version: 66.07
glider: 543
mission: 6
dive: 73
start: 12 20 112 8 53 13
data:
$ID,543
$MISSION,6
$DIVE,73
$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,-8036.8569
$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,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
$GPS1,201212,084304,-4231.548,823.006,27,0.8,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-27.3
$GPS2,201212,085217,-4231.530,823.090,20,1.1,21,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.136,0.113
$KALMAN_X,-3241.6,297.9,260.7,31923.5,-1177.8
$KALMAN_Y,90566.9,-373.9,-178.0,-92767.6,314.7
$MHEAD_RNG_PITCHd_Wd,334.7,5083,-23.8,-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,-0.70,-69.1,0.0,0.0,0,111,0.00,0.00,-89.38,0.000,2,0.000,0.000,61,3372,2708,0,0,0,0,0,0
$GC,115,-0.74,-129.5,3.0,-3.7,11,135,5.45,2.28,-8.73,0.000,4,0.236,0.047,1403,1939,3004,0,0,0,0,0,0
$GC,208,-0.74,-129.5,16.0,-14.9,24,218,0.00,2.33,0.00,0.000,6,0.000,0.056,1393,3333,3006,0,0,0,0,0,0
$GC,302,-0.74,-129.5,31.9,-18.5,37,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1393,3333,3006,0,0,0,0,0,0
$GC,548,-0.74,-129.5,73.9,-15.7,78,557,0.00,2.12,0.00,0.000,4,0.000,0.031,1393,1956,3007,0,0,0,0,0,0
$GC,587,-0.74,-129.5,79.7,-14.3,84,596,0.00,2.30,0.00,0.000,6,0.000,0.060,1383,3348,3008,0,0,0,0,0,0
$GC,924,-0.74,-129.5,132.2,-15.9,119,930,0.00,0.95,0.00,0.000,4,0.000,0.057,1378,3948,3008,0,0,0,0,0,0
$GC,1176,-0.74,-129.5,177.4,-18.8,133,1180,0.08,0.90,0.00,0.000,6,0.177,0.035,1400,3353,3008,0,0,0,0,0,0
$GC,1502,-0.74,-129.5,227.9,-15.5,154,1506,0.00,0.95,0.00,0.000,4,0.000,0.057,1397,3955,3009,0,0,0,0,0,0
$GC,1597,-0.74,-129.5,243.9,-16.4,159,1604,0.00,0.90,0.00,0.000,6,0.000,0.035,1397,3354,3008,0,0,0,0,0,0
$GC,1920,-0.74,-129.5,294.4,-15.8,176,1924,0.00,0.98,0.00,0.000,4,0.000,0.058,1393,3958,3009,0,0,0,0,0,0
$GC,2013,-0.74,-129.5,310.5,-18.3,180,2016,0.00,0.90,0.00,0.000,6,0.000,0.035,1393,3357,3009,0,0,0,0,0,0
$GC,2347,-0.74,-129.5,362.4,-15.6,196,2351,0.00,0.93,0.00,0.000,4,0.000,0.057,1388,3947,3009,0,0,0,0,0,0
$GC,2443,-0.74,-129.5,379.1,-16.3,200,2447,0.00,0.90,0.00,0.000,6,0.000,0.035,1388,3344,3009,0,0,0,0,0,0
$GC,2769,-0.74,-129.5,429.4,-15.3,213,2773,0.00,0.95,0.00,0.000,4,0.000,0.057,1384,3953,3009,0,0,0,0,0,0
$GC,2914,-0.74,-129.5,453.6,-16.7,217,2918,0.00,0.90,0.00,0.000,6,0.000,0.035,1384,3351,3009,0,0,0,0,0,0
$GC,3245,-0.74,-129.5,503.7,-15.2,228,3248,0.00,0.95,0.00,0.000,4,0.000,0.057,1380,3958,3009,0,0,0,0,0,0
$GC,3373,-0.74,-129.5,524.4,-16.1,231,3380,0.08,0.90,0.00,0.000,6,0.176,0.035,1402,3359,3009,0,0,0,0,0,0
$GC,3686,-0.74,-129.5,564.9,-12.6,242,3690,0.00,0.93,0.00,0.000,4,0.000,0.057,1398,3950,3008,0,0,0,0,0,0
$GC,3769,-0.74,-129.5,576.9,-14.8,244,3773,0.00,0.90,0.00,0.000,6,0.000,0.037,1399,3350,3008,0,0,0,0,0,0
$GC,4095,-0.74,-129.5,621.6,-14.2,255,4098,0.00,0.95,0.00,0.000,4,0.000,0.057,1394,3957,3007,0,0,0,0,0,0
$GC,4226,-0.74,-129.5,642.1,-16.1,258,4232,0.00,0.90,0.00,0.000,6,0.000,0.036,1394,3357,3007,0,0,0,0,0,0
$GC,4539,-0.74,-129.5,687.1,-14.2,269,4544,0.00,0.93,0.00,0.000,4,0.000,0.058,1390,3950,3006,0,0,0,0,0,0
$GC,4711,-0.74,-129.5,713.5,-15.7,274,4715,0.00,0.90,0.00,0.000,6,0.000,0.037,1390,3351,3006,0,0,0,0,0,0
$GC,5053,-0.74,-129.5,762.7,-14.1,285,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,1390,3349,3005,0,0,0,0,0,0
$GC,5359,-0.74,-129.5,806.2,-14.1,295,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,1390,3349,3004,0,0,0,0,0,0
$GC,5666,-0.74,-129.5,850.0,-14.3,305,5670,0.00,0.95,0.00,0.000,4,0.000,0.059,1386,3954,3003,0,0,0,0,0,0
$GC,5862,-0.74,-129.5,881.6,-14.9,310,5869,0.00,0.90,0.00,0.000,6,0.000,0.038,1386,3355,3003,0,0,0,0,0,0
$GC,6176,-0.74,-129.5,924.1,-13.1,321,6180,0.00,0.93,0.00,0.000,4,0.000,0.060,1381,3947,3001,0,0,0,0,0,0
