version: 66.07
glider: 543
mission: 6
dive: 33
start: 12 14 112 2 11 25
data:
$ID,543
$MISSION,6
$DIVE,33
$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,-7894.2979
$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,55
$R_STBD_OVSHOOT,24
$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
$GPS1,141212,015200,-4234.625,817.550,36,0.8,37,-24.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-31.6
$GPS2,141212,021029,-4234.544,817.706,17,1.3,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.156,0.000
$KALMAN_X,5312.6,-159.0,-583.6,17350.6,2742.6
$KALMAN_Y,49004.9,-945.2,-416.9,-55952.4,8378.2
$MHEAD_RNG_PITCHd_Wd,114.8,8979,-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,-53.9,0.0,0.0,0,111,0.00,0.00,-89.35,0.000,6,0.000,0.000,60,3347,2694,0,0,0,0,0,0
$GC,115,-0.82,-102.2,2.8,-3.6,11,134,5.28,2.15,-6.03,0.000,4,0.228,0.045,1379,1955,2893,0,0,0,0,0,0
$GC,320,-0.82,-102.2,31.3,-15.1,41,327,0.00,2.28,0.00,0.000,6,0.000,0.056,1370,3348,2894,0,0,0,0,0,0
$GC,565,-0.82,-102.2,75.3,-16.6,82,573,0.00,0.98,0.00,0.000,4,0.000,0.056,1365,3960,2894,0,0,0,0,0,0
$GC,835,-0.82,-102.2,123.3,-17.6,113,838,0.00,0.90,0.00,0.000,6,0.000,0.036,1365,3365,2894,0,0,0,0,0,0
$GC,1160,-0.82,-102.2,176.6,-16.2,134,1163,0.00,0.93,0.00,0.000,4,0.000,0.057,1361,3951,2895,0,0,0,0,0,0
$GC,1422,-0.82,-102.2,223.0,-17.6,149,1426,0.00,0.90,0.00,0.000,6,0.000,0.036,1361,3353,2895,0,0,0,0,0,0
$GC,1750,-0.82,-102.2,274.1,-15.3,168,1754,0.00,0.98,0.00,0.000,4,0.000,0.058,1356,3956,2895,0,0,0,0,0,0
$GC,2014,-0.82,-102.2,317.1,-15.6,179,2018,0.08,0.93,0.00,0.000,6,0.186,0.036,1377,3343,2895,0,0,0,0,0,0
$GC,2337,-0.82,-102.2,359.6,-13.1,195,2343,0.00,2.12,0.00,0.000,4,0.000,0.034,1378,1943,2895,0,0,0,0,0,0
$GC,2550,-0.82,-102.2,384.2,-10.9,204,2554,0.00,2.25,0.00,0.000,6,0.000,0.054,1368,3356,2895,0,0,0,0,0,0
$GC,2879,-0.82,-102.2,431.1,-14.6,217,2885,0.00,0.93,0.00,0.000,4,0.000,0.057,1364,3949,2895,0,0,0,0,0,0
$GC,3137,-0.82,-102.2,473.5,-16.4,224,3140,0.00,0.90,0.00,0.000,6,0.000,0.036,1364,3347,2895,0,0,0,0,0,0
$GC,3456,-0.82,-102.2,522.1,-15.4,235,3460,0.00,0.95,0.00,0.000,4,0.000,0.058,1360,3955,2894,0,0,0,0,0,0
$GC,3713,-0.82,-102.2,565.2,-16.7,242,3717,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3353,2894,0,0,0,0,0,0
$GC,4032,-0.82,-102.2,613.8,-15.4,253,4036,0.00,0.95,0.00,0.000,4,0.000,0.060,1355,3947,2893,0,0,0,0,0,0
$GC,4294,-0.82,-102.2,657.8,-16.8,260,4298,0.10,0.90,0.00,0.000,6,0.186,0.037,1383,3348,2893,0,0,0,0,0,0
$GC,4614,-0.82,-102.2,700.8,-13.2,271,4618,0.00,0.95,0.00,0.000,4,0.000,0.060,1379,3953,2893,0,0,0,0,0,0
$GC,4872,-0.82,-102.2,737.9,-13.8,278,4875,0.00,0.90,0.00,0.000,6,0.000,0.038,1380,3354,2892,0,0,0,0,0,0
$GC,5192,-0.82,-102.2,778.9,-13.0,289,5195,0.00,0.95,0.00,0.000,4,0.000,0.063,1376,3942,2891,0,0,0,0,0,0
$GC,5448,-0.82,-102.2,815.4,-14.0,296,5452,0.00,0.90,0.00,0.000,6,0.000,0.038,1375,3346,2890,0,0,0,0,0,0
$GC,5767,-0.82,-102.2,854.2,-12.1,307,5771,0.00,2.10,0.00,0.000,4,0.000,0.035,1375,1928,2889,0,0,0,0,0,0
$GC,5901,-0.82,-102.2,868.4,-10.2,311,5905,0.00,2.28,0.00,0.000,6,0.000,0.057,1365,3355,2888,0,0,0,0,0,0
$GC,6231,-0.82,-102.2,909.7,-12.9,322,6237,0.00,0.93,0.00,0.000,4,0.000,0.060,1360,3947,2887,0,0,0,0,0,0
