version: 66.07
glider: 543
mission: 6
dive: 8
start: 12 9 112 23 41 34
data:
$ID,543
$MISSION,6
$DIVE,8
$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,-7806.709
$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,42
$R_STBD_OVSHOOT,22
$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
$GPS1,091212,233104,-4229.771,809.093,40,1.0,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-26.5
$GPS2,091212,234035,-4229.808,809.151,14,1.7,14,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.285,-0.077
$KALMAN_X,-2710.8,-684.1,-474.6,14098.2,-688.1
$KALMAN_Y,3002.2,-77.5,-90.4,-2408.1,1426.5
$MHEAD_RNG_PITCHd_Wd,130.1,14818,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.53,-194.7,0.0,0.0,0,122,0.00,0.00,-97.22,0.000,2,0.000,0.000,61,3363,2934,0,0,0,0,0,0
$GC,126,-0.53,-194.7,3.2,-5.8,12,146,5.72,2.28,-8.07,0.000,4,0.236,0.055,1475,1948,3270,0,0,0,0,0,0
$GC,266,-0.53,-194.7,21.0,-9.0,32,275,0.00,2.35,0.00,0.000,6,0.000,0.063,1466,3346,3272,0,0,0,0,0,0
$GC,359,-0.53,-194.7,31.8,-12.6,45,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3346,3272,0,0,0,0,0,0
$GC,608,-0.53,-194.7,63.1,-12.6,86,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3346,3272,0,0,0,0,0,0
$GC,963,-0.53,-194.7,106.0,-12.1,142,966,0.00,0.98,0.00,0.000,4,0.000,0.066,1461,3953,3273,0,0,0,0,0,0
$GC,1091,-0.53,-194.7,122.3,-12.9,149,1094,0.00,0.93,0.00,0.000,6,0.000,0.045,1462,3357,3273,0,0,0,0,0,0
$GC,1421,-0.53,-194.7,164.2,-12.7,170,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3357,3273,0,0,0,0,0,0
$GC,1733,-0.53,-194.7,202.2,-11.8,190,1737,0.00,0.95,0.00,0.000,4,0.000,0.065,1457,3953,3273,0,0,0,0,0,0
$GC,1793,-0.53,-194.7,209.9,-12.5,193,1796,0.00,0.93,0.00,0.000,6,0.000,0.044,1457,3350,3273,0,0,0,0,0,0
$GC,2118,-0.53,-194.7,248.4,-11.7,214,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3350,3274,0,0,0,0,0,0
$GC,2444,-0.53,-194.7,287.9,-12.2,230,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3350,3273,0,0,0,0,0,0
$GC,2754,-0.53,-194.7,323.8,-11.4,245,2759,0.00,0.95,0.00,0.000,4,0.000,0.064,1453,3950,3273,0,0,0,0,0,0
$GC,2806,-0.53,-194.7,330.4,-12.1,247,2810,0.00,0.93,0.00,0.000,6,0.000,0.044,1453,3346,3273,0,0,0,0,0,0
$GC,3136,-0.53,-194.7,367.7,-11.4,263,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3347,3273,0,0,0,0,0,0
$GC,3444,-0.53,-194.7,401.6,-10.9,278,3448,0.00,0.95,0.00,0.000,4,0.000,0.065,1448,3947,3273,0,0,0,0,0,0
$GC,3533,-0.53,-194.7,412.7,-12.4,280,3537,0.00,0.93,0.00,0.000,6,0.000,0.045,1448,3347,3273,0,0,0,0,0,0
$GC,3853,-0.53,-194.7,448.2,-10.9,291,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3346,3273,0,0,0,0,0,0
$GC,4158,-0.53,-194.7,481.2,-10.9,301,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3346,3272,0,0,0,0,0,0
$GC,4465,-0.53,-194.7,515.3,-11.3,311,4468,0.00,2.12,0.00,0.000,4,0.000,0.041,1448,1941,3272,0,0,0,0,0,0
$GC,4494,-0.53,-194.7,518.5,-10.6,312,4499,0.12,2.28,0.00,0.000,6,0.155,0.063,1472,3357,3272,0,0,0,0,0,0
