version: 66.07
glider: 543
mission: 6
dive: 9
start: 12 10 112 4 13 37
data:
$ID,543
$MISSION,6
$DIVE,9
$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,-7810.0088
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,101212,040328,-4229.462,812.141,59,1.1,59,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-38.5
$GPS2,101212,041238,-4229.438,812.272,15,0.9,17,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.262,-0.135
$KALMAN_X,-5030.6,-512.6,184.0,19847.5,-1808.2
$KALMAN_Y,5123.0,-69.7,78.0,-4023.9,2352.1
$MHEAD_RNG_PITCHd_Wd,142.1,10603,-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,20,begin dive
$GC,22,-0.53,-194.7,0.0,0.0,0,122,0.00,0.00,-97.12,0.000,2,0.000,0.000,67,3372,2951,0,0,0,0,0,0
$GC,126,-0.53,-194.7,3.1,-4.3,12,146,5.68,2.30,-7.53,0.000,4,0.236,0.054,1473,1952,3270,0,0,0,0,0,0
$GC,248,-0.53,-194.7,20.7,-10.5,29,256,0.00,2.33,0.00,0.000,6,0.000,0.062,1464,3334,3272,0,0,0,0,0,0
$GC,333,-0.53,-194.7,31.2,-13.0,42,344,0.00,1.00,0.00,0.000,4,0.000,0.067,1459,3942,3272,0,0,0,0,0,0
$GC,614,-0.53,-194.7,72.3,-14.2,88,622,0.00,0.90,0.00,0.000,6,0.000,0.044,1459,3366,3273,0,0,0,0,0,0
$GC,960,-0.53,-194.7,116.3,-12.4,133,964,0.00,0.95,0.00,0.000,4,0.000,0.065,1455,3955,3273,0,0,0,0,0,0
$GC,1227,-0.53,-194.7,152.2,-13.3,148,1230,0.00,0.93,0.00,0.000,6,0.000,0.042,1455,3353,3273,0,0,0,0,0,0
$GC,1555,-0.53,-194.7,193.0,-12.5,169,1559,0.00,2.17,0.00,0.000,4,0.000,0.039,1455,1942,3273,0,0,0,0,0,0
$GC,1604,-0.53,-194.7,198.7,-10.1,172,1609,0.12,2.30,0.00,0.000,6,0.159,0.062,1477,3358,3273,0,0,0,0,0,0
$GC,1935,-0.53,-194.7,230.6,-9.8,193,1938,0.00,0.95,0.00,0.000,4,0.000,0.064,1474,3955,3273,0,0,0,0,0,0
$GC,2203,-0.53,-194.7,261.6,-11.0,207,2206,0.00,0.93,0.00,0.000,6,0.000,0.044,1474,3354,3274,0,0,0,0,0,0
$GC,2527,-0.53,-194.7,293.6,-9.4,223,2532,0.00,2.17,0.00,0.000,4,0.000,0.041,1474,1944,3274,0,0,0,0,0,0
$GC,2625,-0.53,-194.7,302.1,-7.9,227,2630,0.00,2.30,0.00,0.000,6,0.000,0.060,1463,3354,3274,0,0,0,0,0,0
$GC,2955,-0.53,-194.7,334.3,-9.8,243,2961,0.00,0.95,0.00,0.000,4,0.000,0.065,1459,3953,3273,0,0,0,0,0,0
$GC,3216,-0.53,-194.7,363.2,-10.8,254,3220,0.00,0.93,0.00,0.000,6,0.000,0.044,1460,3351,3273,0,0,0,0,0,0
$GC,3540,-0.53,-194.7,397.4,-10.7,270,3544,0.00,2.12,0.00,0.000,4,0.000,0.042,1459,1937,3273,0,0,0,0,0,0
$GC,3645,-0.53,-194.7,407.5,-9.1,274,3649,0.00,2.30,0.00,0.000,6,0.000,0.061,1449,3361,3273,0,0,0,0,0,0
$GC,3975,-0.53,-194.7,447.3,-12.5,285,3978,0.00,0.93,0.00,0.000,4,0.000,0.067,1444,3946,3273,0,0,0,0,0,0
$GC,4233,-0.53,-194.7,481.5,-12.8,292,4237,0.08,0.90,0.00,0.000,6,0.158,0.046,1467,3357,3273,0,0,0,0,0,0
$GC,4551,-0.53,-194.7,515.3,-10.7,303,4555,0.00,2.17,0.00,0.000,4,0.000,0.044,1467,1938,3272,0,0,0,0,0,0
$GC,4629,-0.53,-194.7,523.0,-8.9,305,4633,0.00,2.30,0.00,0.000,6,0.000,0.064,1458,3359,3273,0,0,0,0,0,0
$GC,4947,-0.53,-194.7,556.5,-10.6,316,4951,0.00,0.93,0.00,0.000,4,0.000,0.068,1454,3942,3272,0,0,0,0,0,0
