version: 66.07
glider: 543
mission: 6
dive: 70
start: 12 19 112 22 45 43
data:
$ID,543
$MISSION,6
$DIVE,70
$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,-8026.4507
$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,27
$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
$GPS1,191212,223604,-4233.994,819.266,32,0.9,32,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-19.0
$GPS2,191212,224447,-4234.007,819.264,15,1.4,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.155,-0.016
$KALMAN_X,-3841.1,301.6,-105.9,27682.8,-2115.8
$KALMAN_Y,95020.3,-1088.1,-642.5,-100611.7,7719.9
$MHEAD_RNG_PITCHd_Wd,120.9,7489,-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,-88.38,0.000,6,0.000,0.000,52,3367,2694,0,0,0,0,0,0
$GC,115,-0.82,-101.9,3.0,-3.6,11,134,5.43,2.20,-5.80,0.000,4,0.237,0.046,1385,1947,2892,0,0,0,0,0,0
$GC,343,-0.82,-101.9,36.3,-16.1,46,354,0.00,2.30,0.00,0.000,6,0.000,0.054,1376,3342,2893,0,0,0,0,0,0
$GC,594,-0.82,-101.9,78.1,-17.4,87,601,0.00,0.98,0.00,0.000,4,0.000,0.057,1371,3953,2893,0,0,0,0,0,0
$GC,717,-0.82,-101.9,100.4,-18.3,108,721,0.00,0.90,0.00,0.000,6,0.000,0.035,1371,3354,2894,0,0,0,0,0,0
$GC,1051,-0.82,-101.9,157.1,-17.3,129,1054,0.00,0.95,0.00,0.000,4,0.000,0.056,1366,3955,2895,0,0,0,0,0,0
$GC,1149,-0.82,-101.9,177.0,-19.7,134,1158,0.00,0.93,0.00,0.000,6,0.000,0.035,1367,3343,2895,0,0,0,0,0,0
$GC,1471,-0.82,-101.9,231.6,-16.7,155,1476,0.00,0.95,0.00,0.000,4,0.000,0.056,1362,3947,2895,0,0,0,0,0,0
$GC,1600,-0.82,-101.9,255.8,-18.5,162,1604,0.00,0.90,0.00,0.000,6,0.000,0.034,1362,3347,2895,0,0,0,0,0,0
$GC,1923,-0.82,-101.9,309.3,-16.8,178,1927,0.00,0.95,0.00,0.000,4,0.000,0.057,1358,3953,2896,0,0,0,0,0,0
$GC,2109,-0.82,-101.9,342.4,-17.8,186,2114,0.00,0.90,0.00,0.000,6,0.000,0.035,1358,3353,2896,0,0,0,0,0,0
$GC,2444,-0.82,-101.9,395.9,-16.1,202,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3352,2895,0,0,0,0,0,0
$GC,2759,-0.82,-101.9,447.1,-16.2,213,2763,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3958,2895,0,0,0,0,0,0
$GC,2896,-0.82,-101.9,470.6,-17.4,217,2900,0.08,0.90,0.00,0.000,6,0.190,0.036,1374,3358,2895,0,0,0,0,0,0
$GC,3237,-0.82,-101.9,520.1,-14.2,228,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3357,2895,0,0,0,0,0,0
$GC,3543,-0.82,-101.9,562.7,-13.9,238,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3357,2895,0,0,0,0,0,0
$GC,3850,-0.82,-101.9,606.1,-14.1,248,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3357,2895,0,0,0,0,0,0
$GC,4155,-0.82,-101.9,651.5,-14.8,258,4161,0.00,0.95,0.00,0.000,4,0.000,0.059,1371,3960,2894,0,0,0,0,0,0
$GC,4335,-0.82,-101.9,680.8,-15.8,263,4339,0.00,0.93,0.00,0.000,6,0.000,0.037,1372,3345,2894,0,0,0,0,0,0
$GC,4666,-0.82,-101.9,728.9,-14.5,274,4671,0.00,0.95,0.00,0.000,4,0.000,0.059,1367,3951,2893,0,0,0,0,0,0
$GC,4885,-0.82,-101.9,763.3,-15.6,280,4889,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3353,2892,0,0,0,0,0,0
$GC,5210,-0.82,-101.9,807.7,-13.3,291,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3352,2891,0,0,0,0,0,0
$GC,5516,-0.82,-101.9,849.0,-13.6,301,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3352,2890,0,0,0,0,0,0
$GC,5823,-0.82,-101.9,890.6,-13.5,311,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3352,2889,0,0,0,0,0,0
