version: 66.07
glider: 543
mission: 6
dive: 31
start: 12 13 112 18 44 56
data:
$ID,543
$MISSION,6
$DIVE,31
$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,-7887.6953
$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,63
$R_STBD_OVSHOOT,27
$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
$GPS1,131212,182252,-4233.338,816.274,36,1.5,36,-24.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-33.8
$GPS2,131212,184400,-4233.298,816.483,22,1.8,22,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.063,-0.184
$KALMAN_X,5843.4,-628.3,-569.6,15611.9,6173.9
$KALMAN_Y,46990.9,-1380.4,-632.7,-50989.2,10163.8
$MHEAD_RNG_PITCHd_Wd,223.8,7770,-21.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.65,-83.7,0.0,0.0,0,118,0.00,0.00,-92.70,0.000,6,0.000,0.000,57,3366,2817,0,0,0,0,0,0
$GC,122,-0.69,-147.9,3.5,-4.4,12,141,5.53,0.90,-6.60,0.000,4,0.238,0.084,1415,3946,3078,0,0,0,0,0,0
$GC,383,-0.69,-147.9,51.5,-17.3,52,392,0.00,0.88,0.00,0.000,6,0.000,0.037,1415,3374,3080,0,0,0,0,0,0
$GC,626,-0.69,-147.9,90.9,-15.8,93,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3374,3080,0,0,0,0,0,0
$GC,951,-0.69,-147.9,140.6,-15.3,120,952,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3374,3080,0,0,0,0,0,0
$GC,1262,-0.69,-147.9,187.1,-14.6,140,1266,0.00,0.90,0.00,0.000,4,0.000,0.058,1411,3941,3081,0,0,0,0,0,0
$GC,1386,-0.69,-147.9,206.4,-15.4,147,1390,0.00,0.90,0.00,0.000,6,0.000,0.036,1411,3345,3080,0,0,0,0,0,0
$GC,1713,-0.69,-147.9,258.4,-16.0,167,1719,0.00,0.95,0.00,0.000,4,0.000,0.059,1407,3946,3080,0,0,0,0,0,0
$GC,1844,-0.69,-147.9,281.3,-17.2,172,1855,0.00,0.90,0.00,0.000,6,0.000,0.036,1407,3346,3080,0,0,0,0,0,0
$GC,2162,-0.69,-147.9,329.4,-15.1,188,2165,0.00,0.95,0.00,0.000,4,0.000,0.058,1402,3949,3080,0,0,0,0,0,0
$GC,2311,-0.69,-147.9,353.2,-15.9,194,2314,0.00,0.90,0.00,0.000,6,0.000,0.037,1403,3350,3080,0,0,0,0,0,0
$GC,2634,-0.69,-147.9,399.7,-14.4,210,2637,0.00,0.93,0.00,0.000,4,0.000,0.058,1398,3938,3080,0,0,0,0,0,0
$GC,2725,-0.69,-147.9,414.5,-16.8,213,2728,0.00,0.88,0.00,0.000,6,0.000,0.037,1398,3354,3080,0,0,0,0,0,0
$GC,3044,-0.69,-147.9,462.2,-15.1,224,3047,0.00,0.93,0.00,0.000,4,0.000,0.058,1394,3943,3080,0,0,0,0,0,0
$GC,3114,-0.69,-147.9,473.4,-15.9,226,3118,0.08,0.88,0.00,0.000,6,0.181,0.037,1416,3360,3080,0,0,0,0,0,0
$GC,3455,-0.69,-147.9,520.9,-13.9,237,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3360,3080,0,0,0,0,0,0
$GC,3761,-0.69,-147.9,562.8,-13.7,247,3765,0.00,0.93,0.00,0.000,4,0.000,0.060,1413,3947,3079,0,0,0,0,0,0
$GC,3925,-0.69,-147.9,586.7,-14.5,251,3933,0.00,0.90,0.00,0.000,6,0.000,0.038,1413,3348,3078,0,0,0,0,0,0
$GC,4239,-0.69,-147.9,629.5,-13.8,262,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,1413,3348,3078,0,0,0,0,0,0
$GC,4545,-0.69,-147.9,672.0,-13.9,272,4548,0.00,0.95,0.00,0.000,4,0.000,0.060,1409,3951,3077,0,0,0,0,0,0
$GC,4752,-0.69,-147.9,704.5,-14.8,278,4756,0.00,0.90,0.00,0.000,6,0.000,0.038,1409,3353,3076,0,0,0,0,0,0
$GC,5088,-0.69,-147.9,749.5,-13.2,289,5093,0.00,0.93,0.00,0.000,4,0.000,0.061,1404,3940,3075,0,0,0,0,0,0
$GC,5206,-0.69,-147.9,766.3,-14.1,292,5209,0.00,0.90,0.00,0.000,6,0.000,0.038,1404,3345,3075,0,0,0,0,0,0
$GC,5530,-0.69,-147.9,807.0,-12.6,303,5534,0.00,0.95,0.00,0.000,4,0.000,0.061,1400,3947,3074,0,0,0,0,0,0
$GC,5592,-0.69,-147.9,815.6,-13.1,304,5599,0.00,0.90,0.00,0.000,6,0.000,0.039,1400,3351,3074,0,0,0,0,0,0
$GC,5905,-0.69,-147.9,855.8,-12.9,315,5910,0.00,0.93,0.00,0.000,4,0.000,0.061,1396,3935,3073,0,0,0,0,0,0
$GC,5961,-0.69,-147.9,864.0,-15.0,316,5966,0.08,0.88,0.00,0.000,6,0.184,0.040,1417,3357,3073,0,0,0,0,0,0
