version: 66.07
glider: 543
mission: 6
dive: 54
start: 12 17 112 13 45 9
data:
$ID,543
$MISSION,6
$DIVE,54
$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,-7970.5933
$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,24
$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
$GPS1,171212,133204,-4231.460,820.924,32,0.9,32,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-20.7
$GPS2,171212,134413,-4231.449,821.019,15,0.8,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.171,-0.106
$KALMAN_X,-1108.4,450.7,-110.5,27190.3,2403.7
$KALMAN_Y,78390.5,-173.8,-116.3,-80705.2,5021.9
$MHEAD_RNG_PITCHd_Wd,263.2,3023,-20.8,-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,17,begin dive
$GC,20,-0.63,-89.7,0.0,0.0,0,118,0.00,0.00,-93.70,0.000,6,0.000,0.000,65,3355,2841,0,0,0,0,0,0
$GC,122,-0.68,-161.7,3.4,-4.1,12,141,5.47,1.00,-7.28,0.000,4,0.233,0.085,1423,3960,3135,0,0,0,0,0,0
$GC,373,-0.68,-161.7,52.6,-19.6,51,379,0.00,0.93,0.00,0.000,6,0.000,0.037,1423,3361,3137,0,0,0,0,0,0
$GC,619,-0.68,-161.7,91.2,-16.0,92,626,0.00,0.95,0.00,0.000,4,0.000,0.059,1419,3949,3138,0,0,0,0,0,0
$GC,700,-0.68,-161.7,104.7,-16.3,103,707,0.00,0.93,0.00,0.000,6,0.000,0.036,1419,3348,3138,0,0,0,0,0,0
$GC,1021,-0.68,-161.7,154.5,-15.7,124,1025,0.00,0.95,0.00,0.000,4,0.000,0.058,1415,3943,3138,0,0,0,0,0,0
$GC,1146,-0.68,-161.7,176.5,-17.5,131,1152,0.00,0.90,0.00,0.000,6,0.000,0.037,1415,3349,3138,0,0,0,0,0,0
$GC,1473,-0.68,-161.7,229.1,-16.3,152,1477,0.00,0.95,0.00,0.000,4,0.000,0.058,1410,3947,3138,0,0,0,0,0,0
$GC,1550,-0.68,-161.7,243.0,-17.3,156,1555,0.00,0.90,0.00,0.000,6,0.000,0.037,1410,3354,3138,0,0,0,0,0,0
$GC,1885,-0.68,-161.7,296.8,-15.8,173,1890,0.00,0.98,0.00,0.000,4,0.000,0.060,1406,3951,3138,0,0,0,0,0,0
$GC,1973,-0.68,-161.7,312.2,-17.5,176,1982,0.00,0.90,0.00,0.000,6,0.000,0.036,1406,3355,3138,0,0,0,0,0,0
$GC,2291,-0.68,-161.7,364.5,-16.6,192,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,1406,3355,3138,0,0,0,0,0,0
$GC,2608,-0.68,-161.7,416.6,-16.0,206,2612,0.00,0.93,0.00,0.000,4,0.000,0.059,1402,3943,3138,0,0,0,0,0,0
$GC,2766,-0.68,-161.7,443.5,-16.8,210,2771,0.00,0.90,0.00,0.000,6,0.000,0.037,1402,3345,3138,0,0,0,0,0,0
$GC,3085,-0.68,-161.7,493.3,-15.4,221,3091,0.00,0.95,0.00,0.000,4,0.000,0.059,1397,3946,3138,0,0,0,0,0,0
$GC,3209,-0.68,-161.7,514.0,-15.7,224,3213,0.08,0.90,0.00,0.000,6,0.177,0.037,1420,3351,3138,0,0,0,0,0,0
$GC,3528,-0.68,-161.7,556.9,-13.6,235,3531,0.00,0.95,0.00,0.000,4,0.000,0.060,1417,3952,3138,0,0,0,0,0,0
$GC,3650,-0.68,-161.7,575.1,-14.3,238,3654,0.00,0.90,0.00,0.000,6,0.000,0.037,1417,3353,3138,0,0,0,0,0,0
$GC,3970,-0.68,-161.7,620.3,-14.4,249,3974,0.00,0.95,0.00,0.000,4,0.000,0.060,1413,3952,3138,0,0,0,0,0,0
$GC,4087,-0.68,-161.7,638.7,-15.3,252,4093,0.00,0.90,0.00,0.000,6,0.000,0.037,1413,3351,3138,0,0,0,0,0,0
$GC,4413,-0.68,-161.7,685.2,-14.3,263,4418,0.00,0.95,0.00,0.000,4,0.000,0.060,1408,3951,3137,0,0,0,0,0,0
$GC,4536,-0.68,-161.7,704.3,-15.2,266,4540,0.00,0.90,0.00,0.000,6,0.000,0.038,1408,3351,3137,0,0,0,0,0,0
$GC,4855,-0.68,-161.7,748.6,-13.7,277,4859,0.00,0.95,0.00,0.000,4,0.000,0.061,1403,3950,3136,0,0,0,0,0,0
$GC,4939,-0.68,-161.7,760.9,-13.7,279,4943,0.00,0.90,0.00,0.000,6,0.000,0.038,1404,3354,3135,0,0,0,0,0,0
$GC,5263,-0.68,-161.7,804.9,-13.7,290,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,1404,3354,3134,0,0,0,0,0,0
$GC,5570,-0.68,-161.7,847.0,-13.5,300,5574,0.00,0.95,0.00,0.000,4,0.000,0.064,1399,3937,3133,0,0,0,0,0,0
$GC,5659,-0.68,-161.7,860.3,-14.5,302,5664,0.08,0.88,0.00,0.000,6,0.181,0.040,1422,3361,3133,0,0,0,0,0,0
$GC,5979,-0.68,-161.7,897.9,-11.9,313,5982,0.00,0.93,0.00,0.000,4,0.000,0.063,1419,3943,3132,0,0,0,0,0,0
