version: 66.07
glider: 543
mission: 6
dive: 13
start: 12 10 112 22 15 7
data:
$ID,543
$MISSION,6
$DIVE,13
$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,333
$T_MISSION,348
$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,52589
$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,472.49722
$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,-7824.9048
$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,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,35
$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,720
$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
$GPS1,101212,220205,-4231.650,822.995,40,1.2,40,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-27.1
$GPS2,101212,221406,-4231.594,823.160,19,1.2,19,-25.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.173,-0.009
$KALMAN_X,-13368.1,1269.2,112.3,41307.1,-3306.6
$KALMAN_Y,9784.0,-354.6,-261.1,-12043.1,2992.5
$MHEAD_RNG_PITCHd_Wd,292.2,5228,-27.2,-10.010
$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,-0.80,-63.1,0.0,0.0,0,119,0.00,0.00,-90.03,0.000,6,0.000,0.000,61,3370,2732,0,0,0,0,0,0
$GC,123,-0.82,-109.5,3.3,-5.1,12,142,5.45,0.93,-5.03,0.000,4,0.244,0.086,1376,3935,2921,0,0,0,0,0,0
$GC,256,-0.82,-109.5,29.4,-20.4,31,264,0.00,0.90,0.00,0.000,6,0.000,0.041,1376,3361,2923,0,0,0,0,0,0
$GC,337,-0.82,-109.5,44.8,-18.0,44,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3361,2924,0,0,0,0,0,0
$GC,584,-0.82,-109.5,87.6,-16.8,85,589,0.00,0.93,0.00,0.000,4,0.000,0.061,1372,3935,2924,0,0,0,0,0,0
$GC,680,-0.82,-109.5,107.2,-19.9,98,688,0.00,0.90,0.00,0.000,6,0.000,0.040,1372,3352,2924,0,0,0,0,0,0
$GC,1003,-0.82,-109.5,163.7,-17.4,119,1007,0.00,0.93,0.00,0.000,4,0.000,0.059,1368,3934,2924,0,0,0,0,0,0
$GC,1134,-0.82,-109.5,189.2,-18.3,126,1144,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3340,2924,0,0,0,0,0,0
$GC,1457,-0.82,-109.5,242.9,-16.3,147,1460,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3927,2924,0,0,0,0,0,0
$GC,1719,-0.82,-109.5,289.3,-17.3,159,1723,0.00,0.88,0.00,0.000,6,0.000,0.037,1363,3346,2924,0,0,0,0,0,0
$GC,2042,-0.82,-109.5,340.6,-16.2,175,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3346,2924,0,0,0,0,0,0
$GC,2351,-0.82,-109.5,390.3,-15.8,190,2354,0.00,0.93,0.00,0.000,4,0.000,0.058,1359,3935,2924,0,0,0,0,0,0
$GC,2604,-0.82,-109.5,437.6,-18.3,198,2608,0.00,0.88,0.00,0.000,6,0.000,0.038,1359,3354,2924,0,0,0,0,0,0
$GC,2929,-0.82,-109.5,494.4,-17.8,209,2933,0.00,0.90,0.00,0.000,4,0.000,0.058,1355,3930,2924,0,0,0,0,0,0
$GC,3060,-0.82,-109.5,518.7,-19.1,212,3067,0.00,0.88,0.00,0.000,6,0.000,0.038,1355,3349,2924,0,0,0,0,0,0
$GC,3373,-0.82,-109.5,572.2,-17.0,223,3379,0.00,0.93,0.00,0.000,4,0.000,0.060,1350,3940,2924,0,0,0,0,0,0
$GC,3632,-0.82,-109.5,620.1,-18.3,230,3636,0.10,0.88,0.00,0.000,6,0.196,0.040,1377,3360,2924,0,0,0,0,0,0
$GC,3951,-0.82,-109.5,668.0,-14.8,241,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3361,2923,0,0,0,0,0,0
$GC,4257,-0.82,-109.5,712.8,-14.3,251,4262,0.00,0.90,0.00,0.000,4,0.000,0.060,1375,3932,2922,0,0,0,0,0,0
$GC,4341,-0.82,-109.5,726.2,-16.7,253,4345,0.00,0.88,0.00,0.000,6,0.000,0.041,1375,3353,2923,0,0,0,0,0,0
$GC,4665,-0.82,-109.5,773.1,-14.3,264,4669,0.00,0.93,0.00,0.000,4,0.000,0.062,1371,3928,2922,0,0,0,0,0,0
$GC,4810,-0.82,-109.5,795.8,-15.4,268,4814,0.00,0.88,0.00,0.000,6,0.000,0.041,1370,3347,2921,0,0,0,0,0,0
$GC,5140,-0.82,-109.5,844.0,-14.7,279,5146,0.00,0.93,0.00,0.000,4,0.000,0.061,1366,3937,2920,0,0,0,0,0,0
$GC,5281,-0.82,-109.5,867.6,-16.3,283,5286,0.00,0.88,0.00,0.000,6,0.000,0.041,1366,3355,2920,0,0,0,0,0,0
$GC,5618,-0.82,-109.5,917.9,-14.8,294,5622,0.00,0.90,0.00,0.000,4,0.000,0.062,1362,3927,2919,0,0,0,0,0,0
