version: 66.07
glider: 543
mission: 6
dive: 39
start: 12 14 112 23 32 37
data:
$ID,543
$MISSION,6
$DIVE,39
$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,-7917.689
$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,29
$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
$GPS1,141212,232235,-4228.844,823.305,30,1.7,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-34.3
$GPS2,141212,233141,-4228.821,823.352,29,1.0,30,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.134,0.080
$KALMAN_X,-1108.0,180.0,387.9,30138.4,-3345.2
$KALMAN_Y,41480.9,664.6,147.6,-40046.3,-2905.5
$MHEAD_RNG_PITCHd_Wd,325.9,5071,-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,-88.72,0.000,6,0.000,0.000,66,3367,2693,0,0,0,0,0,0
$GC,115,-0.82,-101.8,2.9,-3.6,11,135,5.38,2.20,-5.97,0.000,4,0.238,0.045,1385,1946,2891,0,0,0,0,0,0
$GC,254,-0.82,-101.8,21.1,-14.9,31,262,0.00,2.33,0.00,0.000,6,0.000,0.055,1376,3348,2892,0,0,0,0,0,0
$GC,336,-0.82,-101.8,35.5,-16.1,44,348,0.00,0.98,0.00,0.000,4,0.000,0.059,1371,3949,2892,0,0,0,0,0,0
$GC,612,-0.82,-101.8,86.9,-18.1,90,620,0.00,0.90,0.00,0.000,6,0.000,0.037,1371,3361,2893,0,0,0,0,0,0
$GC,954,-0.82,-101.8,138.7,-14.7,120,957,0.00,0.93,0.00,0.000,4,0.000,0.057,1367,3945,2893,0,0,0,0,0,0
$GC,1046,-0.82,-101.8,153.9,-16.2,125,1050,0.00,0.90,0.00,0.000,6,0.000,0.036,1367,3350,2893,0,0,0,0,0,0
$GC,1377,-0.82,-101.8,204.9,-14.8,146,1381,0.00,0.95,0.00,0.000,4,0.000,0.057,1363,3952,2894,0,0,0,0,0,0
$GC,1556,-0.82,-101.8,235.4,-17.8,156,1562,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3352,2894,0,0,0,0,0,0
$GC,1891,-0.82,-101.8,287.1,-16.1,174,1895,0.00,0.95,0.00,0.000,4,0.000,0.056,1358,3954,2894,0,0,0,0,0,0
$GC,2066,-0.82,-101.8,316.6,-17.0,181,2070,0.00,0.90,0.00,0.000,6,0.000,0.035,1358,3352,2894,0,0,0,0,0,0
$GC,2389,-0.82,-101.8,368.7,-16.4,197,2395,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3959,2894,0,0,0,0,0,0
$GC,2423,-0.82,-101.8,375.5,-18.0,198,2428,0.10,0.90,0.00,0.000,6,0.186,0.037,1381,3362,2894,0,0,0,0,0,0
$GC,2755,-0.82,-101.8,423.5,-14.2,212,2758,0.00,0.93,0.00,0.000,4,0.000,0.058,1378,3952,2894,0,0,0,0,0,0
$GC,2891,-0.82,-101.8,444.2,-15.6,216,2895,0.00,0.90,0.00,0.000,6,0.000,0.036,1378,3347,2894,0,0,0,0,0,0
$GC,3233,-0.82,-101.8,490.8,-13.0,227,3236,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3949,2894,0,0,0,0,0,0
$GC,3304,-0.82,-101.8,501.1,-13.6,229,3308,0.00,0.90,0.00,0.000,6,0.000,0.036,1374,3350,2894,0,0,0,0,0,0
$GC,3640,-0.82,-101.8,545.2,-13.3,240,3644,0.00,0.95,0.00,0.000,4,0.000,0.057,1369,3956,2894,0,0,0,0,0,0
$GC,3748,-0.82,-101.8,561.5,-15.6,243,3752,0.00,0.90,0.00,0.000,6,0.000,0.037,1369,3356,2894,0,0,0,0,0,0
$GC,4083,-0.82,-101.8,608.3,-14.1,254,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3355,2893,0,0,0,0,0,0
$GC,4391,-0.82,-101.8,651.4,-14.2,264,4395,0.00,0.93,0.00,0.000,4,0.000,0.058,1365,3947,2893,0,0,0,0,0,0
$GC,4466,-0.82,-101.8,663.0,-15.0,266,4470,0.00,0.90,0.00,0.000,6,0.000,0.037,1365,3349,2893,0,0,0,0,0,0
$GC,4802,-0.82,-101.8,710.4,-13.7,277,4805,0.00,0.95,0.00,0.000,4,0.000,0.059,1361,3955,2892,0,0,0,0,0,0
$GC,4932,-0.82,-101.8,729.6,-15.3,280,4939,0.08,0.90,0.00,0.000,6,0.194,0.037,1381,3357,2892,0,0,0,0,0,0
$GC,5245,-0.82,-101.8,768.6,-12.2,291,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3357,2891,0,0,0,0,0,0
$GC,5551,-0.82,-101.8,805.8,-11.9,301,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3357,2890,0,0,0,0,0,0
$GC,5860,-0.82,-101.8,842.6,-11.8,311,5863,0.00,0.93,0.00,0.000,4,0.000,0.061,1378,3946,2889,0,0,0,0,0,0
$GC,6004,-0.82,-101.8,862.6,-14.4,315,6007,0.00,0.90,0.00,0.000,6,0.000,0.038,1377,3350,2889,0,0,0,0,0,0
$GC,6333,-0.82,-101.8,903.5,-12.7,326,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3350,2888,0,0,0,0,0,0
