version: 66.07
glider: 543
mission: 6
dive: 11
start: 12 10 112 13 22 21
data:
$ID,543
$MISSION,6
$DIVE,11
$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,-7816.5264
$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,41
$R_STBD_OVSHOOT,25
$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
$GPS1,101212,131124,-4230.476,816.028,37,1.1,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-35.4
$GPS2,101212,132122,-4230.493,816.058,20,1.0,21,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.267,-0.125
$KALMAN_X,-11897.3,357.0,358.1,30826.0,-4256.6
$KALMAN_Y,7766.7,-244.5,-147.2,-8216.2,2673.2
$MHEAD_RNG_PITCHd_Wd,139.9,5459,-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,23,-0.53,-194.7,0.0,0.0,0,129,0.00,0.00,-104.12,0.000,2,0.000,0.000,67,3363,3155,0,0,0,0,0,0
$GC,133,-0.53,-194.7,3.7,-4.9,13,155,5.75,2.28,-2.42,0.000,4,0.243,0.056,1474,1950,3271,0,0,0,0,0,0
$GC,275,-0.53,-194.7,25.6,-8.6,33,283,0.00,2.35,0.00,0.000,6,0.000,0.063,1465,3347,3272,0,0,0,0,0,0
$GC,362,-0.53,-194.7,36.4,-13.5,46,371,0.00,0.98,0.00,0.000,4,0.000,0.067,1460,3942,3272,0,0,0,0,0,0
$GC,450,-0.53,-194.7,48.5,-13.8,60,458,0.00,0.93,0.00,0.000,6,0.000,0.044,1460,3357,3273,0,0,0,0,0,0
$GC,692,-0.53,-194.7,80.0,-12.8,101,697,0.00,0.95,0.00,0.000,4,0.000,0.066,1456,3946,3273,0,0,0,0,0,0
$GC,790,-0.53,-194.7,93.4,-13.7,118,799,0.00,0.93,0.00,0.000,6,0.000,0.044,1456,3353,3273,0,0,0,0,0,0
$GC,1121,-0.53,-194.7,136.8,-12.9,144,1127,0.00,0.95,0.00,0.000,4,0.000,0.065,1451,3943,3273,0,0,0,0,0,0
$GC,1267,-0.53,-194.7,157.1,-13.7,152,1271,0.00,0.93,0.00,0.000,6,0.000,0.043,1451,3349,3273,0,0,0,0,0,0
$GC,1597,-0.53,-194.7,199.7,-12.9,173,1600,0.00,0.98,0.00,0.000,4,0.000,0.065,1447,3957,3274,0,0,0,0,0,0
$GC,1738,-0.53,-194.7,219.9,-14.8,181,1741,0.00,0.93,0.00,0.000,6,0.000,0.043,1447,3355,3274,0,0,0,0,0,0
$GC,2064,-0.53,-194.7,266.6,-14.1,200,2068,0.10,0.98,0.00,0.000,4,0.176,0.064,1468,3956,3274,0,0,0,0,0,0
$GC,2171,-0.53,-194.7,281.0,-11.9,204,2182,0.00,0.93,0.00,0.000,6,0.000,0.041,1468,3347,3274,0,0,0,0,0,0
$GC,2489,-0.53,-194.7,316.9,-10.8,220,2493,0.00,0.95,0.00,0.000,4,0.000,0.062,1464,3950,3274,0,0,0,0,0,0
$GC,2590,-0.53,-194.7,329.1,-11.3,224,2594,0.00,0.90,0.00,0.000,6,0.000,0.039,1464,3350,3274,0,0,0,0,0,0
$GC,2914,-0.53,-194.7,362.2,-9.8,240,2917,0.00,0.95,0.00,0.000,4,0.000,0.062,1459,3953,3274,0,0,0,0,0,0
$GC,3032,-0.53,-194.7,374.2,-9.8,245,3036,0.00,0.90,0.00,0.000,6,0.000,0.040,1459,3354,3273,0,0,0,0,0,0
$GC,3365,-0.53,-194.7,407.3,-9.8,260,3369,0.00,0.95,0.00,0.000,4,0.000,0.062,1455,3958,3273,0,0,0,0,0,0
$GC,3467,-0.53,-194.7,418.4,-10.6,263,3473,0.00,0.93,0.00,0.000,6,0.000,0.040,1455,3342,3273,0,0,0,0,0,0
$GC,3810,-0.53,-194.7,455.0,-11.1,274,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3342,3274,0,0,0,0,0,0
$GC,4115,-0.53,-194.7,490.0,-11.6,284,4121,0.00,0.98,0.00,0.000,4,0.000,0.063,1450,3960,3273,0,0,0,0,0,0
$GC,4295,-0.53,-194.7,513.2,-12.8,289,4299,0.00,0.93,0.00,0.000,6,0.000,0.040,1450,3345,3272,0,0,0,0,0,0
$GC,4626,-0.53,-194.7,552.0,-11.7,300,4629,0.00,0.95,0.00,0.000,4,0.000,0.063,1446,3947,3272,0,0,0,0,0,0
