version: 66.07
glider: 543
mission: 6
dive: 34
start: 12 14 112 5 44 3
data:
$ID,543
$MISSION,6
$DIVE,34
$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,-7897.6484
$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,56
$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
$GPS1,141212,052735,-4234.273,818.299,29,0.9,29,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-32.8
$GPS2,141212,054305,-4234.171,818.330,16,1.5,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.154,0.028
$KALMAN_X,2544.5,-833.2,-376.8,21446.4,16.6
$KALMAN_Y,48914.9,-737.2,-763.7,-55034.5,7283.9
$MHEAD_RNG_PITCHd_Wd,104.6,8054,-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,-53.9,0.0,0.0,0,118,0.00,0.00,-89.90,0.000,6,0.000,0.000,72,3357,2694,0,0,0,0,0,0
$GC,122,-0.81,-98.6,3.2,-4.0,12,141,5.28,2.20,-5.22,0.000,4,0.233,0.047,1385,1947,2878,0,0,0,0,0,0
$GC,268,-0.81,-98.6,23.2,-15.1,33,279,0.00,2.33,0.00,0.000,6,0.000,0.055,1375,3348,2879,0,0,0,0,0,0
$GC,359,-0.81,-98.6,40.1,-18.0,46,368,0.00,0.98,0.00,0.000,4,0.000,0.060,1371,3947,2879,0,0,0,0,0,0
$GC,631,-0.81,-98.6,85.3,-16.5,92,638,0.00,0.90,0.00,0.000,6,0.000,0.036,1371,3358,2879,0,0,0,0,0,0
$GC,963,-0.81,-98.6,135.7,-15.0,124,967,0.00,0.95,0.00,0.000,4,0.000,0.057,1366,3957,2879,0,0,0,0,0,0
$GC,1228,-0.81,-98.6,180.4,-16.9,139,1232,0.00,0.93,0.00,0.000,6,0.000,0.035,1367,3344,2879,0,0,0,0,0,0
$GC,1553,-0.81,-98.6,228.5,-15.0,160,1557,0.00,2.10,0.00,0.000,4,0.000,0.033,1367,1934,2880,0,0,0,0,0,0
$GC,1700,-0.81,-98.6,247.9,-11.7,168,1709,0.08,2.30,0.00,0.000,6,0.169,0.054,1379,3351,2880,0,0,0,0,0,0
$GC,2034,-0.81,-98.6,294.2,-14.4,185,2040,0.00,0.95,0.00,0.000,4,0.000,0.057,1375,3956,2880,0,0,0,0,0,0
$GC,2295,-0.81,-98.6,335.1,-15.3,196,2299,0.00,0.90,0.00,0.000,6,0.000,0.036,1375,3355,2880,0,0,0,0,0,0
$GC,2619,-0.81,-98.6,379.9,-13.9,212,2622,0.00,0.98,0.00,0.000,4,0.000,0.058,1371,3960,2880,0,0,0,0,0,0
$GC,2884,-0.81,-98.6,421.0,-16.3,221,2887,0.00,0.90,0.00,0.000,6,0.000,0.036,1371,3358,2880,0,0,0,0,0,0
$GC,3204,-0.81,-98.6,466.7,-14.3,232,3208,0.00,2.12,0.00,0.000,4,0.000,0.033,1371,1937,2880,0,0,0,0,0,0
$GC,3392,-0.81,-98.6,489.9,-12.2,237,3396,0.00,2.28,0.00,0.000,6,0.000,0.054,1360,3363,2880,0,0,0,0,0,0
$GC,3705,-0.81,-98.6,535.8,-14.8,247,3711,0.00,0.90,0.00,0.000,4,0.000,0.057,1356,3943,2879,0,0,0,0,0,0
$GC,3964,-0.81,-98.6,577.4,-15.1,254,3968,0.08,0.88,0.00,0.000,6,0.186,0.037,1377,3357,2879,0,0,0,0,0,0
$GC,4284,-0.81,-98.6,617.3,-12.3,265,4287,0.00,0.93,0.00,0.000,4,0.000,0.059,1374,3948,2878,0,0,0,0,0,0
$GC,4540,-0.81,-98.6,653.0,-13.7,272,4544,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3346,2878,0,0,0,0,0,0
$GC,4859,-0.81,-98.6,693.1,-12.9,283,4863,0.00,2.10,0.00,0.000,4,0.000,0.034,1374,1942,2877,0,0,0,0,0,0
$GC,5068,-0.81,-98.6,715.9,-10.0,289,5072,0.00,2.25,0.00,0.000,6,0.000,0.054,1363,3357,2876,0,0,0,0,0,0
$GC,5392,-0.81,-98.6,757.5,-12.9,300,5395,0.00,0.93,0.00,0.000,4,0.000,0.059,1359,3948,2875,0,0,0,0,0,0
$GC,5649,-0.81,-98.6,795.7,-14.7,307,5653,0.00,0.90,0.00,0.000,6,0.000,0.038,1359,3349,2875,0,0,0,0,0,0
$GC,5967,-0.81,-98.6,839.7,-14.0,318,5971,0.00,0.95,0.00,0.000,4,0.000,0.058,1354,3956,2874,0,0,0,0,0,0
$GC,6229,-0.81,-98.6,880.6,-15.7,325,6233,0.08,0.90,0.00,0.000,6,0.192,0.039,1375,3359,2873,0,0,0,0,0,0
$GC,6549,-0.81,-98.6,922.0,-12.8,336,6553,0.00,0.93,0.00,0.000,4,0.000,0.060,1373,3949,2872,0,0,0,0,0,0
