version: 66.07
glider: 543
mission: 6
dive: 10
start: 12 10 112 8 59 41
data:
$ID,543
$MISSION,6
$DIVE,10
$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,-7813.2866
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,101212,084858,-4230.424,812.781,39,0.8,39,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-31.8
$GPS2,101212,085839,-4230.356,812.831,16,0.7,18,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.284,-0.080
$KALMAN_X,-9650.7,-80.3,-273.2,25261.0,-3694.4
$KALMAN_Y,6133.8,0.1,-93.3,-6627.0,1738.5
$MHEAD_RNG_PITCHd_Wd,130.7,9811,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.53,-194.7,0.0,0.0,0,119,0.00,0.00,-96.80,0.000,2,0.000,0.000,63,3356,2952,0,0,0,0,0,0
$GC,123,-0.53,-194.7,3.1,-4.5,12,142,5.72,2.30,-7.55,0.000,4,0.238,0.055,1468,1935,3269,0,0,0,0,0,0
$GC,247,-0.53,-194.7,21.2,-10.3,30,257,0.00,2.38,0.00,0.000,6,0.000,0.063,1459,3343,3271,0,0,0,0,0,0
$GC,338,-0.53,-194.7,32.0,-12.6,43,346,0.00,1.00,0.00,0.000,4,0.000,0.068,1454,3949,3271,0,0,0,0,0,0
$GC,550,-0.53,-194.7,62.6,-13.5,78,561,0.00,0.95,0.00,0.000,6,0.000,0.044,1454,3344,3271,0,0,0,0,0,0
$GC,912,-0.53,-194.7,108.4,-12.9,132,915,0.00,0.98,0.00,0.000,4,0.000,0.065,1450,3948,3271,0,0,0,0,0,0
$GC,1047,-0.53,-194.7,127.6,-14.9,139,1054,0.00,0.93,0.00,0.000,6,0.000,0.043,1450,3351,3272,0,0,0,0,0,0
$GC,1367,-0.53,-194.7,170.7,-13.5,160,1371,0.00,0.98,0.00,0.000,4,0.000,0.066,1446,3957,3272,0,0,0,0,0,0
$GC,1504,-0.53,-194.7,191.1,-15.3,168,1508,0.08,0.93,0.00,0.000,6,0.152,0.044,1469,3357,3272,0,0,0,0,0,0
$GC,1839,-0.53,-194.7,229.1,-11.3,189,1843,0.00,0.95,0.00,0.000,4,0.000,0.067,1466,3953,3272,0,0,0,0,0,0
$GC,1995,-0.53,-194.7,248.8,-11.9,198,1999,0.00,0.93,0.00,0.000,6,0.000,0.044,1466,3349,3272,0,0,0,0,0,0
$GC,2324,-0.53,-194.7,286.8,-11.2,214,2328,0.00,0.98,0.00,0.000,4,0.000,0.066,1462,3959,3272,0,0,0,0,0,0
$GC,2445,-0.53,-194.7,301.6,-12.1,219,2449,0.00,0.93,0.00,0.000,6,0.000,0.044,1461,3357,3272,0,0,0,0,0,0
$GC,2775,-0.53,-194.7,336.1,-10.3,235,2780,0.00,0.95,0.00,0.000,4,0.000,0.066,1457,3954,3272,0,0,0,0,0,0
$GC,2900,-0.53,-194.7,349.9,-10.0,240,2904,0.00,0.93,0.00,0.000,6,0.000,0.044,1457,3352,3272,0,0,0,0,0,0
$GC,3223,-0.53,-194.7,383.3,-11.1,256,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3351,3272,0,0,0,0,0,0
$GC,3540,-0.53,-194.7,420.5,-11.9,269,3544,0.00,0.95,0.00,0.000,4,0.000,0.066,1453,3948,3272,0,0,0,0,0,0
$GC,3748,-0.53,-194.7,448.1,-12.1,275,3751,0.00,0.93,0.00,0.000,6,0.000,0.045,1453,3348,3272,0,0,0,0,0,0
$GC,4083,-0.53,-194.7,487.6,-11.7,286,4089,0.00,0.95,0.00,0.000,4,0.000,0.065,1448,3948,3271,0,0,0,0,0,0
$GC,4195,-0.53,-194.7,501.5,-12.4,289,4199,0.00,0.90,0.00,0.000,6,0.000,0.043,1448,3354,3271,0,0,0,0,0,0
$GC,4526,-0.53,-194.7,538.3,-11.4,300,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3354,3271,0,0,0,0,0,0
$GC,4833,-0.53,-194.7,572.6,-11.1,310,4837,0.00,0.95,0.00,0.000,4,0.000,0.063,1444,3956,3270,0,0,0,0,0,0
$GC,4963,-0.53,-194.7,588.1,-11.8,313,4971,0.08,0.93,0.00,0.000,6,0.155,0.041,1468,3346,3270,0,0,0,0,0,0
