version: 66.07
glider: 543
mission: 6
dive: 67
start: 12 19 112 12 39 53
data:
$ID,543
$MISSION,6
$DIVE,67
$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,-8016.1377
$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,56
$R_STBD_OVSHOOT,31
$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
$GPS1,191212,122922,-4230.699,815.468,22,1.0,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-38.4
$GPS2,191212,123857,-4230.666,815.534,35,0.9,36,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.099,-0.182
$KALMAN_X,1261.6,-1015.9,-607.5,19327.3,3883.1
$KALMAN_Y,91737.3,-24.1,-214.6,-92657.2,5278.6
$MHEAD_RNG_PITCHd_Wd,176.5,6221,-20.0,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.61,-96.1,0.0,0.0,0,113,0.00,0.00,-89.20,0.000,2,0.000,0.000,56,3368,2748,0,0,0,0,0,0
$GC,117,-0.66,-176.4,3.2,-3.9,11,144,5.60,0.93,-11.88,0.000,4,0.239,0.086,1427,3938,3195,0,0,0,0,0,0
$GC,426,-0.66,-176.4,60.7,-17.6,59,432,0.00,0.88,0.00,0.000,6,0.000,0.036,1428,3362,3197,0,0,0,0,0,0
$GC,775,-0.66,-176.4,118.3,-16.0,107,780,0.00,0.93,0.00,0.000,4,0.000,0.058,1424,3942,3198,0,0,0,0,0,0
$GC,1024,-0.66,-176.4,159.5,-15.5,121,1027,0.00,0.90,0.00,0.000,6,0.000,0.035,1424,3345,3199,0,0,0,0,0,0
$GC,1356,-0.66,-176.4,209.1,-15.0,142,1359,0.00,0.95,0.00,0.000,4,0.000,0.058,1419,3943,3199,0,0,0,0,0,0
$GC,1449,-0.66,-176.4,223.6,-16.1,147,1452,0.00,0.90,0.00,0.000,6,0.000,0.036,1419,3347,3199,0,0,0,0,0,0
$GC,1769,-0.66,-176.4,274.2,-15.3,165,1775,0.00,0.93,0.00,0.000,4,0.000,0.059,1415,3933,3199,0,0,0,0,0,0
$GC,1901,-0.66,-176.4,297.0,-17.7,170,1911,0.00,0.88,0.00,0.000,6,0.000,0.036,1415,3348,3199,0,0,0,0,0,0
$GC,2218,-0.66,-176.4,345.8,-15.5,186,2222,0.00,0.93,0.00,0.000,4,0.000,0.059,1411,3936,3199,0,0,0,0,0,0
$GC,2416,-0.66,-176.4,378.9,-17.2,194,2420,0.00,0.88,0.00,0.000,6,0.000,0.035,1411,3351,3199,0,0,0,0,0,0
$GC,2736,-0.66,-176.4,429.1,-15.7,207,2739,0.00,0.93,0.00,0.000,4,0.000,0.059,1406,3940,3199,0,0,0,0,0,0
$GC,2872,-0.66,-176.4,451.5,-16.4,211,2876,0.00,0.88,0.00,0.000,6,0.000,0.036,1406,3354,3199,0,0,0,0,0,0
$GC,3213,-0.66,-176.4,503.0,-15.0,222,3216,0.00,0.93,0.00,0.000,4,0.000,0.058,1402,3943,3198,0,0,0,0,0,0
$GC,3348,-0.66,-176.4,525.1,-16.0,226,3352,0.08,0.88,0.00,0.000,6,0.173,0.036,1425,3360,3198,0,0,0,0,0,0
$GC,3689,-0.66,-176.4,572.7,-13.9,237,3695,0.00,0.90,0.00,0.000,4,0.000,0.060,1422,3931,3198,0,0,0,0,0,0
$GC,3763,-0.66,-176.4,583.9,-15.1,239,3766,0.00,0.88,0.00,0.000,6,0.000,0.036,1422,3349,3197,0,0,0,0,0,0
$GC,4098,-0.66,-176.4,633.2,-15.1,250,4104,0.00,0.93,0.00,0.000,4,0.000,0.060,1418,3936,3196,0,0,0,0,0,0
$GC,4222,-0.66,-176.4,653.3,-16.3,253,4226,0.00,0.88,0.00,0.000,6,0.000,0.037,1418,3350,3196,0,0,0,0,0,0
$GC,4541,-0.66,-176.4,701.4,-14.9,264,4545,0.00,0.93,0.00,0.000,4,0.000,0.060,1414,3940,3195,0,0,0,0,0,0
$GC,4636,-0.66,-176.4,717.0,-16.0,266,4643,0.00,0.88,0.00,0.000,6,0.000,0.037,1414,3355,3195,0,0,0,0,0,0
$GC,4950,-0.66,-176.4,764.8,-15.5,277,4953,0.00,0.93,0.00,0.000,4,0.000,0.060,1409,3943,3194,0,0,0,0,0,0
$GC,5080,-0.66,-176.4,785.9,-16.6,280,5087,0.00,0.90,0.00,0.000,6,0.000,0.037,1409,3347,3194,0,0,0,0,0,0
$GC,5394,-0.66,-176.4,831.7,-14.1,291,5399,0.00,0.93,0.00,0.000,4,0.000,0.060,1405,3933,3193,0,0,0,0,0,0
$GC,5542,-0.66,-176.4,854.1,-14.7,295,5546,0.05,0.88,0.00,0.000,6,0.182,0.038,1420,3354,3193,0,0,0,0,0,0
$GC,5873,-0.66,-176.4,894.9,-12.1,306,5876,0.00,0.93,0.00,0.000,4,0.000,0.062,1417,3939,3191,0,0,0,0,0,0
$GC,5974,-0.66,-176.4,907.9,-12.8,309,5978,0.00,0.90,0.00,0.000,6,0.000,0.038,1417,3345,3191,0,0,0,0,0,0
