version: 66.07
glider: 543
mission: 6
dive: 53
start: 12 17 112 10 17 49
data:
$ID,543
$MISSION,6
$DIVE,53
$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,-7967.1646
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,171212,100759,-4231.313,821.922,41,1.5,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-24.3
$GPS2,171212,101653,-4231.301,821.946,40,0.9,41,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.122,-0.098
$KALMAN_X,-3372.1,765.2,193.7,30097.8,-157.2
$KALMAN_Y,76621.9,-56.5,-35.4,-78860.1,4398.5
$MHEAD_RNG_PITCHd_Wd,256.2,3587,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-88.90,0.000,6,0.000,0.000,61,3364,2694,0,0,0,0,0,0
$GC,115,-0.81,-97.7,3.1,-4.1,11,135,5.32,0.95,-5.20,0.000,4,0.235,0.084,1372,3951,2873,0,0,0,0,0,0
$GC,306,-0.81,-97.7,38.5,-19.9,40,317,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3365,2875,0,0,0,0,0,0
$GC,560,-0.81,-97.7,82.0,-16.4,81,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3365,2876,0,0,0,0,0,0
$GC,907,-0.81,-97.7,140.6,-16.7,114,911,0.00,0.93,0.00,0.000,4,0.000,0.057,1368,3947,2877,0,0,0,0,0,0
$GC,1111,-0.81,-97.7,179.3,-19.4,125,1118,0.00,0.90,0.00,0.000,6,0.000,0.036,1368,3353,2877,0,0,0,0,0,0
$GC,1431,-0.81,-97.7,233.8,-16.8,146,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3353,2877,0,0,0,0,0,0
$GC,1748,-0.81,-97.7,286.3,-16.5,163,1754,0.00,0.95,0.00,0.000,4,0.000,0.059,1363,3938,2877,0,0,0,0,0,0
$GC,1851,-0.81,-97.7,304.2,-16.4,167,1857,0.00,0.90,0.00,0.000,6,0.000,0.036,1364,3343,2877,0,0,0,0,0,0
$GC,2176,-0.81,-97.7,353.5,-15.4,183,2181,0.00,0.95,0.00,0.000,4,0.000,0.057,1359,3947,2877,0,0,0,0,0,0
$GC,2272,-0.81,-97.7,368.9,-16.2,187,2275,0.00,0.90,0.00,0.000,6,0.000,0.036,1359,3348,2877,0,0,0,0,0,0
$GC,2604,-0.81,-97.7,418.9,-14.7,201,2609,0.00,0.93,0.00,0.000,4,0.000,0.057,1355,3937,2877,0,0,0,0,0,0
$GC,2763,-0.81,-97.7,444.6,-15.4,205,2767,0.08,0.88,0.00,0.000,6,0.188,0.036,1376,3357,2877,0,0,0,0,0,0
$GC,3081,-0.81,-97.7,489.3,-14.1,216,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3356,2877,0,0,0,0,0,0
$GC,3389,-0.81,-97.7,534.9,-15.1,226,3392,0.00,0.93,0.00,0.000,4,0.000,0.059,1373,3944,2877,0,0,0,0,0,0
$GC,3525,-0.81,-97.7,557.3,-16.6,230,3529,0.00,0.90,0.00,0.000,6,0.000,0.037,1373,3345,2877,0,0,0,0,0,0
$GC,3867,-0.81,-97.7,610.4,-15.5,241,3871,0.00,0.95,0.00,0.000,4,0.000,0.059,1368,3948,2876,0,0,0,0,0,0
$GC,3961,-0.81,-97.7,626.4,-16.1,243,3968,0.00,0.90,0.00,0.000,6,0.000,0.037,1369,3347,2876,0,0,0,0,0,0
$GC,4274,-0.81,-97.7,673.5,-14.7,254,4278,0.00,2.10,0.00,0.000,4,0.000,0.034,1369,1941,2875,0,0,0,0,0,0
$GC,4313,-0.81,-97.7,678.9,-13.0,255,4317,0.00,2.28,0.00,0.000,6,0.000,0.060,1358,3354,2875,0,0,0,0,0,0
$GC,4638,-0.81,-97.7,726.1,-14.5,266,4642,0.10,0.95,0.00,0.000,4,0.216,0.060,1377,3949,2875,0,0,0,0,0,0
$GC,4827,-0.81,-97.7,754.0,-14.9,271,4831,0.00,0.90,0.00,0.000,6,0.000,0.038,1377,3351,2875,0,0,0,0,0,0
$GC,5146,-0.81,-97.7,795.3,-12.8,282,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3350,2874,0,0,0,0,0,0
$GC,5453,-0.81,-97.7,833.4,-12.5,292,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3350,2873,0,0,0,0,0,0
$GC,5760,-0.81,-97.7,872.9,-13.0,302,5764,0.00,2.12,0.00,0.000,4,0.000,0.035,1377,1936,2872,0,0,0,0,0,0
$GC,5839,-0.81,-97.7,882.5,-12.3,304,5843,0.00,2.28,0.00,0.000,6,0.000,0.058,1367,3354,2872,0,0,0,0,0,0
$GC,6159,-0.81,-97.7,925.7,-13.5,315,6162,0.00,0.93,0.00,0.000,4,0.000,0.060,1362,3945,2871,0,0,0,0,0,0
