version: 66.07
glider: 543
mission: 6
dive: 71
start: 12 20 112 2 8 13
data:
$ID,543
$MISSION,6
$DIVE,71
$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,-8029.9067
$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,54
$R_STBD_OVSHOOT,39
$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
$GPS1,201212,015552,-4234.135,821.257,38,0.9,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-34.5
$GPS2,201212,020717,-4234.180,821.354,16,1.1,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.113,0.107
$KALMAN_X,-5004.4,621.0,315.1,30948.1,-4132.9
$KALMAN_Y,93813.5,-747.4,-644.4,-100063.3,5539.0
$MHEAD_RNG_PITCHd_Wd,71.5,7959,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.79,-53.9,0.0,0.0,0,113,0.00,0.00,-88.38,0.000,6,0.000,0.000,55,3375,2695,0,0,0,0,0,0
$GC,117,-0.82,-105.0,2.9,-3.3,11,136,5.40,2.20,-6.15,0.000,4,0.236,0.044,1382,1943,2903,0,0,0,0,0,0
$GC,184,-0.82,-105.0,12.6,-16.1,20,193,0.00,2.30,0.00,0.000,6,0.000,0.055,1372,3325,2905,0,0,0,0,0,0
$GC,274,-0.82,-105.0,29.2,-20.0,33,282,0.00,2.15,0.00,0.000,4,0.000,0.037,1373,1961,2905,0,0,0,0,0,0
$GC,348,-0.82,-105.0,42.7,-15.6,44,357,0.00,2.30,0.00,0.000,6,0.000,0.058,1362,3347,2905,0,0,0,0,0,0
$GC,593,-0.82,-105.0,87.3,-17.9,85,599,0.00,0.95,0.00,0.000,4,0.000,0.056,1358,3947,2906,0,0,0,0,0,0
$GC,861,-0.82,-105.0,140.7,-18.2,107,864,0.00,0.88,0.00,0.000,6,0.000,0.035,1358,3369,2906,0,0,0,0,0,0
$GC,1185,-0.82,-105.0,197.6,-17.8,128,1189,0.00,0.93,0.00,0.000,4,0.000,0.055,1353,3955,2906,0,0,0,0,0,0
$GC,1453,-0.82,-105.0,248.8,-19.1,143,1457,0.08,0.90,0.00,0.000,6,0.193,0.035,1374,3357,2906,0,0,0,0,0,0
$GC,1776,-0.82,-105.0,301.4,-16.4,159,1781,0.00,0.93,0.00,0.000,4,0.000,0.057,1371,3947,2907,0,0,0,0,0,0
$GC,1992,-0.82,-105.0,339.5,-16.5,168,1996,0.00,0.90,0.00,0.000,6,0.000,0.035,1371,3345,2907,0,0,0,0,0,0
$GC,2315,-0.82,-105.0,390.3,-15.7,184,2319,0.00,0.95,0.00,0.000,4,0.000,0.056,1367,3953,2907,0,0,0,0,0,0
$GC,2356,-0.82,-105.0,397.4,-16.9,185,2363,0.00,0.90,0.00,0.000,6,0.000,0.034,1367,3348,2906,0,0,0,0,0,0
$GC,2690,-0.82,-105.0,451.9,-16.5,197,2696,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3955,2907,0,0,0,0,0,0
$GC,2949,-0.82,-105.0,496.9,-16.6,204,2952,0.00,0.90,0.00,0.000,6,0.000,0.035,1363,3351,2906,0,0,0,0,0,0
$GC,3269,-0.82,-105.0,545.3,-15.2,215,3272,0.00,0.93,0.00,0.000,4,0.000,0.057,1358,3944,2906,0,0,0,0,0,0
$GC,3459,-0.82,-105.0,576.6,-16.6,220,3463,0.00,0.88,0.00,0.000,6,0.000,0.036,1358,3357,2907,0,0,0,0,0,0
$GC,3780,-0.82,-105.0,625.9,-15.6,231,3783,0.00,0.93,0.00,0.000,4,0.000,0.058,1354,3948,2905,0,0,0,0,0,0
$GC,3854,-0.82,-105.0,638.7,-17.2,233,3859,0.10,0.90,0.00,0.000,6,0.182,0.036,1382,3353,2905,0,0,0,0,0,0
$GC,4190,-0.82,-105.0,686.6,-14.1,244,4193,0.00,0.98,0.00,0.000,4,0.000,0.060,1378,3957,2904,0,0,0,0,0,0
$GC,4380,-0.82,-105.0,717.0,-17.0,249,4384,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3355,2904,0,0,0,0,0,0
$GC,4700,-0.82,-105.0,764.9,-15.1,260,4704,0.00,0.95,0.00,0.000,4,0.000,0.060,1374,3958,2903,0,0,0,0,0,0
$GC,4789,-0.82,-105.0,779.8,-16.5,262,4793,0.00,0.93,0.00,0.000,6,0.000,0.037,1374,3345,2903,0,0,0,0,0,0
$GC,5109,-0.82,-105.0,828.2,-15.0,273,5112,0.00,0.95,0.00,0.000,4,0.000,0.060,1370,3951,2902,0,0,0,0,0,0
$GC,5211,-0.82,-105.0,844.8,-16.7,276,5214,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3353,2901,0,0,0,0,0,0
$GC,5552,-0.82,-105.0,895.5,-14.5,287,5558,0.00,2.15,0.00,0.000,4,0.000,0.034,1370,1934,2901,0,0,0,0,0,0
