version: 66.07
glider: 543
mission: 6
dive: 95
start: 12 23 112 12 48 7
data:
$ID,543
$MISSION,6
$DIVE,95
$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,-8114.2666
$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,29
$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
$GPS1,231212,123834,-4230.882,819.753,23,1.2,23,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-41.0
$GPS2,231212,124711,-4230.909,819.753,19,1.1,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.014,0.155
$KALMAN_X,4127.7,-42.2,63.8,20550.5,172.2
$KALMAN_Y,99770.8,-415.7,-189.5,-100765.6,-104.6
$MHEAD_RNG_PITCHd_Wd,30.2,1716,-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,-53.9,0.0,0.0,0,102,0.00,0.00,-79.95,0.000,2,0.000,0.000,58,3368,2481,0,0,0,0,0,0
$GC,106,-0.82,-105.7,3.0,-3.2,10,135,5.25,0.93,-14.27,0.000,4,0.226,0.087,1372,3933,2904,0,0,0,0,0,0
$GC,357,-0.82,-105.7,46.8,-18.4,48,366,0.00,0.88,0.00,0.000,6,0.000,0.034,1371,3359,2906,0,0,0,0,0,0
$GC,599,-0.82,-105.7,87.9,-17.5,89,605,0.00,2.15,0.00,0.000,4,0.000,0.031,1372,1945,2907,0,0,0,0,0,0
$GC,674,-0.82,-105.7,99.5,-14.0,102,682,0.00,2.30,0.00,0.000,6,0.000,0.056,1361,3347,2907,0,0,0,0,0,0
$GC,995,-0.82,-105.7,154.0,-17.7,123,998,0.00,0.95,0.00,0.000,4,0.000,0.055,1357,3953,2908,0,0,0,0,0,0
$GC,1258,-0.82,-105.7,204.2,-19.3,138,1262,0.00,0.90,0.00,0.000,6,0.000,0.034,1356,3353,2908,0,0,0,0,0,0
$GC,1578,-0.82,-105.7,258.1,-16.7,158,1582,0.12,0.95,0.00,0.000,4,0.200,0.057,1382,3947,2908,0,0,0,0,0,0
$GC,1788,-0.82,-105.7,292.8,-16.5,167,1792,0.00,0.90,0.00,0.000,6,0.000,0.034,1382,3341,2909,0,0,0,0,0,0
$GC,2123,-0.82,-105.7,345.5,-15.7,183,2129,0.00,0.95,0.00,0.000,4,0.000,0.057,1377,3948,2909,0,0,0,0,0,0
$GC,2355,-0.82,-105.7,384.9,-17.1,193,2360,0.00,0.88,0.00,0.000,6,0.000,0.035,1377,3360,2909,0,0,0,0,0,0
$GC,2676,-0.82,-105.7,434.8,-15.5,205,2682,0.00,0.93,0.00,0.000,4,0.000,0.057,1373,3951,2909,0,0,0,0,0,0
$GC,2849,-0.82,-105.7,465.0,-17.8,210,2852,0.00,0.90,0.00,0.000,6,0.000,0.034,1373,3347,2909,0,0,0,0,0,0
$GC,3190,-0.82,-105.7,520.2,-15.7,221,3195,0.00,0.95,0.00,0.000,4,0.000,0.057,1369,3952,2908,0,0,0,0,0,0
$GC,3443,-0.82,-105.7,562.6,-17.0,228,3446,0.00,0.90,0.00,0.000,6,0.000,0.034,1369,3346,2908,0,0,0,0,0,0
$GC,3768,-0.82,-105.7,609.1,-14.1,239,3772,0.00,0.95,0.00,0.000,4,0.000,0.057,1364,3953,2908,0,0,0,0,0,0
$GC,3971,-0.82,-105.7,640.4,-15.3,245,3974,0.00,0.90,0.00,0.000,6,0.000,0.035,1364,3350,2907,0,0,0,0,0,0
$GC,4312,-0.82,-105.7,687.6,-13.9,256,4318,0.00,0.95,0.00,0.000,4,0.000,0.058,1360,3954,2906,0,0,0,0,0,0
$GC,4408,-0.82,-105.7,702.4,-14.7,258,4416,0.00,0.90,0.00,0.000,6,0.000,0.035,1360,3354,2906,0,0,0,0,0,0
$GC,4721,-0.82,-105.7,747.5,-14.6,269,4727,0.00,0.98,0.00,0.000,4,0.000,0.059,1356,3959,2905,0,0,0,0,0,0
$GC,4886,-0.82,-105.7,774.7,-17.4,273,4894,0.10,0.90,0.00,0.000,6,0.183,0.036,1383,3358,2905,0,0,0,0,0,0
$GC,5199,-0.82,-105.7,818.3,-13.5,284,5203,0.00,0.93,0.00,0.000,4,0.000,0.059,1380,3950,2903,0,0,0,0,0,0
$GC,5358,-0.82,-105.7,842.4,-15.9,288,5362,0.00,0.90,0.00,0.000,6,0.000,0.037,1380,3350,2903,0,0,0,0,0,0
$GC,5677,-0.82,-105.7,885.1,-12.9,299,5681,0.00,0.95,0.00,0.000,4,0.000,0.060,1376,3954,2902,0,0,0,0,0,0
$GC,5913,-0.82,-105.7,920.2,-15.7,306,5917,0.00,0.90,0.00,0.000,6,0.000,0.037,1376,3352,2902,0,0,0,0,0,0
$GC,6255,-0.82,-105.7,965.9,-13.1,317,6261,0.00,0.95,0.00,0.000,4,0.000,0.060,1371,3956,2901,0,0,0,0,0,0
