version: 66.07
glider: 543
mission: 6
dive: 23
start: 12 12 112 12 8 33
data:
$ID,543
$MISSION,6
$DIVE,23
$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,-7859.3447
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,121212,115122,-4234.530,819.600,35,0.8,35,-25.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-19.5
$GPS2,121212,120737,-4234.361,819.827,20,1.2,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.008,-0.156
$KALMAN_X,-3336.9,426.9,-318.2,28031.0,165.0
$KALMAN_Y,31904.4,-1207.7,-607.4,-38061.7,9386.0
$MHEAD_RNG_PITCHd_Wd,202.0,8080,-27.1,-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,-0.79,-53.9,0.0,0.0,0,113,0.00,0.00,-87.18,0.000,6,0.000,0.000,64,3373,2695,0,0,0,0,0,0
$GC,117,-0.81,-101.3,3.0,-3.7,11,138,5.45,0.93,-5.68,0.000,4,0.243,0.083,1372,3943,2889,0,0,0,0,0,0
$GC,417,-0.81,-101.3,55.2,-17.4,57,425,0.00,0.88,0.00,0.000,6,0.000,0.037,1371,3372,2890,0,0,0,0,0,0
$GC,654,-0.81,-101.3,93.9,-16.3,98,661,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3371,2890,0,0,0,0,0,0
$GC,980,-0.81,-101.3,143.3,-14.3,123,985,0.00,0.90,0.00,0.000,4,0.000,0.057,1367,3939,2890,0,0,0,0,0,0
$GC,1133,-0.81,-101.3,167.9,-15.4,131,1139,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3343,2891,0,0,0,0,0,0
$GC,1454,-0.81,-101.3,215.8,-14.8,152,1458,0.00,0.95,0.00,0.000,4,0.000,0.057,1363,3945,2891,0,0,0,0,0,0
$GC,1658,-0.81,-101.3,249.8,-16.8,163,1665,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3348,2891,0,0,0,0,0,0
$GC,1977,-0.81,-101.3,299.4,-16.2,179,1982,0.00,2.12,0.00,0.000,4,0.000,0.034,1363,1948,2891,0,0,0,0,0,0
$GC,2028,-0.81,-101.3,306.7,-14.3,181,2032,0.12,2.25,0.00,0.000,6,0.197,0.057,1381,3353,2891,0,0,0,0,0,0
$GC,2357,-0.81,-101.3,353.3,-13.9,197,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3352,2891,0,0,0,0,0,0
$GC,2666,-0.81,-101.3,394.3,-12.9,212,2669,0.00,0.93,0.00,0.000,4,0.000,0.057,1378,3949,2891,0,0,0,0,0,0
$GC,2829,-0.81,-101.3,416.1,-13.5,217,2832,0.00,0.90,0.00,0.000,6,0.000,0.037,1378,3349,2891,0,0,0,0,0,0
$GC,3149,-0.81,-101.3,456.8,-12.8,228,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3349,2891,0,0,0,0,0,0
$GC,3454,-0.81,-101.3,496.5,-13.1,238,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3349,2890,0,0,0,0,0,0
$GC,3760,-0.81,-101.3,536.4,-13.1,248,3764,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3957,2890,0,0,0,0,0,0
$GC,3967,-0.81,-101.3,566.9,-14.5,254,3971,0.00,0.90,0.00,0.000,6,0.000,0.038,1374,3356,2890,0,0,0,0,0,0
$GC,4302,-0.81,-101.3,614.0,-14.3,265,4308,0.00,0.93,0.00,0.000,4,0.000,0.058,1369,3947,2889,0,0,0,0,0,0
$GC,4407,-0.81,-101.3,630.3,-15.3,268,4411,0.00,0.90,0.00,0.000,6,0.000,0.038,1369,3349,2889,0,0,0,0,0,0
$GC,4749,-0.81,-101.3,681.3,-14.9,279,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3348,2888,0,0,0,0,0,0
$GC,5056,-0.81,-101.3,726.6,-14.7,289,5060,0.00,0.95,0.00,0.000,4,0.000,0.060,1365,3954,2888,0,0,0,0,0,0
$GC,5307,-0.81,-101.3,765.0,-14.5,296,5311,0.00,0.90,0.00,0.000,6,0.000,0.039,1365,3356,2887,0,0,0,0,0,0
$GC,5632,-0.81,-101.3,809.1,-13.4,307,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3356,2885,0,0,0,0,0,0
$GC,5938,-0.81,-101.3,847.8,-12.5,317,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3356,2885,0,0,0,0,0,0
$GC,6246,-0.81,-101.3,885.0,-12.1,327,6249,0.00,0.93,0.00,0.000,4,0.000,0.060,1361,3945,2885,0,0,0,0,0,0
