version: 66.07
glider: 543
mission: 6
dive: 58
start: 12 18 112 4 38 26
data:
$ID,543
$MISSION,6
$DIVE,58
$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,-7983.7427
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,181212,042604,-4234.639,817.662,54,1.0,54,-24.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-28.7
$GPS2,181212,043730,-4234.626,817.767,15,1.0,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.164,-0.047
$KALMAN_X,-3405.9,-629.5,-29.3,26066.8,-616.2
$KALMAN_Y,87815.6,-1341.2,-656.7,-94276.6,9575.4
$MHEAD_RNG_PITCHd_Wd,130.9,9094,-24.7,-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,-0.73,-64.5,0.0,0.0,0,113,0.00,0.00,-89.60,0.000,2,0.000,0.000,71,3360,2735,0,0,0,0,0,0
$GC,117,-0.76,-117.4,3.1,-4.1,11,137,5.28,0.98,-6.00,0.000,4,0.229,0.086,1390,3954,2952,0,0,0,0,0,0
$GC,159,-0.76,-117.4,10.0,-14.1,16,170,0.00,0.95,0.00,0.000,6,0.000,0.035,1392,3337,2954,0,0,0,0,0,0
$GC,254,-0.76,-117.4,28.5,-20.4,29,262,0.00,2.17,0.00,0.000,4,0.000,0.033,1392,1940,2954,0,0,0,0,0,0
$GC,477,-0.76,-117.4,64.0,-14.2,66,488,0.00,2.33,0.00,0.000,6,0.000,0.057,1382,3348,2955,0,0,0,0,0,0
$GC,830,-0.76,-117.4,119.5,-14.4,111,833,0.00,0.95,0.00,0.000,4,0.000,0.057,1378,3950,2956,0,0,0,0,0,0
$GC,1046,-0.76,-117.4,156.6,-16.9,123,1049,0.00,0.90,0.00,0.000,6,0.000,0.035,1378,3352,2956,0,0,0,0,0,0
$GC,1373,-0.76,-117.4,209.4,-16.5,144,1376,0.00,0.95,0.00,0.000,4,0.000,0.057,1374,3955,2956,0,0,0,0,0,0
$GC,1541,-0.76,-117.4,239.3,-17.6,153,1545,0.08,0.90,0.00,0.000,6,0.187,0.035,1395,3356,2956,0,0,0,0,0,0
$GC,1865,-0.76,-117.4,287.9,-14.9,170,1868,0.00,0.95,0.00,0.000,4,0.000,0.057,1392,3960,2957,0,0,0,0,0,0
$GC,2033,-0.76,-117.4,314.9,-16.4,177,2036,0.00,0.93,0.00,0.000,6,0.000,0.035,1392,3343,2957,0,0,0,0,0,0
$GC,2368,-0.76,-117.4,367.8,-15.0,193,2373,0.00,0.95,0.00,0.000,4,0.000,0.057,1388,3947,2957,0,0,0,0,0,0
$GC,2526,-0.76,-117.4,394.0,-16.5,199,2533,0.00,0.90,0.00,0.000,6,0.000,0.035,1388,3346,2957,0,0,0,0,0,0
$GC,2850,-0.76,-117.4,442.6,-15.1,211,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3347,2957,0,0,0,0,0,0
$GC,3156,-0.76,-117.4,488.5,-14.9,221,3160,0.00,0.95,0.00,0.000,4,0.000,0.057,1383,3953,2957,0,0,0,0,0,0
$GC,3309,-0.76,-117.4,513.0,-16.4,225,3312,0.00,0.90,0.00,0.000,6,0.000,0.036,1383,3352,2956,0,0,0,0,0,0
$GC,3633,-0.76,-117.4,561.9,-14.9,236,3637,0.00,0.95,0.00,0.000,4,0.000,0.058,1379,3956,2956,0,0,0,0,0,0
$GC,3742,-0.76,-117.4,579.3,-16.1,239,3746,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3355,2955,0,0,0,0,0,0
$GC,4077,-0.76,-117.4,628.6,-14.6,250,4081,0.00,0.95,0.00,0.000,4,0.000,0.059,1374,3958,2954,0,0,0,0,0,0
$GC,4167,-0.76,-117.4,643.1,-15.6,252,4171,0.08,0.90,0.00,0.000,6,0.186,0.037,1396,3358,2954,0,0,0,0,0,0
$GC,4485,-0.76,-117.4,685.7,-13.3,263,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,1396,3357,2954,0,0,0,0,0,0
$GC,4793,-0.76,-117.4,726.9,-13.4,273,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,1395,3357,2953,0,0,0,0,0,0
$GC,5098,-0.76,-117.4,768.7,-13.7,283,5103,0.00,0.95,0.00,0.000,4,0.000,0.060,1392,3961,2952,0,0,0,0,0,0
$GC,5263,-0.76,-117.4,793.1,-14.3,287,5270,0.00,0.93,0.00,0.000,6,0.000,0.037,1392,3348,2951,0,0,0,0,0,0
$GC,5576,-0.76,-117.4,835.6,-13.2,298,5580,0.00,0.95,0.00,0.000,4,0.000,0.060,1388,3951,2950,0,0,0,0,0,0
$GC,5767,-0.76,-117.4,863.1,-13.8,303,5771,0.00,0.90,0.00,0.000,6,0.000,0.038,1388,3353,2950,0,0,0,0,0,0
