version: 66.07
glider: 543
mission: 6
dive: 60
start: 12 18 112 11 22 38
data:
$ID,543
$MISSION,6
$DIVE,60
$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,-7990.6108
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,181212,111305,-4234.309,821.257,34,1.0,34,-25.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-31.9
$GPS2,181212,112142,-4234.266,821.304,20,0.9,21,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.162,0.062
$KALMAN_X,-7374.9,707.1,380.6,33100.3,-5378.6
$KALMAN_Y,86772.1,-915.7,-771.0,-92884.7,6502.4
$MHEAD_RNG_PITCHd_Wd,94.2,8098,-24.3,-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,19,-0.72,-66.4,0.0,0.0,0,111,0.00,0.00,-89.35,0.000,2,0.000,0.000,66,3369,2721,0,0,0,0,0,0
$GC,115,-0.75,-123.0,3.0,-3.8,11,135,5.43,2.20,-7.32,0.000,4,0.236,0.044,1397,1936,2976,0,0,0,0,0,0
$GC,184,-0.75,-123.0,13.4,-17.3,20,192,0.00,2.33,0.00,0.000,6,0.000,0.057,1387,3334,2978,0,0,0,0,0,0
$GC,273,-0.75,-123.0,30.2,-20.3,33,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1388,3334,2978,0,0,0,0,0,0
$GC,518,-0.75,-123.0,75.6,-17.7,74,525,0.00,1.00,0.00,0.000,4,0.000,0.057,1383,3958,2979,0,0,0,0,0,0
$GC,769,-0.75,-123.0,123.0,-19.3,104,773,0.00,0.90,0.00,0.000,6,0.000,0.035,1383,3360,2979,0,0,0,0,0,0
$GC,1096,-0.75,-123.0,178.7,-17.5,125,1102,0.00,0.95,0.00,0.000,4,0.000,0.057,1378,3959,2980,0,0,0,0,0,0
$GC,1222,-0.75,-123.0,202.9,-19.3,132,1226,0.00,0.93,0.00,0.000,6,0.000,0.035,1378,3348,2980,0,0,0,0,0,0
$GC,1542,-0.75,-123.0,258.1,-16.2,152,1545,0.00,0.95,0.00,0.000,4,0.000,0.057,1374,3952,2981,0,0,0,0,0,0
$GC,1753,-0.75,-123.0,295.9,-17.8,161,1759,0.10,0.90,0.00,0.000,6,0.183,0.034,1402,3350,2981,0,0,0,0,0,0
$GC,2089,-0.75,-123.0,346.1,-14.7,177,2095,0.00,0.95,0.00,0.000,4,0.000,0.058,1399,3955,2980,0,0,0,0,0,0
$GC,2187,-0.75,-123.0,361.7,-14.8,181,2192,0.00,0.90,0.00,0.000,6,0.000,0.036,1399,3351,2980,0,0,0,0,0,0
$GC,2506,-0.75,-123.0,405.3,-13.8,196,2509,0.00,0.95,0.00,0.000,4,0.000,0.058,1395,3957,2980,0,0,0,0,0,0
$GC,2718,-0.75,-123.0,438.9,-15.3,202,2723,0.00,0.90,0.00,0.000,6,0.000,0.035,1395,3354,2980,0,0,0,0,0,0
$GC,3051,-0.75,-123.0,486.8,-14.7,213,3055,0.00,0.95,0.00,0.000,4,0.000,0.057,1390,3958,2980,0,0,0,0,0,0
$GC,3163,-0.75,-123.0,505.1,-16.2,216,3167,0.00,0.90,0.00,0.000,6,0.000,0.036,1390,3357,2980,0,0,0,0,0,0
$GC,3493,-0.75,-123.0,554.7,-14.9,227,3497,0.00,0.93,0.00,0.000,4,0.000,0.058,1386,3949,2980,0,0,0,0,0,0
$GC,3629,-0.75,-123.0,576.8,-16.0,231,3633,0.00,0.90,0.00,0.000,6,0.000,0.037,1386,3345,2980,0,0,0,0,0,0
$GC,3970,-0.75,-123.0,628.1,-15.0,242,3976,0.00,0.95,0.00,0.000,4,0.000,0.058,1381,3952,2979,0,0,0,0,0,0
$GC,4054,-0.75,-123.0,642.0,-16.1,244,4058,0.00,0.90,0.00,0.000,6,0.000,0.037,1381,3349,2979,0,0,0,0,0,0
$GC,4379,-0.75,-123.0,690.7,-14.9,255,4383,0.00,0.95,0.00,0.000,4,0.000,0.059,1377,3954,2979,0,0,0,0,0,0
$GC,4519,-0.75,-123.0,714.4,-17.3,259,4522,0.00,0.90,0.00,0.000,6,0.000,0.036,1377,3351,2978,0,0,0,0,0,0
$GC,4854,-0.75,-123.0,765.8,-15.2,270,4861,0.12,0.95,0.00,0.000,4,0.197,0.060,1403,3947,2977,0,0,0,0,0,0
$GC,5114,-0.75,-123.0,803.9,-14.7,277,5117,0.00,0.90,0.00,0.000,6,0.000,0.037,1403,3350,2977,0,0,0,0,0,0
$GC,5434,-0.75,-123.0,847.5,-13.9,288,5438,0.00,0.95,0.00,0.000,4,0.000,0.061,1399,3953,2976,0,0,0,0,0,0
$GC,5483,-0.75,-123.0,855.3,-15.7,289,5486,0.00,0.90,0.00,0.000,6,0.000,0.037,1399,3354,2975,0,0,0,0,0,0
$GC,5807,-0.75,-123.0,900.8,-14.0,300,5810,0.00,0.98,0.00,0.000,4,0.000,0.063,1394,3955,2974,0,0,0,0,0,0
$GC,5895,-0.75,-123.0,914.6,-14.7,302,5899,0.00,0.90,0.00,0.000,6,0.000,0.038,1395,3358,2974,0,0,0,0,0,0
$GC,6213,-0.75,-123.0,958.2,-13.3,313,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,1394,3357,2973,0,0,0,0,0,0
