version: 66.07
glider: 543
mission: 6
dive: 143
start: 12 31 112 17 56 21
data:
$ID,543
$MISSION,6
$DIVE,143
$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,400
$T_MISSION,420
$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,150
$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,250
$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,-8268.6016
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,30
$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
$GPS1,311212,174458,-4157.638,825.666,35,0.8,35,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-50.2
$GPS2,311212,175523,-4157.629,825.643,16,1.6,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,0.089
$KALMAN_X,-99982.3,848.7,406.9,131441.0,-10067.7
$KALMAN_Y,33678.9,323.6,374.8,25625.6,-6252.2
$MHEAD_RNG_PITCHd_Wd,76.7,8921,-27.0,-8.333
$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,-0.76,-48.0,0.0,0.0,0,71,0.00,0.00,-49.38,0.000,2,0.000,0.000,66,3386,2664,0,0,0,0,0,0
$GC,76,-0.78,-88.9,3.3,-3.6,6,95,5.32,0.90,-5.15,0.000,4,0.234,0.087,1373,3932,2838,0,0,0,0,0,0
$GC,378,-0.78,-88.9,56.9,-15.9,53,386,0.00,0.82,0.00,0.000,6,0.000,0.036,1375,3394,2841,0,0,0,0,0,0
$GC,617,-0.78,-88.9,91.2,-13.0,94,624,0.00,0.88,0.00,0.000,4,0.000,0.056,1372,3943,2841,0,0,0,0,0,0
$GC,886,-0.78,-88.9,133.2,-16.6,116,890,0.00,0.85,0.00,0.000,6,0.000,0.035,1372,3378,2843,0,0,0,0,0,0
$GC,1212,-0.78,-88.9,184.0,-14.9,137,1218,0.00,0.90,0.00,0.000,4,0.000,0.056,1368,3948,2844,0,0,0,0,0,0
$GC,1482,-0.78,-88.9,227.7,-15.8,152,1485,0.00,0.85,0.00,0.000,6,0.000,0.035,1368,3381,2844,0,0,0,0,0,0
$GC,1819,-0.78,-88.9,276.5,-15.1,171,1822,0.00,0.88,0.00,0.000,4,0.000,0.057,1364,3935,2845,0,0,0,0,0,0
$GC,2082,-0.78,-88.9,320.4,-16.9,182,2086,0.00,0.85,0.00,0.000,6,0.000,0.035,1364,3370,2844,0,0,0,0,0,0
$GC,2405,-0.78,-88.9,368.5,-14.5,198,2408,0.00,0.90,0.00,0.000,4,0.000,0.056,1360,3941,2845,0,0,0,0,0,0
$GC,2668,-0.78,-88.9,412.1,-16.9,208,2673,0.00,0.85,0.00,0.000,6,0.000,0.036,1360,3374,2845,0,0,0,0,0,0
$GC,2987,-0.78,-88.9,459.5,-14.9,219,2993,0.00,0.90,0.00,0.000,4,0.000,0.057,1355,3945,2844,0,0,0,0,0,0
$GC,3226,-0.78,-88.9,497.0,-15.6,226,3231,0.00,0.85,0.00,0.000,6,0.000,0.036,1355,3378,2844,0,0,0,0,0,0
$GC,3569,-0.78,-88.9,547.2,-14.7,237,3572,0.00,0.90,0.00,0.000,4,0.000,0.057,1351,3948,2844,0,0,0,0,0,0
$GC,3825,-0.78,-88.9,588.8,-16.5,244,3830,0.08,0.85,0.00,0.000,6,0.191,0.036,1372,3384,2844,0,0,0,0,0,0
$GC,4144,-0.78,-88.9,632.9,-13.8,255,4147,0.00,0.88,0.00,0.000,4,0.000,0.057,1369,3939,2843,0,0,0,0,0,0
$GC,4391,-0.78,-88.9,670.9,-15.9,262,4396,0.00,0.85,0.00,0.000,6,0.000,0.037,1369,3375,2843,0,0,0,0,0,0
$GC,4723,-0.78,-88.9,718.3,-14.3,273,4727,0.00,0.90,0.00,0.000,4,0.000,0.057,1366,3946,2841,0,0,0,0,0,0
$GC,4982,-0.78,-88.9,760.8,-16.6,280,4985,0.00,0.85,0.00,0.000,6,0.000,0.037,1365,3381,2841,0,0,0,0,0,0
$GC,5301,-0.78,-88.9,808.7,-15.2,291,5305,0.00,0.88,0.00,0.000,4,0.000,0.059,1361,3934,2840,0,0,0,0,0,0
$GC,5558,-0.78,-88.9,848.9,-15.6,298,5562,0.00,0.85,0.00,0.000,6,0.000,0.037,1361,3374,2840,0,0,0,0,0,0
$GC,5877,-0.78,-88.9,887.6,-12.4,309,5881,0.00,0.90,0.00,0.000,4,0.000,0.059,1356,3942,2839,0,0,0,0,0,0
$GC,6139,-0.78,-88.9,921.6,-12.8,316,6143,0.00,0.85,0.00,0.000,6,0.000,0.038,1357,3382,2839,0,0,0,0,0,0
$GC,6460,-0.78,-88.9,956.2,-11.9,327,6463,0.00,0.88,0.00,0.000,4,0.000,0.060,1353,3936,2837,0,0,0,0,0,0
$GC,6718,-0.78,-88.9,989.8,-13.4,334,6721,0.00,0.85,0.00,0.000,6,0.000,0.038,1353,3373,2837,0,0,0,0,0,0
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6820,begin apogee
