version: 66.07
glider: 543
mission: 6
dive: 37
start: 12 14 112 16 41 10
data:
$ID,543
$MISSION,6
$DIVE,37
$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,-7911.0566
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,141212,163105,-4231.268,821.363,24,0.9,25,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-31.1
$GPS2,141212,164014,-4231.193,821.366,18,0.8,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.095,0.124
$KALMAN_X,-781.4,1167.8,81.9,26425.7,-2960.3
$KALMAN_Y,44066.2,-631.1,-176.6,-45389.4,764.1
$MHEAD_RNG_PITCHd_Wd,62.5,2892,-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,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.07,0.000,6,0.000,0.000,63,3374,2695,0,0,0,0,0,0
$GC,115,-0.82,-102.4,3.0,-3.6,11,135,5.43,2.22,-6.03,0.000,4,0.241,0.046,1381,1939,2892,0,0,0,0,0,0
$GC,318,-0.82,-102.4,31.6,-15.4,41,324,0.00,2.30,0.00,0.000,6,0.000,0.054,1372,3345,2894,0,0,0,0,0,0
$GC,568,-0.82,-102.4,73.7,-17.1,82,576,0.00,0.98,0.00,0.000,4,0.000,0.057,1367,3955,2894,0,0,0,0,0,0
$GC,840,-0.82,-102.4,120.3,-16.7,115,843,0.00,0.90,0.00,0.000,6,0.000,0.036,1367,3362,2895,0,0,0,0,0,0
$GC,1165,-0.82,-102.4,170.1,-15.4,136,1168,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3947,2895,0,0,0,0,0,0
$GC,1426,-0.82,-102.4,213.0,-15.5,151,1430,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3352,2895,0,0,0,0,0,0
$GC,1754,-0.82,-102.4,260.6,-14.4,171,1758,0.00,0.95,0.00,0.000,4,0.000,0.057,1358,3954,2896,0,0,0,0,0,0
$GC,2019,-0.82,-102.4,305.9,-15.9,182,2023,0.00,0.90,0.00,0.000,6,0.000,0.035,1359,3354,2896,0,0,0,0,0,0
$GC,2342,-0.82,-102.4,355.8,-16.3,198,2345,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3958,2896,0,0,0,0,0,0
$GC,2607,-0.82,-102.4,401.7,-16.5,209,2611,0.08,0.90,0.00,0.000,6,0.186,0.035,1375,3357,2896,0,0,0,0,0,0
$GC,2926,-0.82,-102.4,447.3,-13.9,220,2929,0.00,0.93,0.00,0.000,4,0.000,0.058,1373,3948,2896,0,0,0,0,0,0
$GC,3188,-0.82,-102.4,485.7,-14.7,227,3191,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3349,2896,0,0,0,0,0,0
$GC,3508,-0.82,-102.4,529.7,-13.8,238,3512,0.00,0.95,0.00,0.000,4,0.000,0.057,1368,3955,2896,0,0,0,0,0,0
$GC,3684,-0.82,-102.4,556.8,-15.0,243,3687,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3355,2895,0,0,0,0,0,0
$GC,4019,-0.82,-102.4,605.4,-14.5,254,4025,0.00,0.95,0.00,0.000,4,0.000,0.060,1364,3943,2895,0,0,0,0,0,0
$GC,4137,-0.82,-102.4,624.0,-15.5,257,4141,0.00,0.90,0.00,0.000,6,0.000,0.037,1364,3346,2894,0,0,0,0,0,0
$GC,4462,-0.82,-102.4,671.0,-14.4,268,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3346,2894,0,0,0,0,0,0
$GC,4769,-0.82,-102.4,714.4,-14.3,278,4773,0.00,0.95,0.00,0.000,4,0.000,0.059,1360,3950,2893,0,0,0,0,0,0
$GC,4858,-0.82,-102.4,728.5,-15.6,280,4862,0.00,0.90,0.00,0.000,6,0.000,0.037,1360,3353,2893,0,0,0,0,0,0
$GC,5178,-0.82,-102.4,773.2,-13.9,291,5181,0.00,0.93,0.00,0.000,4,0.000,0.060,1355,3941,2893,0,0,0,0,0,0
$GC,5434,-0.82,-102.4,811.9,-14.3,298,5439,0.08,0.90,0.00,0.000,6,0.191,0.038,1376,3346,2892,0,0,0,0,0,0
$GC,5753,-0.82,-102.4,852.4,-12.7,309,5756,0.00,0.95,0.00,0.000,4,0.000,0.060,1373,3950,2891,0,0,0,0,0,0
$GC,6012,-0.82,-102.4,887.4,-14.1,316,6016,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3353,2890,0,0,0,0,0,0
$GC,6333,-0.82,-102.4,927.6,-12.3,327,6337,0.00,0.98,0.00,0.000,4,0.000,0.063,1369,3954,2888,0,0,0,0,0,0
$GC,6480,-0.82,-102.4,947.8,-13.8,331,6483,0.00,0.93,0.00,0.000,6,0.000,0.039,1369,3343,2889,0,0,0,0,0,0
