version: 66.07
glider: 543
mission: 6
dive: 30
start: 12 13 112 15 0 27
data:
$ID,543
$MISSION,6
$DIVE,30
$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,52589
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7884.3745
$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,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,28
$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
$GPS1,131212,144328,-4233.415,818.110,39,1.2,39,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-23.5
$GPS2,131212,145929,-4233.344,818.294,19,1.4,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.178,-0.099
$KALMAN_X,5563.4,-1290.4,-563.7,19009.8,6280.8
$KALMAN_Y,44476.3,-899.8,-154.1,-49515.6,8354.7
$MHEAD_RNG_PITCHd_Wd,266.0,6616,-20.4,-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,-0.62,-92.7,0.0,0.0,0,118,0.00,0.00,-94.07,0.000,6,0.000,0.000,69,3364,2853,0,0,0,0,0,0
$GC,122,-0.66,-157.5,3.5,-4.8,12,141,5.57,0.93,-6.60,0.000,4,0.239,0.088,1426,3946,3116,0,0,0,0,0,0
$GC,244,-0.66,-157.5,24.9,-17.8,29,252,0.00,0.90,0.00,0.000,6,0.000,0.037,1426,3363,3119,0,0,0,0,0,0
$GC,328,-0.66,-157.5,40.6,-16.9,42,336,0.00,2.20,0.00,0.000,4,0.000,0.032,1426,1942,3120,0,0,0,0,0,0
$GC,371,-0.66,-157.5,46.8,-13.8,48,380,0.00,2.33,0.00,0.000,6,0.000,0.059,1415,3339,3119,0,0,0,0,0,0
$GC,618,-0.66,-157.5,86.1,-16.4,89,622,0.00,0.98,0.00,0.000,4,0.000,0.057,1411,3951,3120,0,0,0,0,0,0
$GC,809,-0.66,-157.5,118.7,-16.0,110,813,0.00,0.90,0.00,0.000,6,0.000,0.037,1411,3359,3120,0,0,0,0,0,0
$GC,1144,-0.66,-157.5,170.3,-15.5,131,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,1411,3359,3120,0,0,0,0,0,0
$GC,1456,-0.66,-157.5,219.2,-15.3,151,1460,0.00,0.95,0.00,0.000,4,0.000,0.057,1406,3960,3121,0,0,0,0,0,0
$GC,1597,-0.66,-157.5,242.9,-16.5,159,1601,0.00,0.93,0.00,0.000,6,0.000,0.036,1406,3344,3121,0,0,0,0,0,0
$GC,1916,-0.66,-157.5,292.6,-15.7,175,1921,0.00,0.95,0.00,0.000,4,0.000,0.057,1402,3950,3121,0,0,0,0,0,0
$GC,2000,-0.66,-157.5,307.0,-17.4,178,2004,0.08,0.90,0.00,0.000,6,0.177,0.036,1424,3353,3120,0,0,0,0,0,0
$GC,2322,-0.66,-157.5,351.6,-13.3,194,2326,0.00,0.98,0.00,0.000,4,0.000,0.060,1421,3956,3120,0,0,0,0,0,0
$GC,2387,-0.66,-157.5,361.1,-14.4,196,2396,0.00,0.90,0.00,0.000,6,0.000,0.036,1421,3355,3120,0,0,0,0,0,0
$GC,2715,-0.66,-157.5,406.0,-13.6,212,2718,0.00,0.95,0.00,0.000,4,0.000,0.058,1416,3959,3120,0,0,0,0,0,0
$GC,2769,-0.66,-157.5,414.3,-15.0,213,2773,0.00,0.90,0.00,0.000,6,0.000,0.037,1416,3361,3120,0,0,0,0,0,0
$GC,3088,-0.66,-157.5,457.6,-13.7,224,3092,0.00,0.93,0.00,0.000,4,0.000,0.058,1412,3950,3120,0,0,0,0,0,0
$GC,3171,-0.66,-157.5,469.9,-14.6,226,3174,0.00,0.90,0.00,0.000,6,0.000,0.037,1412,3352,3120,0,0,0,0,0,0
