version: 66.07
glider: 543
mission: 6
dive: 51
start: 12 17 112 3 40 20
data:
$ID,543
$MISSION,6
$DIVE,51
$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,52459
$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,482.49722
$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,-7960.3345
$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,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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
$GPS1,171212,032734,-4233.382,824.875,38,1.3,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-27.5
$GPS2,171212,033924,-4233.317,825.002,17,1.6,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.136,0.099
$KALMAN_X,-6664.9,297.7,219.9,37987.6,-3784.5
$KALMAN_Y,74805.5,-592.1,-1.3,-80258.2,3913.5
$MHEAD_RNG_PITCHd_Wd,331.1,9186,-25.1,-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,-0.74,-62.4,0.0,0.0,0,119,0.00,0.00,-89.78,0.000,6,0.000,0.000,69,3369,2730,0,0,0,0,0,0
$GC,123,-0.77,-122.0,3.2,-3.2,12,142,5.30,2.20,-6.68,0.000,4,0.233,0.047,1399,1949,2971,0,0,0,0,0,0
$GC,172,-0.77,-122.0,9.9,-13.9,18,183,0.00,2.33,0.00,0.000,6,0.000,0.057,1389,3338,2972,0,0,0,0,0,0
$GC,262,-0.77,-122.0,26.7,-19.3,31,272,0.00,2.20,0.00,0.000,4,0.000,0.041,1389,1957,2972,0,0,0,0,0,0
$GC,314,-0.77,-122.0,34.6,-13.6,38,323,0.00,2.35,0.00,0.000,6,0.000,0.065,1379,3351,2972,0,0,0,0,0,0
$GC,561,-0.77,-122.0,76.8,-17.5,79,565,0.00,0.95,0.00,0.000,4,0.000,0.060,1374,3945,2972,0,0,0,0,0,0
$GC,824,-0.77,-122.0,129.7,-19.4,108,828,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3355,2973,0,0,0,0,0,0
$GC,1153,-0.77,-122.0,189.2,-18.3,129,1157,0.00,0.95,0.00,0.000,4,0.000,0.058,1370,3951,2973,0,0,0,0,0,0
$GC,1413,-0.77,-122.0,240.5,-19.1,144,1417,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3355,2974,0,0,0,0,0,0
$GC,1742,-0.77,-122.0,298.2,-17.6,161,1748,0.12,0.98,0.00,0.000,4,0.197,0.059,1395,3961,2974,0,0,0,0,0,0
$GC,1937,-0.77,-122.0,331.3,-16.3,169,1940,0.00,0.93,0.00,0.000,6,0.000,0.036,1395,3347,2973,0,0,0,0,0,0
$GC,2260,-0.77,-122.0,378.7,-14.6,185,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,1395,3347,2973,0,0,0,0,0,0
$GC,2578,-0.77,-122.0,425.1,-14.6,198,2581,0.00,0.95,0.00,0.000,4,0.000,0.059,1391,3950,2973,0,0,0,0,0,0
$GC,2834,-0.77,-122.0,466.1,-16.9,205,2837,0.00,0.90,0.00,0.000,6,0.000,0.037,1391,3354,2973,0,0,0,0,0,0
$GC,3153,-0.77,-122.0,512.8,-14.6,216,3157,0.00,0.95,0.00,0.000,4,0.000,0.060,1387,3955,2973,0,0,0,0,0,0
$GC,3225,-0.77,-122.0,525.1,-16.4,218,3229,0.00,0.90,0.00,0.000,6,0.000,0.037,1387,3355,2973,0,0,0,0,0,0
$GC,3561,-0.77,-122.0,577.4,-15.9,229,3565,0.00,0.95,0.00,0.000,4,0.000,0.060,1382,3957,2973,0,0,0,0,0,0
$GC,3663,-0.77,-122.0,595.3,-17.5,232,3669,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3357,2973,0,0,0,0,0,0
$GC,4007,-0.77,-122.0,652.5,-16.5,243,4010,0.00,0.95,0.00,0.000,4,0.000,0.060,1378,3959,2971,0,0,0,0,0,0
$GC,4123,-0.77,-122.0,673.2,-17.3,246,4129,0.00,0.93,0.00,0.000,6,0.000,0.037,1378,3347,2971,0,0,0,0,0,0
$GC,4448,-0.77,-122.0,724.7,-15.7,257,4454,0.00,0.95,0.00,0.000,4,0.000,0.060,1373,3950,2970,0,0,0,0,0,0
$GC,4501,-0.77,-122.0,733.6,-17.1,258,4504,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3354,2970,0,0,0,0,0,0
$GC,4826,-0.77,-122.0,785.0,-15.6,269,4830,0.00,0.95,0.00,0.000,4,0.000,0.060,1369,3957,2969,0,0,0,0,0,0
$GC,5082,-0.77,-122.0,827.9,-16.3,276,5086,0.08,0.93,0.00,0.000,6,0.186,0.038,1390,3349,2969,0,0,0,0,0,0
$GC,5400,-0.77,-122.0,871.0,-13.5,287,5404,0.00,0.95,0.00,0.000,4,0.000,0.062,1387,3949,2968,0,0,0,0,0,0
$GC,5465,-0.77,-122.0,879.7,-14.1,288,5471,0.00,0.90,0.00,0.000,6,0.000,0.040,1387,3355,2968,0,0,0,0,0,0