$GC,6086,-0.76,-117.4,905.9,-13.3,314,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3352,2949,0,0,0,0,0,0
$GC,6393,-0.76,-117.4,947.7,-13.7,324,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3352,2949,0,0,0,0,0,0
$GC,6699,-0.76,-117.4,987.1,-12.5,334,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,1387,3352,2948,0,0,0,0,0,0
$STATE,6818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6818,begin apogee
$GC,6825,-0.14,0.0,1002.2,12.2,338,6949,0.73,0.00,120.65,1.198,6,0.167,0.000,1601,3258,2473,0,0,0,0,0,0
$STATE,6951,end apogee,CONTROL_FINISHED_OK
$STATE,6951,begin climb
$GC,6953,0.76,117.4,1003.9,0.0,342,7079,0.85,0.00,121.80,1.193,6,0.074,0.000,1891,3258,1994,0,0,0,0,0,0
$GC,7384,0.76,117.4,912.8,23.2,356,7388,0.00,2.22,0.00,0.000,4,0.000,0.034,1902,1825,1968,0,0,0,0,0,0
$GC,7449,0.76,117.4,899.6,19.2,358,7453,0.00,2.35,0.00,0.000,6,0.000,0.050,1901,3258,1966,0,0,0,0,0,0
$GC,7784,0.76,117.4,819.0,24.0,369,7788,0.00,1.12,0.00,0.000,4,0.000,0.054,1902,3954,1965,0,0,0,0,0,0
$GC,7848,0.76,117.4,803.2,26.2,370,7855,0.00,1.10,0.00,0.000,6,0.000,0.033,1907,3233,1964,0,0,0,0,0,0
$GC,8161,0.76,117.4,727.6,23.8,381,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3234,1963,0,0,0,0,0,0
$GC,8467,0.76,117.4,656.3,23.3,391,8471,0.00,2.10,0.00,0.000,4,0.000,0.034,1917,1843,1962,0,0,0,0,0,0
$GC,8500,0.76,117.4,648.5,22.2,392,8504,0.00,2.28,0.00,0.000,6,0.000,0.051,1917,3262,1961,0,0,0,0,0,0
$GC,8830,0.76,117.4,569.2,24.8,403,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3261,1961,0,0,0,0,0,0
$GC,9136,0.76,117.4,493.1,24.6,413,9140,0.00,2.17,0.00,0.000,4,0.000,0.033,1928,1832,1960,0,0,0,0,0,0
$GC,9191,0.76,117.4,480.6,21.1,414,9200,0.10,2.28,0.00,0.000,6,0.182,0.049,1899,3246,1960,0,0,0,0,0,0
$GC,9504,0.76,117.4,408.1,23.3,425,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3246,1959,0,0,0,0,0,0
$GC,9815,0.76,117.4,337.4,22.4,439,9821,0.00,1.12,0.00,0.000,4,0.000,0.053,1899,3958,1958,0,0,0,0,0,0
$GC,9901,0.76,117.4,315.9,24.9,442,9909,0.00,1.05,0.00,0.000,6,0.000,0.033,1904,3251,1958,0,0,0,0,0,0
$GC,10230,0.76,117.4,242.2,22.7,459,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3251,1957,0,0,0,0,0,0
$GC,10543,0.76,117.4,171.3,22.7,479,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3251,1957,0,0,0,0,0,0
$GC,10855,0.76,117.4,101.6,21.5,499,10860,0.00,1.10,0.00,0.000,4,0.000,0.054,1904,3949,1957,0,0,0,0,0,0
$GC,11011,0.76,117.4,66.6,22.8,523,11016,0.00,1.05,0.00,0.000,6,0.000,0.032,1909,3236,1957,0,0,0,0,0,0
$STATE,11327,end climb,SURFACE_DEPTH_REACHED
$STATE,11328,begin surface coast
$FINISH,0.9,1.014818
$STATE,11350,end surface coast,CONTROL_FINISHED_OK
$STATE,11350,begin surface
$SM_CCo,11367,159.95,0.750,1,0,507,482.50
$SM_GC,1.49,0.00,0.00,159.95,0.000,0.000,0.750,60,3368,507,-4.97,0.42,482.50
$IRIDIUM_FIX,-4218.64,821.44,181212,010110
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.6,12.960
$10V_AH,10.1,6.452
$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,12.075,43.400,242.450,159.950,0.000,50.647,126.141,297.900,0.000,0.000,19.077,1472.791,7521.193,499.354,2042.902,683.452,33.356,1214.082,0.000,1755.386,0.000,1.014,0.000
$DEVICE_MAMPS,228.735,85.680,1197.990,749.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.191,1292.650,599.511,291.107,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,43745,577
$CAP_FILE_SIZE,93145,0
$CFSIZE,259252224,254820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,181212,075159,-4234.592,819.522,40,0.9,40,-24.9