$GC,5210,-0.53,-194.7,586.8,-11.1,323,5213,0.00,0.90,0.00,0.000,6,0.000,0.047,1454,3356,3272,0,0,0,0,0,0
$GC,5530,-0.53,-194.7,617.7,-9.4,334,5534,0.00,2.17,0.00,0.000,4,0.000,0.044,1454,1931,3271,0,0,0,0,0,0
$GC,5622,-0.53,-194.7,625.2,-7.3,336,5629,0.12,2.30,0.00,0.000,6,0.167,0.063,1476,3360,3271,0,0,0,0,0,0
$GC,5937,-0.53,-194.7,649.0,-7.6,347,5940,0.00,0.93,0.00,0.000,4,0.000,0.070,1473,3945,3270,0,0,0,0,0,0
$GC,6194,-0.53,-194.7,670.1,-8.0,354,6198,0.00,0.93,0.00,0.000,6,0.000,0.047,1473,3343,3270,0,0,0,0,0,0
$GC,6513,-0.53,-194.7,697.3,-8.8,365,6516,0.00,0.95,0.00,0.000,4,0.000,0.070,1469,3942,3269,0,0,0,0,0,0
$GC,6774,-0.53,-194.7,723.2,-10.5,372,6777,0.00,0.90,0.00,0.000,6,0.000,0.048,1469,3358,3269,0,0,0,0,0,0
$GC,7095,-0.53,-194.7,753.0,-9.3,383,7099,0.00,2.17,0.00,0.000,4,0.000,0.046,1469,1935,3268,0,0,0,0,0,0
$GC,7206,-0.53,-194.7,762.7,-8.4,386,7211,0.00,2.30,0.00,0.000,6,0.000,0.063,1459,3359,3267,0,0,0,0,0,0
$GC,7525,-0.53,-194.7,792.8,-9.5,397,7529,0.00,0.93,0.00,0.000,4,0.000,0.069,1454,3942,3267,0,0,0,0,0,0
$GC,7786,-0.53,-194.7,819.7,-10.5,404,7790,0.00,0.90,0.00,0.000,6,0.000,0.049,1454,3358,3267,0,0,0,0,0,0
$GC,8107,-0.53,-194.7,849.6,-9.2,415,8111,0.00,2.17,0.00,0.000,4,0.000,0.046,1454,1934,3267,0,0,0,0,0,0
$GC,8204,-0.53,-194.7,857.5,-7.9,418,8209,0.12,2.30,0.00,0.000,6,0.168,0.064,1476,3361,3267,0,0,0,0,0,0
$GC,8540,-0.53,-194.7,880.5,-6.8,429,8544,0.00,0.93,0.00,0.000,4,0.000,0.070,1473,3941,3267,0,0,0,0,0,0
$GC,8738,-0.53,-194.7,894.9,-7.9,434,8746,0.00,0.90,0.00,0.000,6,0.000,0.050,1473,3360,3266,0,0,0,0,0,0
$GC,9051,-0.53,-194.7,917.9,-7.6,445,9055,0.00,0.93,0.00,0.000,4,0.000,0.071,1470,3941,3266,0,0,0,0,0,0
$GC,9244,-0.53,-194.7,933.3,-8.4,450,9248,0.00,0.90,0.00,0.000,6,0.000,0.050,1469,3357,3266,0,0,0,0,0,0
$GC,9564,-0.53,-194.7,958.5,-8.2,461,9567,0.00,0.95,0.00,0.000,4,0.000,0.070,1465,3951,3264,0,0,0,0,0,0
$GC,9802,-0.53,-194.7,979.6,-8.4,468,9806,0.00,0.93,0.00,0.000,6,0.000,0.050,1465,3352,3265,0,0,0,0,0,0
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10019,begin apogee
$GC,10025,-0.14,0.0,1000.1,9.6,475,10234,0.45,0.00,205.73,1.208,6,0.136,0.000,1606,3152,2473,0,0,0,0,0,0
$STATE,10236,end apogee,CONTROL_FINISHED_OK
$STATE,10236,begin climb
$GC,10239,0.53,194.7,1010.8,0.0,482,10454,0.60,2.45,205.07,1.128,4,0.058,0.050,1833,1749,1671,0,0,0,0,0,0
$GC,10572,0.53,194.7,968.7,13.2,491,10577,0.00,2.42,0.00,0.000,6,0.000,0.059,1833,3158,1650,0,0,0,0,0,0
$GC,10892,0.53,194.7,912.2,18.0,502,10896,0.00,2.33,0.00,0.000,4,0.000,0.051,1844,1739,1646,0,0,0,0,0,0
$GC,11149,0.53,194.7,870.5,15.6,509,11156,0.00,2.35,0.00,0.000,6,0.000,0.060,1844,3154,1645,0,0,0,0,0,0
$GC,11462,0.53,194.7,809.1,20.0,520,11466,0.00,2.28,0.00,0.000,4,0.000,0.052,1854,1744,1643,0,0,0,0,0,0
$GC,11719,0.53,194.7,763.7,16.4,527,11727,0.12,2.33,0.00,0.000,6,0.197,0.060,1825,3158,1643,0,0,0,0,0,0