$GC,4831,-0.53,-194.7,550.6,-9.7,323,4836,0.00,0.93,0.00,0.000,4,0.000,0.067,1469,3945,3272,0,0,0,0,0,0
$GC,4943,-0.53,-194.7,561.6,-9.5,326,4947,0.00,0.90,0.00,0.000,6,0.000,0.046,1469,3357,3272,0,0,0,0,0,0
$GC,5274,-0.53,-194.7,591.9,-9.2,337,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3271,0,0,0,0,0,0
$GC,5581,-0.53,-194.7,619.9,-9.0,347,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3271,0,0,0,0,0,0
$GC,5886,-0.53,-194.7,647.1,-8.9,357,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3270,0,0,0,0,0,0
$GC,6192,-0.53,-194.7,675.5,-9.4,367,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3270,0,0,0,0,0,0
$GC,6500,-0.53,-194.7,704.9,-9.5,377,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3269,0,0,0,0,0,0
$GC,6805,-0.53,-194.7,732.2,-8.7,387,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3268,0,0,0,0,0,0
$GC,7111,-0.53,-194.7,757.0,-7.9,397,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3267,0,0,0,0,0,0
$GC,7418,-0.53,-194.7,780.2,-7.5,407,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3267,0,0,0,0,0,0
$GC,7723,-0.53,-194.7,804.4,-8.1,417,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3267,0,0,0,0,0,0
$GC,8030,-0.53,-194.7,830.2,-8.5,427,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3357,3267,0,0,0,0,0,0
$GC,8337,-0.53,-194.7,856.7,-8.6,437,8341,0.00,2.15,0.00,0.000,4,0.000,0.044,1469,1942,3266,0,0,0,0,0,0
$GC,8375,-0.53,-194.7,860.2,-8.2,438,8380,0.00,2.28,0.00,0.000,6,0.000,0.064,1460,3355,3266,0,0,0,0,0,0
$GC,8699,-0.53,-194.7,891.9,-10.1,449,8703,0.00,0.95,0.00,0.000,4,0.000,0.069,1455,3954,3266,0,0,0,0,0,0
$GC,8794,-0.53,-194.7,902.4,-10.6,451,8801,0.00,0.93,0.00,0.000,6,0.000,0.049,1455,3353,3266,0,0,0,0,0,0
$GC,9108,-0.53,-194.7,934.5,-10.2,462,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3353,3266,0,0,0,0,0,0
$GC,9415,-0.53,-194.7,964.3,-9.5,472,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3353,3265,0,0,0,0,0,0
$GC,9720,-0.53,-194.7,992.6,-9.2,482,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3353,3264,0,0,0,0,0,0
$STATE,9809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9809,begin apogee
$GC,9816,-0.14,0.0,1000.9,9.0,485,10027,0.47,0.00,202.25,1.220,6,0.133,0.000,1605,3151,2471,0,0,0,0,1,0
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10031,0.53,194.7,1007.4,0.0,492,10228,0.60,2.50,183.38,1.841,4,0.054,0.046,1841,1745,1680,0,0,0,0,1,0
$GC,10331,0.53,194.7,965.2,15.7,501,10335,0.00,2.45,0.00,0.000,6,0.000,0.059,1841,3155,1680,0,0,0,0,0,0
$GC,10656,0.53,194.7,903.4,18.9,512,10660,0.00,1.33,0.00,0.000,4,0.000,0.066,1841,3951,1678,0,0,0,0,0,0
$GC,10808,0.53,194.7,870.6,22.3,516,10812,0.00,1.27,0.00,0.000,6,0.000,0.043,1847,3148,1677,0,0,0,0,0,0
$GC,11132,0.53,194.7,806.7,19.5,527,11136,0.00,1.30,0.00,0.000,4,0.000,0.063,1847,3943,1676,0,0,0,0,0,0
$GC,11260,0.53,194.7,778.7,23.1,530,11268,0.10,1.25,0.00,0.000,6,0.206,0.041,1827,3140,1675,0,0,0,0,0,0