$GC,4734,-0.53,-194.7,565.9,-12.9,303,4738,0.08,0.90,0.00,0.000,6,0.152,0.041,1470,3354,3272,0,0,0,0,0,0
$GC,5070,-0.53,-194.7,598.7,-9.4,314,5073,0.00,0.98,0.00,0.000,4,0.000,0.066,1467,3953,3271,0,0,0,0,0,0
$GC,5176,-0.53,-194.7,610.1,-10.4,317,5179,0.00,0.90,0.00,0.000,6,0.000,0.041,1466,3355,3271,0,0,0,0,0,0
$GC,5511,-0.53,-194.7,645.4,-11.1,328,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3354,3270,0,0,0,0,0,0
$GC,5817,-0.53,-194.7,679.0,-10.7,338,5821,0.00,0.95,0.00,0.000,4,0.000,0.064,1462,3954,3270,0,0,0,0,0,0
$GC,5901,-0.53,-194.7,688.5,-11.5,340,5905,0.00,0.90,0.00,0.000,6,0.000,0.041,1462,3356,3269,0,0,0,0,0,0
$GC,6225,-0.53,-194.7,722.2,-10.4,351,6228,0.00,0.95,0.00,0.000,4,0.000,0.064,1458,3957,3269,0,0,0,0,0,0
$GC,6302,-0.53,-194.7,731.1,-11.5,353,6306,0.00,0.93,0.00,0.000,6,0.000,0.041,1458,3344,3268,0,0,0,0,0,0
$GC,6633,-0.53,-194.7,766.5,-10.7,364,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3344,3268,0,0,0,0,0,0
$GC,6940,-0.53,-194.7,798.1,-10.2,374,6943,0.00,0.98,0.00,0.000,4,0.000,0.064,1454,3960,3267,0,0,0,0,0,0
$GC,7076,-0.53,-194.7,813.2,-11.7,378,7080,0.00,0.93,0.00,0.000,6,0.000,0.042,1454,3349,3267,0,0,0,0,0,0
$GC,7417,-0.53,-194.7,848.7,-10.2,389,7420,0.00,0.95,0.00,0.000,4,0.000,0.065,1449,3951,3266,0,0,0,0,0,0
$GC,7511,-0.53,-194.7,859.3,-10.7,391,7517,0.00,0.90,0.00,0.000,6,0.000,0.041,1449,3354,3266,0,0,0,0,0,0
$GC,7825,-0.53,-194.7,890.1,-9.6,402,7829,0.00,0.95,0.00,0.000,4,0.000,0.064,1445,3953,3266,0,0,0,0,0,0
$GC,7886,-0.53,-194.7,896.5,-10.3,403,7894,0.08,0.93,0.00,0.000,6,0.151,0.042,1468,3343,3266,0,0,0,0,0,0
$GC,8199,-0.53,-194.7,918.8,-7.1,414,8205,0.00,0.98,0.00,0.000,4,0.000,0.066,1465,3958,3265,0,0,0,0,0,0
$GC,8284,-0.53,-194.7,925.9,-8.6,416,8288,0.00,0.93,0.00,0.000,6,0.000,0.043,1465,3351,3266,0,0,0,0,0,0
$GC,8608,-0.53,-194.7,952.1,-8.3,427,8612,0.00,0.95,0.00,0.000,4,0.000,0.067,1461,3951,3265,0,0,0,0,0,0
$GC,8686,-0.53,-194.7,959.5,-9.3,429,8690,0.00,0.93,0.00,0.000,6,0.000,0.043,1461,3344,3265,0,0,0,0,0,0
$GC,9016,-0.53,-194.7,988.6,-8.9,440,9020,0.00,0.98,0.00,0.000,4,0.000,0.067,1457,3958,3265,0,0,0,0,0,0
$GC,9093,-0.53,-194.7,996.2,-8.9,442,9097,0.00,0.93,0.00,0.000,6,0.000,0.044,1457,3348,3264,0,0,0,0,0,0
$STATE,9145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9145,begin apogee
$GC,9152,-0.14,0.0,1001.3,9.8,444,9360,0.47,0.00,203.50,1.206,6,0.133,0.000,1606,3142,2471,0,0,0,0,0,0
$STATE,9361,end apogee,CONTROL_FINISHED_OK
$STATE,9361,begin climb
$GC,9364,0.53,194.7,1008.6,0.0,451,9576,0.60,1.40,200.02,1.146,4,0.056,0.057,1824,3951,1674,0,0,0,0,1,0
$GC,9662,0.53,194.7,962.0,21.0,460,9666,0.00,1.30,0.00,0.000,6,0.000,0.036,1830,3144,1664,0,0,0,0,0,0
$GC,9992,0.53,194.7,895.8,20.4,471,9998,0.00,2.25,0.00,0.000,4,0.000,0.041,1840,1757,1658,0,0,0,0,0,0
$GC,10040,0.53,194.7,887.4,16.0,472,10045,0.00,2.33,0.00,0.000,6,0.000,0.054,1840,3157,1657,0,0,0,0,0,0
$GC,10365,0.53,194.7,821.6,20.3,483,10369,0.00,2.22,0.00,0.000,4,0.000,0.044,1851,1755,1657,0,0,0,0,0,0
$GC,10420,0.53,194.7,811.4,16.3,484,10427,0.00,2.33,0.00,0.000,6,0.000,0.058,1851,3165,1656,0,0,0,0,0,0