$GC,5778,-0.77,-122.0,920.2,-12.7,299,5783,0.00,0.95,0.00,0.000,4,0.000,0.062,1383,3953,2968,0,0,0,0,0,0
$GC,5857,-0.77,-122.0,931.3,-13.3,301,5860,0.00,0.90,0.00,0.000,6,0.000,0.039,1382,3358,2968,0,0,0,0,0,0
$GC,6186,-0.77,-122.0,975.1,-13.2,312,6192,0.00,0.95,0.00,0.000,4,0.000,0.062,1378,3958,2966,0,0,0,0,0,0
$STATE,6360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6360,begin apogee
$GC,6368,-0.14,0.0,1000.9,14.6,317,6497,0.73,0.00,125.43,1.213,6,0.171,0.000,1594,3246,2473,0,0,0,0,0,0
$STATE,6498,end apogee,CONTROL_FINISHED_OK
$STATE,6498,begin climb
$GC,6501,0.77,122.0,1003.5,0.0,321,6637,0.90,2.33,125.85,1.191,4,0.083,0.034,1906,1835,1969,0,0,0,0,0,0
$GC,6662,0.77,122.0,976.7,21.8,326,6666,0.00,2.42,0.00,0.000,6,0.000,0.051,1906,3254,1957,0,0,0,0,0,0
$GC,6997,0.77,122.0,894.2,24.8,337,7003,0.00,2.25,0.00,0.000,4,0.000,0.035,1915,1841,1948,0,0,0,0,0,0
$GC,7014,0.77,122.0,889.5,24.6,337,7018,0.00,2.33,0.00,0.000,6,0.000,0.052,1915,3251,1947,0,0,0,0,0,0
$GC,7333,0.77,122.0,808.6,26.1,348,7337,0.00,2.20,0.00,0.000,4,0.000,0.035,1925,1831,1945,0,0,0,0,0,0
$GC,7377,0.77,122.0,797.8,22.0,349,7381,0.00,2.33,0.00,0.000,6,0.000,0.054,1925,3253,1943,0,0,0,0,0,0
$GC,7695,0.77,122.0,712.8,27.0,360,7699,0.00,1.12,0.00,0.000,4,0.000,0.055,1925,3953,1943,0,0,0,0,0,0
$GC,7734,0.77,122.0,701.1,30.2,361,7738,0.00,1.10,0.00,0.000,6,0.000,0.032,1930,3229,1943,0,0,0,0,0,0
$GC,8070,0.77,122.0,610.5,27.1,372,8076,0.12,2.12,0.00,0.000,4,0.233,0.035,1912,1846,1942,0,0,0,0,0,0
$GC,8123,0.77,122.0,598.1,21.6,373,8128,0.00,2.28,0.00,0.000,6,0.000,0.051,1912,3263,1941,0,0,0,0,0,0
$GC,8443,0.77,122.0,517.3,25.6,384,8447,0.00,2.15,0.00,0.000,4,0.000,0.034,1921,1838,1941,0,0,0,0,0,0
$GC,8476,0.77,122.0,508.8,22.8,385,8480,0.00,2.28,0.00,0.000,6,0.000,0.050,1922,3261,1940,0,0,0,0,0,0
$GC,8805,0.77,122.0,424.8,25.6,396,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3262,1940,0,0,0,0,0,0
$GC,9115,0.77,122.0,347.6,24.8,409,9121,0.00,2.17,0.00,0.000,4,0.000,0.033,1932,1842,1939,0,0,0,0,0,0
$GC,9140,0.77,122.0,341.4,23.6,410,9145,0.12,2.25,0.00,0.000,6,0.207,0.050,1904,3259,1938,0,0,0,0,0,0
$GC,9469,0.77,122.0,265.7,23.1,426,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3259,1938,0,0,0,0,0,0
$GC,9786,0.77,122.0,193.4,23.3,445,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3259,1939,0,0,0,0,0,0
$GC,10099,0.77,122.0,121.3,22.5,465,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3259,1938,0,0,0,0,0,0
$GC,10438,0.77,122.0,48.9,18.5,511,10445,0.00,2.12,0.00,0.000,4,0.000,0.033,1914,1830,1939,0,0,0,0,0,0
$GC,10486,0.77,122.0,39.8,17.2,518,10495,0.00,2.28,0.00,0.000,6,0.000,0.049,1914,3256,1938,0,0,0,0,0,0
$STATE,10666,end climb,SURFACE_DEPTH_REACHED
$STATE,10666,begin surface coast
$FINISH,1.0,1.025909
$STATE,10681,end surface coast,CONTROL_FINISHED_OK
$STATE,10681,begin surface
$SM_CCo,10697,154.85,0.773,1,0,505,482.50
$SM_GC,1.49,0.00,0.00,154.85,0.000,0.000,0.773,55,3372,505,-4.98,0.54,482.50
$IRIDIUM_FIX,-4218.64,827.22,171212,030342
$TT8_MAMPS,0.025466
$HUMID,54.09
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.6,11.614
$10V_AH,10.1,5.795
$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,12.375,65.450,251.275,154.850,0.000,54.055,46.178,377.006,0.000,0.000,19.907,1437.766,6848.066,476.447,2117.957,690.565,33.355,1267.737,0.000,1791.546,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,83.385,1212.525,772.650,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.967,1209.777,578.130,271.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,40473,548
$CAP_FILE_SIZE,100829,0
$CFSIZE,259252224,255213568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,171212,064234,-4231.780,823.965,36,0.9,36,-25.0