version: 66.07
glider: 543
mission: 6
dive: 61
start: 12 18 112 14 43 30
data:
$ID,543
$MISSION,6
$DIVE,61
$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,-7994.0752
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,181212,143358,-4233.515,823.552,36,0.8,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-23.5
$GPS2,181212,144234,-4233.498,823.652,35,0.9,36,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.001,0.156
$KALMAN_X,-7249.0,692.4,444.2,36115.9,-4951.0
$KALMAN_Y,85297.0,-642.1,-280.6,-90755.8,3364.1
$MHEAD_RNG_PITCHd_Wd,24.7,8175,-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,19,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.53,0.000,6,0.000,0.000,57,3361,2695,0,0,0,0,0,0
$GC,115,-0.82,-101.6,2.9,-3.7,11,135,5.47,2.20,-5.40,0.000,4,0.243,0.044,1381,1951,2889,0,0,0,0,0,0
$GC,165,-0.82,-101.6,9.5,-13.3,17,175,0.00,2.33,0.00,0.000,6,0.000,0.057,1372,3341,2890,0,0,0,0,0,0
$GC,254,-0.82,-101.6,24.9,-19.9,30,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3340,2890,0,0,0,0,0,0
$GC,341,-0.82,-101.6,42.5,-19.2,43,349,0.00,2.15,0.00,0.000,4,0.000,0.034,1372,1964,2891,0,0,0,0,0,0
$GC,370,-0.82,-101.6,47.5,-17.7,47,378,0.00,2.33,0.00,0.000,6,0.000,0.064,1362,3350,2891,0,0,0,0,0,0
$GC,616,-0.82,-101.6,91.3,-18.5,88,625,0.00,0.95,0.00,0.000,4,0.000,0.057,1357,3948,2891,0,0,0,0,0,0
$GC,831,-0.82,-101.6,132.4,-19.7,106,836,0.00,0.90,0.00,0.000,6,0.000,0.035,1358,3357,2891,0,0,0,0,0,0
$GC,1159,-0.82,-101.6,189.7,-17.8,127,1165,0.12,0.98,0.00,0.000,4,0.206,0.057,1381,3961,2892,0,0,0,0,0,0
$GC,1397,-0.82,-101.6,231.9,-16.3,140,1407,0.00,0.93,0.00,0.000,6,0.000,0.035,1382,3347,2892,0,0,0,0,0,0
$GC,1716,-0.82,-101.6,280.5,-15.6,158,1719,0.00,0.95,0.00,0.000,4,0.000,0.057,1377,3954,2892,0,0,0,0,0,0
$GC,1883,-0.82,-101.6,307.9,-16.7,165,1887,0.00,0.90,0.00,0.000,6,0.000,0.036,1377,3353,2892,0,0,0,0,0,0
$GC,2219,-0.82,-101.6,360.0,-15.5,181,2224,0.00,0.95,0.00,0.000,4,0.000,0.057,1373,3958,2892,0,0,0,0,0,0
$GC,2361,-0.82,-101.6,384.1,-17.5,187,2365,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3357,2892,0,0,0,0,0,0
$GC,2684,-0.82,-101.6,434.4,-15.4,199,2687,0.00,0.93,0.00,0.000,4,0.000,0.057,1369,3947,2892,0,0,0,0,0,0
$GC,2800,-0.82,-101.6,454.3,-16.1,202,2806,0.00,0.90,0.00,0.000,6,0.000,0.036,1369,3347,2892,0,0,0,0,0,0
$GC,3126,-0.82,-101.6,502.9,-14.9,213,3131,0.00,0.95,0.00,0.000,4,0.000,0.056,1364,3955,2892,0,0,0,0,0,0
$GC,3263,-0.82,-101.6,525.8,-16.3,217,3268,0.00,0.93,0.00,0.000,6,0.000,0.036,1364,3338,2892,0,0,0,0,0,0
$GC,3606,-0.82,-101.6,578.5,-15.2,228,3610,0.00,0.98,0.00,0.000,4,0.000,0.057,1360,3961,2891,0,0,0,0,0,0
$GC,3769,-0.82,-101.6,605.7,-17.0,232,3777,0.00,0.93,0.00,0.000,6,0.000,0.037,1360,3347,2891,0,0,0,0,0,0
$GC,4082,-0.82,-101.6,654.9,-15.4,243,4086,0.00,0.95,0.00,0.000,4,0.000,0.057,1355,3953,2890,0,0,0,0,0,0
$GC,4265,-0.82,-101.6,685.9,-16.5,248,4269,0.00,0.90,0.00,0.000,6,0.000,0.037,1355,3355,2890,0,0,0,0,0,0
$GC,4591,-0.82,-101.6,735.0,-15.0,259,4595,0.12,0.95,0.00,0.000,4,0.207,0.060,1380,3952,2889,0,0,0,0,0,0
$GC,4851,-0.82,-101.6,773.7,-15.2,266,4854,0.00,0.90,0.00,0.000,6,0.000,0.037,1380,3352,2888,0,0,0,0,0,0
$GC,5171,-0.82,-101.6,817.4,-13.5,277,5175,0.00,0.95,0.00,0.000,4,0.000,0.058,1375,3958,2887,0,0,0,0,0,0
$GC,5300,-0.82,-101.6,837.1,-14.6,280,5307,0.00,0.93,0.00,0.000,6,0.000,0.037,1376,3347,2887,0,0,0,0,0,0
$GC,5613,-0.82,-101.6,880.6,-13.7,291,5617,0.00,0.95,0.00,0.000,4,0.000,0.060,1371,3952,2886,0,0,0,0,0,0
$GC,5691,-0.82,-101.6,892.5,-15.6,293,5695,0.00,0.90,0.00,0.000,6,0.000,0.037,1371,3351,2886,0,0,0,0,0,0
$GC,6022,-0.82,-101.6,936.8,-13.6,304,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3351,2885,0,0,0,0,0,0
