version: 66.07
glider: 543
mission: 6
dive: 25
start: 12 12 112 19 39 45
data:
$ID,543
$MISSION,6
$DIVE,25
$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,-7865.8828
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,121212,191852,-4234.154,821.299,39,1.5,39,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-42.0
$GPS2,121212,193847,-4234.149,821.434,18,1.8,18,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.109,0.112
$KALMAN_X,-4458.2,-145.6,-54.7,31654.9,-1489.2
$KALMAN_Y,34008.1,-520.3,-550.3,-40521.6,7172.4
$MHEAD_RNG_PITCHd_Wd,340.7,7930,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-87.12,0.000,6,0.000,0.000,65,3362,2695,0,0,0,0,0,0
$GC,115,-0.82,-101.9,3.0,-3.6,11,134,5.53,2.20,-5.78,0.000,4,0.248,0.047,1388,1947,2892,0,0,0,0,0,0
$GC,215,-0.82,-101.9,16.0,-14.3,25,223,0.00,2.33,0.00,0.000,6,0.000,0.057,1379,3339,2893,0,0,0,0,0,0
$GC,303,-0.82,-101.9,30.8,-17.7,38,312,0.00,1.00,0.00,0.000,4,0.000,0.059,1375,3957,2893,0,0,0,0,0,0
$GC,461,-0.82,-101.9,60.7,-18.0,64,468,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3366,2893,0,0,0,0,0,0
$GC,811,-0.82,-101.9,115.3,-15.8,114,815,0.00,0.93,0.00,0.000,4,0.000,0.057,1370,3950,2893,0,0,0,0,0,0
$GC,1080,-0.82,-101.9,163.6,-17.4,129,1084,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3356,2893,0,0,0,0,0,0
$GC,1405,-0.82,-101.9,215.5,-15.4,150,1409,0.00,0.95,0.00,0.000,4,0.000,0.057,1366,3958,2893,0,0,0,0,0,0
$GC,1674,-0.82,-101.9,258.7,-15.3,165,1677,0.00,0.93,0.00,0.000,6,0.000,0.037,1366,3348,2893,0,0,0,0,0,0
$GC,1997,-0.82,-101.9,305.7,-14.7,181,2003,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3952,2893,0,0,0,0,0,0
$GC,2259,-0.82,-101.9,348.1,-16.8,192,2263,0.00,0.90,0.00,0.000,6,0.000,0.037,1362,3353,2893,0,0,0,0,0,0
$GC,2582,-0.82,-101.9,397.4,-15.8,208,2586,0.00,0.98,0.00,0.000,4,0.000,0.060,1358,3958,2893,0,0,0,0,0,0
$GC,2844,-0.82,-101.9,441.0,-16.2,216,2848,0.00,0.93,0.00,0.000,6,0.000,0.037,1357,3346,2893,0,0,0,0,0,0
$GC,3165,-0.82,-101.9,489.4,-15.3,227,3169,0.12,0.98,0.00,0.000,4,0.206,0.059,1382,3956,2893,0,0,0,0,0,0
$GC,3423,-0.82,-101.9,527.3,-13.7,234,3426,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3358,2893,0,0,0,0,0,0
$GC,3743,-0.82,-101.9,569.1,-12.7,245,3746,0.00,0.93,0.00,0.000,4,0.000,0.059,1378,3949,2892,0,0,0,0,0,0
$GC,3980,-0.82,-101.9,602.3,-14.5,252,3983,0.00,0.90,0.00,0.000,6,0.000,0.038,1378,3351,2892,0,0,0,0,0,0
$GC,4321,-0.82,-101.9,646.8,-13.4,263,4325,0.00,0.95,0.00,0.000,4,0.000,0.059,1373,3956,2892,0,0,0,0,0,0
$GC,4423,-0.82,-101.9,661.3,-14.0,266,4428,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3357,2892,0,0,0,0,0,0
$GC,4766,-0.82,-101.9,706.5,-13.5,277,4770,0.00,0.93,0.00,0.000,4,0.000,0.060,1369,3949,2891,0,0,0,0,0,0
$GC,5022,-0.82,-101.9,744.4,-14.4,284,5026,0.00,0.90,0.00,0.000,6,0.000,0.039,1369,3350,2890,0,0,0,0,0,0
$GC,5341,-0.82,-101.9,786.4,-13.2,295,5345,0.00,0.95,0.00,0.000,4,0.000,0.060,1365,3956,2889,0,0,0,0,0,0
$GC,5516,-0.82,-101.9,811.7,-14.9,300,5520,0.00,0.93,0.00,0.000,6,0.000,0.039,1365,3345,2889,0,0,0,0,0,0
$GC,5852,-0.82,-101.9,858.0,-13.9,311,5856,0.00,0.95,0.00,0.000,4,0.000,0.060,1360,3952,2888,0,0,0,0,0,0
$GC,5968,-0.82,-101.9,875.8,-15.6,314,5972,0.00,0.90,0.00,0.000,6,0.000,0.039,1360,3353,2888,0,0,0,0,0,0
$GC,6294,-0.82,-101.9,920.3,-13.7,325,6297,0.00,0.95,0.00,0.000,4,0.000,0.060,1356,3957,2887,0,0,0,0,0,0
$GC,6321,-0.82,-101.9,924.6,-14.9,325,6330,0.08,0.93,0.00,0.000,6,0.200,0.040,1376,3348,2887,0,0,0,0,0,0
$GC,6634,-0.82,-101.9,964.0,-12.3,336,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3348,2886,0,0,0,0,0,0
