version: 66.07
glider: 543
mission: 6
dive: 20
start: 12 12 112 1 35 34
data:
$ID,543
$MISSION,6
$DIVE,20
$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,370
$T_MISSION,385
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7849.4028
$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,43
$R_STBD_OVSHOOT,22
$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
$GPS1,121212,011834,-4232.579,815.510,46,1.2,46,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-26.9
$GPS2,121212,013437,-4232.553,815.615,17,0.9,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.059,-0.174
$KALMAN_X,-632.9,-1233.7,-820.2,21768.3,4641.3
$KALMAN_Y,27529.0,-553.7,-437.5,-31170.4,8567.1
$MHEAD_RNG_PITCHd_Wd,186.1,7629,-22.9,-9.009
$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,-0.68,-74.6,0.0,0.0,0,119,0.00,0.00,-90.00,0.000,6,0.000,0.000,66,3354,2776,0,0,0,0,0,0
$GC,123,-0.72,-135.6,3.3,-4.1,12,142,5.62,0.95,-6.62,0.000,4,0.247,0.086,1408,3957,3028,0,0,0,0,0,0
$GC,425,-0.72,-135.6,59.6,-19.0,59,433,0.00,0.95,0.00,0.000,6,0.000,0.041,1408,3353,3030,0,0,0,0,0,0
$GC,666,-0.72,-135.6,99.9,-15.8,100,673,0.00,0.95,0.00,0.000,4,0.000,0.060,1404,3945,3030,0,0,0,0,0,0
$GC,876,-0.72,-135.6,134.9,-16.2,112,885,0.00,0.93,0.00,0.000,6,0.000,0.041,1404,3350,3030,0,0,0,0,0,0
$GC,1197,-0.72,-135.6,183.3,-14.8,133,1203,0.00,0.95,0.00,0.000,4,0.000,0.062,1399,3947,3031,0,0,0,0,0,0
$GC,1433,-0.72,-135.6,222.8,-16.4,146,1438,0.00,0.93,0.00,0.000,6,0.000,0.041,1400,3347,3031,0,0,0,0,0,0
$GC,1764,-0.72,-135.6,274.0,-15.3,165,1770,0.00,0.95,0.00,0.000,4,0.000,0.060,1395,3948,3031,0,0,0,0,0,0
$GC,1848,-0.72,-135.6,288.0,-16.5,168,1851,0.00,0.93,0.00,0.000,6,0.000,0.041,1396,3347,3031,0,0,0,0,0,0
$GC,2171,-0.72,-135.6,339.0,-15.7,184,2174,0.00,0.95,0.00,0.000,4,0.000,0.060,1391,3947,3031,0,0,0,0,0,0
$GC,2230,-0.72,-135.6,348.8,-17.5,186,2234,0.00,0.93,0.00,0.000,6,0.000,0.039,1391,3342,3031,0,0,0,0,0,0
$GC,2553,-0.72,-135.6,399.8,-15.7,202,2557,0.00,0.95,0.00,0.000,4,0.000,0.060,1387,3943,3031,0,0,0,0,0,0
$GC,2669,-0.72,-135.6,419.3,-16.8,206,2673,0.08,0.90,0.00,0.000,6,0.188,0.040,1408,3354,3030,0,0,0,0,0,0
$GC,3000,-0.72,-135.6,465.6,-13.8,217,3003,0.00,0.93,0.00,0.000,4,0.000,0.060,1405,3943,3030,0,0,0,0,0,0
$GC,3144,-0.72,-135.6,487.9,-14.4,221,3148,0.00,0.90,0.00,0.000,6,0.000,0.037,1405,3348,3030,0,0,0,0,0,0
$GC,3474,-0.72,-135.6,535.2,-14.4,232,3477,0.00,0.95,0.00,0.000,4,0.000,0.060,1401,3951,3030,0,0,0,0,0,0
$GC,3551,-0.72,-135.6,547.9,-16.3,234,3555,0.00,0.90,0.00,0.000,6,0.000,0.038,1401,3354,3030,0,0,0,0,0,0
$GC,3881,-0.72,-135.6,597.0,-14.8,245,3884,0.00,0.95,0.00,0.000,4,0.000,0.061,1397,3942,3030,0,0,0,0,0,0
$GC,4034,-0.72,-135.6,621.2,-16.5,249,4039,0.00,0.90,0.00,0.000,6,0.000,0.039,1397,3348,3029,0,0,0,0,0,0
$GC,4359,-0.72,-135.6,670.0,-15.2,260,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,1397,3347,3028,0,0,0,0,0,0
$GC,4665,-0.72,-135.6,716.4,-15.5,270,4668,0.00,0.95,0.00,0.000,4,0.000,0.060,1392,3951,3027,0,0,0,0,0,0
$GC,4817,-0.72,-135.6,741.5,-16.3,274,4821,0.00,0.90,0.00,0.000,6,0.000,0.040,1392,3357,3027,0,0,0,0,0,0
$GC,5142,-0.72,-135.6,791.4,-15.2,285,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,1392,3357,3026,0,0,0,0,0,0
$GC,5448,-0.72,-135.6,835.3,-14.0,295,5452,0.00,0.93,0.00,0.000,4,0.000,0.062,1388,3944,3025,0,0,0,0,0,0
$GC,5587,-0.72,-135.6,855.8,-13.7,299,5592,0.08,0.90,0.00,0.000,6,0.199,0.041,1409,3352,3025,0,0,0,0,0,0
$GC,5923,-0.72,-135.6,895.7,-11.7,310,5926,0.00,0.95,0.00,0.000,4,0.000,0.063,1406,3952,3024,0,0,0,0,0,0
