version: 66.07
glider: 543
mission: 6
dive: 14
start: 12 11 112 1 26 6
data:
$ID,543
$MISSION,6
$DIVE,14
$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,-7828.1699
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,111212,011634,-4230.834,822.286,43,1.1,43,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-22.4
$GPS2,111212,012506,-4230.825,822.436,18,1.1,19,-25.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.036,-0.170
$KALMAN_X,-11477.7,1184.1,1045.3,37576.9,-2963.2
$KALMAN_Y,10813.4,-104.0,-10.8,-12147.9,3051.6
$MHEAD_RNG_PITCHd_Wd,217.1,3660,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.80,-63.1,0.0,0.0,0,118,0.00,0.00,-90.53,0.000,6,0.000,0.000,60,3352,2733,0,0,0,0,0,0
$GC,122,-0.83,-117.3,3.3,-4.2,12,141,5.50,0.98,-5.97,0.000,4,0.249,0.086,1371,3951,2954,0,0,0,0,0,0
$GC,421,-0.83,-117.3,66.2,-21.1,59,426,0.00,0.90,0.00,0.000,6,0.000,0.042,1372,3374,2956,0,0,0,0,0,0
$GC,772,-0.83,-117.3,132.4,-18.1,100,773,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3374,2957,0,0,0,0,0,0
$GC,1085,-0.83,-117.3,189.1,-17.8,120,1089,0.00,0.93,0.00,0.000,4,0.000,0.060,1367,3951,2957,0,0,0,0,0,0
$GC,1352,-0.83,-117.3,241.4,-19.4,135,1356,0.00,0.93,0.00,0.000,6,0.000,0.040,1367,3349,2957,0,0,0,0,0,0
$GC,1681,-0.83,-117.3,295.5,-16.0,152,1685,0.00,0.95,0.00,0.000,4,0.000,0.060,1363,3950,2958,0,0,0,0,0,0
$GC,1892,-0.83,-117.3,332.9,-18.4,161,1898,0.00,0.93,0.00,0.000,6,0.000,0.041,1363,3343,2958,0,0,0,0,0,0
$GC,2228,-0.83,-117.3,388.9,-16.7,177,2233,0.00,0.95,0.00,0.000,4,0.000,0.061,1359,3945,2958,0,0,0,0,0,0
$GC,2458,-0.83,-117.3,430.9,-17.8,184,2461,0.00,0.90,0.00,0.000,6,0.000,0.041,1359,3354,2958,0,0,0,0,0,0
$GC,2779,-0.83,-117.3,488.4,-17.8,195,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3353,2958,0,0,0,0,0,0
$GC,3083,-0.83,-117.3,543.6,-17.8,205,3086,0.00,0.95,0.00,0.000,4,0.000,0.061,1354,3943,2958,0,0,0,0,0,0
$GC,3345,-0.83,-117.3,592.0,-17.6,212,3349,0.00,0.90,0.00,0.000,6,0.000,0.040,1355,3347,2957,0,0,0,0,0,0
$GC,3664,-0.83,-117.3,646.5,-17.0,223,3668,0.00,0.93,0.00,0.000,4,0.000,0.060,1350,3938,2957,0,0,0,0,0,0
$GC,3876,-0.83,-117.3,686.0,-18.4,229,3883,0.08,0.88,0.00,0.000,6,0.197,0.041,1371,3361,2957,0,0,0,0,0,0
$GC,4210,-0.83,-117.3,738.5,-16.0,240,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3360,2956,0,0,0,0,0,0
$GC,4514,-0.83,-117.3,786.9,-15.6,250,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3360,2955,0,0,0,0,0,0
$GC,4821,-0.83,-117.3,833.5,-14.9,260,4824,0.00,0.93,0.00,0.000,4,0.000,0.062,1368,3946,2954,0,0,0,0,0,0
$GC,4996,-0.83,-117.3,862.4,-16.1,265,5000,0.00,0.90,0.00,0.000,6,0.000,0.042,1368,3353,2954,0,0,0,0,0,0
$GC,5331,-0.83,-117.3,912.2,-14.7,276,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3353,2952,0,0,0,0,0,0
$GC,5637,-0.83,-117.3,956.3,-14.5,286,5643,0.00,0.95,0.00,0.000,4,0.000,0.063,1363,3941,2952,0,0,0,0,0,0
$GC,5694,-0.83,-117.3,965.1,-15.5,287,5697,0.00,0.90,0.00,0.000,6,0.000,0.042,1364,3349,2952,0,0,0,0,0,0
$STATE,5948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5948,begin apogee