$GC,10734,0.53,194.7,747.5,20.7,495,10738,0.00,2.20,0.00,0.000,4,0.000,0.044,1861,1757,1656,0,0,0,0,0,0
$GC,10799,0.53,194.7,736.2,17.1,497,10804,0.15,2.30,0.00,0.000,6,0.191,0.058,1824,3155,1655,0,0,0,0,0,0
$GC,11135,0.53,194.7,674.9,18.3,508,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3155,1655,0,0,0,0,0,0
$GC,11443,0.53,194.7,618.4,18.6,518,11446,0.00,2.17,0.00,0.000,4,0.000,0.044,1833,1759,1655,0,0,0,0,0,0
$GC,11509,0.53,194.7,607.3,14.3,520,11514,0.00,2.30,0.00,0.000,6,0.000,0.059,1833,3152,1655,0,0,0,0,0,0
$GC,11846,0.53,194.7,545.5,18.6,531,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3152,1655,0,0,0,0,0,0
$GC,12151,0.53,194.7,489.3,18.4,541,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3152,1655,0,0,0,0,0,0
$GC,12458,0.53,194.7,434.3,18.0,551,12462,0.00,2.17,0.00,0.000,4,0.000,0.043,1843,1753,1654,0,0,0,0,0,0
$GC,12563,0.53,194.7,418.0,13.8,554,12569,0.00,2.30,0.00,0.000,6,0.000,0.057,1844,3158,1654,0,0,0,0,0,0
$GC,12887,0.53,194.7,357.0,19.1,568,12890,0.00,1.25,0.00,0.000,4,0.000,0.058,1844,3946,1654,0,0,0,0,0,0
$GC,12938,0.53,194.7,345.6,21.8,570,12943,0.00,1.20,0.00,0.000,6,0.000,0.038,1850,3154,1654,0,0,0,0,0,0
$GC,13267,0.53,194.7,277.6,21.1,586,13271,0.00,2.12,0.00,0.000,4,0.000,0.041,1861,1751,1654,0,0,0,0,0,0
$GC,13350,0.53,194.7,263.3,15.3,589,13358,0.15,2.25,0.00,0.000,6,0.190,0.055,1823,3156,1654,0,0,0,0,0,0
$GC,13680,0.53,194.7,206.0,17.7,609,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3156,1653,0,0,0,0,0,0
$GC,13990,0.53,194.7,151.0,17.6,629,13993,0.00,2.12,0.00,0.000,4,0.000,0.041,1832,1756,1654,0,0,0,0,0,0
$GC,14027,0.53,194.7,144.2,15.1,631,14034,0.00,2.22,0.00,0.000,6,0.000,0.054,1832,3153,1654,0,0,0,0,0,0
$GC,14353,0.53,194.7,86.0,18.1,660,14364,0.00,2.17,0.00,0.000,4,0.000,0.041,1843,1760,1654,0,0,0,0,0,0
$GC,14405,0.53,194.7,78.7,13.9,667,14410,0.00,2.22,0.00,0.000,6,0.000,0.054,1843,3154,1654,0,0,0,0,0,0
$GC,14777,0.53,194.7,11.9,15.8,728,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3154,1654,0,0,0,0,0,0
$STATE,14823,end climb,SURFACE_DEPTH_REACHED
$STATE,14823,begin surface coast
$FINISH,0.8,1.008235
$STATE,14846,end surface coast,CONTROL_FINISHED_OK
$STATE,14846,begin surface
$SM_CCo,14861,124.65,0.779,1,0,542,472.69
$SM_GC,1.21,0.00,0.00,124.65,0.000,0.000,0.779,61,3358,542,-4.96,0.14,472.69
$IRIDIUM_FIX,-4215.72,812.35,101212,080817
$TT8_MAMPS,0.025466
$HUMID,53.70
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.5,4.161
$10V_AH,10.2,1.640
$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,12.200,81.775,403.525,124.650,0.000,27.544,52.132,348.685,0.000,0.000,23.593,1911.691,9655.798,611.115,2568.569,842.027,33.349,1641.474,0.000,2315.663,0.000,1.011,0.000
$DEVICE_MAMPS,242.505,79.560,1206.405,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.202,1610.758,738.397,328.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,53886,738
$CAP_FILE_SIZE,131216,0
$CFSIZE,259252224,257609728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,101212,173334,-4231.327,818.844,41,0.9,41,-24.9