version: 66.07
glider: 543
mission: 6
dive: 36
start: 12 14 112 13 9 43
data:
$ID,543
$MISSION,6
$DIVE,36
$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,52459
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7907.7178
$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,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,39
$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
$GPS1,141212,125234,-4233.375,821.201,25,1.5,25,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-26.3
$GPS2,141212,130846,-4233.265,821.396,31,1.0,32,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.007,0.188
$KALMAN_X,-95.1,69.0,157.8,26802.5,-1739.4
$KALMAN_Y,45278.0,-1100.1,-302.9,-49825.2,1843.8
$MHEAD_RNG_PITCHd_Wd,22.8,6340,-22.3,-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,-0.67,-78.3,0.0,0.0,0,118,0.00,0.00,-93.12,0.000,6,0.000,0.000,60,3375,2795,0,0,0,0,0,0
$GC,122,-0.70,-137.9,3.3,-4.4,12,141,5.47,2.25,-6.30,0.000,4,0.236,0.047,1422,1925,3038,0,0,0,0,0,0
$GC,261,-0.70,-137.9,22.6,-13.4,32,269,0.00,2.35,0.00,0.000,6,0.000,0.057,1412,3335,3040,0,0,0,0,0,0
$GC,349,-0.70,-137.9,36.6,-15.7,45,357,0.00,1.00,0.00,0.000,4,0.000,0.061,1407,3951,3040,0,0,0,0,0,0
$GC,437,-0.70,-137.9,50.8,-16.0,59,445,0.00,0.93,0.00,0.000,6,0.000,0.037,1408,3353,3040,0,0,0,0,0,0
$GC,679,-0.70,-137.9,87.1,-15.1,100,686,0.00,1.00,0.00,0.000,4,0.000,0.061,1403,3958,3041,0,0,0,0,0,0
$GC,717,-0.70,-137.9,93.3,-16.6,106,723,0.00,0.93,0.00,0.000,6,0.000,0.037,1403,3356,3041,0,0,0,0,0,0
$GC,1041,-0.70,-137.9,142.9,-14.9,131,1045,0.00,0.95,0.00,0.000,4,0.000,0.059,1399,3953,3041,0,0,0,0,0,0
$GC,1187,-0.70,-137.9,167.1,-16.7,139,1190,0.00,0.93,0.00,0.000,6,0.000,0.037,1399,3346,3042,0,0,0,0,0,0
$GC,1511,-0.70,-137.9,217.5,-15.6,160,1515,0.00,0.98,0.00,0.000,4,0.000,0.057,1394,3960,3042,0,0,0,0,0,0
$GC,1617,-0.70,-137.9,235.9,-17.5,166,1620,0.00,0.93,0.00,0.000,6,0.000,0.037,1394,3351,3042,0,0,0,0,0,0
$GC,1936,-0.70,-137.9,285.9,-15.6,183,1941,0.00,0.95,0.00,0.000,4,0.000,0.059,1390,3951,3041,0,0,0,0,0,0
$GC,2061,-0.70,-137.9,307.4,-16.7,188,2065,0.08,0.90,0.00,0.000,6,0.177,0.037,1412,3359,3041,0,0,0,0,0,0
$GC,2384,-0.70,-137.9,353.1,-14.4,204,2387,0.00,0.95,0.00,0.000,4,0.000,0.060,1409,3958,3041,0,0,0,0,0,0
$GC,2491,-0.70,-137.9,369.8,-14.3,208,2502,0.00,0.93,0.00,0.000,6,0.000,0.037,1409,3343,3041,0,0,0,0,0,0
$GC,2817,-0.70,-137.9,415.3,-14.0,223,2823,0.00,0.95,0.00,0.000,4,0.000,0.058,1404,3947,3041,0,0,0,0,0,0
$GC,2887,-0.70,-137.9,425.7,-15.2,225,2890,0.00,0.90,0.00,0.000,6,0.000,0.036,1404,3347,3041,0,0,0,0,0,0
$GC,3228,-0.70,-137.9,476.2,-14.8,236,3233,0.00,0.95,0.00,0.000,4,0.000,0.058,1400,3952,3041,0,0,0,0,0,0
$GC,3324,-0.70,-137.9,492.1,-16.2,238,3332,0.00,0.90,0.00,0.000,6,0.000,0.036,1400,3350,3041,0,0,0,0,0,0
