version: 66.07
glider: 543
mission: 6
dive: 32
start: 12 13 112 22 27 58
data:
$ID,543
$MISSION,6
$DIVE,32
$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,-7890.9868
$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,49
$R_STBD_OVSHOOT,21
$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
$GPS1,131212,220305,-4234.394,816.107,32,1.7,32,-24.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,4
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-27.7
$GPS2,131212,222701,-4234.405,816.474,15,0.9,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.101,-0.119
$KALMAN_X,5484.7,8.1,16.4,14735.4,2821.6
$KALMAN_Y,48259.3,-1322.3,-794.3,-54194.9,10439.0
$MHEAD_RNG_PITCHd_Wd,164.5,9472,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,119,0.00,0.00,-90.00,0.000,6,0.000,0.000,63,3355,2695,0,0,0,0,0,0
$GC,123,-0.81,-94.4,3.3,-4.5,12,142,5.25,2.22,-4.47,0.000,4,0.229,0.047,1385,1948,2860,0,0,0,0,0,0
$GC,425,-0.81,-94.4,44.6,-12.2,59,432,0.00,2.28,0.00,0.000,6,0.000,0.054,1376,3359,2861,0,0,0,0,0,0
$GC,669,-0.81,-94.4,81.1,-14.2,100,675,0.00,0.93,0.00,0.000,4,0.000,0.057,1371,3942,2861,0,0,0,0,0,0
$GC,867,-0.81,-94.4,111.9,-15.1,125,871,0.00,0.90,0.00,0.000,6,0.000,0.036,1371,3353,2861,0,0,0,0,0,0
$GC,1198,-0.81,-94.4,161.9,-15.4,146,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3352,2861,0,0,0,0,0,0
$GC,1511,-0.81,-94.4,208.8,-15.1,166,1514,0.00,0.95,0.00,0.000,4,0.000,0.056,1367,3957,2861,0,0,0,0,0,0
$GC,1779,-0.81,-94.4,251.2,-16.9,181,1783,0.00,0.93,0.00,0.000,6,0.000,0.036,1367,3344,2861,0,0,0,0,0,0
$GC,2102,-0.81,-94.4,297.2,-14.3,197,2108,0.00,0.95,0.00,0.000,4,0.000,0.056,1362,3950,2861,0,0,0,0,0,0
$GC,2364,-0.81,-94.4,338.1,-15.2,208,2367,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3350,2861,0,0,0,0,0,0
$GC,2687,-0.81,-94.4,384.7,-14.3,224,2691,0.00,0.93,0.00,0.000,4,0.000,0.056,1358,3945,2861,0,0,0,0,0,0
$GC,2952,-0.81,-94.4,424.1,-14.8,233,2955,0.00,0.90,0.00,0.000,6,0.000,0.036,1358,3346,2860,0,0,0,0,0,0
$GC,3272,-0.81,-94.4,466.2,-13.4,244,3277,0.12,0.98,0.00,0.000,4,0.205,0.057,1383,3958,2860,0,0,0,0,0,0
$GC,3530,-0.81,-94.4,503.6,-14.7,251,3534,0.00,0.93,0.00,0.000,6,0.000,0.037,1383,3343,2860,0,0,0,0,0,0
$GC,3850,-0.81,-94.4,545.7,-13.1,262,3853,0.00,0.95,0.00,0.000,4,0.000,0.057,1378,3950,2859,0,0,0,0,0,0
$GC,4107,-0.81,-94.4,583.2,-14.8,269,4111,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3347,2860,0,0,0,0,0,0
$GC,4426,-0.81,-94.4,625.7,-13.4,280,4430,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3954,2859,0,0,0,0,0,0
$GC,4687,-0.81,-94.4,663.0,-14.7,287,4691,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3354,2857,0,0,0,0,0,0
$GC,5008,-0.81,-94.4,703.2,-12.6,298,5012,0.00,0.93,0.00,0.000,4,0.000,0.059,1370,3946,2856,0,0,0,0,0,0
$GC,5266,-0.81,-94.4,738.8,-13.9,305,5270,0.00,0.90,0.00,0.000,6,0.000,0.038,1370,3347,2856,0,0,0,0,0,0
$GC,5587,-0.81,-94.4,778.0,-12.4,316,5590,0.00,0.95,0.00,0.000,4,0.000,0.059,1365,3954,2855,0,0,0,0,0,0
$GC,5844,-0.81,-94.4,813.9,-13.9,323,5847,0.00,0.90,0.00,0.000,6,0.000,0.038,1365,3353,2854,0,0,0,0,0,0
$GC,6163,-0.81,-94.4,854.1,-12.7,334,6166,0.00,0.98,0.00,0.000,4,0.000,0.060,1361,3958,2854,0,0,0,0,0,0
$GC,6424,-0.81,-94.4,891.1,-14.6,341,6428,0.00,0.93,0.00,0.000,6,0.000,0.038,1361,3347,2853,0,0,0,0,0,0
$GC,6745,-0.81,-94.4,932.5,-12.7,352,6749,0.00,0.95,0.00,0.000,4,0.000,0.060,1356,3951,2852,0,0,0,0,0,0
