version: 66.07
glider: 543
mission: 6
dive: 7
start: 12 9 112 18 59 13
data:
$ID,543
$MISSION,6
$DIVE,7
$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,333
$T_MISSION,348
$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,472.49722
$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,-7803.5303
$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,38
$R_STBD_OVSHOOT,35
$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,720
$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
$GPS1,091212,184422,-4229.208,807.449,59,0.9,59,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-14.2
$GPS2,091212,185812,-4229.132,807.503,14,1.0,15,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.279,-0.095
$KALMAN_X,-465.1,7.4,-35.7,8468.8,-641.1
$KALMAN_Y,2124.5,24.6,43.9,-523.1,1436.9
$MHEAD_RNG_PITCHd_Wd,133.7,17140,-14.9,-10.010
$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,-0.53,-194.7,0.0,0.0,0,127,0.00,0.00,-104.35,0.000,2,0.000,0.000,61,3374,3212,0,0,0,0,0,0
$GC,131,-0.53,-194.7,3.8,-6.1,13,143,5.68,2.30,-1.17,0.000,4,0.235,0.054,1479,1939,3270,0,0,0,0,0,0
$GC,246,-0.53,-194.7,23.5,-9.1,29,254,0.00,2.33,0.00,0.000,6,0.000,0.061,1470,3335,3272,0,0,0,0,0,0
$GC,333,-0.53,-194.7,33.8,-12.0,42,342,0.00,1.00,0.00,0.000,4,0.000,0.066,1465,3951,3272,0,0,0,0,0,0
$GC,564,-0.53,-194.7,61.5,-12.1,79,568,0.00,0.93,0.00,0.000,6,0.000,0.041,1465,3350,3272,0,0,0,0,0,0
$GC,929,-0.53,-194.7,102.1,-10.4,140,933,0.00,0.98,0.00,0.000,4,0.000,0.063,1461,3958,3272,0,0,0,0,0,0
$GC,1197,-0.53,-194.7,132.7,-11.6,155,1201,0.00,0.93,0.00,0.000,6,0.000,0.041,1460,3350,3272,0,0,0,0,0,0
$GC,1522,-0.53,-194.7,170.0,-11.2,176,1526,0.00,2.12,0.00,0.000,4,0.000,0.038,1461,1932,3272,0,0,0,0,0,0
$GC,1625,-0.53,-194.7,180.2,-9.2,182,1629,0.00,2.30,0.00,0.000,6,0.000,0.060,1450,3362,3273,0,0,0,0,0,0
$GC,1953,-0.53,-194.7,220.3,-12.3,203,1956,0.00,0.93,0.00,0.000,4,0.000,0.063,1445,3949,3272,0,0,0,0,0,0
$GC,2222,-0.53,-194.7,255.2,-12.5,218,2226,0.08,0.90,0.00,0.000,6,0.148,0.043,1470,3352,3272,0,0,0,0,0,0
$GC,2544,-0.53,-194.7,288.7,-10.3,234,2548,0.00,2.15,0.00,0.000,4,0.000,0.041,1470,1945,3272,0,0,0,0,0,0
$GC,2660,-0.53,-194.7,299.3,-8.2,239,2664,0.00,2.28,0.00,0.000,6,0.000,0.060,1461,3360,3272,0,0,0,0,0,0
$GC,2983,-0.53,-194.7,333.7,-10.8,255,2989,0.00,0.93,0.00,0.000,4,0.000,0.065,1457,3949,3272,0,0,0,0,0,0
$GC,3244,-0.53,-194.7,363.1,-10.4,266,3247,0.00,0.90,0.00,0.000,6,0.000,0.043,1457,3354,3271,0,0,0,0,0,0
$GC,3567,-0.53,-194.7,397.5,-11.0,282,3571,0.00,2.15,0.00,0.000,4,0.000,0.041,1457,1932,3271,0,0,0,0,0,0
$GC,3677,-0.53,-194.7,408.3,-9.3,286,3681,0.12,2.28,0.00,0.000,6,0.161,0.060,1479,3352,3271,0,0,0,0,0,0
$GC,4002,-0.53,-194.7,437.1,-8.8,297,4005,0.00,0.93,0.00,0.000,4,0.000,0.066,1476,3940,3271,0,0,0,0,0,0
$GC,4260,-0.53,-194.7,460.5,-9.0,304,4263,0.00,0.90,0.00,0.000,6,0.000,0.044,1476,3350,3270,0,0,0,0,0,0
$GC,4578,-0.53,-194.7,488.0,-8.6,315,4582,0.00,0.95,0.00,0.000,4,0.000,0.065,1472,3954,3269,0,0,0,0,0,0