$GC,6362,-0.82,-105.7,981.6,-14.6,320,6366,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3357,2901,0,0,0,0,0,0
$STATE,6513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6513,begin apogee
$GC,6520,-0.14,0.0,1001.7,13.4,325,6634,0.77,0.00,107.95,1.203,6,0.168,0.000,1597,3258,2469,0,0,0,0,0,0
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6635,begin climb
$GC,6638,0.82,105.7,1004.1,0.0,329,6758,0.93,2.38,108.62,1.170,4,0.079,0.031,1922,1828,2034,0,0,0,0,0,0
$GC,6774,0.82,105.7,981.6,22.2,333,6779,0.00,2.42,0.00,0.000,6,0.000,0.049,1922,3252,2027,0,0,0,0,0,0
$GC,7098,0.82,105.7,899.7,25.7,344,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3252,2018,0,0,0,0,0,0
$GC,7406,0.82,105.7,821.4,25.1,354,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3253,2016,0,0,0,0,0,0
$GC,7712,0.82,105.7,745.9,24.5,364,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3253,2014,0,0,0,0,0,0
$GC,8017,0.82,105.7,671.8,24.0,374,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3253,2012,0,0,0,0,0,0
$GC,8323,0.82,105.7,596.7,24.7,384,8327,0.00,2.17,0.00,0.000,4,0.000,0.031,1933,1823,2012,0,0,0,0,0,0
$GC,8352,0.82,105.7,589.9,23.0,385,8357,0.00,2.30,0.00,0.000,6,0.000,0.049,1933,3262,2010,0,0,0,0,0,0
$GC,8688,0.82,105.7,508.2,24.2,396,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3262,2010,0,0,0,0,0,0
$GC,8994,0.82,105.7,434.7,23.7,406,8997,0.00,1.10,0.00,0.000,4,0.000,0.052,1933,3954,2009,0,0,0,0,0,0
$GC,9096,0.82,105.7,407.9,26.9,409,9100,0.00,1.08,0.00,0.000,6,0.000,0.031,1938,3232,2008,0,0,0,0,0,0
$GC,9420,0.82,105.7,328.9,24.1,424,9424,0.00,1.15,0.00,0.000,4,0.000,0.052,1938,3953,2008,0,0,0,0,0,0
$GC,9493,0.82,105.7,310.5,25.6,427,9497,0.08,1.05,0.00,0.000,6,0.218,0.031,1924,3244,2008,0,0,0,0,0,0
$GC,9812,0.82,105.7,234.9,23.6,443,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3244,2007,0,0,0,0,0,0
$GC,10125,0.82,105.7,161.8,23.1,463,10130,0.00,1.12,0.00,0.000,4,0.000,0.052,1921,3954,2008,0,0,0,0,0,0
$GC,10183,0.82,105.7,146.7,24.0,466,10188,0.00,1.05,0.00,0.000,6,0.000,0.031,1925,3244,2008,0,0,0,0,0,0
$GC,10515,0.82,105.7,70.9,22.1,500,10522,0.00,1.10,0.00,0.000,4,0.000,0.052,1925,3937,2007,0,0,0,0,0,0
$GC,10586,0.82,105.7,55.3,25.1,511,10593,0.00,1.00,0.00,0.000,6,0.000,0.031,1930,3252,2008,0,0,0,0,0,0
$STATE,10838,end climb,SURFACE_DEPTH_REACHED
$STATE,10839,begin surface coast
$FINISH,0.9,1.012963
$STATE,10857,end surface coast,CONTROL_FINISHED_OK
$STATE,10857,begin surface
$SM_CCo,10873,163.93,0.737,1,0,503,482.50
$SM_GC,1.36,0.00,0.00,163.93,0.000,0.000,0.737,58,3363,503,-4.97,0.28,482.50
$IRIDIUM_FIX,-4215.72,818.13,231212,090953
$TT8_MAMPS,0.025466
$HUMID,55.07
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.7,18.873
$10V_AH,10.1,9.803
$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,12.200,44.775,216.575,163.925,0.000,38.346,42.622,283.305,0.000,0.000,22.600,1454.451,6891.399,459.117,2090.944,667.299,33.354,1251.526,0.000,1857.637,0.000,1.012,0.000
$DEVICE_MAMPS,225.675,87.210,1203.345,736.695,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.073,1217.278,585.343,274.659,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,40325,553
$CAP_FILE_SIZE,96166,0
$CFSIZE,259252224,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,155334,-4229.809,819.916,44,1.0,44,-24.9