$GC,7003,-0.81,-94.4,968.3,-13.8,359,7007,0.08,0.90,0.00,0.000,6,0.195,0.039,1377,3356,2851,0,0,0,0,0,0
$STATE,7290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7290,begin apogee
$GC,7297,-0.14,0.0,1000.4,10.9,369,7393,0.75,0.00,88.38,1.768,6,0.171,0.000,1596,3147,2473,0,0,0,0,1,0
$STATE,7395,end apogee,CONTROL_FINISHED_OK
$STATE,7395,begin climb
$GC,7397,0.81,94.4,1002.4,0.0,372,7508,0.93,2.35,96.32,1.779,4,0.079,0.034,1917,1750,2087,0,0,0,0,1,0
$GC,7738,0.81,94.4,941.8,20.0,382,7743,0.00,2.33,0.00,0.000,6,0.000,0.050,1917,3157,2083,0,0,0,0,0,0
$GC,8057,0.81,94.4,869.4,22.7,393,8060,0.00,1.27,0.00,0.000,4,0.000,0.054,1916,3940,2080,0,0,0,0,0,0
$GC,8121,0.81,94.4,854.0,25.0,394,8127,0.00,1.23,0.00,0.000,6,0.000,0.033,1922,3140,2079,0,0,0,0,0,0
$GC,8434,0.81,94.4,781.5,23.0,405,8439,0.00,1.30,0.00,0.000,4,0.000,0.054,1921,3943,2078,0,0,0,0,0,0
$GC,8538,0.81,94.4,755.8,24.6,408,8541,0.00,1.20,0.00,0.000,6,0.000,0.032,1926,3152,2077,0,0,0,0,0,0
$GC,8879,0.81,94.4,678.0,22.5,419,8883,0.00,1.27,0.00,0.000,4,0.000,0.054,1925,3954,2076,0,0,0,0,0,0
$GC,8962,0.81,94.4,657.2,24.9,421,8965,0.00,1.20,0.00,0.000,6,0.000,0.032,1930,3155,2076,0,0,0,0,0,0
$GC,9286,0.81,94.4,585.1,22.6,432,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3155,2075,0,0,0,0,0,0
$GC,9592,0.81,94.4,515.5,22.9,442,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3155,2074,0,0,0,0,0,0
$GC,9900,0.81,94.4,447.8,22.0,452,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3155,2073,0,0,0,0,0,0
$GC,10217,0.81,94.4,374.3,24.0,464,10221,0.00,1.25,0.00,0.000,4,0.000,0.054,1931,3945,2073,0,0,0,0,0,0
$GC,10313,0.81,94.4,349.7,25.9,468,10317,0.00,1.17,0.00,0.000,6,0.000,0.033,1937,3155,2073,0,0,0,0,0,0
$GC,10642,0.81,94.4,272.7,23.5,484,10646,0.00,1.25,0.00,0.000,4,0.000,0.054,1937,3947,2073,0,0,0,0,0,0
$GC,10693,0.81,94.4,259.6,25.0,486,10699,0.10,1.17,0.00,0.000,6,0.223,0.033,1917,3156,2072,0,0,0,0,0,0
$GC,11022,0.81,94.4,189.9,20.9,506,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3156,2072,0,0,0,0,0,0
$GC,11332,0.81,94.4,126.2,20.0,526,11336,0.00,1.25,0.00,0.000,4,0.000,0.052,1916,3948,2072,0,0,0,0,0,0
$GC,11397,0.81,94.4,111.8,22.3,529,11404,0.00,1.17,0.00,0.000,6,0.000,0.032,1922,3154,2072,0,0,0,0,0,0
$GC,11745,0.81,94.4,43.6,18.0,582,11753,0.00,1.25,0.00,0.000,4,0.000,0.053,1922,3953,2072,0,0,0,0,0,0
$STATE,11955,end climb,SURFACE_DEPTH_REACHED
$STATE,11955,begin surface coast
$FINISH,0.9,1.026858
$STATE,11973,end surface coast,CONTROL_FINISHED_OK
$STATE,11973,begin surface
$SM_CCo,11990,168.27,0.770,1,0,505,482.50
$SM_GC,1.05,0.00,0.00,168.27,0.000,0.000,0.770,60,3347,505,-4.97,-0.20,482.50
$IRIDIUM_FIX,-4215.72,818.55,131212,181822
$TT8_MAMPS,0.025466
$HUMID,54.25
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.1,8.237
$10V_AH,10.2,3.764
$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,12.225,46.775,184.700,168.275,0.000,24.603,19.731,1148.182,0.000,0.000,19.409,1650.063,7445.604,440.973,3231.154,795.838,33.355,1333.360,0.000,2182.106,0.000,2.859,0.000
$DEVICE_MAMPS,228.735,60.435,1778.625,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.386,1355.386,657.882,315.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,43735,617
$CAP_FILE_SIZE,117871,0
$CFSIZE,259252224,256389120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,141212,015200,-4234.625,817.550,36,0.8,37,-24.9