version: 66.07
glider: 543
mission: 6
dive: 74
start: 12 20 112 12 29 49
data:
$ID,543
$MISSION,6
$DIVE,74
$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,-8040.3428
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,201212,120734,-4230.404,821.900,31,1.1,31,-25.0
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-27.2
$GPS2,201212,122853,-4230.289,822.033,18,1.0,19,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.164,0.051
$KALMAN_X,-1218.0,276.1,201.1,28542.4,886.9
$KALMAN_Y,89800.7,-113.7,40.8,-90191.5,-608.1
$MHEAD_RNG_PITCHd_Wd,312.4,2827,-24.5,-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,-0.72,-65.4,0.0,0.0,0,119,0.00,0.00,-90.72,0.000,6,0.000,0.000,55,3367,2741,0,0,0,0,0,0
$GC,123,-0.75,-115.2,3.2,-4.4,12,142,5.43,0.00,-5.55,0.000,6,0.233,0.000,1398,3366,2945,0,0,0,0,0,0
$GC,222,-0.75,-115.2,18.5,-16.6,26,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1398,3366,2947,0,0,0,0,0,0
$GC,311,-0.75,-115.2,34.5,-18.3,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1398,3366,2947,0,0,0,0,0,0
$GC,553,-0.75,-115.2,77.5,-15.8,80,560,0.00,2.15,0.00,0.000,4,0.000,0.031,1398,1939,2947,0,0,0,0,0,0
$GC,607,-0.75,-115.2,84.6,-13.8,88,614,0.00,2.28,0.00,0.000,6,0.000,0.054,1389,3349,2947,0,0,0,0,0,0
$GC,944,-0.75,-115.2,134.4,-15.1,120,948,0.00,0.95,0.00,0.000,4,0.000,0.056,1384,3950,2947,0,0,0,0,0,0
$GC,1210,-0.75,-115.2,178.4,-16.8,135,1214,0.00,0.88,0.00,0.000,6,0.000,0.034,1384,3366,2948,0,0,0,0,0,0
$GC,1535,-0.75,-115.2,230.1,-16.1,156,1539,0.00,0.93,0.00,0.000,4,0.000,0.056,1380,3956,2947,0,0,0,0,0,0
$GC,1617,-0.75,-115.2,244.8,-17.6,160,1625,0.00,0.90,0.00,0.000,6,0.000,0.034,1380,3352,2947,0,0,0,0,0,0
$GC,1946,-0.75,-115.2,297.5,-15.8,177,1952,0.00,0.93,0.00,0.000,4,0.000,0.056,1376,3946,2947,0,0,0,0,0,0
$GC,2124,-0.75,-115.2,328.0,-16.6,184,2133,0.08,0.88,0.00,0.000,6,0.177,0.034,1397,3357,2948,0,0,0,0,0,0
$GC,2442,-0.75,-115.2,372.4,-13.9,200,2445,0.00,0.93,0.00,0.000,4,0.000,0.057,1394,3948,2947,0,0,0,0,0,0
$GC,2612,-0.75,-115.2,398.3,-15.9,207,2615,0.00,0.90,0.00,0.000,6,0.000,0.034,1394,3347,2947,0,0,0,0,0,0
$GC,2936,-0.75,-115.2,444.7,-14.7,218,2940,0.00,0.95,0.00,0.000,4,0.000,0.057,1389,3954,2946,0,0,0,0,0,0
$GC,3053,-0.75,-115.2,463.4,-16.0,221,3057,0.00,0.90,0.00,0.000,6,0.000,0.034,1389,3348,2947,0,0,0,0,0,0
$GC,3379,-0.75,-115.2,508.8,-13.6,232,3382,0.00,0.95,0.00,0.000,4,0.000,0.057,1385,3956,2946,0,0,0,0,0,0
$GC,3542,-0.75,-115.2,533.6,-15.4,236,3550,0.00,0.90,0.00,0.000,6,0.000,0.034,1385,3354,2945,0,0,0,0,0,0
$GC,3855,-0.75,-115.2,576.6,-13.5,247,3859,0.00,0.93,0.00,0.000,4,0.000,0.058,1380,3944,2944,0,0,0,0,0,0
$GC,3983,-0.75,-115.2,595.7,-14.2,250,3990,0.00,0.88,0.00,0.000,6,0.000,0.035,1381,3357,2945,0,0,0,0,0,0
$GC,4297,-0.75,-115.2,638.7,-14.0,261,4301,0.00,0.93,0.00,0.000,4,0.000,0.058,1376,3947,2944,0,0,0,0,0,0
$GC,4478,-0.75,-115.2,665.8,-15.7,266,4482,0.08,0.90,0.00,0.000,6,0.177,0.036,1398,3348,2943,0,0,0,0,0,0
$GC,4809,-0.75,-115.2,707.9,-12.8,277,4812,0.00,0.95,0.00,0.000,4,0.000,0.059,1395,3955,2942,0,0,0,0,0,0
$GC,4877,-0.75,-115.2,717.5,-14.4,279,4882,0.00,0.90,0.00,0.000,6,0.000,0.036,1395,3352,2942,0,0,0,0,0,0
$GC,5220,-0.75,-115.2,762.6,-13.2,290,5224,0.00,0.95,0.00,0.000,4,0.000,0.059,1391,3957,2941,0,0,0,0,0,0
$GC,5308,-0.75,-115.2,775.3,-14.5,292,5312,0.00,0.90,0.00,0.000,6,0.000,0.037,1391,3358,2941,0,0,0,0,0,0
$GC,5628,-0.75,-115.2,817.0,-13.1,303,5632,0.00,0.93,0.00,0.000,4,0.000,0.059,1387,3947,2940,0,0,0,0,0,0
$GC,5765,-0.75,-115.2,836.5,-14.7,307,5769,0.00,0.90,0.00,0.000,6,0.000,0.037,1387,3347,2939,0,0,0,0,0,0