$GC,3637,-0.70,-137.9,539.1,-14.8,249,3642,0.00,0.95,0.00,0.000,4,0.000,0.058,1396,3954,3040,0,0,0,0,0,0
$GC,3722,-0.70,-137.9,552.9,-16.6,251,3725,0.00,0.90,0.00,0.000,6,0.000,0.037,1396,3354,3040,0,0,0,0,0,0
$GC,4046,-0.70,-137.9,600.7,-14.8,262,4050,0.00,0.98,0.00,0.000,4,0.000,0.060,1392,3957,3039,0,0,0,0,0,0
$GC,4084,-0.70,-137.9,607.1,-16.0,263,4088,0.08,0.90,0.00,0.000,6,0.181,0.037,1413,3355,3039,0,0,0,0,0,0
$GC,4420,-0.70,-137.9,651.3,-12.8,274,4425,0.00,0.95,0.00,0.000,4,0.000,0.060,1410,3958,3039,0,0,0,0,0,0
$GC,4524,-0.70,-137.9,665.2,-13.3,277,4528,0.00,0.93,0.00,0.000,6,0.000,0.037,1410,3341,3038,0,0,0,0,0,0
$GC,4866,-0.70,-137.9,706.8,-12.0,288,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,1410,3340,3037,0,0,0,0,0,0
$GC,5173,-0.70,-137.9,743.5,-12.1,298,5177,0.00,0.98,0.00,0.000,4,0.000,0.060,1406,3960,3037,0,0,0,0,0,0
$GC,5267,-0.70,-137.9,756.4,-13.9,300,5274,0.00,0.93,0.00,0.000,6,0.000,0.037,1406,3345,3037,0,0,0,0,0,0
$GC,5580,-0.70,-137.9,795.8,-12.6,311,5584,0.00,2.10,0.00,0.000,4,0.000,0.035,1406,1925,3035,0,0,0,0,0,0
$GC,5596,-0.70,-137.9,798.1,-12.1,311,5602,0.00,2.33,0.00,0.000,6,0.000,0.058,1395,3360,3035,0,0,0,0,0,0
$GC,5916,-0.70,-137.9,839.1,-13.2,322,5921,0.00,0.93,0.00,0.000,4,0.000,0.061,1391,3949,3035,0,0,0,0,0,0
$GC,6092,-0.70,-137.9,864.5,-14.5,327,6096,0.08,0.90,0.00,0.000,6,0.181,0.038,1413,3352,3034,0,0,0,0,0,0
$GC,6427,-0.70,-137.9,904.3,-11.6,338,6433,0.00,0.95,0.00,0.000,4,0.000,0.062,1409,3954,3033,0,0,0,0,0,0
$GC,6534,-0.70,-137.9,918.1,-12.7,341,6538,0.00,0.93,0.00,0.000,6,0.000,0.038,1409,3343,3033,0,0,0,0,0,0
$GC,6869,-0.70,-137.9,957.2,-11.6,352,6873,0.00,0.95,0.00,0.000,4,0.000,0.061,1405,3946,3032,0,0,0,0,0,0
$GC,6925,-0.70,-137.9,964.7,-13.4,353,6931,0.00,0.90,0.00,0.000,6,0.000,0.039,1405,3348,3032,0,0,0,0,0,0
$STATE,7242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7242,begin apogee
$GC,7249,-0.14,0.0,1002.4,11.4,364,7396,0.65,0.00,141.02,1.188,6,0.158,0.000,1600,3255,2469,0,0,0,0,0,0
$STATE,7398,end apogee,CONTROL_FINISHED_OK
$STATE,7398,begin climb
$GC,7400,0.70,137.9,1004.6,0.0,369,7549,0.80,2.40,139.93,1.164,4,0.069,0.035,1888,1835,1902,0,0,0,0,0,0
$GC,7566,0.70,137.9,977.1,21.5,374,7570,0.00,2.42,0.00,0.000,6,0.000,0.050,1887,3251,1894,0,0,0,0,0,0
$GC,7890,0.70,137.9,899.4,24.3,385,7893,0.00,1.15,0.00,0.000,4,0.000,0.055,1887,3953,1883,0,0,0,0,0,0
$GC,7934,0.70,137.9,887.7,27.5,386,7937,0.00,1.10,0.00,0.000,6,0.000,0.034,1893,3240,1883,0,0,0,0,0,0
$GC,8264,0.70,137.9,806.8,24.1,397,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3241,1881,0,0,0,0,0,0
$GC,8570,0.70,137.9,733.9,24.1,407,8574,0.00,2.15,0.00,0.000,4,0.000,0.036,1903,1840,1879,0,0,0,0,0,0