$GC,11574,0.53,194.7,721.2,18.5,541,11577,0.00,1.33,0.00,0.000,4,0.000,0.063,1827,3955,1675,0,0,0,0,0,0
$GC,11697,0.53,194.7,694.7,20.7,544,11702,0.00,1.23,0.00,0.000,6,0.000,0.041,1832,3161,1675,0,0,0,0,0,0
$GC,12016,0.53,194.7,633.2,19.2,555,12022,0.00,1.27,0.00,0.000,4,0.000,0.063,1831,3951,1675,0,0,0,0,0,0
$GC,12069,0.53,194.7,622.4,20.0,556,12072,0.00,1.23,0.00,0.000,6,0.000,0.040,1837,3155,1675,0,0,0,0,0,0
$GC,12394,0.53,194.7,559.7,19.1,567,12398,0.00,1.27,0.00,0.000,4,0.000,0.063,1837,3948,1675,0,0,0,0,0,0
$GC,12488,0.53,194.7,539.7,20.4,569,12495,0.00,1.23,0.00,0.000,6,0.000,0.039,1844,3146,1675,0,0,0,0,0,0
$GC,12801,0.53,194.7,479.2,19.5,580,12805,0.00,1.30,0.00,0.000,4,0.000,0.061,1844,3958,1674,0,0,0,0,0,0
$GC,12862,0.53,194.7,466.2,21.2,581,12869,0.00,1.23,0.00,0.000,6,0.000,0.039,1850,3152,1674,0,0,0,0,0,0
$GC,13176,0.53,194.7,406.2,18.9,592,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3152,1674,0,0,0,0,0,0
$GC,13486,0.53,194.7,346.4,19.5,606,13489,0.00,1.27,0.00,0.000,4,0.000,0.061,1850,3951,1674,0,0,0,0,0,0
$GC,13580,0.53,194.7,326.4,20.8,610,13584,0.10,1.23,0.00,0.000,6,0.211,0.038,1829,3143,1674,0,0,0,0,0,0
$GC,13913,0.53,194.7,266.7,17.4,626,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3142,1674,0,0,0,0,0,0
$GC,14238,0.53,194.7,211.6,17.0,645,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3143,1674,0,0,0,0,0,0
$GC,14550,0.53,194.7,157.2,17.4,665,14554,0.00,1.27,0.00,0.000,4,0.000,0.060,1829,3949,1674,0,0,0,0,0,0
$GC,14604,0.53,194.7,146.8,18.8,668,14608,0.00,1.20,0.00,0.000,6,0.000,0.038,1833,3155,1674,0,0,0,0,0,0
$GC,14930,0.53,194.7,88.2,16.7,695,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3154,1674,0,0,0,0,0,0
$GC,15295,0.53,194.7,28.9,17.9,756,15306,0.00,1.27,0.00,0.000,4,0.000,0.060,1833,3946,1674,0,0,0,0,0,0
$GC,15392,0.53,194.7,11.6,16.7,770,15400,0.00,1.20,0.00,0.000,6,0.000,0.038,1839,3148,1674,0,0,0,0,0,0
$STATE,15439,end climb,SURFACE_DEPTH_REACHED
$STATE,15439,begin surface coast
$FINISH,0.6,1.019827
$STATE,15462,end surface coast,CONTROL_FINISHED_OK
$STATE,15462,begin surface
$SM_CCo,15477,131.45,0.775,1,0,545,472.69
$SM_GC,0.70,0.00,0.00,131.45,0.000,0.000,0.775,68,3372,545,-4.94,0.54,472.69
$IRIDIUM_FIX,-4212.81,809.04,091212,181803
$TT8_MAMPS,0.025466
$HUMID,54.76
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.8,3.547
$10V_AH,10.2,1.287
$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,11.875,52.950,385.625,131.450,0.000,25.610,33.349,344.554,0.000,0.000,17.389,1928.308,10457.786,589.531,2379.967,826.697,33.338,1489.838,0.000,2195.188,0.000,1.011,0.000
$DEVICE_MAMPS,236.385,68.850,1840.590,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.447,1707.070,785.441,353.714,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,57288,780
$CAP_FILE_SIZE,118655,0
$CFSIZE,259252224,257843200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,101212,040328,-4229.462,812.141,59,1.1,59,-24.9