version: 66.07
glider: 543
mission: 6
dive: 21
start: 12 12 112 5 16 19
data:
$ID,543
$MISSION,6
$DIVE,21
$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,-7852.7026
$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,49
$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
$GPS1,121212,044758,-4233.627,816.153,42,1.1,42,-24.9
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-27.2
$GPS2,121212,051523,-4233.583,816.536,17,1.8,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.055,-0.155
$KALMAN_X,-1689.2,-1032.0,-457.6,23510.5,3480.7
$KALMAN_Y,29897.9,-1186.4,-807.9,-34435.3,10034.3
$MHEAD_RNG_PITCHd_Wd,185.3,8149,-25.7,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.75,-59.5,0.0,0.0,0,113,0.00,0.00,-87.78,0.000,6,0.000,0.000,62,3357,2717,0,0,0,0,0,0
$GC,117,-0.79,-115.5,2.7,-3.3,11,136,5.20,0.98,-6.90,0.000,4,0.223,0.086,1379,3950,2946,0,0,0,0,0,0
$GC,418,-0.79,-115.5,58.5,-19.1,58,427,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3364,2948,0,0,0,0,0,0
$GC,661,-0.79,-115.5,97.8,-15.9,99,669,0.00,0.93,0.00,0.000,4,0.000,0.057,1375,3945,2948,0,0,0,0,0,0
$GC,931,-0.79,-115.5,145.7,-17.0,116,934,0.00,0.90,0.00,0.000,6,0.000,0.037,1375,3354,2948,0,0,0,0,0,0
$GC,1258,-0.79,-115.5,198.3,-16.1,137,1263,0.00,0.95,0.00,0.000,4,0.000,0.057,1371,3953,2948,0,0,0,0,0,0
$GC,1527,-0.79,-115.5,247.5,-17.6,152,1530,0.00,0.90,0.00,0.000,6,0.000,0.037,1371,3357,2948,0,0,0,0,0,0
$GC,1844,-0.79,-115.5,302.4,-17.6,168,1848,0.00,0.93,0.00,0.000,4,0.000,0.057,1367,3946,2948,0,0,0,0,0,0
$GC,2110,-0.79,-115.5,352.0,-17.8,179,2113,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3347,2948,0,0,0,0,0,0
$GC,2442,-0.79,-115.5,406.3,-16.0,195,2445,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3953,2948,0,0,0,0,0,0
$GC,2700,-0.79,-115.5,450.8,-17.0,202,2704,0.10,0.90,0.00,0.000,6,0.191,0.037,1390,3356,2948,0,0,0,0,0,0
$GC,3018,-0.79,-115.5,495.7,-14.1,213,3022,0.00,0.93,0.00,0.000,4,0.000,0.059,1387,3946,2947,0,0,0,0,0,0
$GC,3199,-0.79,-115.5,524.5,-16.0,218,3203,0.00,0.90,0.00,0.000,6,0.000,0.037,1386,3347,2947,0,0,0,0,0,0
$GC,3529,-0.79,-115.5,574.5,-15.3,229,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3346,2947,0,0,0,0,0,0
$GC,3835,-0.79,-115.5,620.0,-14.5,239,3838,0.00,0.95,0.00,0.000,4,0.000,0.059,1382,3951,2946,0,0,0,0,0,0
$GC,3971,-0.79,-115.5,640.8,-15.3,243,3974,0.00,0.90,0.00,0.000,6,0.000,0.038,1382,3352,2946,0,0,0,0,0,0
$GC,4312,-0.79,-115.5,689.2,-13.9,254,4315,0.00,0.95,0.00,0.000,4,0.000,0.060,1378,3956,2945,0,0,0,0,0,0
$GC,4407,-0.79,-115.5,703.5,-14.9,256,4413,0.00,0.90,0.00,0.000,6,0.000,0.038,1378,3360,2944,0,0,0,0,0,0
$GC,4720,-0.79,-115.5,747.8,-14.1,267,4723,0.00,0.93,0.00,0.000,4,0.000,0.060,1374,3947,2944,0,0,0,0,0,0
$GC,4809,-0.79,-115.5,761.4,-15.1,269,4812,0.00,0.90,0.00,0.000,6,0.000,0.038,1374,3352,2943,0,0,0,0,0,0
$GC,5128,-0.79,-115.5,806.6,-14.3,280,5131,0.00,0.95,0.00,0.000,4,0.000,0.060,1369,3956,2943,0,0,0,0,0,0
$GC,5385,-0.79,-115.5,847.6,-15.9,287,5389,0.00,0.90,0.00,0.000,6,0.000,0.039,1369,3356,2942,0,0,0,0,0,0
$GC,5704,-0.79,-115.5,894.6,-15.0,298,5708,0.00,0.93,0.00,0.000,4,0.000,0.061,1365,3946,2941,0,0,0,0,0,0
$GC,5827,-0.79,-115.5,914.6,-16.2,301,5830,0.00,0.90,0.00,0.000,6,0.000,0.040,1365,3350,2941,0,0,0,0,0,0
$GC,6146,-0.79,-115.5,960.3,-14.3,312,6151,0.12,0.98,0.00,0.000,4,0.219,0.063,1389,3956,2940,0,0,0,0,0,0
