version: 66.07
glider: 543
mission: 6
dive: 15
start: 12 11 112 4 28 17
data:
$ID,543
$MISSION,6
$DIVE,15
$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,-7831.4966
$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,34
$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
$GPS1,111212,041858,-4231.640,821.834,35,1.1,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-30.3
$GPS2,111212,042717,-4231.616,821.889,16,1.3,17,-25.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.150,-0.087
$KALMAN_X,-9702.1,654.6,51.9,36596.0,-443.9
$KALMAN_Y,12589.8,47.5,-117.3,-15437.5,4222.2
$MHEAD_RNG_PITCHd_Wd,264.8,3951,-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,-90.68,0.000,6,0.000,0.000,58,3378,2732,0,0,0,0,0,0
$GC,122,-0.84,-127.2,2.9,-3.2,12,141,5.47,0.95,-7.53,0.000,4,0.246,0.094,1368,3945,2994,0,0,0,0,0,0
$GC,180,-0.84,-127.2,12.6,-20.8,19,189,0.00,0.90,0.00,0.000,6,0.000,0.041,1368,3373,2996,0,0,0,0,0,0
$GC,265,-0.84,-127.2,32.3,-21.4,32,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3373,2996,0,0,0,0,0,0
$GC,516,-0.84,-127.2,81.8,-19.2,73,523,0.00,2.22,0.00,0.000,4,0.000,0.037,1368,1941,2997,0,0,0,0,0,0
$GC,603,-0.84,-127.2,95.8,-14.8,88,610,0.00,2.28,0.00,0.000,6,0.000,0.060,1358,3338,2997,0,0,0,0,0,0
$GC,929,-0.84,-127.2,155.9,-19.1,111,931,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3337,2997,0,0,0,0,0,0
$GC,1242,-0.84,-127.2,214.7,-19.0,131,1245,0.00,0.98,0.00,0.000,4,0.000,0.060,1353,3953,2997,0,0,0,0,0,0
$GC,1315,-0.84,-127.2,229.0,-20.0,135,1318,0.00,0.93,0.00,0.000,6,0.000,0.041,1353,3349,2998,0,0,0,0,0,0
$GC,1634,-0.84,-127.2,290.3,-18.9,152,1638,0.00,2.15,0.00,0.000,4,0.000,0.037,1353,1937,2998,0,0,0,0,0,0
$GC,1702,-0.84,-127.2,302.1,-14.7,155,1708,0.10,2.33,0.00,0.000,6,0.168,0.061,1371,3355,2998,0,0,0,0,0,0
$GC,2034,-0.84,-127.2,358.6,-17.2,171,2039,0.00,0.95,0.00,0.000,4,0.000,0.060,1368,3956,2998,0,0,0,0,0,0
$GC,2175,-0.84,-127.2,384.7,-18.5,177,2179,0.00,0.93,0.00,0.000,6,0.000,0.041,1368,3352,2998,0,0,0,0,0,0
$GC,2497,-0.84,-127.2,436.8,-16.0,189,2501,0.00,2.15,0.00,0.000,4,0.000,0.037,1368,1933,2998,0,0,0,0,0,0
$GC,2586,-0.84,-127.2,449.1,-12.8,191,2593,0.00,2.30,0.00,0.000,6,0.000,0.061,1358,3362,2998,0,0,0,0,0,0
$GC,2899,-0.84,-127.2,502.5,-17.5,202,2903,0.00,0.93,0.00,0.000,4,0.000,0.062,1353,3948,2998,0,0,0,0,0,0
$GC,2979,-0.84,-127.2,517.7,-19.8,204,2983,0.00,0.93,0.00,0.000,6,0.000,0.042,1353,3345,2998,0,0,0,0,0,0
$GC,3310,-0.84,-127.2,578.4,-18.4,215,3314,0.00,2.12,0.00,0.000,4,0.000,0.038,1353,1942,2998,0,0,0,0,0,0
$GC,3349,-0.84,-127.2,585.5,-15.3,216,3354,0.15,2.30,0.00,0.000,6,0.190,0.063,1379,3362,2998,0,0,0,0,0,0
$GC,3673,-0.84,-127.2,636.9,-15.6,227,3677,0.00,2.15,0.00,0.000,4,0.000,0.039,1379,1945,2998,0,0,0,0,0,0
$GC,3703,-0.84,-127.2,641.5,-14.3,228,3707,0.00,2.30,0.00,0.000,6,0.000,0.065,1370,3360,2998,0,0,0,0,0,0
$GC,4038,-0.84,-127.2,693.8,-15.4,239,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3360,2997,0,0,0,0,0,0
$GC,4344,-0.84,-127.2,741.3,-15.6,249,4348,0.00,2.17,0.00,0.000,4,0.000,0.041,1370,1932,2996,0,0,0,0,0,0
$GC,4399,-0.84,-127.2,748.9,-12.7,250,4408,0.00,2.33,0.00,0.000,6,0.000,0.064,1359,3352,2996,0,0,0,0,0,0
$GC,4712,-0.84,-127.2,795.5,-14.9,261,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3352,2995,0,0,0,0,0,0
$GC,5019,-0.84,-127.2,841.0,-14.6,271,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3353,2994,0,0,0,0,0,0
$GC,5326,-0.84,-127.2,885.6,-14.5,281,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3353,2994,0,0,0,0,0,0