$GC,6811,-0.82,-102.4,990.2,-13.1,342,6814,0.00,0.95,0.00,0.000,4,0.000,0.060,1364,3947,2888,0,0,0,0,0,0
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6890,-0.14,0.0,1000.5,14.3,344,7000,0.80,0.00,105.80,1.190,6,0.182,0.000,1597,3251,2473,0,0,0,0,0,0
$STATE,7001,end apogee,CONTROL_FINISHED_OK
$STATE,7001,begin climb
$GC,7004,0.82,102.4,1003.7,0.0,347,7115,0.93,0.00,107.00,1.166,6,0.083,0.000,1908,3251,2054,0,0,0,0,0,0
$GC,7404,0.82,102.4,920.9,23.3,360,7408,0.00,1.17,0.00,0.000,4,0.000,0.056,1909,3957,2031,0,0,0,0,0,0
$GC,7482,0.82,102.4,900.4,25.3,362,7486,0.00,1.10,0.00,0.000,6,0.000,0.034,1913,3246,2030,0,0,0,0,0,0
$GC,7812,0.82,102.4,822.7,23.2,373,7815,0.00,1.15,0.00,0.000,4,0.000,0.056,1912,3949,2028,0,0,0,0,0,0
$GC,7951,0.82,102.4,786.6,25.5,377,7955,0.00,1.08,0.00,0.000,6,0.000,0.034,1917,3245,2027,0,0,0,0,0,0
$GC,8286,0.82,102.4,710.4,22.6,388,8292,0.00,1.15,0.00,0.000,4,0.000,0.055,1916,3955,2026,0,0,0,0,0,0
$GC,8416,0.82,102.4,678.0,25.8,391,8423,0.00,1.08,0.00,0.000,6,0.000,0.033,1921,3243,2026,0,0,0,0,0,0
$GC,8729,0.82,102.4,606.3,22.9,402,8733,0.00,1.12,0.00,0.000,4,0.000,0.054,1921,3947,2025,0,0,0,0,0,0
$GC,8757,0.82,102.4,599.3,24.3,402,8764,0.00,1.05,0.00,0.000,6,0.000,0.033,1926,3249,2025,0,0,0,0,0,0
$GC,9071,0.82,102.4,526.6,23.1,413,9075,0.00,1.12,0.00,0.000,4,0.000,0.054,1926,3955,2023,0,0,0,0,0,0
$GC,9126,0.82,102.4,512.5,24.6,414,9130,0.00,1.05,0.00,0.000,6,0.000,0.034,1931,3254,2023,0,0,0,0,0,0
$GC,9445,0.82,102.4,438.1,23.3,425,9449,0.00,1.12,0.00,0.000,4,0.000,0.054,1931,3958,2023,0,0,0,0,0,0
$GC,9540,0.82,102.4,414.6,24.8,427,9547,0.00,1.05,0.00,0.000,6,0.000,0.034,1936,3256,2022,0,0,0,0,0,0
$GC,9857,0.82,102.4,343.0,22.6,442,9861,0.00,1.12,0.00,0.000,4,0.000,0.054,1937,3961,2021,0,0,0,0,0,0
$GC,9908,0.82,102.4,329.8,24.6,444,9914,0.00,1.08,0.00,0.000,6,0.000,0.034,1942,3244,2021,0,0,0,0,0,0
$GC,10238,0.82,102.4,253.8,23.2,460,10241,0.00,1.12,0.00,0.000,4,0.000,0.054,1942,3955,2020,0,0,0,0,0,0
$GC,10374,0.82,102.4,218.6,26.5,467,10381,0.10,1.05,0.00,0.000,6,0.222,0.034,1921,3249,2020,0,0,0,0,0,0
$GC,10697,0.82,102.4,147.2,22.3,488,10701,0.00,1.12,0.00,0.000,4,0.000,0.054,1918,3960,2020,0,0,0,0,0,0
$GC,10774,0.82,102.4,128.0,24.3,492,10779,0.00,1.05,0.00,0.000,6,0.000,0.034,1922,3253,2020,0,0,0,0,0,0
$GC,11112,0.82,102.4,56.3,20.8,536,11123,0.00,1.10,0.00,0.000,4,0.000,0.053,1922,3951,2020,0,0,0,0,0,0
$STATE,11358,end climb,SURFACE_DEPTH_REACHED
$STATE,11358,begin surface coast
$FINISH,1.0,1.015286
$STATE,11373,end surface coast,CONTROL_FINISHED_OK
$STATE,11373,begin surface
$SM_CCo,11390,166.18,0.750,1,0,505,482.50
$SM_GC,0.99,0.00,0.00,166.18,0.000,0.000,0.750,70,3349,505,-4.94,-0.14,482.50
$IRIDIUM_FIX,-4221.55,818.97,141212,131313
$TT8_MAMPS,0.025466
$HUMID,53.97
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,23.7,9.036
$10V_AH,10.2,4.261
$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,12.450,48.700,212.800,166.175,0.000,37.416,43.065,310.923,0.000,0.000,22.382,1544.351,7098.113,473.122,2277.378,718.681,33.353,1313.546,0.000,2040.396,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,62.730,1189.575,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.934,1287.482,616.964,289.341,0.000,0.000,0.000,0.000,0.000,0.000
$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,43880,576
$CAP_FILE_SIZE,103480,0
$CFSIZE,259252224,256110592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,141212,195504,-4230.130,822.078,32,0.9,32,-25.0