$GC,6340,-0.81,-101.3,897.8,-12.8,329,6347,0.00,0.90,0.00,0.000,6,0.000,0.041,1361,3353,2884,0,0,0,0,0,0
$GC,6653,-0.81,-101.3,937.0,-12.4,340,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3353,2883,0,0,0,0,0,0
$GC,6960,-0.81,-101.3,974.9,-12.3,350,6965,0.00,0.98,0.00,0.000,4,0.000,0.062,1356,3956,2883,0,0,0,0,0,0
$GC,7055,-0.81,-101.3,987.6,-13.4,352,7064,0.08,0.93,0.00,0.000,6,0.201,0.040,1377,3348,2883,0,0,0,0,0,0
$STATE,7182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7182,begin apogee
$GC,7189,-0.14,0.0,1001.6,10.8,357,7297,0.75,0.00,99.25,1.820,6,0.171,0.000,1597,3140,2473,0,0,0,0,1,0
$STATE,7298,end apogee,CONTROL_FINISHED_OK
$STATE,7298,begin climb
$GC,7301,0.81,101.3,1002.9,0.0,360,7413,0.93,0.00,103.57,1.797,6,0.079,0.000,1905,3140,2060,0,0,0,0,1,0
$GC,7704,0.81,101.3,919.9,23.0,374,7708,0.00,1.33,0.00,0.000,4,0.000,0.055,1904,3944,2053,0,0,0,0,0,0
$GC,7863,0.81,101.3,879.3,25.1,378,7866,0.00,1.25,0.00,0.000,6,0.000,0.034,1911,3139,2052,0,0,0,0,0,0
$GC,8181,0.81,101.3,807.7,22.0,389,8185,0.00,1.33,0.00,0.000,4,0.000,0.056,1911,3955,2049,0,0,0,0,0,0
$GC,8348,0.81,101.3,767.2,26.5,393,8355,0.00,1.23,0.00,0.000,6,0.000,0.034,1917,3157,2049,0,0,0,0,0,0
$GC,8661,0.81,101.3,697.3,21.0,404,8667,0.00,1.27,0.00,0.000,4,0.000,0.055,1916,3949,2048,0,0,0,0,0,0
$GC,8855,0.81,101.3,650.8,24.4,409,8859,0.00,1.23,0.00,0.000,6,0.000,0.035,1922,3141,2047,0,0,0,0,0,0
$GC,9176,0.81,101.3,580.2,22.0,420,9180,0.00,1.30,0.00,0.000,4,0.000,0.054,1923,3954,2046,0,0,0,0,0,0
$GC,9434,0.81,101.3,516.2,24.1,427,9437,0.00,1.20,0.00,0.000,6,0.000,0.034,1929,3154,2046,0,0,0,0,0,0
$GC,9754,0.81,101.3,448.5,20.9,438,9757,0.00,1.25,0.00,0.000,4,0.000,0.055,1928,3947,2044,0,0,0,0,0,0
$GC,9990,0.81,101.3,390.6,24.4,445,9994,0.00,1.20,0.00,0.000,6,0.000,0.034,1934,3148,2044,0,0,0,0,0,0
$GC,10314,0.81,101.3,321.1,21.6,461,10320,0.00,1.27,0.00,0.000,4,0.000,0.054,1935,3951,2043,0,0,0,0,0,0
$GC,10577,0.81,101.3,258.1,23.1,472,10580,0.00,1.20,0.00,0.000,6,0.000,0.034,1941,3150,2043,0,0,0,0,0,0
$GC,10897,0.81,101.3,189.4,20.8,492,10900,0.00,1.27,0.00,0.000,4,0.000,0.054,1940,3955,2043,0,0,0,0,0,0
$GC,11164,0.81,101.3,125.9,24.0,507,11169,0.12,1.20,0.00,0.000,6,0.222,0.034,1914,3151,2042,0,0,0,0,0,0
$GC,11498,0.81,101.3,58.9,19.4,551,11507,0.00,1.25,0.00,0.000,4,0.000,0.054,1911,3947,2042,0,0,0,0,0,0
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,0.9,1.025491
$STATE,11792,end surface coast,CONTROL_FINISHED_OK
$STATE,11792,begin surface
$SM_CCo,11808,161.40,0.768,1,0,543,472.69
$SM_GC,1.28,0.00,0.00,161.40,0.000,0.000,0.768,65,3339,543,-4.95,-0.40,472.69
$IRIDIUM_FIX,-4218.64,815.66,121212,080811
$TT8_MAMPS,0.025466
$HUMID,54.60
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,23.0,6.463
$10V_AH,10.2,2.846
$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,12.275,40.875,202.825,161.400,0.000,41.596,52.047,661.484,0.000,0.000,23.437,1567.438,7537.271,481.567,2602.954,763.084,33.349,1290.740,0.000,2007.118,0.000,1.013,0.000
$DEVICE_MAMPS,242.505,82.620,1819.935,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.158,1314.255,618.942,275.521,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,43721,597
$CAP_FILE_SIZE,104649,0
$CFSIZE,259252224,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,121212,152928,-4234.792,820.122,39,1.0,39,-25.0