version: 66.07
glider: 543
mission: 6
dive: 38
start: 12 14 112 20 4 32
data:
$ID,543
$MISSION,6
$DIVE,38
$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,-7914.3696
$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,50
$R_STBD_OVSHOOT,19
$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
$GPS1,141212,195504,-4230.130,822.078,32,0.9,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-22.9
$GPS2,141212,200336,-4230.084,822.109,15,1.1,16,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.103,0.117
$KALMAN_X,-1661.9,1084.0,173.4,28313.6,-4485.9
$KALMAN_Y,42268.5,166.8,-47.7,-42468.1,-1671.9
$MHEAD_RNG_PITCHd_Wd,66.5,2884,-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,-89.53,0.000,6,0.000,0.000,69,3349,2694,0,0,0,0,0,0
$GC,115,-0.82,-101.5,2.9,-3.7,11,135,5.40,2.17,-5.93,0.000,4,0.240,0.046,1381,1944,2889,0,0,0,0,0,0
$GC,301,-0.82,-101.5,27.3,-14.6,38,310,0.00,2.33,0.00,0.000,6,0.000,0.054,1372,3349,2892,0,0,0,0,0,0
$GC,387,-0.82,-101.5,41.2,-17.5,51,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3349,2892,0,0,0,0,0,0
$GC,630,-0.82,-101.5,82.7,-17.0,92,636,0.00,0.98,0.00,0.000,4,0.000,0.057,1368,3961,2892,0,0,0,0,0,0
$GC,878,-0.82,-101.5,127.4,-17.9,118,881,0.00,0.93,0.00,0.000,6,0.000,0.036,1368,3350,2893,0,0,0,0,0,0
$GC,1205,-0.82,-101.5,181.3,-16.2,139,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3350,2892,0,0,0,0,0,0
$GC,1517,-0.82,-101.5,229.1,-14.7,159,1523,0.00,0.95,0.00,0.000,4,0.000,0.056,1363,3954,2892,0,0,0,0,0,0
$GC,1607,-0.82,-101.5,243.7,-16.1,164,1611,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3354,2893,0,0,0,0,0,0
$GC,1926,-0.82,-101.5,291.6,-14.9,180,1930,0.00,0.95,0.00,0.000,4,0.000,0.057,1359,3957,2892,0,0,0,0,0,0
$GC,2076,-0.82,-101.5,316.9,-16.7,186,2079,0.00,0.90,0.00,0.000,6,0.000,0.036,1359,3354,2892,0,0,0,0,0,0
$GC,2399,-0.82,-101.5,368.1,-16.2,202,2403,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3959,2893,0,0,0,0,0,0
$GC,2434,-0.82,-101.5,374.7,-17.7,203,2438,0.10,0.90,0.00,0.000,6,0.183,0.036,1382,3359,2893,0,0,0,0,0,0
$GC,2765,-0.82,-101.5,421.8,-14.2,217,2768,0.00,0.93,0.00,0.000,4,0.000,0.058,1379,3949,2892,0,0,0,0,0,0
$GC,2878,-0.82,-101.5,439.4,-15.5,220,2881,0.00,0.90,0.00,0.000,6,0.000,0.036,1380,3348,2892,0,0,0,0,0,0
$GC,3209,-0.82,-101.5,484.3,-13.2,231,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,1379,3348,2892,0,0,0,0,0,0
$GC,3514,-0.82,-101.5,524.1,-13.2,241,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,1379,3348,2892,0,0,0,0,0,0
$GC,3820,-0.82,-101.5,564.8,-13.5,251,3824,0.00,0.95,0.00,0.000,4,0.000,0.059,1375,3955,2893,0,0,0,0,0,0
$GC,3858,-0.82,-101.5,570.7,-14.6,252,3862,0.00,0.90,0.00,0.000,6,0.000,0.037,1375,3353,2892,0,0,0,0,0,0
$GC,4195,-0.82,-101.5,618.5,-14.6,263,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2893,0,0,0,0,0,0
$GC,4500,-0.82,-101.5,662.9,-14.4,273,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3353,2892,0,0,0,0,0,0
$GC,4808,-0.82,-101.5,705.4,-13.8,283,4811,0.00,0.98,0.00,0.000,4,0.000,0.061,1371,3956,2891,0,0,0,0,0,0
$GC,4913,-0.82,-101.5,721.7,-14.8,286,4917,0.00,0.90,0.00,0.000,6,0.000,0.037,1371,3355,2891,0,0,0,0,0,0
$GC,5249,-0.82,-101.5,768.0,-13.5,297,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3355,2890,0,0,0,0,0,0
$GC,5555,-0.82,-101.5,807.3,-12.7,307,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3354,2889,0,0,0,0,0,0
$GC,5863,-0.82,-101.5,846.3,-12.9,317,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3355,2888,0,0,0,0,0,0
