version: 66.07
glider: 543
mission: 6
dive: 144
start: 12 31 112 21 28 54
data:
$ID,543
$MISSION,6
$DIVE,144
$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,-8271.4834
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,311212,211935,-4157.721,826.093,36,1.1,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-54.4
$GPS2,311212,212753,-4157.744,826.086,15,1.5,15,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.116,0.095
$KALMAN_X,-101662.0,1252.8,603.3,133121.3,-11070.1
$KALMAN_Y,32082.4,305.6,149.9,27253.9,-6436.9
$MHEAD_RNG_PITCHd_Wd,75.7,9360,-25.9,-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,-0.73,-51.7,0.0,0.0,0,70,0.00,0.00,-48.67,0.000,2,0.000,0.000,57,3393,2638,0,0,0,0,0,0
$GC,75,-0.76,-97.5,3.2,-3.4,6,94,5.32,0.88,-6.95,0.000,4,0.230,0.088,1378,3955,2872,0,0,0,0,0,0
$GC,373,-0.76,-97.5,61.7,-17.4,53,378,0.00,0.88,0.00,0.000,6,0.000,0.037,1381,3387,2876,0,0,0,0,0,0
$GC,725,-0.76,-97.5,115.9,-14.7,102,731,0.00,0.90,0.00,0.000,4,0.000,0.056,1378,3953,2878,0,0,0,0,0,0
$GC,993,-0.76,-97.5,161.1,-17.9,117,997,0.00,0.88,0.00,0.000,6,0.000,0.035,1377,3373,2879,0,0,0,0,0,0
$GC,1317,-0.76,-97.5,215.1,-16.0,138,1321,0.00,0.90,0.00,0.000,4,0.000,0.055,1374,3945,2880,0,0,0,0,0,0
$GC,1584,-0.76,-97.5,263.4,-17.6,152,1588,0.00,0.85,0.00,0.000,6,0.000,0.035,1374,3378,2880,0,0,0,0,0,0
$GC,1908,-0.76,-97.5,312.8,-14.9,168,1911,0.00,0.90,0.00,0.000,4,0.000,0.054,1369,3949,2880,0,0,0,0,0,0
$GC,2173,-0.76,-97.5,356.7,-16.8,179,2177,0.00,0.85,0.00,0.000,6,0.000,0.034,1370,3381,2880,0,0,0,0,0,0
$GC,2506,-0.76,-97.5,406.3,-15.0,195,2509,0.00,0.88,0.00,0.000,4,0.000,0.055,1365,3940,2880,0,0,0,0,0,0
$GC,2763,-0.76,-97.5,449.7,-16.6,202,2767,0.00,0.85,0.00,0.000,6,0.000,0.036,1365,3373,2880,0,0,0,0,0,0
$GC,3083,-0.76,-97.5,499.2,-15.6,213,3086,0.00,0.90,0.00,0.000,4,0.000,0.055,1361,3947,2879,0,0,0,0,0,0
$GC,3342,-0.76,-97.5,542.8,-17.7,220,3346,0.00,0.85,0.00,0.000,6,0.000,0.037,1361,3381,2880,0,0,0,0,0,0
$GC,3663,-0.76,-97.5,591.9,-15.2,231,3667,0.00,0.88,0.00,0.000,4,0.000,0.056,1356,3940,2880,0,0,0,0,0,0
$GC,3922,-0.76,-97.5,636.4,-17.1,238,3926,0.08,0.85,0.00,0.000,6,0.185,0.037,1378,3375,2880,0,0,0,0,0,0
$GC,4242,-0.76,-97.5,681.0,-13.8,249,4245,0.00,0.90,0.00,0.000,4,0.000,0.057,1375,3947,2879,0,0,0,0,0,0
$GC,4499,-0.76,-97.5,719.6,-14.8,256,4502,0.00,0.85,0.00,0.000,6,0.000,0.037,1375,3384,2878,0,0,0,0,0,0
$GC,4817,-0.76,-97.5,763.0,-13.6,267,4821,0.00,0.88,0.00,0.000,4,0.000,0.058,1372,3941,2878,0,0,0,0,0,0
$GC,5079,-0.76,-97.5,801.3,-15.1,274,5083,0.00,0.85,0.00,0.000,6,0.000,0.038,1372,3378,2877,0,0,0,0,0,0
$GC,5400,-0.76,-97.5,844.7,-13.6,285,5404,0.00,0.90,0.00,0.000,4,0.000,0.058,1367,3946,2876,0,0,0,0,0,0
$GC,5658,-0.76,-97.5,882.7,-14.5,292,5662,0.00,0.85,0.00,0.000,6,0.000,0.038,1367,3384,2875,0,0,0,0,0,0
$GC,5976,-0.76,-97.5,925.3,-13.3,303,5980,0.00,0.88,0.00,0.000,4,0.000,0.058,1363,3936,2874,0,0,0,0,0,0
$GC,6234,-0.76,-97.5,963.4,-15.4,310,6237,0.00,0.85,0.00,0.000,6,0.000,0.038,1363,3378,2873,0,0,0,0,0,0
$STATE,6519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6526,-0.14,0.0,1002.8,13.9,320,6632,0.77,0.00,102.10,1.189,6,0.171,0.000,1584,3268,2473,0,0,0,0,0,0