$GC,5600,-0.82,-105.0,901.8,-12.8,288,5604,0.00,2.25,0.00,0.000,6,0.000,0.057,1359,3356,2901,0,0,0,0,0,0
$GC,5925,-0.82,-105.0,947.3,-13.7,299,5929,0.00,0.93,0.00,0.000,4,0.000,0.059,1355,3947,2900,0,0,0,0,0,0
$GC,6138,-0.82,-105.0,979.2,-14.5,305,6142,0.08,0.90,0.00,0.000,6,0.187,0.037,1376,3351,2899,0,0,0,0,0,0
$STATE,6312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6312,begin apogee
$GC,6319,-0.14,0.0,1001.2,12.5,311,6435,0.75,0.00,107.97,1.203,6,0.169,0.000,1596,3257,2468,0,0,0,0,0,0
$STATE,6436,end apogee,CONTROL_FINISHED_OK
$STATE,6436,begin climb
$GC,6439,0.82,105.0,1002.8,0.0,315,6551,0.93,0.00,108.35,1.184,6,0.081,0.000,1909,3257,2045,0,0,0,0,0,0
$GC,6840,0.82,105.0,912.3,25.7,328,6843,0.00,1.15,0.00,0.000,4,0.000,0.054,1909,3953,2022,0,0,0,0,0,0
$GC,6910,0.82,105.0,893.0,28.7,330,6914,0.00,1.10,0.00,0.000,6,0.000,0.032,1914,3236,2021,0,0,0,0,0,0
$GC,7252,0.82,105.0,805.5,25.6,341,7255,0.00,2.15,0.00,0.000,4,0.000,0.034,1925,1837,2018,0,0,0,0,0,0
$GC,7281,0.82,105.0,798.6,23.4,342,7285,0.00,2.30,0.00,0.000,6,0.000,0.050,1925,3261,2017,0,0,0,0,0,0
$GC,7616,0.82,105.0,713.5,25.2,353,7621,0.00,1.10,0.00,0.000,4,0.000,0.054,1925,3954,2015,0,0,0,0,0,0
$GC,7652,0.82,105.0,704.1,26.4,354,7655,0.00,1.08,0.00,0.000,6,0.000,0.032,1931,3238,2015,0,0,0,0,0,0
$GC,7995,0.82,105.0,621.8,23.8,365,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3237,2014,0,0,0,0,0,0
$GC,8299,0.82,105.0,548.7,24.1,375,8303,0.00,1.12,0.00,0.000,4,0.000,0.053,1931,3944,2014,0,0,0,0,0,0
$GC,8388,0.82,105.0,525.3,26.4,377,8392,0.00,1.02,0.00,0.000,6,0.000,0.032,1936,3254,2014,0,0,0,0,0,0
$GC,8707,0.82,105.0,448.6,23.9,388,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3254,2013,0,0,0,0,0,0
$GC,9024,0.82,105.0,371.6,24.5,400,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3254,2012,0,0,0,0,0,0
$GC,9335,0.82,105.0,294.0,25.2,415,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3254,2011,0,0,0,0,0,0
$GC,9644,0.82,105.0,217.0,24.1,432,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3254,2011,0,0,0,0,0,0
$GC,9956,0.82,105.0,141.4,23.9,452,9960,0.00,1.10,0.00,0.000,4,0.000,0.053,1936,3950,2011,0,0,0,0,0,0
$GC,10013,0.82,105.0,128.0,26.4,455,10017,0.00,1.02,0.00,0.000,6,0.000,0.031,1941,3253,2011,0,0,0,0,0,0
$GC,10358,0.82,105.0,44.0,22.9,502,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,3253,2011,0,0,0,0,0,0
$STATE,10563,end climb,SURFACE_DEPTH_REACHED
$STATE,10563,begin surface coast
$FINISH,0.8,1.013733
$STATE,10578,end surface coast,CONTROL_FINISHED_OK
$STATE,10578,begin surface
$SM_CCo,10595,166.02,0.757,1,0,503,482.50
$SM_GC,1.16,0.00,0.00,166.02,0.000,0.000,0.757,57,3364,503,-4.98,0.31,482.50
$IRIDIUM_FIX,-4218.64,818.55,201212,010152
$TT8_MAMPS,0.025466
$HUMID,54.33
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.7,15.126
$10V_AH,10.1,7.638
$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,12.325,47.025,216.325,166.025,0.000,54.619,122.083,300.130,0.000,0.000,19.384,1418.274,6827.813,478.376,2082.921,647.709,33.358,1214.158,0.000,1744.345,0.000,1.013,0.000
$DEVICE_MAMPS,236.385,81.090,1202.580,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.083,1180.856,564.009,265.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354200
$DATA_FILE_SIZE,40417,536
$CAP_FILE_SIZE,93792,0
$CFSIZE,259252224,254111744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,201212,050904,-4233.147,822.817,44,1.1,44,-25.0