$GC,6316,-0.66,-176.4,949.7,-12.2,320,6321,0.00,0.93,0.00,0.000,4,0.000,0.061,1413,3929,3190,0,0,0,0,0,0
$GC,6464,-0.66,-176.4,968.9,-13.2,324,6468,0.00,0.88,0.00,0.000,6,0.000,0.039,1413,3352,3190,0,0,0,0,0,0
$STATE,6730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6730,begin apogee
$GC,6737,-0.14,0.0,1002.8,12.7,333,6918,0.62,0.00,177.55,1.210,6,0.151,0.000,1602,3257,2473,0,0,0,0,0,0
$STATE,6919,end apogee,CONTROL_FINISHED_OK
$STATE,6919,begin climb
$GC,6922,0.66,176.4,1008.5,0.0,339,7111,0.73,2.38,176.80,1.168,4,0.053,0.032,1880,1836,1739,0,0,0,0,0,0
$GC,7185,0.66,176.4,962.5,18.8,347,7189,0.00,2.38,0.00,0.000,6,0.000,0.050,1879,3240,1727,0,0,0,0,0,0
$GC,7516,0.66,176.4,881.9,24.9,358,7520,0.00,2.22,0.00,0.000,4,0.000,0.035,1890,1834,1722,0,0,0,0,0,0
$GC,7565,0.66,176.4,870.5,19.2,359,7570,0.00,2.38,0.00,0.000,6,0.000,0.051,1890,3256,1721,0,0,0,0,0,0
$GC,7885,0.66,176.4,789.6,25.9,370,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3256,1721,0,0,0,0,0,0
$GC,8191,0.66,176.4,711.9,25.2,380,8195,0.00,2.20,0.00,0.000,4,0.000,0.034,1901,1829,1720,0,0,0,0,0,0
$GC,8240,0.66,176.4,700.4,20.1,381,8245,0.15,2.30,0.00,0.000,6,0.190,0.051,1865,3252,1719,0,0,0,0,0,0
$GC,8553,0.66,176.4,630.6,22.4,391,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3253,1718,0,0,0,0,0,0
$GC,8861,0.66,176.4,561.6,22.3,401,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,3252,1718,0,0,0,0,0,0
$GC,9166,0.66,176.4,493.4,22.4,411,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3252,1717,0,0,0,0,0,0
$GC,9472,0.66,176.4,424.5,22.5,421,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3252,1717,0,0,0,0,0,0
$GC,9781,0.66,176.4,355.3,22.1,434,9785,0.00,1.12,0.00,0.000,4,0.000,0.054,1864,3958,1716,0,0,0,0,0,0
$GC,9846,0.66,176.4,339.7,24.4,436,9855,0.00,1.08,0.00,0.000,6,0.000,0.031,1869,3237,1716,0,0,0,0,0,0
$GC,10163,0.66,176.4,268.9,22.6,452,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3237,1716,0,0,0,0,0,0
$GC,10488,0.66,176.4,196.5,23.3,471,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3237,1716,0,0,0,0,0,0
$GC,10801,0.66,176.4,123.4,23.3,491,10805,0.00,2.08,0.00,0.000,4,0.000,0.033,1879,1850,1716,0,0,0,0,0,0
$GC,10840,0.66,176.4,115.0,19.3,493,10845,0.00,2.22,0.00,0.000,6,0.000,0.048,1880,3253,1715,0,0,0,0,0,0
$GC,11194,0.66,176.4,34.7,20.6,545,11202,0.00,1.10,0.00,0.000,4,0.000,0.054,1879,3954,1715,0,0,0,0,0,0
$GC,11255,0.66,176.4,21.5,22.6,554,11265,0.00,1.05,0.00,0.000,6,0.000,0.031,1885,3242,1715,0,0,0,0,0,0
$STATE,11347,end climb,SURFACE_DEPTH_REACHED
$STATE,11347,begin surface coast
$FINISH,1.0,1.018842
$STATE,11362,end surface coast,CONTROL_FINISHED_OK
$STATE,11362,begin surface
$SM_CCo,11378,133.45,0.754,1,0,505,482.50
$SM_GC,1.50,0.00,0.00,133.45,0.000,0.000,0.754,59,3378,505,-4.97,0.71,482.50
$IRIDIUM_FIX,-4212.81,817.71,191212,080833
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.2,14.506
$10V_AH,10.1,7.291
$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,12.075,48.125,354.350,133.450,0.000,24.865,21.661,343.350,0.000,0.000,37.861,1470.191,7287.651,537.908,2102.665,691.391,33.353,1350.716,0.000,1838.829,0.000,1.011,0.000
$DEVICE_MAMPS,239.445,86.445,1210.230,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.583,1266.323,590.312,271.932,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,40506,569
$CAP_FILE_SIZE,99309,0
$CFSIZE,259252224,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,191212,155304,-4232.201,816.563,33,1.1,33,-24.9