$GC,6361,-0.81,-97.7,955.8,-14.8,321,6365,0.00,0.90,0.00,0.000,6,0.000,0.040,1362,3351,2871,0,0,0,0,0,0
$STATE,6700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6700,begin apogee
$GC,6707,-0.14,0.0,1001.7,13.4,332,6813,0.82,0.00,102.38,1.235,6,0.177,0.000,1599,3256,2473,0,0,0,0,0,0
$STATE,6814,end apogee,CONTROL_FINISHED_OK
$STATE,6815,begin climb
$GC,6817,0.81,97.7,1004.1,0.0,335,6924,0.90,0.00,103.22,1.164,6,0.079,0.000,1904,3256,2073,0,0,0,0,0,0
$GC,7218,0.81,97.7,920.8,23.6,348,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3256,2053,0,0,0,0,0,0
$GC,7523,0.81,97.7,852.1,22.2,358,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3255,2050,0,0,0,0,0,0
$GC,7828,0.81,97.7,783.2,22.5,368,7834,0.00,2.20,0.00,0.000,4,0.000,0.034,1916,1833,2048,0,0,0,0,0,0
$GC,7918,0.81,97.7,764.9,19.5,370,7924,0.00,2.33,0.00,0.000,6,0.000,0.052,1916,3255,2045,0,0,0,0,0,0
$GC,8238,0.81,97.7,694.0,22.1,381,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3255,2045,0,0,0,0,0,0
$GC,8544,0.81,97.7,628.1,21.6,391,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3255,2044,0,0,0,0,0,0
$GC,8852,0.81,97.7,560.9,22.3,401,8856,0.00,2.17,0.00,0.000,4,0.000,0.033,1926,1824,2044,0,0,0,0,0,0
$GC,8884,0.81,97.7,553.6,20.0,402,8889,0.00,2.28,0.00,0.000,6,0.000,0.050,1927,3252,2042,0,0,0,0,0,0
$GC,9214,0.81,97.7,480.4,22.5,413,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3252,2042,0,0,0,0,0,0
$GC,9521,0.81,97.7,410.6,23.0,423,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3252,2042,0,0,0,0,0,0
$GC,9834,0.81,97.7,339.3,23.2,437,9838,0.00,2.15,0.00,0.000,4,0.000,0.033,1938,1815,2041,0,0,0,0,0,0
$GC,9855,0.81,97.7,333.3,21.9,438,9861,0.00,2.30,0.00,0.000,6,0.000,0.050,1938,3247,2041,0,0,0,0,0,0
$GC,10185,0.81,97.7,257.2,23.5,454,10189,0.00,2.15,0.00,0.000,4,0.000,0.033,1948,1821,2040,0,0,0,0,0,0
$GC,10214,0.81,97.7,250.1,22.5,455,10219,0.12,2.28,0.00,0.000,6,0.213,0.050,1919,3257,2040,0,0,0,0,0,0
$GC,10540,0.81,97.7,179.8,21.2,475,10544,0.00,2.15,0.00,0.000,4,0.000,0.033,1930,1814,2039,0,0,0,0,0,0
$GC,10588,0.81,97.7,168.9,19.1,478,10592,0.00,2.28,0.00,0.000,6,0.000,0.050,1930,3251,2039,0,0,0,0,0,0
$GC,10916,0.81,97.7,97.2,22.1,499,10922,0.00,1.10,0.00,0.000,4,0.000,0.054,1930,3956,2039,0,0,0,0,0,0
$GC,10974,0.81,97.7,82.7,24.5,509,10980,0.00,1.08,0.00,0.000,6,0.000,0.032,1935,3229,2039,0,0,0,0,0,0
$GC,11350,0.81,97.7,5.2,19.9,570,11361,0.00,1.15,0.00,0.000,4,0.000,0.052,1935,3956,2039,0,0,0,0,0,0
$STATE,11371,end climb,SURFACE_DEPTH_REACHED
$STATE,11371,begin surface coast
$FINISH,1.0,1.013409
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11412,164.55,0.775,1,0,505,482.50
$SM_GC,1.37,0.00,0.00,164.55,0.000,0.000,0.775,65,3355,505,-4.95,0.06,482.50
$IRIDIUM_FIX,-4215.72,823.91,171212,060632
$TT8_MAMPS,0.025466
$HUMID,53.78
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,11.945
$10V_AH,10.1,5.972
$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,12.325,51.925,205.600,164.550,0.000,26.425,27.947,299.845,0.000,0.000,43.535,1477.947,7578.793,466.419,1924.843,670.618,33.357,1173.919,0.000,1719.026,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,84.150,1235.475,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.010,1288.322,596.993,281.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,43663,575
$CAP_FILE_SIZE,93385,0
$CFSIZE,259252224,255107072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,171212,133204,-4231.460,820.924,32,0.9,32,-25.0