$GC,8593,0.70,137.9,728.5,22.3,407,8600,0.00,2.28,0.00,0.000,6,0.000,0.051,1904,3255,1879,0,0,0,0,0,0
$GC,8907,0.70,137.9,651.3,24.8,418,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3255,1878,0,0,0,0,0,0
$GC,9213,0.70,137.9,577.1,23.6,428,9218,0.00,1.10,0.00,0.000,4,0.000,0.054,1903,3947,1877,0,0,0,0,0,0
$GC,9241,0.70,137.9,569.8,25.2,428,9248,0.10,1.05,0.00,0.000,6,0.220,0.032,1883,3246,1877,0,0,0,0,0,0
$GC,9554,0.70,137.9,500.6,22.2,439,9558,0.00,2.12,0.00,0.000,4,0.000,0.036,1892,1835,1877,0,0,0,0,0,0
$GC,9572,0.70,137.9,496.5,22.0,439,9576,0.00,2.22,0.00,0.000,6,0.000,0.049,1892,3251,1876,0,0,0,0,0,0
$GC,9886,0.70,137.9,424.8,23.4,449,9891,0.00,1.10,0.00,0.000,4,0.000,0.054,1892,3947,1876,0,0,0,0,0,0
$GC,9925,0.70,137.9,414.5,25.3,450,9930,0.00,1.05,0.00,0.000,6,0.000,0.033,1898,3247,1875,0,0,0,0,0,0
$GC,10244,0.70,137.9,340.7,23.3,464,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3246,1875,0,0,0,0,0,0
$GC,10554,0.70,137.9,270.0,22.6,479,10560,0.00,2.15,0.00,0.000,4,0.000,0.034,1908,1835,1875,0,0,0,0,0,0
$GC,10594,0.70,137.9,260.7,19.5,480,10603,0.10,2.25,0.00,0.000,6,0.181,0.049,1879,3244,1874,0,0,0,0,0,0
$GC,10916,0.70,137.9,193.0,21.2,500,10920,0.00,1.12,0.00,0.000,4,0.000,0.053,1879,3959,1874,0,0,0,0,0,0
$GC,10956,0.70,137.9,182.8,22.5,502,10962,0.00,1.05,0.00,0.000,6,0.000,0.033,1884,3250,1873,0,0,0,0,0,0
$GC,11283,0.70,137.9,111.5,21.2,523,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3250,1874,0,0,0,0,0,0
$GC,11631,0.70,137.9,41.2,19.0,575,11638,0.00,2.08,0.00,0.000,4,0.000,0.033,1894,1837,1873,0,0,0,0,0,0
$GC,11664,0.70,137.9,35.5,18.0,579,11671,0.00,2.22,0.00,0.000,6,0.000,0.049,1894,3266,1873,0,0,0,0,0,0
$STATE,11834,end climb,SURFACE_DEPTH_REACHED
$STATE,11834,begin surface coast
$FINISH,0.8,1.020852
$STATE,11849,end surface coast,CONTROL_FINISHED_OK
$STATE,11850,begin surface
$SM_CCo,11865,145.27,0.747,1,0,505,482.50
$SM_GC,1.32,0.00,0.00,145.27,0.000,0.000,0.747,64,3374,505,-4.96,0.59,482.50
$IRIDIUM_FIX,-4218.64,824.33,141212,121221
$TT8_MAMPS,0.025466
$HUMID,54.17
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.6,8.908
$10V_AH,10.1,4.167
$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,12.225,68.425,280.950,145.275,0.000,77.938,170.416,420.937,0.000,0.000,35.923,1548.865,7817.930,520.653,2358.826,743.630,33.354,1342.487,0.000,1818.691,0.000,1.014,0.000
$DEVICE_MAMPS,235.620,86.445,1188.045,747.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.416,1326.015,639.865,299.256,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,43729,607
$CAP_FILE_SIZE,109638,0
$CFSIZE,259252224,256167936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,141212,163105,-4231.268,821.363,24,0.9,25,-25.0