$GC,6639,-0.82,-101.8,940.6,-12.0,336,6643,0.00,0.95,0.00,0.000,4,0.000,0.061,1373,3953,2887,0,0,0,0,0,0
$GC,6735,-0.82,-101.8,953.7,-13.7,338,6741,0.00,0.90,0.00,0.000,6,0.000,0.039,1374,3356,2887,0,0,0,0,0,0
$GC,7048,-0.82,-101.8,992.3,-12.1,349,7051,0.00,0.93,0.00,0.000,4,0.000,0.061,1369,3943,2886,0,0,0,0,0,0
$STATE,7106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7106,begin apogee
$GC,7114,-0.14,0.0,1000.7,14.4,350,7223,0.75,0.00,105.60,1.194,6,0.177,0.000,1589,3248,2473,0,0,0,0,0,0
$STATE,7224,end apogee,CONTROL_FINISHED_OK
$STATE,7224,begin climb
$GC,7227,0.82,101.8,1003.1,0.0,354,7342,0.95,2.33,105.70,1.170,4,0.088,0.035,1916,1833,2053,0,0,0,0,0,0
$GC,7365,0.82,101.8,980.8,21.3,358,7369,0.00,2.42,0.00,0.000,6,0.000,0.051,1916,3252,2044,0,0,0,0,0,0
$GC,7684,0.82,101.8,904.0,24.9,369,7687,0.00,1.15,0.00,0.000,4,0.000,0.054,1915,3954,2035,0,0,0,0,0,0
$GC,7806,0.82,101.8,870.9,26.3,372,7810,0.00,1.10,0.00,0.000,6,0.000,0.034,1919,3239,2035,0,0,0,0,0,0
$GC,8126,0.82,101.8,792.8,24.1,383,8129,0.00,1.15,0.00,0.000,4,0.000,0.055,1919,3949,2032,0,0,0,0,0,0
$GC,8257,0.82,101.8,758.9,25.4,386,8263,0.00,1.08,0.00,0.000,6,0.000,0.034,1923,3242,2032,0,0,0,0,0,0
$GC,8570,0.82,101.8,684.3,23.5,397,8576,0.00,1.15,0.00,0.000,4,0.000,0.055,1923,3957,2030,0,0,0,0,0,0
$GC,8666,0.82,101.8,660.4,24.3,399,8674,0.00,1.08,0.00,0.000,6,0.000,0.033,1927,3245,2030,0,0,0,0,0,0
$GC,8979,0.82,101.8,589.1,22.7,410,8985,0.00,1.15,0.00,0.000,4,0.000,0.054,1927,3961,2029,0,0,0,0,0,0
$GC,9041,0.82,101.8,573.1,25.3,411,9048,0.00,1.08,0.00,0.000,6,0.000,0.033,1931,3245,2028,0,0,0,0,0,0
$GC,9356,0.82,101.8,502.2,23.2,422,9359,0.00,1.12,0.00,0.000,4,0.000,0.055,1931,3947,2028,0,0,0,0,0,0
$GC,9540,0.82,101.8,455.3,25.6,427,9543,0.00,1.05,0.00,0.000,6,0.000,0.034,1936,3245,2028,0,0,0,0,0,0
$GC,9868,0.82,101.8,378.4,24.1,439,9872,0.00,1.12,0.00,0.000,4,0.000,0.055,1936,3949,2027,0,0,0,0,0,0
$GC,9963,0.82,101.8,354.6,26.2,443,9967,0.00,1.05,0.00,0.000,6,0.000,0.033,1941,3247,2027,0,0,0,0,0,0
$GC,10298,0.82,101.8,275.4,22.9,459,10304,0.00,1.12,0.00,0.000,4,0.000,0.054,1941,3954,2026,0,0,0,0,0,0
$GC,10387,0.82,101.8,253.0,24.9,462,10396,0.10,1.05,0.00,0.000,6,0.222,0.033,1921,3248,2027,0,0,0,0,0,0
$GC,10718,0.82,101.8,181.5,21.6,483,10722,0.00,1.12,0.00,0.000,4,0.000,0.053,1920,3959,2026,0,0,0,0,0,0
$GC,10797,0.82,101.8,161.0,24.8,487,10803,0.00,1.05,0.00,0.000,6,0.000,0.032,1924,3253,2026,0,0,0,0,0,0
$GC,11120,0.82,101.8,89.7,22.1,512,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3253,2026,0,0,0,0,0,0
$GC,11495,0.82,101.8,10.9,19.6,573,11503,0.00,1.10,0.00,0.000,4,0.000,0.050,1924,3951,2026,0,0,0,0,0,0
$STATE,11531,end climb,SURFACE_DEPTH_REACHED
$STATE,11531,begin surface coast
$FINISH,0.9,1.015913
$STATE,11544,end surface coast,CONTROL_FINISHED_OK
$STATE,11544,begin surface
$SM_CCo,11560,166.45,0.747,1,0,504,482.50
$SM_GC,1.42,0.00,0.00,166.45,0.000,0.000,0.747,59,3349,504,-4.97,-0.11,482.50
$IRIDIUM_FIX,-4215.72,821.44,141212,191915
$TT8_MAMPS,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.6,9.288
$10V_AH,10.1,4.442
$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,12.350,53.025,211.300,166.450,0.000,25.497,45.559,313.739,0.000,0.000,32.445,1517.623,7484.715,474.762,2114.715,689.319,33.354,1280.197,0.000,1869.835,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,61.200,1194.165,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.455,1300.087,604.483,274.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,43787,580
$CAP_FILE_SIZE,102497,0
$CFSIZE,259252224,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,151212,024929,-4227.484,822.714,39,0.9,39,-25.0