$GC,3495,-0.66,-157.5,515.6,-14.6,237,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,1412,3352,3119,0,0,0,0,0,0
$GC,3802,-0.66,-157.5,559.4,-14.3,247,3805,0.00,0.95,0.00,0.000,4,0.000,0.059,1407,3957,3118,0,0,0,0,0,0
$GC,3938,-0.66,-157.5,580.5,-15.7,251,3941,0.00,0.90,0.00,0.000,6,0.000,0.037,1408,3356,3118,0,0,0,0,0,0
$GC,4280,-0.66,-157.5,630.3,-14.3,262,4283,0.00,0.95,0.00,0.000,4,0.000,0.059,1403,3961,3118,0,0,0,0,0,0
$GC,4330,-0.66,-157.5,638.5,-16.5,263,4336,0.08,0.93,0.00,0.000,6,0.178,0.037,1426,3348,3118,0,0,0,0,0,0
$GC,4655,-0.66,-157.5,680.7,-12.9,274,4661,0.00,0.95,0.00,0.000,4,0.000,0.060,1422,3953,3117,0,0,0,0,0,0
$GC,4712,-0.66,-157.5,689.1,-15.0,275,4715,0.00,0.90,0.00,0.000,6,0.000,0.038,1422,3355,3117,0,0,0,0,0,0
$GC,5032,-0.66,-157.5,732.5,-13.8,286,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,3354,3116,0,0,0,0,0,0
$GC,5337,-0.66,-157.5,774.2,-13.4,296,5342,0.00,0.95,0.00,0.000,4,0.000,0.061,1418,3956,3115,0,0,0,0,0,0
$GC,5510,-0.66,-157.5,798.0,-13.9,301,5513,0.00,0.90,0.00,0.000,6,0.000,0.039,1418,3355,3114,0,0,0,0,0,0
$GC,5851,-0.66,-157.5,841.3,-12.2,312,5857,0.00,0.95,0.00,0.000,4,0.000,0.061,1414,3958,3114,0,0,0,0,0,0
$GC,5924,-0.66,-157.5,851.2,-13.1,314,5928,0.00,0.93,0.00,0.000,6,0.000,0.039,1414,3344,3113,0,0,0,0,0,0
$GC,6260,-0.66,-157.5,891.8,-11.9,325,6266,0.00,0.95,0.00,0.000,4,0.000,0.061,1409,3950,3112,0,0,0,0,0,0
$GC,6330,-0.66,-157.5,900.9,-12.9,327,6333,0.00,0.90,0.00,0.000,6,0.000,0.040,1410,3352,3113,0,0,0,0,0,0
$GC,6671,-0.66,-157.5,941.8,-11.8,338,6676,0.00,0.95,0.00,0.000,4,0.000,0.061,1405,3956,3111,0,0,0,0,0,0
$GC,6740,-0.66,-157.5,951.0,-13.7,340,6744,0.00,0.90,0.00,0.000,6,0.000,0.040,1405,3358,3111,0,0,0,0,0,0
$GC,7082,-0.66,-157.5,994.1,-12.8,351,7088,0.12,0.95,0.00,0.000,4,0.194,0.063,1432,3950,3110,0,0,0,0,0,0
$GC,7118,-0.66,-157.5,998.4,-11.5,352,7124,0.00,0.90,0.00,0.000,6,0.000,0.041,1432,3356,3110,0,0,0,0,0,0
$STATE,7133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7133,begin apogee
$GC,7140,-0.14,0.0,1000.5,11.2,352,7298,0.52,0.00,150.20,1.848,6,0.144,0.000,1598,3146,2473,0,0,0,0,1,0
$STATE,7300,end apogee,CONTROL_FINISHED_OK
$STATE,7300,begin climb
$GC,7302,0.66,157.5,1004.4,0.0,357,7467,0.75,0.00,156.10,1.808,6,0.057,0.000,1866,3146,1829,0,0,0,0,1,0
$GC,7766,0.66,157.5,914.9,22.1,373,7770,0.00,1.35,0.00,0.000,4,0.000,0.056,1866,3947,1821,0,0,0,0,0,0
$GC,7810,0.66,157.5,904.0,24.2,374,7814,0.00,1.27,0.00,0.000,6,0.000,0.033,1872,3138,1820,0,0,0,0,0,0
$GC,8140,0.66,157.5,829.0,22.8,385,8145,0.00,1.35,0.00,0.000,4,0.000,0.056,1872,3956,1819,0,0,0,0,0,0
$GC,8168,0.66,157.5,821.9,23.2,385,8175,0.00,1.25,0.00,0.000,6,0.000,0.033,1878,3145,1819,0,0,0,0,0,0
$GC,8481,0.66,157.5,753.1,21.8,396,8485,0.00,1.33,0.00,0.000,4,0.000,0.056,1879,3961,1816,0,0,0,0,0,0