$GC,6080,-0.68,-161.7,911.1,-13.1,316,6084,0.00,0.90,0.00,0.000,6,0.000,0.040,1419,3348,3132,0,0,0,0,0,0
$GC,6422,-0.68,-161.7,953.0,-12.1,327,6427,0.00,0.95,0.00,0.000,4,0.000,0.063,1415,3947,3132,0,0,0,0,0,0
$GC,6527,-0.68,-161.7,966.3,-12.1,330,6530,0.00,0.90,0.00,0.000,6,0.000,0.040,1415,3352,3131,0,0,0,0,0,0
$STATE,6834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6834,begin apogee
$GC,6842,-0.14,0.0,1003.0,11.5,340,7004,0.60,0.00,154.57,1.866,6,0.149,0.000,1597,3258,2473,0,0,0,0,1,0
$STATE,7006,end apogee,CONTROL_FINISHED_OK
$STATE,7006,begin climb
$GC,7009,0.68,161.7,1006.4,0.0,345,7184,0.77,2.47,160.35,1.814,4,0.055,0.033,1883,1835,1816,0,0,0,0,1,0
$GC,7248,0.68,161.7,963.8,19.7,352,7253,0.00,2.47,0.00,0.000,6,0.000,0.050,1883,3247,1811,0,0,0,0,0,0
$GC,7567,0.68,161.7,881.9,25.7,363,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,3248,1805,0,0,0,0,0,0
$GC,7874,0.68,161.7,804.0,24.9,373,7878,0.00,2.22,0.00,0.000,4,0.000,0.036,1893,1835,1803,0,0,0,0,0,0
$GC,7895,0.68,161.7,798.1,24.9,373,7903,0.00,2.35,0.00,0.000,6,0.000,0.051,1893,3250,1802,0,0,0,0,0,0
$GC,8209,0.68,161.7,719.3,25.4,384,8214,0.00,2.22,0.00,0.000,4,0.000,0.035,1904,1831,1802,0,0,0,0,0,0
$GC,8261,0.68,161.7,707.0,21.2,385,8266,0.15,2.33,0.00,0.000,6,0.197,0.051,1869,3261,1801,0,0,0,0,0,0
$GC,8581,0.68,161.7,634.4,23.0,396,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3261,1801,0,0,0,0,0,0
$GC,8887,0.68,161.7,565.1,22.7,406,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3261,1800,0,0,0,0,0,0
$GC,9193,0.68,161.7,496.1,23.1,416,9197,0.00,2.17,0.00,0.000,4,0.000,0.033,1878,1820,1800,0,0,0,0,0,0
$GC,9242,0.68,161.7,486.0,18.0,417,9246,0.00,2.30,0.00,0.000,6,0.000,0.049,1878,3258,1798,0,0,0,0,0,0
$GC,9556,0.68,161.7,414.3,23.5,427,9560,0.00,2.17,0.00,0.000,4,0.000,0.034,1889,1830,1798,0,0,0,0,0,0
$GC,9588,0.68,161.7,406.7,21.1,428,9592,0.00,2.28,0.00,0.000,6,0.000,0.048,1889,3261,1797,0,0,0,0,0,0
$GC,9913,0.68,161.7,329.1,24.4,443,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3261,1797,0,0,0,0,0,0
$GC,10221,0.68,161.7,254.0,24.3,458,10225,0.00,2.15,0.00,0.000,4,0.000,0.034,1900,1831,1797,0,0,0,0,0,0
$GC,10252,0.68,161.7,246.7,22.7,460,10257,0.12,2.25,0.00,0.000,6,0.198,0.048,1870,3250,1797,0,0,0,0,0,0
$GC,10583,0.68,161.7,175.5,22.5,481,10587,0.00,2.15,0.00,0.000,4,0.000,0.034,1880,1825,1796,0,0,0,0,0,0
$GC,10615,0.68,161.7,168.3,20.3,483,10619,0.00,2.25,0.00,0.000,6,0.000,0.047,1880,3250,1796,0,0,0,0,0,0
$GC,10938,0.68,161.7,94.6,23.6,505,10943,0.00,2.15,0.00,0.000,4,0.000,0.034,1890,1822,1796,0,0,0,0,0,0
$GC,10975,0.68,161.7,86.4,21.1,511,10979,0.00,2.25,0.00,0.000,6,0.000,0.048,1891,3249,1796,0,0,0,0,0,0
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11350,begin surface coast
$FINISH,1.0,1.014487
$STATE,11367,end surface coast,CONTROL_FINISHED_OK
$STATE,11368,begin surface
$SM_CCo,11383,143.88,0.748,1,0,503,482.50
$SM_GC,1.07,0.00,0.00,143.88,0.000,0.000,0.748,62,3377,503,-4.95,0.68,482.50
$IRIDIUM_FIX,-4218.64,818.55,171212,131318
$TT8_MAMPS,0.025466
$HUMID,54.56
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.2,12.164
$10V_AH,10.2,6.062
$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,12.125,62.450,314.925,143.875,0.000,67.853,52.967,373.047,0.000,0.000,19.418,1472.721,7457.683,528.484,2118.774,687.653,33.353,1302.062,0.000,1767.037,0.000,1.014,0.000
$DEVICE_MAMPS,232.560,84.915,1865.835,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.182,1273.952,593.771,262.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,43788,574
$CAP_FILE_SIZE,101317,0
$CFSIZE,259252224,255045632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,171212,165833,-4230.977,819.284,30,0.9,30,-24.9