$GC,5770,-0.82,-109.5,942.6,-16.2,298,5774,0.00,0.88,0.00,0.000,6,0.000,0.042,1362,3353,2918,0,0,0,0,0,0
$GC,6094,-0.82,-109.5,989.9,-14.4,309,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3353,2918,0,0,0,0,0,0
$STATE,6183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6183,begin apogee
$GC,6190,-0.14,0.0,1002.9,14.2,312,6309,0.82,0.00,110.25,1.414,6,0.179,0.000,1599,3148,2472,0,0,0,0,1,0
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6310,begin climb
$GC,6313,0.82,109.5,1005.6,0.0,316,6441,0.93,2.38,110.38,1.796,4,0.076,0.037,1920,1750,2027,0,0,0,0,1,0
$GC,6458,0.82,109.5,983.6,22.1,320,6463,0.00,2.42,0.00,0.000,6,0.000,0.050,1920,3148,2025,0,0,0,0,0,0
$GC,6777,0.82,109.5,905.5,24.7,331,6780,0.00,1.33,0.00,0.000,4,0.000,0.055,1920,3954,2017,0,0,0,0,0,0
$GC,6832,0.82,109.5,890.3,27.0,332,6836,0.00,1.27,0.00,0.000,6,0.000,0.035,1926,3135,2016,0,0,0,0,0,0
$GC,7151,0.82,109.5,811.9,24.5,343,7155,0.00,1.33,0.00,0.000,4,0.000,0.054,1926,3953,2014,0,0,0,0,0,0
$GC,7252,0.82,109.5,785.9,26.0,346,7258,0.00,1.23,0.00,0.000,6,0.000,0.036,1932,3154,2014,0,0,0,0,0,0
$GC,7596,0.82,109.5,705.7,23.1,357,7599,0.00,1.27,0.00,0.000,4,0.000,0.055,1933,3950,2012,0,0,0,0,0,0
$GC,7634,0.82,109.5,695.5,24.8,358,7637,0.00,1.23,0.00,0.000,6,0.000,0.035,1938,3146,2012,0,0,0,0,0,0
$GC,7969,0.82,109.5,616.5,23.6,369,7972,0.00,1.30,0.00,0.000,4,0.000,0.056,1937,3951,2011,0,0,0,0,0,0
$GC,8063,0.82,109.5,592.6,26.2,371,8070,0.00,1.23,0.00,0.000,6,0.000,0.035,1943,3145,2011,0,0,0,0,0,0
$GC,8377,0.82,109.5,516.8,24.5,382,8380,0.00,1.30,0.00,0.000,4,0.000,0.056,1943,3957,2011,0,0,0,0,0,0
$GC,8584,0.82,109.5,462.9,26.2,388,8588,0.10,1.23,0.00,0.000,6,0.226,0.034,1923,3145,2010,0,0,0,0,0,0
$GC,8913,0.82,109.5,388.5,22.9,399,8916,0.00,2.12,0.00,0.000,4,0.000,0.037,1933,1755,2009,0,0,0,0,0,0
$GC,8936,0.82,109.5,382.3,23.2,400,8940,0.00,2.25,0.00,0.000,6,0.000,0.050,1933,3157,2008,0,0,0,0,0,0
$GC,9258,0.82,109.5,309.8,22.9,416,9262,0.00,1.25,0.00,0.000,4,0.000,0.057,1933,3943,2008,0,0,0,0,0,0
$GC,9351,0.82,109.5,286.8,25.6,420,9354,0.00,1.20,0.00,0.000,6,0.000,0.038,1939,3155,2008,0,0,0,0,0,0
$GC,9675,0.82,109.5,211.8,23.0,438,9679,0.00,1.25,0.00,0.000,4,0.000,0.056,1939,3940,2008,0,0,0,0,0,0
$GC,9814,0.82,109.5,177.9,24.6,446,9818,0.00,1.20,0.00,0.000,6,0.000,0.037,1945,3148,2008,0,0,0,0,0,0
$GC,10148,0.82,109.5,103.1,22.6,467,10151,0.00,1.27,0.00,0.000,4,0.000,0.054,1945,3955,2007,0,0,0,0,0,0
$GC,10218,0.82,109.5,85.7,23.8,477,10225,0.10,1.20,0.00,0.000,6,0.229,0.034,1924,3149,2008,0,0,0,0,0,0
$GC,10593,0.82,109.5,7.3,21.2,538,10602,0.00,2.12,0.00,0.000,4,0.000,0.035,1934,1753,2007,0,0,0,0,0,0
$STATE,10608,end climb,SURFACE_DEPTH_REACHED
$STATE,10608,begin surface coast
$FINISH,1.6,1.026354
$STATE,10618,end surface coast,CONTROL_FINISHED_OK
$STATE,10618,begin surface
$SM_CCo,10636,161.75,0.780,1,0,543,472.69
$SM_GC,0.89,0.00,0.00,161.75,0.000,0.000,0.780,60,3352,543,-4.97,-0.03,472.69
$IRIDIUM_FIX,-4215.72,824.33,101212,222224
$TT8_MAMPS,0.025466
$HUMID,54.76
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.0,4.576
$10V_AH,10.2,1.844
$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,12.425,54.075,220.625,161.750,0.000,53.652,102.028,336.975,0.000,0.000,21.849,1437.026,6758.831,480.363,2190.514,659.433,33.355,1279.088,0.000,1823.067,0.000,1.013,0.000
$DEVICE_MAMPS,244.035,85.680,1796.220,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.184,1185.535,568.785,259.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,40412,541
$CAP_FILE_SIZE,100632,0
$CFSIZE,259252224,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,111212,011634,-4230.834,822.286,43,1.1,43,-25.0