$GC,6808,-0.81,-98.6,958.8,-14.1,343,6811,0.00,0.90,0.00,0.000,6,0.000,0.039,1372,3350,2872,0,0,0,0,0,0
$GC,7127,-0.81,-98.6,997.4,-12.1,354,7131,0.00,2.10,0.00,0.000,4,0.000,0.036,1372,1935,2871,0,0,0,0,0,0
$STATE,7147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7147,begin apogee
$GC,7155,-0.14,0.0,1000.4,12.3,354,7261,0.77,0.00,102.15,1.214,6,0.169,0.000,1594,3164,2473,0,0,0,0,0,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7265,0.81,98.6,1002.3,0.0,358,7376,0.93,1.33,103.10,1.198,4,0.085,0.052,1904,3954,2068,0,0,0,0,0,0
$GC,7525,0.81,98.6,947.4,27.8,366,7530,0.00,1.27,0.00,0.000,6,0.000,0.032,1910,3137,2054,0,0,0,0,0,0
$GC,7868,0.81,98.6,863.8,24.0,377,7872,0.00,2.12,0.00,0.000,4,0.000,0.035,1921,1761,2048,0,0,0,0,0,0
$GC,7899,0.81,98.6,857.0,21.9,378,7903,0.00,2.28,0.00,0.000,6,0.000,0.049,1921,3158,2047,0,0,0,0,0,0
$GC,8234,0.81,98.6,777.6,23.5,389,8238,0.00,2.15,0.00,0.000,4,0.000,0.036,1931,1766,2045,0,0,0,0,0,0
$GC,8339,0.81,98.6,754.7,20.1,392,8343,0.00,2.25,0.00,0.000,6,0.000,0.051,1930,3157,2044,0,0,0,0,0,0
$GC,8664,0.81,98.6,679.2,23.8,403,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3157,2042,0,0,0,0,0,0
$GC,8970,0.81,98.6,608.2,23.1,413,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3157,2042,0,0,0,0,0,0
$GC,9277,0.81,98.6,537.7,23.3,423,9281,0.00,2.15,0.00,0.000,4,0.000,0.035,1940,1761,2040,0,0,0,0,0,0
$GC,9315,0.81,98.6,529.0,19.5,424,9319,0.00,2.25,0.00,0.000,6,0.000,0.050,1941,3163,2040,0,0,0,0,0,0
$GC,9639,0.81,98.6,455.8,22.6,435,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,3163,2040,0,0,0,0,0,0
$GC,9946,0.81,98.6,384.7,22.7,446,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,3163,2039,0,0,0,0,0,0
$GC,10257,0.81,98.6,312.1,23.9,461,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,3163,2039,0,0,0,0,0,0
$GC,10577,0.81,98.6,238.5,22.8,477,10583,0.00,2.17,0.00,0.000,4,0.000,0.035,1951,1757,2039,0,0,0,0,0,0
$GC,10624,0.81,98.6,228.0,20.0,479,10632,0.15,2.22,0.00,0.000,6,0.213,0.050,1916,3160,2037,0,0,0,0,0,0
$GC,10947,0.81,98.6,160.7,21.2,500,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3160,2037,0,0,0,0,0,0
$GC,11257,0.81,98.6,94.5,20.5,522,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3160,2037,0,0,0,0,0,0
$GC,11631,0.81,98.6,21.1,18.4,583,11641,0.00,2.15,0.00,0.000,4,0.000,0.034,1926,1754,2037,0,0,0,0,0,0
$GC,11688,0.81,98.6,11.9,14.5,591,11699,0.00,2.22,0.00,0.000,6,0.000,0.049,1926,3149,2037,0,0,0,0,0,0
$STATE,11748,end climb,SURFACE_DEPTH_REACHED
$STATE,11749,begin surface coast
$FINISH,0.9,1.014440
$STATE,11772,end surface coast,CONTROL_FINISHED_OK
$STATE,11772,begin surface
$SM_CCo,11789,162.82,0.775,1,0,503,482.50
$SM_GC,1.19,0.00,0.00,162.82,0.000,0.000,0.775,58,3363,503,-4.97,0.28,482.50
$IRIDIUM_FIX,-4218.64,815.66,141212,010139
$TT8_MAMPS,0.024717
$HUMID,53.85
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.7,8.551
$10V_AH,10.1,3.965
$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,12.350,63.250,205.250,162.825,0.000,28.717,27.052,625.746,0.000,0.000,19.599,1595.586,7385.824,457.605,2617.341,794.421,33.355,1336.283,0.000,2102.926,0.000,1.013,0.000
$DEVICE_MAMPS,232.560,71.145,1214.055,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.381,1335.071,648.242,305.184,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,43819,602
$CAP_FILE_SIZE,110396,0
$CFSIZE,259252224,256282624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,141212,090434,-4234.161,819.371,33,0.8,33,-24.9