$GC,6000,-0.72,-135.6,905.6,-13.1,312,6003,0.00,0.93,0.00,0.000,6,0.000,0.041,1406,3343,3024,0,0,0,0,0,0
$GC,6330,-0.72,-135.6,944.1,-11.8,323,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,1406,3342,3023,0,0,0,0,0,0
$GC,6636,-0.72,-135.6,981.3,-12.5,333,6640,0.00,0.95,0.00,0.000,4,0.000,0.063,1401,3943,3022,0,0,0,0,0,0
$GC,6725,-0.72,-135.6,993.4,-13.9,335,6728,0.00,0.90,0.00,0.000,6,0.000,0.041,1402,3351,3022,0,0,0,0,0,0
$STATE,6796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6796,begin apogee
$GC,6802,-0.14,0.0,1002.4,12.5,338,6941,0.68,0.00,130.57,1.818,6,0.161,0.000,1602,3142,2473,0,0,0,0,1,0
$STATE,6943,end apogee,CONTROL_FINISHED_OK
$STATE,6943,begin climb
$GC,6945,0.72,135.6,1005.8,0.0,342,7091,0.77,0.00,133.95,1.807,6,0.056,0.000,1878,3142,1920,0,0,0,0,1,0
$GC,7410,0.72,135.6,911.0,23.1,357,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,3142,1911,0,0,0,0,0,0
$GC,7717,0.72,135.6,842.4,22.0,367,7720,0.00,1.33,0.00,0.000,4,0.000,0.057,1878,3946,1909,0,0,0,0,0,0
$GC,7806,0.72,135.6,820.0,25.3,369,7810,0.00,1.25,0.00,0.000,6,0.000,0.034,1885,3137,1909,0,0,0,0,0,0
$GC,8124,0.72,135.6,749.5,22.0,380,8128,0.00,1.33,0.00,0.000,4,0.000,0.055,1884,3953,1907,0,0,0,0,0,0
$GC,8199,0.72,135.6,731.1,26.0,382,8202,0.00,1.23,0.00,0.000,6,0.000,0.034,1890,3154,1907,0,0,0,0,0,0
$GC,8534,0.72,135.6,651.7,23.5,393,8538,0.00,1.30,0.00,0.000,4,0.000,0.056,1891,3956,1906,0,0,0,0,0,0
$GC,8606,0.72,135.6,634.1,26.6,395,8610,0.00,1.23,0.00,0.000,6,0.000,0.034,1897,3147,1906,0,0,0,0,0,0
$GC,8947,0.72,135.6,552.0,23.4,406,8950,0.00,1.27,0.00,0.000,4,0.000,0.055,1896,3943,1905,0,0,0,0,0,0
$GC,9105,0.72,135.6,510.2,25.9,410,9108,0.00,1.20,0.00,0.000,6,0.000,0.034,1903,3151,1905,0,0,0,0,0,0
$GC,9423,0.72,135.6,434.0,23.6,421,9427,0.00,1.27,0.00,0.000,4,0.000,0.055,1902,3947,1904,0,0,0,0,0,0
$GC,9559,0.72,135.6,398.7,26.9,425,9562,0.00,1.20,0.00,0.000,6,0.000,0.034,1909,3152,1904,0,0,0,0,0,0
$GC,9893,0.72,135.6,318.1,23.5,441,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3150,1903,0,0,0,0,0,0
$GC,10202,0.72,135.6,245.2,23.4,456,10206,0.00,1.27,0.00,0.000,4,0.000,0.054,1908,3956,1902,0,0,0,0,0,0
$GC,10368,0.72,135.6,203.4,25.8,465,10372,0.10,1.20,0.00,0.000,6,0.233,0.034,1890,3149,1902,0,0,0,0,0,0
$GC,10700,0.72,135.6,127.8,22.1,486,10704,0.00,1.27,0.00,0.000,4,0.000,0.054,1885,3958,1901,0,0,0,0,0,0
$GC,10808,0.72,135.6,100.9,23.8,492,10812,0.00,1.20,0.00,0.000,6,0.000,0.033,1890,3149,1902,0,0,0,0,0,0
$GC,11172,0.72,135.6,25.0,20.7,552,11183,0.00,1.27,0.00,0.000,4,0.000,0.054,1890,3953,1902,0,0,0,0,0,0
$STATE,11272,end climb,SURFACE_DEPTH_REACHED
$STATE,11272,begin surface coast
$FINISH,0.9,1.013579
$STATE,11291,end surface coast,CONTROL_FINISHED_OK
$STATE,11291,begin surface
$SM_CCo,11308,147.65,0.757,1,0,543,472.69
$SM_GC,1.31,0.00,0.00,147.65,0.000,0.000,0.757,63,3356,543,-4.96,0.08,472.69
$IRIDIUM_FIX,-4218.64,815.66,111212,212101
$TT8_MAMPS,0.025466
$HUMID,54.09
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.9,5.937
$10V_AH,10.2,2.557
$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,12.325,44.200,264.525,147.650,0.000,42.244,26.231,640.481,0.000,0.000,23.052,1500.145,7227.070,492.219,2433.882,732.978,33.348,1286.875,0.000,1891.428,0.000,1.014,0.000
$DEVICE_MAMPS,247.095,85.680,1817.640,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.051,1253.228,588.787,268.749,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,43693,569
$CAP_FILE_SIZE,105099,0
$CFSIZE,259252224,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,121212,044758,-4233.627,816.153,42,1.1,42,-24.9