$GC,4783,-0.53,-194.7,505.5,-7.9,321,4789,0.00,0.90,0.00,0.000,6,0.000,0.043,1472,3355,3269,0,0,0,0,0,0
$GC,5127,-0.53,-194.7,534.9,-8.8,332,5130,0.00,0.93,0.00,0.000,4,0.000,0.066,1468,3943,3269,0,0,0,0,0,0
$GC,5378,-0.53,-194.7,556.9,-8.5,339,5382,0.00,0.90,0.00,0.000,6,0.000,0.044,1468,3349,3268,0,0,0,0,0,0
$GC,5703,-0.53,-194.7,585.5,-9.0,350,5706,0.00,0.95,0.00,0.000,4,0.000,0.067,1463,3951,3267,0,0,0,0,0,0
$GC,5950,-0.53,-194.7,608.2,-8.9,357,5956,0.00,0.90,0.00,0.000,6,0.000,0.044,1463,3356,3267,0,0,0,0,0,0
$GC,6283,-0.53,-194.7,638.4,-9.4,368,6287,0.00,0.93,0.00,0.000,4,0.000,0.067,1459,3945,3266,0,0,0,0,0,0
$GC,6542,-0.53,-194.7,663.1,-8.8,375,6545,0.00,0.90,0.00,0.000,6,0.000,0.044,1459,3354,3266,0,0,0,0,0,0
$GC,6862,-0.53,-194.7,693.2,-9.8,386,6866,0.00,0.98,0.00,0.000,4,0.000,0.068,1455,3953,3265,0,0,0,0,0,0
$GC,7119,-0.53,-194.7,720.4,-10.1,393,7123,0.00,0.90,0.00,0.000,6,0.000,0.044,1455,3359,3264,0,0,0,0,0,0
$GC,7438,-0.53,-194.7,753.9,-10.8,404,7442,0.00,0.93,0.00,0.000,4,0.000,0.067,1450,3944,3264,0,0,0,0,0,0
$GC,7701,-0.53,-194.7,782.3,-11.2,411,7704,0.00,0.90,0.00,0.000,6,0.000,0.045,1450,3354,3264,0,0,0,0,0,0
$GC,8021,-0.53,-194.7,814.7,-10.0,422,8025,0.00,0.95,0.00,0.000,4,0.000,0.068,1446,3953,3264,0,0,0,0,0,0
$GC,8279,-0.53,-194.7,840.8,-9.9,429,8283,0.08,0.93,0.00,0.000,6,0.158,0.045,1469,3348,3263,0,0,0,0,0,0
$GC,8600,-0.53,-194.7,865.1,-7.6,440,8603,0.00,0.95,0.00,0.000,4,0.000,0.067,1466,3949,3263,0,0,0,0,0,0
$GC,8774,-0.53,-194.7,879.2,-8.3,445,8778,0.00,0.90,0.00,0.000,6,0.000,0.046,1466,3355,3263,0,0,0,0,0,0
$GC,9110,-0.53,-194.7,906.3,-8.2,456,9113,0.00,0.93,0.00,0.000,4,0.000,0.067,1462,3942,3262,0,0,0,0,0,0
$GC,9258,-0.53,-194.7,919.1,-8.3,460,9261,0.00,0.90,0.00,0.000,6,0.000,0.045,1462,3351,3261,0,0,0,0,0,0
$GC,9588,-0.53,-194.7,948.4,-8.9,471,9592,0.00,0.95,0.00,0.000,4,0.000,0.067,1458,3951,3261,0,0,0,0,0,0
$GC,9768,-0.53,-194.7,964.8,-9.8,476,9771,0.00,0.93,0.00,0.000,6,0.000,0.045,1458,3345,3261,0,0,0,0,0,0
$GC,10098,-0.53,-194.7,994.4,-9.2,487,10102,0.00,0.95,0.00,0.000,4,0.000,0.067,1454,3946,3260,0,0,0,0,0,0
$STATE,10151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10151,begin apogee
$GC,10159,-0.14,0.0,1000.3,10.2,488,10353,0.45,0.00,184.45,1.867,6,0.137,0.000,1599,3137,2473,0,0,0,0,1,0
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10357,0.53,194.7,1009.0,0.0,495,10557,0.62,2.40,186.75,1.830,4,0.058,0.042,1834,1759,1678,0,0,0,0,1,0
$GC,10582,0.53,194.7,981.6,16.1,502,10586,0.00,2.45,0.00,0.000,6,0.000,0.056,1833,3151,1678,0,0,0,0,0,0
$GC,10911,0.53,194.7,921.9,18.5,513,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3151,1671,0,0,0,0,0,0
$GC,11218,0.53,194.7,865.3,18.8,523,11222,0.00,2.22,0.00,0.000,4,0.000,0.045,1844,1754,1670,0,0,0,0,0,0
$GC,11273,0.53,194.7,855.5,15.7,524,11281,0.00,2.35,0.00,0.000,6,0.000,0.057,1844,3154,1669,0,0,0,0,0,0
$GC,11586,0.53,194.7,793.2,20.5,535,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3154,1668,0,0,0,0,0,0