$GC,6329,-0.82,-101.6,976.1,-12.4,314,6333,0.00,0.95,0.00,0.000,4,0.000,0.059,1367,3957,2885,0,0,0,0,0,0
$GC,6460,-0.82,-101.6,994.0,-13.5,317,6467,0.00,0.90,0.00,0.000,6,0.000,0.039,1367,3360,2885,0,0,0,0,0,0
$STATE,6528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6528,begin apogee
$GC,6536,-0.14,0.0,1002.8,12.8,320,6642,0.80,0.00,97.65,1.809,6,0.174,0.000,1599,3251,2473,0,0,0,0,1,0
$STATE,6643,end apogee,CONTROL_FINISHED_OK
$STATE,6643,begin climb
$GC,6646,0.82,101.6,1004.9,0.0,323,6758,0.90,0.00,103.75,1.795,6,0.073,0.000,1905,3251,2059,0,0,0,0,1,0
$GC,7049,0.82,101.6,924.8,21.6,337,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3251,2053,0,0,0,0,0,0
$GC,7357,0.82,101.6,860.4,21.1,347,7361,0.00,2.20,0.00,0.000,4,0.000,0.033,1916,1821,2049,0,0,0,0,0,0
$GC,7395,0.82,101.6,852.4,18.0,348,7399,0.00,2.35,0.00,0.000,6,0.000,0.051,1917,3258,2047,0,0,0,0,0,0
$GC,7719,0.82,101.6,782.7,21.9,359,7723,0.00,2.22,0.00,0.000,4,0.000,0.034,1927,1817,2047,0,0,0,0,0,0
$GC,7757,0.82,101.6,774.9,19.4,360,7761,0.00,2.33,0.00,0.000,6,0.000,0.051,1927,3251,2046,0,0,0,0,0,0
$GC,8082,0.82,101.6,705.9,21.1,371,8085,0.00,1.12,0.00,0.000,4,0.000,0.054,1927,3954,2046,0,0,0,0,0,0
$GC,8159,0.82,101.6,687.9,23.6,373,8163,0.00,1.08,0.00,0.000,6,0.000,0.033,1932,3238,2045,0,0,0,0,0,0
$GC,8488,0.82,101.6,617.6,21.4,384,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3237,2044,0,0,0,0,0,0
$GC,8795,0.82,101.6,551.8,21.6,394,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3237,2043,0,0,0,0,0,0
$GC,9102,0.82,101.6,485.7,21.6,404,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3238,2042,0,0,0,0,0,0
$GC,9407,0.82,101.6,419.4,21.8,414,9413,0.00,2.12,0.00,0.000,4,0.000,0.034,1943,1845,2041,0,0,0,0,0,0
$GC,9447,0.82,101.6,411.0,19.1,415,9453,0.08,2.25,0.00,0.000,6,0.192,0.049,1921,3249,2041,0,0,0,0,0,0
$GC,9778,0.82,101.6,340.5,22.2,430,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3249,2041,0,0,0,0,0,0
$GC,10087,0.82,101.6,273.1,21.7,445,10093,0.00,1.10,0.00,0.000,4,0.000,0.053,1921,3946,2040,0,0,0,0,0,0
$GC,10171,0.82,101.6,253.8,23.3,448,10175,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3257,2040,0,0,0,0,0,0
$GC,10503,0.82,101.6,184.4,21.0,469,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3256,2040,0,0,0,0,0,0
$GC,10816,0.82,101.6,120.8,20.0,489,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3257,2040,0,0,0,0,0,0
$GC,11157,0.82,101.6,54.0,19.1,535,11163,0.00,1.10,0.00,0.000,4,0.000,0.054,1925,3951,2040,0,0,0,0,0,0
$GC,11265,0.82,101.6,32.7,18.7,552,11274,0.00,1.05,0.00,0.000,6,0.000,0.032,1930,3243,2040,0,0,0,0,0,0
$STATE,11448,end climb,SURFACE_DEPTH_REACHED
$STATE,11448,begin surface coast
$FINISH,0.9,1.025093
$STATE,11468,end surface coast,CONTROL_FINISHED_OK
$STATE,11468,begin surface
$SM_CCo,11484,167.35,0.741,1,0,505,482.50
$SM_GC,1.19,0.00,0.00,167.35,0.000,0.000,0.741,62,3376,505,-4.96,0.62,482.50
$IRIDIUM_FIX,-4215.72,821.44,181212,111108
$TT8_MAMPS,0.025466
$HUMID,54.25
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.0,13.409
$10V_AH,10.1,6.721
$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,12.400,51.625,201.400,167.350,0.000,38.108,21.538,286.644,0.000,0.000,38.412,1517.247,7388.058,499.664,2064.441,705.709,33.355,1282.851,0.000,1902.042,0.000,1.011,0.000
$DEVICE_MAMPS,242.505,74.205,1809.225,741.285,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.960,1319.362,624.902,296.393,0.000,0.000,0.000,0.000,0.000,0.000
$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,43795,583
$CAP_FILE_SIZE,98755,0
$CFSIZE,259252224,254656512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,181212,175904,-4231.938,824.055,36,0.9,36,-25.0