$STATE,6938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6938,begin apogee
$GC,6945,-0.14,0.0,1000.8,12.0,346,7051,0.75,0.00,97.97,1.813,6,0.172,0.000,1596,3139,2472,0,0,0,0,1,0
$STATE,7053,end apogee,CONTROL_FINISHED_OK
$STATE,7053,begin climb
$GC,7056,0.82,101.9,1003.0,0.0,349,7175,0.93,2.42,103.35,1.781,4,0.080,0.036,1915,1744,2058,0,0,0,0,1,0
$GC,7203,0.82,101.9,980.3,20.0,353,7208,0.00,2.45,0.00,0.000,6,0.000,0.050,1915,3161,2057,0,0,0,0,0,0
$GC,7517,0.82,101.9,908.0,23.7,363,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3160,2049,0,0,0,0,0,0
$GC,7824,0.82,101.9,835.2,23.8,373,7827,0.00,1.27,0.00,0.000,4,0.000,0.056,1915,3944,2048,0,0,0,0,0,0
$GC,7861,0.82,101.9,825.0,26.4,374,7865,0.00,1.23,0.00,0.000,6,0.000,0.034,1921,3145,2047,0,0,0,0,0,0
$GC,8197,0.82,101.9,744.8,23.7,385,8201,0.00,1.30,0.00,0.000,4,0.000,0.055,1921,3951,2046,0,0,0,0,0,0
$GC,8325,0.82,101.9,712.2,25.2,388,8332,0.00,1.23,0.00,0.000,6,0.000,0.034,1927,3141,2046,0,0,0,0,0,0
$GC,8639,0.82,101.9,639.7,23.3,399,8642,0.00,1.30,0.00,0.000,4,0.000,0.054,1927,3954,2044,0,0,0,0,0,0
$GC,8699,0.82,101.9,623.9,27.3,400,8708,0.00,1.20,0.00,0.000,6,0.000,0.033,1932,3158,2044,0,0,0,0,0,0
$GC,9013,0.82,101.9,552.8,22.6,411,9016,0.00,1.27,0.00,0.000,4,0.000,0.054,1932,3959,2042,0,0,0,0,0,0
$GC,9084,0.82,101.9,534.3,27.1,413,9088,0.00,1.20,0.00,0.000,6,0.000,0.033,1938,3158,2042,0,0,0,0,0,0
$GC,9420,0.82,101.9,457.8,22.7,424,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,3157,2042,0,0,0,0,0,0
$GC,9741,0.82,101.9,385.4,21.8,435,9744,0.00,1.27,0.00,0.000,4,0.000,0.054,1938,3958,2041,0,0,0,0,0,0
$GC,9788,0.82,101.9,373.8,25.1,437,9793,0.10,1.20,0.00,0.000,6,0.223,0.034,1918,3156,2041,0,0,0,0,0,0
$GC,10123,0.82,101.9,302.7,20.5,453,10128,0.00,1.25,0.00,0.000,4,0.000,0.054,1917,3945,2040,0,0,0,0,0,0
$GC,10157,0.82,101.9,294.3,22.8,454,10160,0.00,1.17,0.00,0.000,6,0.000,0.034,1922,3157,2040,0,0,0,0,0,0
$GC,10485,0.82,101.9,224.3,20.8,472,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3156,2040,0,0,0,0,0,0
$GC,10799,0.82,101.9,156.2,21.7,492,10802,0.00,1.25,0.00,0.000,4,0.000,0.053,1922,3949,2039,0,0,0,0,0,0
$GC,10977,0.82,101.9,113.4,25.0,502,10981,0.00,1.17,0.00,0.000,6,0.000,0.032,1928,3156,2039,0,0,0,0,0,0
$GC,11330,0.82,101.9,37.9,20.9,555,11338,0.00,2.15,0.00,0.000,4,0.000,0.034,1939,1752,2039,0,0,0,0,0,0
$GC,11390,0.82,101.9,26.3,18.4,564,11401,0.00,2.25,0.00,0.000,6,0.000,0.049,1939,3155,2038,0,0,0,0,0,0
$GC,11480,0.82,101.9,9.0,19.9,577,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,3155,2038,0,0,0,0,0,0
$STATE,11509,end climb,SURFACE_DEPTH_REACHED
$STATE,11509,begin surface coast
$FINISH,1.0,1.026391
$STATE,11525,end surface coast,CONTROL_FINISHED_OK
$STATE,11525,begin surface
$SM_CCo,11541,160.35,0.771,1,0,545,472.69
$SM_GC,1.34,0.00,0.00,160.35,0.000,0.000,0.771,61,3374,545,-4.96,0.59,472.69
$IRIDIUM_FIX,-4218.64,821.44,121212,191932
$TT8_MAMPS,0.025466
$HUMID,53.81
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,23.0,6.816
$10V_AH,10.1,3.049
$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,12.600,54.075,201.325,160.350,0.000,50.617,92.401,722.565,0.000,0.000,21.426,1547.397,7370.114,460.417,2709.974,777.385,33.349,1313.771,0.000,2005.120,0.000,1.012,0.000
$DEVICE_MAMPS,247.860,60.435,1813.050,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.390,1277.266,612.553,277.209,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,43756,583
$CAP_FILE_SIZE,113730,0
$CFSIZE,259252224,256802816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,121212,225604,-4232.796,821.782,32,1.0,32,-25.0