$GC,11892,0.53,194.7,730.7,20.1,545,11896,0.00,2.20,0.00,0.000,4,0.000,0.045,1854,1754,1668,0,0,0,0,0,0
$GC,11948,0.53,194.7,720.7,16.1,546,11956,0.10,2.33,0.00,0.000,6,0.187,0.060,1826,3154,1667,0,0,0,0,0,0
$GC,12261,0.53,194.7,665.8,17.7,557,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3154,1667,0,0,0,0,0,0
$GC,12567,0.53,194.7,610.6,18.0,567,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3154,1667,0,0,0,0,0,0
$GC,12874,0.53,194.7,556.1,18.0,577,12878,0.00,1.27,0.00,0.000,4,0.000,0.063,1825,3947,1667,0,0,0,0,0,0
$GC,12918,0.53,194.7,547.2,18.1,578,12922,0.00,1.23,0.00,0.000,6,0.000,0.040,1830,3150,1666,0,0,0,0,0,0
$GC,13248,0.53,194.7,488.3,17.8,589,13252,0.00,2.17,0.00,0.000,4,0.000,0.044,1841,1749,1666,0,0,0,0,0,0
$GC,13395,0.53,194.7,465.7,14.5,593,13401,0.00,2.30,0.00,0.000,6,0.000,0.057,1841,3155,1665,0,0,0,0,0,0
$GC,13722,0.53,194.7,407.0,18.2,604,13726,0.00,2.20,0.00,0.000,4,0.000,0.044,1852,1747,1665,0,0,0,0,0,0
$GC,13911,0.53,194.7,377.2,14.8,611,13915,0.00,2.28,0.00,0.000,6,0.000,0.057,1851,3161,1666,0,0,0,0,0,0
$GC,14228,0.53,194.7,316.3,20.3,626,14232,0.00,2.20,0.00,0.000,4,0.000,0.044,1862,1748,1665,0,0,0,0,0,0
$GC,14380,0.53,194.7,289.1,17.4,632,14388,0.12,2.28,0.00,0.000,6,0.187,0.058,1826,3145,1665,0,0,0,0,0,0
$GC,14708,0.53,194.7,231.2,16.8,650,14713,0.00,2.17,0.00,0.000,4,0.000,0.044,1835,1757,1665,0,0,0,0,0,0
$GC,14843,0.53,194.7,211.3,13.3,657,14850,0.00,2.25,0.00,0.000,6,0.000,0.056,1835,3162,1666,0,0,0,0,0,0
$GC,15162,0.53,194.7,153.8,18.2,678,15168,0.00,2.20,0.00,0.000,4,0.000,0.044,1846,1759,1666,0,0,0,0,0,0
$GC,15309,0.53,194.7,131.1,14.4,686,15314,0.00,2.25,0.00,0.000,6,0.000,0.056,1846,3150,1665,0,0,0,0,0,0
$GC,15642,0.53,194.7,69.2,18.5,726,15651,0.00,2.17,0.00,0.000,4,0.000,0.043,1857,1757,1666,0,0,0,0,0,0
$GC,15775,0.53,194.7,49.4,15.6,747,15782,0.12,2.25,0.00,0.000,6,0.203,0.055,1826,3166,1666,0,0,0,0,0,0
$GC,16040,0.53,194.7,5.9,16.3,788,16051,0.00,2.20,0.00,0.000,4,0.000,0.042,1836,1751,1665,0,0,0,0,0,0
$STATE,16060,end climb,SURFACE_DEPTH_REACHED
$STATE,16060,begin surface coast
$FINISH,0.6,1.026402
$STATE,16080,end surface coast,CONTROL_FINISHED_OK
$STATE,16080,begin surface
$SM_CCo,16098,125.85,0.789,1,0,545,472.69
$SM_GC,0.83,0.00,0.00,125.85,0.000,0.000,0.789,61,3363,545,-4.96,0.28,472.69
$IRIDIUM_FIX,-4212.81,806.15,091212,181816
$TT8_MAMPS,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.9,3.332
$10V_AH,10.2,1.175
$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,12.225,95.875,371.200,125.850,0.000,80.510,95.292,439.919,0.000,0.000,16.788,2130.508,10137.174,578.394,3277.073,949.066,33.345,1794.815,0.000,2864.155,0.000,1.012,0.000
$DEVICE_MAMPS,234.855,68.085,1866.600,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.118,1723.265,785.634,361.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,57126,793
$CAP_FILE_SIZE,149517,0
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