$GC,6107,-0.75,-115.2,882.9,-13.6,318,6110,0.00,0.95,0.00,0.000,4,0.000,0.060,1382,3950,2938,0,0,0,0,0,0
$GC,6303,-0.75,-115.2,911.7,-15.2,323,6312,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3349,2938,0,0,0,0,0,0
$GC,6617,-0.75,-115.2,954.1,-13.7,334,6620,0.00,0.95,0.00,0.000,4,0.000,0.060,1378,3953,2937,0,0,0,0,0,0
$GC,6718,-0.75,-115.2,969.2,-15.5,337,6724,0.00,0.90,0.00,0.000,6,0.000,0.037,1378,3355,2937,0,0,0,0,0,0
$STATE,6936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6937,begin apogee
$GC,6944,-0.14,0.0,1000.6,14.2,344,7060,0.75,0.00,104.47,1.770,6,0.169,0.000,1596,3245,2476,0,0,0,0,1,0
$STATE,7061,end apogee,CONTROL_FINISHED_OK
$STATE,7061,begin climb
$GC,7064,0.75,115.2,1004.6,0.0,348,7196,0.85,2.40,114.57,1.786,4,0.076,0.031,1896,1839,2006,0,0,0,0,1,0
$GC,7219,0.75,115.2,982.6,18.5,352,7227,0.00,2.45,0.00,0.000,6,0.000,0.048,1896,3258,2006,0,0,0,0,0,0
$GC,7533,0.75,115.2,911.0,23.3,363,7536,0.00,1.12,0.00,0.000,4,0.000,0.054,1896,3944,2002,0,0,0,0,0,0
$GC,7582,0.75,115.2,898.4,26.2,364,7586,0.00,1.10,0.00,0.000,6,0.000,0.032,1901,3234,2002,0,0,0,0,0,0
$GC,7907,0.75,115.2,823.0,23.2,375,7911,0.00,1.15,0.00,0.000,4,0.000,0.054,1900,3947,1999,0,0,0,0,0,0
$GC,7945,0.75,115.2,813.4,24.6,376,7949,0.00,1.08,0.00,0.000,6,0.000,0.033,1904,3243,1999,0,0,0,0,0,0
$GC,8281,0.75,115.2,735.8,23.0,387,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1998,0,0,0,0,0,0
$GC,8587,0.75,115.2,665.4,22.6,397,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1997,0,0,0,0,0,0
$GC,8894,0.75,115.2,596.0,22.3,407,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1996,0,0,0,0,0,0
$GC,9200,0.75,115.2,528.8,22.1,417,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1995,0,0,0,0,0,0
$GC,9506,0.75,115.2,462.1,21.5,427,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1994,0,0,0,0,0,0
$GC,9813,0.75,115.2,396.5,21.3,437,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3243,1994,0,0,0,0,0,0
$GC,10123,0.75,115.2,331.0,20.8,452,10126,0.00,1.12,0.00,0.000,4,0.000,0.054,1904,3947,1994,0,0,0,0,0,0
$GC,10163,0.75,115.2,320.7,24.6,453,10170,0.00,1.02,0.00,0.000,6,0.000,0.032,1909,3254,1994,0,0,0,0,0,0
$GC,10482,0.75,115.2,251.0,22.0,469,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3253,1993,0,0,0,0,0,0
$GC,10799,0.75,115.2,182.7,21.2,489,10804,0.00,2.15,0.00,0.000,4,0.000,0.032,1921,1835,1993,0,0,0,0,0,0
$GC,10822,0.75,115.2,177.3,21.2,490,10826,0.00,2.25,0.00,0.000,6,0.000,0.047,1921,3263,1992,0,0,0,0,0,0
$GC,11141,0.75,115.2,108.9,21.9,510,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3263,1993,0,0,0,0,0,0
$GC,11490,0.75,115.2,40.2,17.4,564,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3263,1992,0,0,0,0,0,0
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FINISH,0.8,1.014436
$STATE,11714,end surface coast,CONTROL_FINISHED_OK
$STATE,11714,begin surface
$SM_CCo,11731,162.68,0.748,1,0,505,482.50
$SM_GC,1.18,0.00,0.00,162.68,0.000,0.000,0.748,64,3368,505,-4.96,0.42,482.50
$IRIDIUM_FIX,-4215.72,806.57,201212,121218
$TT8_MAMPS,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.8,15.599
$10V_AH,10.1,7.919
$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,12.075,44.400,219.050,162.675,0.000,149.736,293.674,422.666,0.000,0.000,21.234,1531.005,7833.407,488.274,2596.828,729.842,33.355,1293.890,0.000,1896.607,0.000,1.014,0.000
$DEVICE_MAMPS,233.325,90.270,1786.275,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.860,1322.292,624.603,296.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,43634,599
$CAP_FILE_SIZE,105055,0
$CFSIZE,259252224,253935616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,201212,154928,-4229.384,821.193,40,1.2,40,-25.0