$GC,6521,-0.75,-123.0,998.1,-12.7,323,6524,0.00,0.95,0.00,0.000,4,0.000,0.062,1390,3958,2973,0,0,0,0,0,0
$STATE,6534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6534,begin apogee
$GC,6542,-0.14,0.0,1000.6,13.1,323,6680,0.68,0.00,128.38,1.184,6,0.169,0.000,1592,3244,2465,0,0,0,0,0,0
$STATE,6681,end apogee,CONTROL_FINISHED_OK
$STATE,6681,begin climb
$GC,6684,0.75,123.0,1002.9,0.0,328,6820,0.88,2.33,126.12,1.161,4,0.084,0.034,1896,1837,1961,0,0,0,0,0,0
$GC,6871,0.75,123.0,971.6,19.5,333,6879,0.00,2.42,0.00,0.000,6,0.000,0.051,1896,3249,1947,0,0,0,0,0,0
$GC,7184,0.75,123.0,899.4,23.1,344,7190,0.00,2.22,0.00,0.000,4,0.000,0.034,1907,1841,1941,0,0,0,0,0,0
$GC,7212,0.75,123.0,892.8,21.9,344,7219,0.00,2.33,0.00,0.000,6,0.000,0.051,1906,3262,1940,0,0,0,0,0,0
$GC,7526,0.75,123.0,819.1,23.9,355,7530,0.00,2.20,0.00,0.000,4,0.000,0.034,1915,1834,1938,0,0,0,0,0,0
$GC,7598,0.75,123.0,803.1,20.7,357,7602,0.00,2.30,0.00,0.000,6,0.000,0.052,1915,3250,1937,0,0,0,0,0,0
$GC,7922,0.75,123.0,725.0,24.3,368,7925,0.00,1.12,0.00,0.000,4,0.000,0.054,1915,3953,1936,0,0,0,0,0,0
$GC,8024,0.75,123.0,698.7,26.6,371,8027,0.00,1.08,0.00,0.000,6,0.000,0.033,1920,3237,1936,0,0,0,0,0,0
$GC,8365,0.75,123.0,616.5,23.7,382,8370,0.00,2.15,0.00,0.000,4,0.000,0.035,1930,1846,1935,0,0,0,0,0,0
$GC,8417,0.75,123.0,605.0,20.7,383,8422,0.15,2.25,0.00,0.000,6,0.200,0.051,1895,3263,1935,0,0,0,0,0,0
$GC,8737,0.75,123.0,533.8,22.3,394,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3263,1934,0,0,0,0,0,0
$GC,9042,0.75,123.0,465.1,22.6,404,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3263,1933,0,0,0,0,0,0
$GC,9349,0.75,123.0,397.8,21.5,414,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3263,1932,0,0,0,0,0,0
$GC,9660,0.75,123.0,330.7,21.8,429,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3264,1932,0,0,0,0,0,0
$GC,9968,0.75,123.0,263.5,22.1,444,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3264,1932,0,0,0,0,0,0
$GC,10286,0.75,123.0,194.9,20.9,463,10292,0.00,2.15,0.00,0.000,4,0.000,0.032,1904,1848,1932,0,0,0,0,0,0
$GC,10326,0.75,123.0,187.4,19.0,465,10330,0.00,2.20,0.00,0.000,6,0.000,0.049,1904,3255,1931,0,0,0,0,0,0
$GC,10650,0.75,123.0,117.2,21.4,486,10654,0.00,1.10,0.00,0.000,4,0.000,0.053,1904,3958,1931,0,0,0,0,0,0
$GC,10719,0.75,123.0,101.5,24.2,490,10722,0.00,1.05,0.00,0.000,6,0.000,0.031,1909,3248,1931,0,0,0,0,0,0
$GC,11088,0.75,123.0,25.1,16.8,549,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3248,1931,0,0,0,0,0,0
$GC,11179,0.75,123.0,7.4,21.2,562,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3248,1931,0,0,0,0,0,0
$STATE,11203,end climb,SURFACE_DEPTH_REACHED
$STATE,11203,begin surface coast
$FINISH,1.0,1.012839
$STATE,11224,end surface coast,CONTROL_FINISHED_OK
$STATE,11224,begin surface
$SM_CCo,11241,156.80,0.755,1,0,502,482.50
$SM_GC,1.19,0.00,0.00,156.80,0.000,0.000,0.755,57,3361,502,-4.98,0.23,482.50
$IRIDIUM_FIX,-4218.64,818.97,181212,070759
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.6,13.252
$10V_AH,10.1,6.629
$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,12.375,55.925,254.500,156.800,0.000,28.572,22.789,303.479,0.000,0.000,23.262,1482.863,7210.136,486.395,2067.292,676.163,33.354,1295.993,0.000,1836.786,0.000,1.012,0.000
$DEVICE_MAMPS,236.385,81.855,1184.220,755.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.094,1254.864,603.179,283.736,0.000,0.000,0.000,0.000,0.000,0.000
$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,43876,568
$CAP_FILE_SIZE,100171,0
$CFSIZE,259252224,254709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,181212,143358,-4233.515,823.552,36,0.8,36,-25.0