$GC,8559,0.66,157.5,734.0,24.9,398,8563,0.00,1.23,0.00,0.000,6,0.000,0.033,1884,3157,1817,0,0,0,0,0,0
$GC,8890,0.66,157.5,659.7,22.6,409,8893,0.00,1.27,0.00,0.000,4,0.000,0.056,1884,3950,1815,0,0,0,0,0,0
$GC,8925,0.66,157.5,651.3,24.4,410,8928,0.00,1.23,0.00,0.000,6,0.000,0.033,1890,3146,1815,0,0,0,0,0,0
$GC,9266,0.66,157.5,570.8,23.7,421,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,3142,1815,0,0,0,0,0,0
$GC,9572,0.66,157.5,497.4,24.0,431,9576,0.00,1.30,0.00,0.000,4,0.000,0.054,1891,3957,1814,0,0,0,0,0,0
$GC,9608,0.66,157.5,488.3,27.3,432,9612,0.10,1.23,0.00,0.000,6,0.214,0.032,1871,3142,1814,0,0,0,0,0,0
$GC,9948,0.66,157.5,413.4,21.6,443,9952,0.00,1.30,0.00,0.000,4,0.000,0.054,1871,3957,1813,0,0,0,0,0,0
$GC,10004,0.66,157.5,399.9,23.4,444,10009,0.00,1.20,0.00,0.000,6,0.000,0.033,1875,3154,1814,0,0,0,0,0,0
$GC,10328,0.66,157.5,329.2,21.7,460,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3154,1813,0,0,0,0,0,0
$GC,10638,0.66,157.5,263.1,21.0,475,10643,0.00,1.27,0.00,0.000,4,0.000,0.053,1875,3958,1813,0,0,0,0,0,0
$GC,10691,0.66,157.5,250.1,23.9,477,10694,0.00,1.20,0.00,0.000,6,0.000,0.032,1882,3151,1813,0,0,0,0,0,0
$GC,11022,0.66,157.5,180.8,20.8,498,11026,0.00,1.27,0.00,0.000,4,0.000,0.053,1881,3958,1812,0,0,0,0,0,0
$GC,11099,0.66,157.5,163.1,23.0,502,11104,0.00,1.20,0.00,0.000,6,0.000,0.032,1888,3148,1812,0,0,0,0,0,0
$GC,11425,0.66,157.5,93.0,22.0,526,11432,0.00,2.10,0.00,0.000,4,0.000,0.034,1899,1758,1812,0,0,0,0,0,0
$GC,11460,0.66,157.5,85.0,20.2,531,11469,0.10,2.25,0.00,0.000,6,0.181,0.050,1870,3158,1811,0,0,0,0,0,0
$GC,11846,0.66,157.5,11.6,19.5,592,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3158,1811,0,0,0,0,0,0
$STATE,11890,end climb,SURFACE_DEPTH_REACHED
$STATE,11890,begin surface coast
$FINISH,1.0,1.026277
$STATE,11905,end surface coast,CONTROL_FINISHED_OK
$STATE,11905,begin surface
$SM_CCo,11921,141.50,0.760,1,0,505,482.50
$SM_GC,1.35,0.00,0.00,141.50,0.000,0.000,0.760,57,3366,505,-4.98,0.37,482.50
$IRIDIUM_FIX,-4215.72,818.13,131212,111157
$TT8_MAMPS,0.025466
$HUMID,54.52
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.6,7.872
$10V_AH,10.1,3.559
$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,12.125,57.575,306.300,141.500,0.000,28.584,31.158,654.364,0.000,0.000,21.708,1554.793,7736.887,561.286,2369.636,770.181,33.348,1353.955,0.000,1814.780,0.000,1.013,0.000
$DEVICE_MAMPS,239.445,87.975,1848.240,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.029,1321.428,621.291,283.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,44046,600
$CAP_FILE_SIZE,109994,0
$CFSIZE,259252224,256507904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,131212,182252,-4233.338,816.274,36,1.5,36,-24.9