$GC,5955,-0.14,0.0,1003.2,15.0,296,6082,0.80,0.00,123.40,1.239,6,0.174,0.000,1596,3144,2474,0,0,0,0,0,0
$STATE,6083,end apogee,CONTROL_FINISHED_OK
$STATE,6084,begin climb
$GC,6086,0.83,117.3,1006.8,0.0,300,6219,0.95,2.38,122.38,1.203,4,0.082,0.035,1923,1747,1985,0,0,0,0,0,0
$GC,6226,0.83,117.3,985.1,23.0,304,6231,0.00,2.45,0.00,0.000,6,0.000,0.050,1923,3153,1979,0,0,0,0,0,0
$GC,6552,0.83,117.3,904.4,24.9,315,6555,0.00,1.30,0.00,0.000,4,0.000,0.058,1923,3948,1967,0,0,0,0,0,0
$GC,6612,0.83,117.3,887.3,27.3,316,6619,0.00,1.27,0.00,0.000,6,0.000,0.037,1929,3137,1966,0,0,0,0,0,0
$GC,6926,0.83,117.3,808.8,25.0,327,6929,0.00,1.33,0.00,0.000,4,0.000,0.059,1929,3949,1964,0,0,0,0,0,0
$GC,7037,0.83,117.3,778.8,27.5,330,7043,0.00,1.23,0.00,0.000,6,0.000,0.037,1934,3153,1963,0,0,0,0,0,0
$GC,7370,0.83,117.3,695.4,25.6,341,7374,0.00,1.27,0.00,0.000,4,0.000,0.058,1935,3948,1962,0,0,0,0,0,0
$GC,7414,0.83,117.3,682.2,28.6,342,7417,0.00,1.23,0.00,0.000,6,0.000,0.038,1940,3152,1962,0,0,0,0,0,0
$GC,7745,0.83,117.3,597.1,25.3,353,7748,0.00,1.27,0.00,0.000,4,0.000,0.055,1940,3950,1960,0,0,0,0,0,0
$GC,7930,0.83,117.3,545.3,26.9,358,7934,0.00,1.20,0.00,0.000,6,0.000,0.035,1946,3155,1960,0,0,0,0,0,0
$GC,8255,0.83,117.3,461.9,26.3,369,8259,0.00,1.27,0.00,0.000,4,0.000,0.055,1946,3953,1960,0,0,0,0,0,0
$GC,8310,0.83,117.3,446.6,28.4,370,8316,0.10,1.23,0.00,0.000,6,0.230,0.034,1926,3143,1959,0,0,0,0,0,0
$GC,8634,0.83,117.3,365.2,24.5,383,8639,0.00,1.30,0.00,0.000,4,0.000,0.055,1924,3959,1958,0,0,0,0,0,0
$GC,8776,0.83,117.3,327.6,26.9,389,8780,0.00,1.20,0.00,0.000,6,0.000,0.035,1929,3160,1958,0,0,0,0,0,0
$GC,9106,0.83,117.3,243.9,24.7,405,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3160,1957,0,0,0,0,0,0
$GC,9422,0.83,117.3,168.3,23.5,425,9425,0.00,1.25,0.00,0.000,4,0.000,0.053,1929,3954,1957,0,0,0,0,0,0
$GC,9567,0.83,117.3,130.6,26.7,433,9570,0.00,1.20,0.00,0.000,6,0.000,0.034,1935,3152,1957,0,0,0,0,0,0
$GC,9912,0.83,117.3,48.2,26.8,478,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,3151,1957,0,0,0,0,0,0
$STATE,10104,end climb,SURFACE_DEPTH_REACHED
$STATE,10105,begin surface coast
$FINISH,0.8,1.012578
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10136,154.48,0.800,1,0,542,472.69
$SM_GC,1.18,0.00,0.00,154.48,0.000,0.000,0.800,58,3378,542,-4.97,0.71,472.69
$IRIDIUM_FIX,-4215.72,823.91,101212,222210
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.6,4.715
$10V_AH,10.2,1.926
$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,12.525,37.800,245.775,154.475,0.000,26.304,42.863,291.944,0.000,0.000,21.472,1345.098,6458.357,455.778,1944.489,611.089,33.350,1188.030,0.000,1698.342,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,85.680,1238.535,800.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.818,1128.864,538.167,248.967,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,37090,510
$CAP_FILE_SIZE,87871,0
$CFSIZE,259252224,257482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,111212,041858,-4231.640,821.834,35,1.1,35,-25.0