$GC,6308,-0.74,-129.5,942.8,-14.8,324,6314,0.00,0.90,0.00,0.000,6,0.000,0.038,1381,3351,3000,0,0,0,0,0,0
$GC,6621,-0.74,-129.5,983.6,-13.0,335,6626,0.00,0.95,0.00,0.000,4,0.000,0.060,1376,3955,3000,0,0,0,0,0,0
$STATE,6731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6731,begin apogee
$GC,6738,-0.14,0.0,1000.2,15.7,338,6874,0.73,0.00,132.57,1.207,6,0.170,0.000,1593,3252,2473,0,0,0,0,0,0
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6879,0.74,129.5,1002.1,0.0,342,7015,0.85,0.00,132.20,1.174,6,0.082,0.000,1880,3251,1944,0,0,0,0,0,0
$GC,7308,0.74,129.5,913.1,23.0,356,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3251,1920,0,0,0,0,0,0
$GC,7615,0.74,129.5,844.2,22.1,366,7619,0.00,1.15,0.00,0.000,4,0.000,0.055,1881,3952,1917,0,0,0,0,0,0
$GC,7684,0.74,129.5,827.8,25.2,368,7689,0.00,1.08,0.00,0.000,6,0.000,0.033,1886,3247,1917,0,0,0,0,0,0
$GC,8027,0.74,129.5,753.5,21.4,379,8031,0.00,2.15,0.00,0.000,4,0.000,0.034,1897,1832,1914,0,0,0,0,0,0
$GC,8059,0.74,129.5,746.4,19.2,380,8064,0.00,2.30,0.00,0.000,6,0.000,0.050,1896,3263,1913,0,0,0,0,0,0
$GC,8389,0.74,129.5,674.3,22.0,391,8393,0.00,2.15,0.00,0.000,4,0.000,0.033,1907,1843,1913,0,0,0,0,0,0
$GC,8408,0.74,129.5,670.4,22.0,391,8412,0.00,2.25,0.00,0.000,6,0.000,0.050,1907,3249,1912,0,0,0,0,0,0
$GC,8721,0.74,129.5,601.0,22.2,401,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3249,1911,0,0,0,0,0,0
$GC,9027,0.74,129.5,531.2,22.9,411,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3249,1911,0,0,0,0,0,0
$GC,9335,0.74,129.5,462.9,22.1,421,9338,0.00,1.10,0.00,0.000,4,0.000,0.054,1907,3948,1910,0,0,0,0,0,0
$GC,9378,0.74,129.5,451.7,24.1,422,9382,0.00,1.05,0.00,0.000,6,0.000,0.032,1913,3243,1910,0,0,0,0,0,0
$GC,9699,0.74,129.5,377.9,23.3,434,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3242,1909,0,0,0,0,0,0
$GC,10011,0.74,129.5,307.0,23.8,449,10016,0.00,1.12,0.00,0.000,4,0.000,0.053,1912,3952,1909,0,0,0,0,0,0
$GC,10035,0.74,129.5,300.5,24.5,450,10039,0.00,1.05,0.00,0.000,6,0.000,0.032,1918,3245,1909,0,0,0,0,0,0
$GC,10360,0.74,129.5,222.2,24.3,467,10364,0.00,2.12,0.00,0.000,4,0.000,0.032,1929,1832,1909,0,0,0,0,0,0
$GC,10376,0.74,129.5,217.5,24.1,468,10381,0.15,2.25,0.00,0.000,6,0.203,0.047,1894,3262,1908,0,0,0,0,0,0
$GC,10698,0.74,129.5,147.7,22.0,488,10701,0.00,1.08,0.00,0.000,4,0.000,0.052,1893,3947,1908,0,0,0,0,0,0
$GC,10736,0.74,129.5,138.3,23.0,490,10741,0.00,1.02,0.00,0.000,6,0.000,0.032,1897,3250,1908,0,0,0,0,0,0
$GC,11068,0.74,129.5,67.8,20.3,528,11076,0.00,1.10,0.00,0.000,4,0.000,0.053,1897,3949,1908,0,0,0,0,0,0
$GC,11101,0.74,129.5,61.1,21.7,533,11105,0.00,1.02,0.00,0.000,6,0.000,0.031,1902,3251,1908,0,0,0,0,0,0
$STATE,11401,end climb,SURFACE_DEPTH_REACHED
$STATE,11401,begin surface coast
$FINISH,1.2,1.026104
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11416,begin surface
$SM_CCo,11432,151.18,0.764,1,0,506,482.50
$SM_GC,1.28,0.00,0.00,151.18,0.000,0.000,0.764,55,3366,506,-4.98,0.37,482.50
$IRIDIUM_FIX,-4218.64,821.44,201212,050538
$TT8_MAMPS,0.025466
$HUMID,54.33
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,23.6,15.413
$10V_AH,10.1,7.822
$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,12.175,55.500,264.775,151.175,0.000,26.902,51.344,315.614,0.000,0.000,22.806,1505.196,7373.952,514.532,2065.782,683.942,33.352,1284.607,0.000,1808.680,0.000,1.014,0.000
$DEVICE_MAMPS,235.620,80.325,1207.170,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.389,1291.050,618.543,292.609,0.000,0.000,0.000,0.000,0.000,0.000
$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,43889,583
$CAP_FILE_SIZE,99765,0
$CFSIZE,259252224,253992960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,201212,120734,-4230.404,821.900,31,1.1,31,-25.0