$GC,5277,-0.53,-194.7,618.0,-9.5,324,5283,0.00,0.95,0.00,0.000,4,0.000,0.064,1465,3950,3270,0,0,0,0,0,0
$GC,5362,-0.53,-194.7,626.8,-10.4,326,5365,0.00,0.90,0.00,0.000,6,0.000,0.041,1465,3355,3269,0,0,0,0,0,0
$GC,5686,-0.53,-194.7,658.9,-10.1,337,5690,0.00,0.95,0.00,0.000,4,0.000,0.064,1461,3953,3269,0,0,0,0,0,0
$GC,5757,-0.53,-194.7,666.8,-10.7,339,5761,0.00,0.93,0.00,0.000,6,0.000,0.042,1461,3343,3269,0,0,0,0,0,0
$GC,6093,-0.53,-194.7,702.4,-11.0,350,6097,0.00,0.98,0.00,0.000,4,0.000,0.064,1456,3960,3268,0,0,0,0,0,0
$GC,6188,-0.53,-194.7,713.8,-11.7,352,6194,0.00,0.93,0.00,0.000,6,0.000,0.041,1456,3349,3268,0,0,0,0,0,0
$GC,6501,-0.53,-194.7,747.9,-10.8,363,6504,0.00,0.95,0.00,0.000,4,0.000,0.065,1452,3950,3267,0,0,0,0,0,0
$GC,6578,-0.53,-194.7,757.1,-12.3,365,6582,0.00,0.90,0.00,0.000,6,0.000,0.042,1452,3354,3267,0,0,0,0,0,0
$GC,6909,-0.53,-194.7,793.0,-10.8,376,6912,0.00,0.95,0.00,0.000,4,0.000,0.065,1447,3954,3266,0,0,0,0,0,0
$GC,7040,-0.53,-194.7,808.1,-11.7,379,7047,0.00,0.93,0.00,0.000,6,0.000,0.042,1448,3345,3266,0,0,0,0,0,0
$GC,7353,-0.53,-194.7,841.9,-10.7,390,7359,0.10,0.98,0.00,0.000,4,0.183,0.067,1469,3953,3265,0,0,0,0,0,0
$GC,7433,-0.53,-194.7,849.5,-8.5,392,7437,0.00,0.93,0.00,0.000,6,0.000,0.043,1469,3344,3266,0,0,0,0,0,0
$GC,7764,-0.53,-194.7,877.1,-8.4,403,7770,0.00,0.98,0.00,0.000,4,0.000,0.066,1464,3959,3265,0,0,0,0,0,0
$GC,7834,-0.53,-194.7,883.7,-9.2,405,7838,0.00,0.93,0.00,0.000,6,0.000,0.043,1464,3350,3265,0,0,0,0,0,0
$GC,8176,-0.53,-194.7,914.5,-9.0,416,8182,0.00,0.95,0.00,0.000,4,0.000,0.067,1460,3950,3264,0,0,0,0,0,0
$GC,8261,-0.53,-194.7,922.9,-9.7,418,8264,0.00,0.93,0.00,0.000,6,0.000,0.043,1460,3343,3263,0,0,0,0,0,0
$GC,8585,-0.53,-194.7,951.5,-8.7,429,8589,0.00,0.98,0.00,0.000,4,0.000,0.065,1456,3958,3263,0,0,0,0,0,0
$GC,8693,-0.53,-194.7,961.5,-9.4,432,8697,0.00,0.93,0.00,0.000,6,0.000,0.043,1456,3351,3263,0,0,0,0,0,0
$GC,9030,-0.53,-194.7,991.3,-9.1,443,9033,0.00,0.95,0.00,0.000,4,0.000,0.066,1451,3953,3263,0,0,0,0,0,0
$STATE,9111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9111,begin apogee
$GC,9119,-0.14,0.0,1000.1,10.5,445,9317,0.45,0.00,184.15,1.852,6,0.140,0.000,1595,3141,2475,0,0,0,0,1,0
$STATE,9319,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9322,0.53,194.7,1007.8,0.0,452,9524,0.62,2.47,187.07,1.805,4,0.061,0.041,1828,1752,1679,0,0,0,0,1,0
$GC,9610,0.53,194.7,970.2,15.2,461,9615,0.00,2.45,0.00,0.000,6,0.000,0.054,1828,3164,1676,0,0,0,0,0,0
$GC,9946,0.53,194.7,906.0,19.5,472,9951,0.00,2.33,0.00,0.000,4,0.000,0.045,1838,1761,1671,0,0,0,0,0,0
$GC,10008,0.53,194.7,894.7,16.8,473,10015,0.00,2.33,0.00,0.000,6,0.000,0.057,1838,3152,1670,0,0,0,0,0,0
$GC,10321,0.53,194.7,831.5,20.4,484,10325,0.00,2.22,0.00,0.000,4,0.000,0.046,1849,1759,1670,0,0,0,0,0,0
$GC,10404,0.53,194.7,816.3,16.8,486,10408,0.00,2.33,0.00,0.000,6,0.000,0.057,1848,3162,1669,0,0,0,0,0,0
$GC,10718,0.53,194.7,750.7,21.0,496,10722,0.00,2.22,0.00,0.000,4,0.000,0.047,1859,1751,1669,0,0,0,0,0,0
$GC,10790,0.53,194.7,737.1,16.3,498,10796,0.10,2.33,0.00,0.000,6,0.175,0.058,1829,3150,1668,0,0,0,0,0,0
