0.67,164.3,76.4,22.7,509,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,3252,1763,0,0,0,0,0,0
$STATE,11330,end climb,SURFACE_DEPTH_REACHED
$STATE,11330,begin surface coast
$FINISH,0.8,1.026057
$STATE,11355,end surface coast,CONTROL_FINISHED_OK
$STATE,11355,begin surface
$SM_CCo,11372,140.43,0.742,1,0,505,482.50
$SM_GC,1.16,0.00,0.00,140.43,0.000,0.000,0.742,61,3335,505,-4.96,-0.51,482.50
$IRIDIUM_FIX,-4143.80,828.27,291212,070711
$TT8_MAMPS,0.025466
$HUMID,55.90
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.0,25.179
$10V_AH,10.1,13.454
$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,12.025,35.750,338.700,140.425,0.000,26.089,25.131,315.212,0.000,0.000,19.016,1483.427,7276.144,536.323,2083.617,668.970,33.357,1312.344,0.000,1842.326,0.000,1.015,0.000
$DEVICE_MAMPS,216.495,98.685,1175.805,742.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.082,1270.666,595.531,269.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,43614,568
$CAP_FILE_SIZE,96653,0
$CFSIZE,259252224,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,291212,140828,-4157.410,827.243,36,1.2,36,-24.9