$GC,12033,0.53,194.7,709.5,17.1,538,12037,0.00,2.25,0.00,0.000,4,0.000,0.048,1834,1743,1643,0,0,0,0,0,0
$GC,12189,0.53,194.7,686.9,13.3,542,12197,0.00,2.33,0.00,0.000,6,0.000,0.060,1834,3149,1643,0,0,0,0,0,0
$GC,12502,0.53,194.7,631.2,18.3,553,12508,0.00,2.25,0.00,0.000,4,0.000,0.048,1844,1743,1642,0,0,0,0,0,0
$GC,12652,0.53,194.7,607.8,14.3,557,12657,0.00,2.30,0.00,0.000,6,0.000,0.060,1844,3152,1642,0,0,0,0,0,0
$GC,12976,0.53,194.7,546.6,18.9,568,12980,0.00,2.22,0.00,0.000,4,0.000,0.047,1854,1739,1642,0,0,0,0,0,0
$GC,13177,0.53,194.7,513.5,15.3,574,13182,0.12,2.30,0.00,0.000,6,0.203,0.058,1825,3157,1642,0,0,0,0,0,0
$GC,13508,0.53,194.7,459.8,16.5,585,13513,0.00,2.25,0.00,0.000,4,0.000,0.047,1834,1739,1642,0,0,0,0,0,0
$GC,13672,0.53,194.7,437.2,13.7,589,13679,0.00,2.30,0.00,0.000,6,0.000,0.057,1835,3164,1642,0,0,0,0,0,0
$GC,13996,0.53,194.7,380.6,17.7,602,14000,0.00,2.22,0.00,0.000,4,0.000,0.045,1845,1739,1642,0,0,0,0,0,0
$GC,14157,0.53,194.7,354.7,15.3,609,14163,0.00,2.30,0.00,0.000,6,0.000,0.058,1846,3150,1642,0,0,0,0,0,0
$GC,14488,0.53,194.7,292.2,18.8,625,14493,0.00,2.22,0.00,0.000,4,0.000,0.045,1856,1733,1642,0,0,0,0,0,0
$GC,14632,0.53,194.7,268.4,15.0,631,14637,0.12,2.30,0.00,0.000,6,0.200,0.057,1826,3160,1642,0,0,0,0,0,0
$GC,14958,0.53,194.7,216.0,16.2,650,14962,0.00,2.20,0.00,0.000,4,0.000,0.044,1835,1736,1642,0,0,0,0,0,0
$GC,15146,0.53,194.7,188.6,13.5,661,15150,0.00,2.28,0.00,0.000,6,0.000,0.055,1835,3156,1642,0,0,0,0,0,0
$GC,15467,0.53,194.7,134.0,16.8,681,15473,0.00,2.22,0.00,0.000,4,0.000,0.044,1845,1736,1642,0,0,0,0,0,0
$GC,15683,0.53,194.7,101.1,14.2,693,15688,0.00,2.28,0.00,0.000,6,0.000,0.054,1846,3146,1642,0,0,0,0,0,0
$GC,16046,0.53,194.7,34.7,18.8,753,16054,0.00,2.20,0.00,0.000,4,0.000,0.043,1856,1734,1642,0,0,0,0,0,0
$STATE,16260,end climb,SURFACE_DEPTH_REACHED
$STATE,16260,begin surface coast
$FINISH,0.7,1.015148
$STATE,16285,end surface coast,CONTROL_FINISHED_OK
$STATE,16285,begin surface
$SM_CCo,16303,132.35,0.771,1,0,545,472.69
$SM_GC,1.09,0.00,0.00,132.35,0.000,0.000,0.771,63,3356,545,-4.96,0.08,472.69
$IRIDIUM_FIX,-4209.90,846.99,091212,232333
$TT8_MAMPS,0.025466
$HUMID,53.66
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.5,3.734
$10V_AH,10.2,1.414
$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,12.325,113.625,410.800,132.350,0.000,26.908,22.272,333.977,0.000,0.000,19.493,2169.524,10039.103,618.032,3201.232,964.005,33.356,1904.334,0.000,2995.420,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,71.145,1207.935,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.773,1724.465,786.136,336.698,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354336
$DATA_FILE_SIZE,57176,790
$CAP_FILE_SIZE,152440,0
$CFSIZE,259252224,257740800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,101212,084858,-4230.424,812.781,39,0.8,39,-24.9