$GC,6490,-0.82,-102.2,949.0,-16.1,329,6494,0.00,0.90,0.00,0.000,6,0.000,0.040,1360,3349,2887,0,0,0,0,0,0
$GC,6810,-0.82,-102.2,992.3,-13.6,340,6814,0.00,0.95,0.00,0.000,4,0.000,0.060,1356,3953,2886,0,0,0,0,0,0
$STATE,6863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6871,-0.14,0.0,1000.8,15.1,341,6980,0.82,0.00,105.55,1.226,6,0.180,0.000,1596,3139,2473,0,0,0,0,0,0
$STATE,6981,end apogee,CONTROL_FINISHED_OK
$STATE,6981,begin climb
$GC,6984,0.82,102.2,1003.7,0.0,345,7099,0.93,2.38,99.68,1.792,4,0.084,0.036,1916,1753,2058,0,0,0,0,1,0
$GC,7290,0.82,102.2,950.2,19.5,354,7294,0.00,2.35,0.00,0.000,6,0.000,0.050,1916,3160,2049,0,0,0,0,0,0
$GC,7614,0.82,102.2,873.0,24.6,365,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3159,2046,0,0,0,0,0,0
$GC,7920,0.82,102.2,798.7,24.0,375,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3159,2044,0,0,0,0,0,0
$GC,8227,0.82,102.2,726.0,23.0,385,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3159,2042,0,0,0,0,0,0
$GC,8532,0.82,102.2,654.7,23.3,395,8538,0.00,1.27,0.00,0.000,4,0.000,0.054,1916,3955,2041,0,0,0,0,0,0
$GC,8656,0.82,102.2,623.1,25.2,398,8660,0.00,1.23,0.00,0.000,6,0.000,0.033,1922,3139,2041,0,0,0,0,0,0
$GC,8975,0.82,102.2,549.6,22.8,409,8979,0.00,1.30,0.00,0.000,4,0.000,0.054,1922,3955,2040,0,0,0,0,0,0
$GC,9047,0.82,102.2,531.5,24.4,411,9051,0.00,1.20,0.00,0.000,6,0.000,0.033,1928,3157,2040,0,0,0,0,0,0
$GC,9382,0.82,102.2,457.5,22.1,422,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3156,2039,0,0,0,0,0,0
$GC,9701,0.82,102.2,387.5,22.3,433,9707,0.00,2.15,0.00,0.000,4,0.000,0.035,1940,1765,2039,0,0,0,0,0,0
$GC,9752,0.82,102.2,377.5,20.6,435,9756,0.00,2.22,0.00,0.000,6,0.000,0.049,1939,3165,2038,0,0,0,0,0,0
$GC,10081,0.82,102.2,302.2,23.1,451,10086,0.00,1.23,0.00,0.000,4,0.000,0.053,1939,3944,2038,0,0,0,0,0,0
$GC,10178,0.82,102.2,276.9,26.4,455,10185,0.10,1.17,0.00,0.000,6,0.227,0.032,1919,3152,2038,0,0,0,0,0,0
$GC,10508,0.82,102.2,205.3,22.1,474,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3152,2037,0,0,0,0,0,0
$GC,10818,0.82,102.2,138.0,20.8,494,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3152,2037,0,0,0,0,0,0
$GC,11143,0.82,102.2,70.9,20.4,530,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3152,2037,0,0,0,0,0,0
$STATE,11491,end climb,SURFACE_DEPTH_REACHED
$STATE,11491,begin surface coast
$FINISH,0.8,1.001544
$STATE,11514,end surface coast,CONTROL_FINISHED_OK
$STATE,11514,begin surface
$SM_CCo,11530,164.98,0.783,1,0,503,482.50
$SM_GC,1.06,0.00,0.00,164.98,0.000,0.000,0.783,72,3357,503,-4.93,0.11,482.50
$IRIDIUM_FIX,-4218.64,818.55,131212,222240
$TT8_MAMPS,0.025466
$HUMID,54.33
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,23.1,8.406
$10V_AH,10.2,3.864
$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,12.350,48.850,205.225,164.975,0.000,64.035,104.367,630.606,0.000,0.000,20.504,1574.096,7252.761,439.121,2735.094,768.939,33.344,1299.742,0.000,2089.661,0.000,1.014,0.000
$DEVICE_MAMPS,227.970,70.380,1792.395,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.078,1301.597,633.813,292.543,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354172
$DATA_FILE_SIZE,43636,590
$CAP_FILE_SIZE,107561,0
$CFSIZE,259252224,256339968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,141212,052735,-4234.273,818.299,29,0.9,29,-24.9