$GC,11122,0.53,194.7,675.4,18.6,509,11126,0.00,2.17,0.00,0.000,4,0.000,0.044,1838,1755,1668,0,0,0,0,0,0
$GC,11177,0.53,194.7,665.8,15.7,510,11184,0.00,2.28,0.00,0.000,6,0.000,0.058,1838,3153,1667,0,0,0,0,0,0
$GC,11491,0.53,194.7,606.6,19.1,521,11495,0.00,2.20,0.00,0.000,4,0.000,0.044,1849,1749,1667,0,0,0,0,0,0
$GC,11546,0.53,194.7,597.0,15.3,522,11554,0.00,2.33,0.00,0.000,6,0.000,0.058,1849,3156,1667,0,0,0,0,0,0
$GC,11859,0.53,194.7,536.7,19.7,533,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3156,1667,0,0,0,0,0,0
$GC,12165,0.53,194.7,475.1,20.5,543,12169,0.00,2.17,0.00,0.000,4,0.000,0.044,1860,1750,1667,0,0,0,0,0,0
$GC,12301,0.53,194.7,451.8,16.9,547,12306,0.15,2.30,0.00,0.000,6,0.195,0.057,1822,3167,1666,0,0,0,0,0,0
$GC,12621,0.53,194.7,395.5,17.4,558,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3167,1666,0,0,0,0,0,0
$GC,12932,0.53,194.7,342.5,17.7,573,12938,0.00,2.22,0.00,0.000,4,0.000,0.044,1832,1755,1666,0,0,0,0,0,0
$GC,13007,0.53,194.7,330.2,14.2,576,13013,0.00,2.28,0.00,0.000,6,0.000,0.056,1832,3152,1666,0,0,0,0,0,0
$GC,13337,0.53,194.7,268.2,19.3,592,13341,0.00,2.17,0.00,0.000,4,0.000,0.043,1843,1751,1666,0,0,0,0,0,0
$GC,13391,0.53,194.7,258.9,15.6,594,13395,0.00,2.25,0.00,0.000,6,0.000,0.056,1842,3154,1666,0,0,0,0,0,0
$GC,13711,0.53,194.7,197.0,19.3,613,13717,0.00,2.20,0.00,0.000,4,0.000,0.043,1853,1754,1665,0,0,0,0,0,0
$GC,13758,0.53,194.7,188.2,16.2,615,13766,0.12,2.25,0.00,0.000,6,0.197,0.056,1823,3160,1665,0,0,0,0,0,0
$GC,14080,0.53,194.7,134.0,16.8,636,14084,0.00,2.17,0.00,0.000,4,0.000,0.043,1832,1746,1666,0,0,0,0,0,0
$GC,14151,0.53,194.7,123.4,12.5,640,14162,0.00,2.28,0.00,0.000,6,0.000,0.054,1832,3151,1665,0,0,0,0,0,0
$GC,14489,0.53,194.7,65.3,17.1,683,14496,0.00,2.17,0.00,0.000,4,0.000,0.042,1842,1758,1666,0,0,0,0,0,0
$GC,14567,0.53,194.7,53.7,14.0,696,14577,0.00,2.28,0.00,0.000,6,0.000,0.055,1842,3164,1666,0,0,0,0,0,0
$GC,14828,0.53,194.7,7.9,17.6,737,14836,0.00,2.20,0.00,0.000,4,0.000,0.040,1853,1746,1665,0,0,0,0,0,0
$STATE,14856,end climb,SURFACE_DEPTH_REACHED
$STATE,14856,begin surface coast
$FINISH,0.8,1.026300
$STATE,14876,end surface coast,CONTROL_FINISHED_OK
$STATE,14876,begin surface
$SM_CCo,14894,125.50,0.774,1,0,546,472.69
$SM_GC,1.25,0.00,0.00,125.50,0.000,0.000,0.774,68,3362,546,-4.94,0.25,472.69
$IRIDIUM_FIX,-4212.81,811.93,101212,040447
$TT8_MAMPS,0.025466
$HUMID,53.62
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.7,3.975
$10V_AH,10.2,1.528
$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,12.275,100.025,371.225,125.500,0.000,25.366,20.992,364.747,0.000,0.000,20.573,1941.666,9560.206,601.402,2645.181,857.262,33.352,1671.995,0.000,2395.736,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,68.085,1852.065,774.180,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.636,1611.255,753.139,337.351,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,53895,744
$CAP_FILE_SIZE,135024,0
$CFSIZE,259252224,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,101212,131124,-4230.476,816.028,37,1.1,37,-24.9