$GC,6827,-0.14,0.0,1001.9,11.8,338,6922,0.82,0.00,86.78,1.772,6,0.177,0.000,1586,3277,2473,0,0,0,0,1,0
$STATE,6923,end apogee,CONTROL_FINISHED_OK
$STATE,6923,begin climb
$GC,6926,0.78,88.9,1003.6,0.0,341,7032,0.88,2.40,91.20,1.749,4,0.083,0.031,1892,1849,2111,0,0,0,0,1,0
$GC,7066,0.78,88.9,983.3,19.3,345,7070,0.00,2.42,0.00,0.000,6,0.000,0.049,1892,3262,2110,0,0,0,0,0,0
$GC,7384,0.78,88.9,911.6,22.6,356,7388,0.00,1.12,0.00,0.000,4,0.000,0.055,1892,3943,2103,0,0,0,0,0,0
$GC,7463,0.78,88.9,892.4,24.2,358,7466,0.00,1.05,0.00,0.000,6,0.000,0.033,1897,3259,2102,0,0,0,0,0,0
$GC,7793,0.78,88.9,819.5,22.0,369,7797,0.00,1.12,0.00,0.000,4,0.000,0.054,1896,3948,2100,0,0,0,0,0,0
$GC,7857,0.78,88.9,805.0,23.9,370,7863,0.00,1.02,0.00,0.000,6,0.000,0.033,1899,3273,2100,0,0,0,0,0,0
$GC,8170,0.78,88.9,738.6,20.8,381,8175,0.00,1.10,0.00,0.000,4,0.000,0.054,1899,3958,2099,0,0,0,0,0,0
$GC,8329,0.78,88.9,702.6,22.6,385,8333,0.00,1.05,0.00,0.000,6,0.000,0.033,1902,3261,2098,0,0,0,0,0,0
$GC,8648,0.78,88.9,638.4,20.1,396,8652,0.00,1.10,0.00,0.000,4,0.000,0.054,1902,3947,2097,0,0,0,0,0,0
$GC,8788,0.78,88.9,607.3,21.8,400,8791,0.00,1.02,0.00,0.000,6,0.000,0.032,1908,3261,2096,0,0,0,0,0,0
$GC,9124,0.78,88.9,540.1,20.1,411,9127,0.00,1.10,0.00,0.000,4,0.000,0.054,1908,3953,2096,0,0,0,0,0,0
$GC,9274,0.78,88.9,506.3,22.5,415,9280,0.00,1.02,0.00,0.000,6,0.000,0.032,1913,3267,2096,0,0,0,0,0,0
$GC,9600,0.78,88.9,440.2,19.9,426,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3267,2095,0,0,0,0,0,0
$GC,9917,0.78,88.9,378.2,18.8,438,9921,0.00,1.10,0.00,0.000,4,0.000,0.054,1913,3955,2094,0,0,0,0,0,0
$GC,10127,0.78,88.9,335.0,22.0,447,10130,0.00,1.02,0.00,0.000,6,0.000,0.034,1918,3267,2094,0,0,0,0,0,0
$GC,10461,0.78,88.9,269.1,19.8,463,10467,0.12,1.08,0.00,0.000,4,0.226,0.052,1890,3952,2093,0,0,0,0,0,0
$GC,10586,0.78,88.9,243.6,19.8,469,10592,0.00,1.02,0.00,0.000,6,0.000,0.034,1894,3263,2093,0,0,0,0,0,0
$GC,10918,0.78,88.9,181.8,18.4,490,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3263,2093,0,0,0,0,0,0
$GC,11231,0.78,88.9,125.7,17.7,510,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3263,2093,0,0,0,0,0,0
$GC,11556,0.78,88.9,71.5,16.0,550,11563,0.00,1.10,0.00,0.000,4,0.000,0.053,1894,3958,2093,0,0,0,0,0,0
$GC,11840,0.78,88.9,23.6,18.5,596,11851,0.00,1.02,0.00,0.000,6,0.000,0.033,1899,3266,2093,0,0,0,0,0,0
$GC,11932,0.78,88.9,10.3,11.5,609,11942,0.00,1.08,0.00,0.000,4,0.000,0.053,1899,3946,2092,0,0,0,0,0,0
$GC,11960,0.78,88.9,6.6,12.5,612,11968,0.00,1.00,0.00,0.000,6,0.000,0.031,1904,3267,2093,0,0,0,0,0,0
$STATE,11988,end climb,SURFACE_DEPTH_REACHED
$STATE,11988,begin surface coast
$FINISH,1.1,1.026166
$STATE,12020,end surface coast,CONTROL_FINISHED_OK
$STATE,12020,begin surface
$SM_CCo,12035,74.32,0.721,1,0,1450,250.20
$SM_GC,1.88,0.00,0.00,74.32,0.000,0.000,0.721,58,3393,1450,-4.93,0.37,250.20
$IRIDIUM_FIX,-4143.80,825.83,311212,141405
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.8,27.570
$10V_AH,10.1,14.960
$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,12.000,45.150,177.975,74.325,0.000,122.845,19.489,266.143,0.000,0.000,19.174,1685.968,7429.643,326.635,2571.187,730.393,33.357,1265.579,0.000,2256.431,0.000,1.010,0.000
$DEVICE_MAMPS,234.090,87.210,1771.740,720.630,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.911,1338.022,658.159,298.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,46927,620
$CAP_FILE_SIZE,110921,0
$CFSIZE,259252224,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,311212,211935,-4157.721,826.093,36,1.1,36,-24.9