$GC,6168,-0.82,-101.5,886.0,-12.9,327,6173,0.00,0.95,0.00,0.000,4,0.000,0.061,1366,3954,2887,0,0,0,0,0,0
$GC,6280,-0.82,-101.5,901.7,-13.9,330,6284,0.00,0.93,0.00,0.000,6,0.000,0.039,1366,3344,2886,0,0,0,0,0,0
$GC,6611,-0.82,-101.5,941.7,-11.9,341,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3344,2886,0,0,0,0,0,0
$GC,6918,-0.82,-101.5,977.7,-11.7,351,6922,0.00,0.98,0.00,0.000,4,0.000,0.060,1362,3959,2885,0,0,0,0,0,0
$GC,6997,-0.82,-101.5,988.4,-13.7,353,7001,0.00,0.93,0.00,0.000,6,0.000,0.039,1362,3348,2885,0,0,0,0,0,0
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7112,begin apogee
$GC,7118,-0.14,0.0,1002.6,12.3,357,7227,0.82,0.00,105.57,1.192,6,0.174,0.000,1601,3256,2473,0,0,0,0,0,0
$STATE,7229,end apogee,CONTROL_FINISHED_OK
$STATE,7229,begin climb
$GC,7232,0.82,101.5,1004.3,0.0,360,7341,0.90,0.00,105.93,1.164,6,0.078,0.000,1906,3256,2059,0,0,0,0,0,0
$GC,7632,0.82,101.5,920.2,23.6,373,7636,0.00,1.15,0.00,0.000,4,0.000,0.057,1906,3951,2038,0,0,0,0,0,0
$GC,7893,0.82,101.5,854.0,24.7,380,7896,0.00,1.10,0.00,0.000,6,0.000,0.034,1912,3237,2035,0,0,0,0,0,0
$GC,8213,0.82,101.5,778.3,23.3,391,8216,0.00,1.17,0.00,0.000,4,0.000,0.055,1911,3962,2033,0,0,0,0,0,0
$GC,8436,0.82,101.5,720.9,26.1,397,8440,0.00,1.08,0.00,0.000,6,0.000,0.034,1915,3251,2032,0,0,0,0,0,0
$GC,8755,0.82,101.5,647.0,23.3,408,8759,0.00,1.12,0.00,0.000,4,0.000,0.054,1915,3951,2031,0,0,0,0,0,0
$GC,8950,0.82,101.5,597.3,24.9,413,8959,0.00,1.05,0.00,0.000,6,0.000,0.034,1921,3250,2030,0,0,0,0,0,0
$GC,9264,0.82,101.5,524.2,23.1,424,9267,0.00,1.12,0.00,0.000,4,0.000,0.054,1921,3961,2029,0,0,0,0,0,0
$GC,9409,0.82,101.5,488.0,24.8,428,9412,0.00,1.08,0.00,0.000,6,0.000,0.034,1926,3247,2029,0,0,0,0,0,0
$GC,9739,0.82,101.5,414.1,22.0,439,9744,0.00,1.12,0.00,0.000,4,0.000,0.054,1926,3955,2028,0,0,0,0,0,0
$GC,9905,0.82,101.5,375.6,24.0,445,9909,0.00,1.05,0.00,0.000,6,0.000,0.034,1931,3253,2028,0,0,0,0,0,0
$GC,10240,0.82,101.5,299.1,22.5,461,10246,0.00,1.12,0.00,0.000,4,0.000,0.054,1931,3958,2028,0,0,0,0,0,0
$GC,10406,0.82,101.5,259.8,23.3,468,10410,0.00,1.05,0.00,0.000,6,0.000,0.033,1936,3253,2028,0,0,0,0,0,0
$GC,10732,0.82,101.5,187.9,21.8,488,10736,0.00,1.12,0.00,0.000,4,0.000,0.053,1936,3963,2028,0,0,0,0,0,0
$GC,10899,0.82,101.5,149.7,22.9,497,10903,0.08,1.08,0.00,0.000,6,0.223,0.033,1922,3237,2028,0,0,0,0,0,0
$GC,11223,0.82,101.5,81.7,19.5,528,11233,0.00,1.15,0.00,0.000,4,0.000,0.054,1918,3963,2027,0,0,0,0,0,0
$GC,11419,0.82,101.5,40.0,22.2,559,11426,0.00,1.05,0.00,0.000,6,0.000,0.033,1923,3253,2027,0,0,0,0,0,0
$STATE,11605,end climb,SURFACE_DEPTH_REACHED
$STATE,11605,begin surface coast
$FINISH,1.0,1.012392
$STATE,11626,end surface coast,CONTROL_FINISHED_OK
$STATE,11626,begin surface
$SM_CCo,11642,165.25,0.743,1,0,505,482.50
$SM_GC,1.36,0.00,0.00,165.25,0.000,0.000,0.743,66,3367,505,-4.95,0.40,482.50
$IRIDIUM_FIX,-4218.64,821.44,141212,161623
$TT8_MAMPS,0.025466
$HUMID,53.89
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.6,9.161
$10V_AH,10.1,4.352
$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,12.325,39.200,211.500,165.250,0.000,26.286,53.574,281.712,0.000,0.000,18.043,1534.297,7528.767,472.461,2090.302,700.446,33.353,1234.608,0.000,1883.510,0.000,1.009,0.000
$DEVICE_MAMPS,240.210,81.855,1191.870,742.815,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.631,1312.298,626.723,295.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,43668,591
$CAP_FILE_SIZE,96610,0
$CFSIZE,259252224,256065536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,141212,232235,-4228.844,823.305,30,1.7,30,-25.0