$GC,6214,-0.79,-115.5,969.6,-12.8,314,6220,0.00,0.93,0.00,0.000,6,0.000,0.041,1389,3345,2940,0,0,0,0,0,0
$STATE,6492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6492,begin apogee
$GC,6499,-0.14,0.0,1002.8,11.6,323,6621,0.73,0.00,118.68,1.212,6,0.168,0.000,1602,3156,2473,0,0,0,0,0,0
$STATE,6623,end apogee,CONTROL_FINISHED_OK
$STATE,6623,begin climb
$GC,6626,0.79,115.5,1003.9,0.0,327,6746,0.90,0.00,111.53,1.799,6,0.074,0.000,1902,3155,2001,0,0,0,0,1,0
$GC,7041,0.79,115.5,914.8,23.6,341,7045,0.00,1.30,0.00,0.000,4,0.000,0.055,1902,3940,1994,0,0,0,0,0,0
$GC,7113,0.79,115.5,897.0,26.2,343,7117,0.00,1.25,0.00,0.000,6,0.000,0.033,1908,3139,1994,0,0,0,0,0,0
$GC,7455,0.79,115.5,817.1,22.3,354,7459,0.00,1.33,0.00,0.000,4,0.000,0.055,1908,3949,1991,0,0,0,0,0,0
$GC,7675,0.79,115.5,761.4,25.8,360,7679,0.00,1.23,0.00,0.000,6,0.000,0.034,1914,3148,1990,0,0,0,0,0,0
$GC,8000,0.79,115.5,686.4,23.4,371,8003,0.00,1.30,0.00,0.000,4,0.000,0.056,1912,3953,1989,0,0,0,0,0,0
$GC,8102,0.79,115.5,661.3,24.8,374,8105,0.00,1.20,0.00,0.000,6,0.000,0.034,1917,3156,1988,0,0,0,0,0,0
$GC,8443,0.79,115.5,581.2,23.8,385,8449,0.00,1.27,0.00,0.000,4,0.000,0.056,1917,3953,1987,0,0,0,0,0,0
$GC,8556,0.79,115.5,552.6,24.5,388,8559,0.00,1.20,0.00,0.000,6,0.000,0.034,1923,3153,1987,0,0,0,0,0,0
$GC,8886,0.79,115.5,474.9,24.1,399,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3153,1986,0,0,0,0,0,0
$GC,9193,0.79,115.5,405.8,22.2,409,9196,0.00,1.25,0.00,0.000,4,0.000,0.054,1923,3946,1985,0,0,0,0,0,0
$GC,9454,0.79,115.5,340.2,23.9,420,9457,0.00,1.20,0.00,0.000,6,0.000,0.034,1929,3147,1985,0,0,0,0,0,0
$GC,9776,0.79,115.5,267.2,22.8,436,9780,0.00,1.27,0.00,0.000,4,0.000,0.054,1929,3949,1984,0,0,0,0,0,0
$GC,9992,0.79,115.5,211.3,25.1,447,9996,0.10,1.17,0.00,0.000,6,0.216,0.034,1908,3156,1984,0,0,0,0,0,0
$GC,10320,0.79,115.5,141.4,20.9,468,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3156,1984,0,0,0,0,0,0
$GC,10641,0.79,115.5,72.5,21.0,502,10647,0.00,1.25,0.00,0.000,4,0.000,0.054,1908,3949,1984,0,0,0,0,0,0
$GC,10835,0.79,115.5,29.0,23.4,534,10844,0.00,1.17,0.00,0.000,6,0.000,0.031,1913,3149,1984,0,0,0,0,0,0
$GC,10924,0.79,115.5,10.2,20.5,547,10933,0.00,1.27,0.00,0.000,4,0.000,0.055,1913,3954,1984,0,0,0,0,0,0
$STATE,10960,end climb,SURFACE_DEPTH_REACHED
$STATE,10961,begin surface coast
$FINISH,0.8,1.013540
$STATE,10973,end surface coast,CONTROL_FINISHED_OK
$STATE,10973,begin surface
$SM_CCo,10990,156.55,0.756,1,0,545,472.69
$SM_GC,1.18,0.00,0.00,156.55,0.000,0.000,0.756,71,3355,545,-4.93,0.06,472.69
$IRIDIUM_FIX,-4218.64,812.77,121212,040452
$TT8_MAMPS,0.025466
$HUMID,54.33
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.1,6.132
$10V_AH,10.2,2.656
$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,12.250,42.000,230.200,156.550,0.000,158.539,109.405,906.301,0.000,0.000,19.761,1483.048,7051.335,486.840,2962.369,775.896,33.353,1291.701,0.000,1936.780,0.000,1.013,0.000
$DEVICE_MAMPS,222.615,86.445,1798.515,755.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.649,1220.232,574.604,265.235,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354192
$DATA_FILE_SIZE,40301,554
$CAP_FILE_SIZE,111659,0
$CFSIZE,259252224,257028096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,121212,082330,-4234.581,817.458,38,1.7,38,-24.9