$GC,6129,-0.82,-101.9,932.1,-13.7,321,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3352,2889,0,0,0,0,0,0
$GC,6435,-0.82,-101.9,974.4,-13.9,331,6438,0.00,0.95,0.00,0.000,4,0.000,0.060,1363,3954,2888,0,0,0,0,0,0
$STATE,6607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6607,begin apogee
$GC,6615,-0.14,0.0,1000.7,14.6,336,6724,0.80,0.00,105.78,1.200,6,0.181,0.000,1595,3255,2473,0,0,0,0,0,0
$STATE,6726,end apogee,CONTROL_FINISHED_OK
$STATE,6726,begin climb
$GC,6729,0.82,101.9,1003.4,0.0,339,6842,0.93,2.33,107.05,1.176,4,0.083,0.032,1917,1833,2051,0,0,0,0,0,0
$GC,6871,0.82,101.9,979.6,21.9,344,6875,0.00,2.42,0.00,0.000,6,0.000,0.051,1917,3255,2042,0,0,0,0,0,0
$GC,7189,0.82,101.9,899.8,25.4,355,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3255,2033,0,0,0,0,0,0
$GC,7495,0.82,101.9,823.9,24.6,365,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3255,2030,0,0,0,0,0,0
$GC,7803,0.82,101.9,750.3,23.9,375,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3255,2029,0,0,0,0,0,0
$GC,8108,0.82,101.9,679.2,23.1,385,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3255,2028,0,0,0,0,0,0
$GC,8414,0.82,101.9,610.2,22.5,395,8418,0.00,1.10,0.00,0.000,4,0.000,0.054,1917,3947,2027,0,0,0,0,0,0
$GC,8469,0.82,101.9,596.7,25.2,396,8473,0.00,1.05,0.00,0.000,6,0.000,0.031,1922,3240,2027,0,0,0,0,0,0
$GC,8788,0.82,101.9,524.4,22.6,407,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3241,2026,0,0,0,0,0,0
$GC,9094,0.82,101.9,454.3,23.0,417,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3240,2025,0,0,0,0,0,0
$GC,9401,0.82,101.9,383.4,23.4,428,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3240,2024,0,0,0,0,0,0
$GC,9713,0.82,101.9,310.6,23.3,443,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3241,2023,0,0,0,0,0,0
$GC,10027,0.82,101.9,237.4,22.8,459,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3240,2023,0,0,0,0,0,0
$GC,10340,0.82,101.9,168.4,21.6,479,10345,0.00,1.12,0.00,0.000,4,0.000,0.054,1922,3949,2023,0,0,0,0,0,0
$GC,10415,0.82,101.9,150.9,25.1,483,10419,0.00,1.02,0.00,0.000,6,0.000,0.032,1927,3254,2023,0,0,0,0,0,0
$GC,10745,0.82,101.9,76.0,21.9,516,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3254,2023,0,0,0,0,0,0
$STATE,11124,end climb,SURFACE_DEPTH_REACHED
$STATE,11124,begin surface coast
$FINISH,0.8,1.025900
$STATE,11141,end surface coast,CONTROL_FINISHED_OK
$STATE,11141,begin surface
$SM_CCo,11158,166.45,0.747,1,0,502,482.50
$SM_GC,1.24,0.00,0.00,166.45,0.000,0.000,0.747,55,3376,502,-4.98,0.65,482.50
$IRIDIUM_FIX,-4218.64,818.55,191212,191937
$TT8_MAMPS,0.025466
$HUMID,54.01
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.7,14.993
$10V_AH,10.1,7.552
$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,12.225,28.775,212.825,166.450,0.000,24.647,45.654,300.160,0.000,0.000,18.638,1446.254,7438.496,457.935,1870.076,643.599,33.360,1116.608,0.000,1666.420,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,74.205,1199.520,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.519,1306.710,619.687,302.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,43704,579
$CAP_FILE_SIZE,84044,0
$CFSIZE,259252224,254164992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,201212,015552,-4234.135,821.257,38,0.9,38,-25.0