version: 66.07
glider: 543
mission: 6
dive: 69
start: 12 19 112 19 21 20
data:
$ID,543
$MISSION,6
$DIVE,69
$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,-8023.0298
$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,57
$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
$GPS1,191212,191135,-4233.154,818.088,36,1.1,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-23.0
$GPS2,191212,192024,-4233.149,818.130,18,1.2,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.111,-0.110
$KALMAN_X,-1930.5,-446.9,-206.7,25079.6,171.0
$KALMAN_Y,94902.4,-1227.8,-318.4,-99092.3,8144.4
$MHEAD_RNG_PITCHd_Wd,159.5,6366,-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,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.28,0.000,2,0.000,0.000,62,3364,2688,0,0,0,0,0,0
$GC,115,-0.82,-102.0,3.1,-3.6,11,135,5.47,2.17,-5.57,0.000,4,0.246,0.044,1385,1951,2891,0,0,0,0,0,0
$GC,333,-0.82,-102.0,36.8,-14.8,44,343,0.00,2.30,0.00,0.000,6,0.000,0.054,1377,3346,2893,0,0,0,0,0,0
$GC,582,-0.82,-102.0,77.7,-16.8,85,586,0.00,0.98,0.00,0.000,4,0.000,0.056,1372,3958,2894,0,0,0,0,0,0
$GC,762,-0.82,-102.0,110.7,-18.2,110,773,0.00,0.90,0.00,0.000,6,0.000,0.034,1372,3363,2894,0,0,0,0,0,0
$GC,1086,-0.82,-102.0,162.7,-16.0,131,1089,0.00,0.95,0.00,0.000,4,0.000,0.055,1368,3964,2894,0,0,0,0,0,0
$GC,1180,-0.82,-102.0,180.0,-17.0,136,1191,0.00,0.93,0.00,0.000,6,0.000,0.034,1368,3349,2894,0,0,0,0,0,0
$GC,1503,-0.82,-102.0,231.2,-15.9,157,1507,0.00,0.95,0.00,0.000,4,0.000,0.056,1363,3956,2894,0,0,0,0,0,0
$GC,1633,-0.82,-102.0,255.5,-17.9,164,1644,0.00,0.90,0.00,0.000,6,0.000,0.034,1363,3354,2894,0,0,0,0,0,0
$GC,1951,-0.82,-102.0,307.5,-16.3,180,1954,0.00,0.98,0.00,0.000,4,0.000,0.057,1359,3958,2894,0,0,0,0,0,0
$GC,2090,-0.82,-102.0,332.3,-17.0,186,2094,0.00,0.93,0.00,0.000,6,0.000,0.034,1360,3339,2895,0,0,0,0,0,0
$GC,2425,-0.82,-102.0,386.2,-15.9,202,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3339,2894,0,0,0,0,0,0
$GC,2741,-0.82,-102.0,435.4,-15.2,214,2745,0.00,0.98,0.00,0.000,4,0.000,0.055,1354,3963,2894,0,0,0,0,0,0
$GC,2973,-0.82,-102.0,474.4,-16.2,220,2980,0.10,0.90,0.00,0.000,6,0.187,0.035,1382,3359,2894,0,0,0,0,0,0
$GC,3286,-0.82,-102.0,516.9,-13.5,231,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3360,2894,0,0,0,0,0,0
$GC,3594,-0.82,-102.0,557.3,-13.1,241,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3359,2894,0,0,0,0,0,0
$GC,3899,-0.82,-102.0,598.9,-13.3,251,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3359,2894,0,0,0,0,0,0
$GC,4205,-0.82,-102.0,639.0,-12.9,261,4208,0.00,0.95,0.00,0.000,4,0.000,0.058,1378,3963,2893,0,0,0,0,0,0
$GC,4307,-0.82,-102.0,652.7,-13.5,264,4311,0.00,0.93,0.00,0.000,6,0.000,0.037,1378,3344,2893,0,0,0,0,0,0
$GC,4650,-0.82,-102.0,695.4,-12.2,275,4653,0.00,0.95,0.00,0.000,4,0.000,0.057,1374,3951,2892,0,0,0,0,0,0
$GC,4778,-0.82,-102.0,713.5,-14.2,278,4785,0.00,0.90,0.00,0.000,6,0.000,0.036,1374,3351,2892,0,0,0,0,0,0
$GC,5092,-0.82,-102.0,754.1,-13.3,289,5095,0.00,0.95,0.00,0.000,4,0.000,0.059,1370,3956,2891,0,0,0,0,0,0
$GC,5209,-0.82,-102.0,771.4,-15.1,292,5214,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3354,2891,0,0,0,0,0,0
$GC,5534,-0.82,-102.0,815.7,-13.8,303,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3354,2890,0,0,0,0,0,0
$GC,5841,-0.82,-102.0,859.3,-14.3,313,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3354,2889,0,0,0,0,0,0
$GC,6147,-0.82,-102.0,901.7,-13.6,323,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3354,2888,0,0,0,0,0,0