$GC,5631,-0.84,-127.2,931.5,-15.2,291,5637,0.00,2.17,0.00,0.000,4,0.000,0.042,1359,1935,2993,0,0,0,0,0,0
$GC,5659,-0.84,-127.2,935.9,-14.1,291,5667,0.12,2.30,0.00,0.000,6,0.195,0.063,1377,3365,2993,0,0,0,0,0,0
$GC,5973,-0.84,-127.2,979.4,-14.1,302,5977,0.00,2.17,0.00,0.000,4,0.000,0.043,1377,1942,2992,0,0,0,0,0,0
$GC,6016,-0.84,-127.2,985.5,-12.6,303,6021,0.00,2.30,0.00,0.000,6,0.000,0.069,1368,3354,2992,0,0,0,0,0,0
$STATE,6118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6125,-0.14,0.0,1000.5,15.1,307,6258,0.80,0.00,124.28,1.837,6,0.172,0.000,1601,3144,2473,0,0,0,0,1,0
$STATE,6259,end apogee,CONTROL_FINISHED_OK
$STATE,6259,begin climb
$GC,6262,0.84,127.2,1004.9,0.0,311,6401,0.93,2.42,126.62,1.800,4,0.061,0.042,1928,1743,1954,0,0,0,0,1,0
$GC,6424,0.84,127.2,979.7,22.0,316,6428,0.00,2.50,0.00,0.000,6,0.000,0.057,1928,3158,1953,0,0,0,0,0,0
$GC,6748,0.84,127.2,897.3,25.6,327,6752,0.00,1.30,0.00,0.000,4,0.000,0.057,1928,3948,1945,0,0,0,0,0,0
$GC,6893,0.84,127.2,856.2,28.8,331,6897,0.00,1.25,0.00,0.000,6,0.000,0.037,1934,3147,1944,0,0,0,0,0,0
$GC,7223,0.84,127.2,768.6,26.7,342,7229,0.00,1.33,0.00,0.000,4,0.000,0.058,1935,3958,1942,0,0,0,0,0,0
$GC,7482,0.84,127.2,693.7,29.4,349,7486,0.00,1.25,0.00,0.000,6,0.000,0.037,1940,3148,1941,0,0,0,0,0,0
$GC,7801,0.84,127.2,609.0,26.0,360,7805,0.00,1.30,0.00,0.000,4,0.000,0.057,1941,3951,1941,0,0,0,0,0,0
$GC,7946,0.84,127.2,568.0,29.0,364,7950,0.00,1.23,0.00,0.000,6,0.000,0.037,1946,3152,1940,0,0,0,0,0,0
$GC,8275,0.84,127.2,484.5,24.8,375,8279,0.00,1.27,0.00,0.000,4,0.000,0.054,1946,3949,1939,0,0,0,0,0,0
$GC,8513,0.84,127.2,421.6,26.5,382,8518,0.08,1.20,0.00,0.000,6,0.231,0.034,1933,3148,1939,0,0,0,0,0,0
$GC,8838,0.84,127.2,342.4,24.1,396,8842,0.00,1.30,0.00,0.000,4,0.000,0.056,1932,3962,1938,0,0,0,0,0,0
$GC,9031,0.84,127.2,291.5,27.6,404,9034,0.00,1.20,0.00,0.000,6,0.000,0.035,1937,3164,1938,0,0,0,0,0,0
$GC,9354,0.84,127.2,211.1,24.9,422,9358,0.00,1.25,0.00,0.000,4,0.000,0.055,1937,3952,1937,0,0,0,0,0,0
$GC,9619,0.84,127.2,137.4,28.3,437,9622,0.00,1.20,0.00,0.000,6,0.000,0.034,1943,3154,1937,0,0,0,0,0,0
$GC,9959,0.84,127.2,52.7,24.7,479,9967,0.00,1.27,0.00,0.000,4,0.000,0.054,1943,3959,1937,0,0,0,0,0,0
$GC,10066,0.84,127.2,26.7,23.7,496,10075,0.08,1.23,0.00,0.000,6,0.226,0.034,1929,3136,1937,0,0,0,0,0,0
$GC,10156,0.84,127.2,5.9,23.6,509,10165,0.00,1.30,0.00,0.000,4,0.000,0.054,1928,3957,1937,0,0,0,0,0,0
$STATE,10171,end climb,SURFACE_DEPTH_REACHED
$STATE,10171,begin surface coast
$FINISH,0.9,1.026380
$STATE,10186,end surface coast,CONTROL_FINISHED_OK
$STATE,10186,begin surface
$SM_CCo,10203,153.35,0.763,1,0,546,472.69
$SM_GC,1.25,0.00,0.00,153.35,0.000,0.000,0.763,71,3360,546,-4.93,0.23,472.69
$IRIDIUM_FIX,-4215.72,821.02,111212,010132
$TT8_MAMPS,0.026215
$HUMID,54.56
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.0,4.896
$10V_AH,10.2,2.006
$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,12.625,68.250,250.900,153.350,0.000,24.519,44.237,286.349,0.000,0.000,19.573,1348.010,6519.208,496.556,1889.016,616.525,33.361,1239.925,0.000,1640.436,0.000,1.012,0.000
$DEVICE_MAMPS,246.330,94.095,1836.765,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.425,1110.231,525.870,230.543,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,36975,513
$CAP_FILE_SIZE,94647,0
$CFSIZE,259252224,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,111212,072205,-4232.043,821.095,25,1.1,25,-25.0