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6636,0.76,97.5,1006.2,0.0,323,6747,0.85,2.33,101.03,1.162,4,0.086,0.031,1881,1845,2070,0,0,0,0,0,0
$GC,6912,0.76,97.5,966.2,16.8,331,6916,0.00,2.38,0.00,0.000,6,0.000,0.051,1881,3273,2056,0,0,0,0,0,0
$GC,7230,0.76,97.5,900.0,20.9,342,7234,0.00,1.10,0.00,0.000,4,0.000,0.055,1881,3952,2052,0,0,0,0,0,0
$GC,7291,0.76,97.5,885.3,24.9,343,7300,0.00,1.05,0.00,0.000,6,0.000,0.032,1886,3259,2052,0,0,0,0,0,0
$GC,7605,0.76,97.5,819.9,20.7,354,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3259,2049,0,0,0,0,0,0
$GC,7911,0.76,97.5,756.8,20.5,364,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3259,2048,0,0,0,0,0,0
$GC,8218,0.76,97.5,692.7,21.0,374,8222,0.00,1.12,0.00,0.000,4,0.000,0.055,1886,3956,2047,0,0,0,0,0,0
$GC,8287,0.76,97.5,676.8,23.9,376,8292,0.00,1.02,0.00,0.000,6,0.000,0.034,1892,3272,2047,0,0,0,0,0,0
$GC,8630,0.76,97.5,602.1,21.4,387,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3272,2046,0,0,0,0,0,0
$GC,8935,0.76,97.5,535.4,21.6,397,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3272,2045,0,0,0,0,0,0
$GC,9242,0.76,97.5,470.8,21.0,407,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3272,2045,0,0,0,0,0,0
$GC,9549,0.76,97.5,407.6,20.4,417,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3272,2045,0,0,0,0,0,0
$GC,9861,0.76,97.5,344.5,20.1,431,9865,0.00,1.08,0.00,0.000,4,0.000,0.054,1892,3946,2044,0,0,0,0,0,0
$GC,9962,0.76,97.5,320.8,22.2,435,9966,0.00,1.02,0.00,0.000,6,0.000,0.033,1897,3261,2044,0,0,0,0,0,0
$GC,10286,0.76,97.5,255.1,20.3,451,10292,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3950,2043,0,0,0,0,0,0
$GC,10344,0.76,97.5,241.3,22.8,454,10348,0.00,1.00,0.00,0.000,6,0.000,0.033,1902,3275,2043,0,0,0,0,0,0
$GC,10674,0.76,97.5,174.0,20.9,475,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3275,2043,0,0,0,0,0,0
$GC,10984,0.76,97.5,110.4,19.8,495,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3275,2043,0,0,0,0,0,0
$GC,11329,0.76,97.5,47.3,17.6,547,11335,0.00,1.08,0.00,0.000,4,0.000,0.054,1902,3957,2043,0,0,0,0,0,0
$STATE,11543,end climb,SURFACE_DEPTH_REACHED
$STATE,11543,begin surface coast
$FINISH,1.4,1.026087
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11570,67.50,0.723,1,0,1452,250.20
$SM_GC,1.81,0.00,0.00,67.50,0.000,0.000,0.723,69,3376,1452,-4.89,-0.11,250.20
$IRIDIUM_FIX,-4143.80,822.54,311212,171738
$TT8_MAMPS,0.025466
$HUMID,56.53
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.7,27.670
$10V_AH,10.1,15.051
$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,11.750,34.500,203.125,67.500,0.000,25.691,48.102,266.391,0.000,0.000,17.799,1558.777,7347.212,310.229,2243.401,686.047,33.355,1122.669,0.000,2014.600,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,87.975,1188.810,722.925,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.071,1260.994,586.952,265.902,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,43711,581
$CAP_FILE_SIZE,96853,0
$CFSIZE,259252224,249696256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,010113,004404,-4158.392,826.759,26,0.9,26,-24.9