$GC,6452,-0.82,-102.0,942.3,-13.2,333,6458,0.00,0.95,0.00,0.000,4,0.000,0.060,1365,3957,2887,0,0,0,0,0,0
$GC,6543,-0.82,-102.0,955.4,-14.5,335,6548,0.00,0.90,0.00,0.000,6,0.000,0.038,1365,3360,2887,0,0,0,0,0,0
$GC,6862,-0.82,-102.0,996.4,-12.6,346,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3360,2886,0,0,0,0,0,0
$STATE,6891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6891,begin apogee
$GC,6898,-0.14,0.0,1000.3,12.6,347,7007,0.80,0.00,105.60,1.196,6,0.174,0.000,1596,3250,2472,0,0,0,0,0,0
$STATE,7008,end apogee,CONTROL_FINISHED_OK
$STATE,7008,begin climb
$GC,7011,0.82,102.0,1002.5,0.0,350,7122,0.93,2.38,98.20,1.781,4,0.080,0.032,1919,1828,2059,0,0,0,0,1,0
$GC,7158,0.82,102.0,978.2,21.2,355,7162,0.00,2.45,0.00,0.000,6,0.000,0.050,1919,3264,2057,0,0,0,0,0,0
$GC,7482,0.82,102.0,898.3,24.7,366,7486,0.00,1.10,0.00,0.000,4,0.000,0.054,1919,3943,2050,0,0,0,0,0,0
$GC,7590,0.82,102.0,870.1,25.8,369,7594,0.00,1.10,0.00,0.000,6,0.000,0.032,1924,3232,2048,0,0,0,0,0,0
$GC,7925,0.82,102.0,789.0,24.0,380,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3231,2047,0,0,0,0,0,0
$GC,8233,0.82,102.0,716.5,23.5,390,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3232,2046,0,0,0,0,0,0
$GC,8538,0.82,102.0,645.4,23.2,400,8543,0.00,1.15,0.00,0.000,4,0.000,0.054,1924,3949,2044,0,0,0,0,0,0
$GC,8661,0.82,102.0,614.2,24.9,403,8665,0.00,1.05,0.00,0.000,6,0.000,0.032,1929,3250,2044,0,0,0,0,0,0
$GC,8980,0.82,102.0,537.6,24.6,414,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3250,2042,0,0,0,0,0,0
$GC,9288,0.82,102.0,462.3,24.8,424,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3250,2042,0,0,0,0,0,0
$GC,9604,0.82,102.0,385.2,23.7,435,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3250,2041,0,0,0,0,0,0
$GC,9914,0.82,102.0,319.1,20.7,450,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3250,2041,0,0,0,0,0,0
$GC,10224,0.82,102.0,255.6,21.2,465,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3250,2040,0,0,0,0,0,0
$GC,10546,0.82,102.0,186.2,21.8,485,10552,0.00,1.10,0.00,0.000,4,0.000,0.054,1929,3950,2040,0,0,0,0,0,0
$GC,10640,0.82,102.0,163.6,23.9,490,10644,0.00,1.05,0.00,0.000,6,0.000,0.032,1934,3243,2040,0,0,0,0,0,0
$GC,10966,0.82,102.0,92.8,21.2,514,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,3244,2040,0,0,0,0,0,0
$GC,11341,0.82,102.0,15.6,17.5,575,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,3243,2040,0,0,0,0,0,0
$STATE,11407,end climb,SURFACE_DEPTH_REACHED
$STATE,11407,begin surface coast
$FINISH,1.0,1.026228
$STATE,11422,end surface coast,CONTROL_FINISHED_OK
$STATE,11422,begin surface
$SM_CCo,11439,166.75,0.757,1,0,505,482.50
$SM_GC,1.26,0.00,0.00,166.75,0.000,0.000,0.757,52,3366,505,-4.99,0.40,482.50
$IRIDIUM_FIX,-4218.64,815.66,191212,151509
$TT8_MAMPS,0.025466
$HUMID,54.64
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,23.1,14.866
$10V_AH,10.1,7.466
$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,12.425,33.000,203.800,166.750,0.000,28.121,48.436,300.066,0.000,0.000,21.132,1474.228,7609.732,465.423,1940.330,652.612,33.352,1172.098,0.000,1709.863,0.000,1.011,0.000
$DEVICE_MAMPS,245.565,80.325,1780.920,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.206,1302.890,617.751,289.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,43691,586
$CAP_FILE_SIZE,89477,0
$CFSIZE,259252224,254210048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,223604,-4233.994,819.266,32,0.9,32,-24.9