$GC,6281,-0.69,-147.9,902.1,-12.0,327,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,1417,3357,3072,0,0,0,0,0,0
$GC,6586,-0.69,-147.9,938.4,-11.5,337,6592,0.00,0.93,0.00,0.000,4,0.000,0.063,1414,3941,3071,0,0,0,0,0,0
$GC,6691,-0.69,-147.9,951.0,-12.6,340,6695,0.00,0.90,0.00,0.000,6,0.000,0.040,1414,3347,3070,0,0,0,0,0,0
$GC,7033,-0.69,-147.9,991.3,-11.6,351,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,1414,3346,3070,0,0,0,0,0,0
$STATE,7122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7122,begin apogee
$GC,7129,-0.14,0.0,1001.8,11.6,354,7281,0.62,0.00,149.27,1.190,6,0.151,0.000,1604,3155,2473,0,0,0,0,0,0
$STATE,7283,end apogee,CONTROL_FINISHED_OK
$STATE,7283,begin climb
$GC,7286,0.69,147.9,1004.2,0.0,359,7445,0.75,2.35,149.82,1.162,4,0.057,0.034,1885,1749,1861,0,0,0,0,0,0
$GC,7468,0.69,147.9,973.0,22.2,364,7472,0.00,2.42,0.00,0.000,6,0.000,0.050,1885,3152,1853,0,0,0,0,0,0
$GC,7782,0.69,147.9,897.4,24.0,374,7786,0.00,1.30,0.00,0.000,4,0.000,0.054,1885,3947,1845,0,0,0,0,0,0
$GC,7825,0.69,147.9,885.6,26.5,375,7829,0.00,1.25,0.00,0.000,6,0.000,0.033,1891,3143,1844,0,0,0,0,0,0
$GC,8156,0.69,147.9,802.5,25.1,386,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,3138,1842,0,0,0,0,0,0
$GC,8462,0.69,147.9,727.3,24.1,396,8465,0.00,1.33,0.00,0.000,4,0.000,0.056,1891,3954,1841,0,0,0,0,0,0
$GC,8597,0.69,147.9,691.4,27.4,400,8601,0.00,1.23,0.00,0.000,6,0.000,0.034,1898,3148,1840,0,0,0,0,0,0
$GC,8939,0.69,147.9,608.7,24.2,411,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3144,1839,0,0,0,0,0,0
$GC,9245,0.69,147.9,536.7,23.2,421,9249,0.00,1.30,0.00,0.000,4,0.000,0.056,1898,3951,1839,0,0,0,0,0,0
$GC,9347,0.69,147.9,510.7,26.2,424,9351,0.10,1.20,0.00,0.000,6,0.217,0.033,1878,3148,1838,0,0,0,0,0,0
$GC,9688,0.69,147.9,433.8,22.3,435,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,3149,1837,0,0,0,0,0,0
$GC,10007,0.69,147.9,363.2,21.7,448,10011,0.00,1.27,0.00,0.000,4,0.000,0.054,1877,3949,1837,0,0,0,0,0,0
$GC,10080,0.69,147.9,345.9,24.4,451,10084,0.00,1.17,0.00,0.000,6,0.000,0.033,1882,3158,1837,0,0,0,0,0,0
$GC,10414,0.69,147.9,272.5,21.6,467,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,3158,1836,0,0,0,0,0,0
$GC,10736,0.69,147.9,199.8,22.8,486,10739,0.00,1.25,0.00,0.000,4,0.000,0.053,1882,3950,1836,0,0,0,0,0,0
$GC,10904,0.69,147.9,157.8,25.6,495,10911,0.00,1.20,0.00,0.000,6,0.000,0.031,1888,3140,1837,0,0,0,0,0,0
$GC,11230,0.69,147.9,85.2,22.8,522,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,3140,1836,0,0,0,0,0,0
$GC,11606,0.69,147.9,5.4,19.5,583,11617,0.00,1.30,0.00,0.000,4,0.000,0.057,1888,3953,1836,0,0,0,0,0,0
$STATE,11626,end climb,SURFACE_DEPTH_REACHED
$STATE,11626,begin surface coast
$FINISH,0.9,1.010703
$STATE,11646,end surface coast,CONTROL_FINISHED_OK
$STATE,11646,begin surface
$SM_CCo,11663,147.80,0.750,1,0,503,482.50
$SM_GC,1.24,0.00,0.00,147.80,0.000,0.000,0.750,64,3354,503,-4.95,0.03,482.50
$IRIDIUM_FIX,-4218.64,815.66,131212,181811
$TT8_MAMPS,0.025466
$HUMID,54.05
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.6,8.037
$10V_AH,10.2,3.656
$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,11.950,41.600,299.100,147.800,0.000,188.028,147.135,377.633,0.000,0.000,24.973,1504.521,7823.651,508.961,2416.579,792.647,33.355,1307.073,0.000,1848.545,0.000,1.013,0.000
$DEVICE_MAMPS,237.915,84.150,1189.575,749.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.489,1315.932,620.701,279.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,43812,588
$CAP_FILE_SIZE,105959,0
$CFSIZE,259252224,256405504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,131212,220305,-4234.394,816.107,32,1.7,32,-24.9