version: 66.07
glider: 543
mission: 6
dive: 12
start: 12 10 112 17 48 54
data:
$ID,543
$MISSION,6
$DIVE,12
$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,-7821.6924
$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,47
$R_STBD_OVSHOOT,21
$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
$GPS1,101212,173334,-4231.327,818.844,41,0.9,41,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-37.0
$GPS2,101212,174753,-4231.380,819.111,15,1.7,15,-24.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.284,-0.078
$KALMAN_X,-13548.3,847.5,596.9,35911.0,-5314.5
$KALMAN_Y,8612.1,-479.1,-53.7,-10555.5,2317.9
$MHEAD_RNG_PITCHd_Wd,130.2,2829,-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,-104.25,0.000,2,0.000,0.000,61,3358,3160,0,0,0,0,0,0
$GC,131,-0.53,-194.7,3.5,-3.9,13,153,5.80,2.25,-2.38,0.000,4,0.242,0.055,1473,1956,3271,0,0,0,0,0,0
$GC,259,-0.53,-194.7,24.5,-9.1,31,270,0.00,2.35,0.00,0.000,6,0.000,0.063,1464,3349,3272,0,0,0,0,0,0
$GC,345,-0.53,-194.7,35.0,-13.6,44,356,0.00,0.98,0.00,0.000,4,0.000,0.069,1459,3943,3272,0,0,0,0,0,0
$GC,412,-0.53,-194.7,44.3,-14.0,54,420,0.00,0.90,0.00,0.000,6,0.000,0.044,1459,3374,3272,0,0,0,0,0,0
$GC,657,-0.53,-194.7,76.2,-12.4,95,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3374,3272,0,0,0,0,0,0
$GC,993,-0.53,-194.7,117.3,-11.8,138,999,0.00,0.93,0.00,0.000,4,0.000,0.067,1455,3947,3273,0,0,0,0,0,0
$GC,1136,-0.53,-194.7,134.9,-12.1,146,1139,0.00,0.93,0.00,0.000,6,0.000,0.044,1455,3350,3272,0,0,0,0,0,0
$GC,1469,-0.53,-194.7,173.4,-11.6,167,1473,0.00,0.98,0.00,0.000,4,0.000,0.065,1450,3958,3273,0,0,0,0,0,0
$GC,1593,-0.53,-194.7,189.5,-12.8,174,1597,0.00,0.93,0.00,0.000,6,0.000,0.044,1450,3355,3273,0,0,0,0,0,0
$GC,1928,-0.53,-194.7,230.5,-12.6,195,1931,0.00,0.95,0.00,0.000,4,0.000,0.063,1446,3952,3273,0,0,0,0,0,0
$GC,2072,-0.53,-194.7,251.4,-13.7,203,2077,0.08,0.93,0.00,0.000,6,0.152,0.041,1470,3345,3273,0,0,0,0,0,0
$GC,2401,-0.53,-194.7,287.3,-10.7,219,2407,0.00,0.98,0.00,0.000,4,0.000,0.062,1466,3959,3273,0,0,0,0,0,0
$GC,2543,-0.53,-194.7,303.6,-11.8,225,2547,0.00,0.93,0.00,0.000,6,0.000,0.040,1466,3350,3273,0,0,0,0,0,0
$GC,2878,-0.53,-194.7,340.4,-10.6,241,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3350,3273,0,0,0,0,0,0
$GC,3187,-0.53,-194.7,374.1,-10.4,256,3190,0.00,0.95,0.00,0.000,4,0.000,0.063,1462,3950,3273,0,0,0,0,0,0
$GC,3449,-0.53,-194.7,404.0,-11.3,267,3453,0.00,0.93,0.00,0.000,6,0.000,0.041,1462,3343,3272,0,0,0,0,0,0
$GC,3769,-0.53,-194.7,436.4,-10.0,278,3772,0.00,0.98,0.00,0.000,4,0.000,0.063,1457,3957,3272,0,0,0,0,0,0
$GC,3813,-0.53,-194.7,441.4,-10.5,279,3816,0.00,0.93,0.00,0.000,6,0.000,0.041,1457,3349,3272,0,0,0,0,0,0
$GC,4143,-0.53,-194.7,475.1,-10.2,290,4146,0.00,0.95,0.00,0.000,4,0.000,0.063,1453,3951,3271,0,0,0,0,0,0
$GC,4251,-0.53,-194.7,487.4,-11.7,293,4255,0.00,0.93,0.00,0.000,6,0.000,0.040,1453,3342,3271,0,0,0,0,0,0
$GC,4586,-0.53,-194.7,523.1,-10.5,304,4590,0.00,0.98,0.00,0.000,4,0.000,0.063,1449,3958,3270,0,0,0,0,0,0
$GC,4750,-0.53,-194.7,542.2,-11.5,308,4758,0.00,0.93,0.00,0.000,6,0.000,0.041,1448,3349,3270,0,0,0,0,0,0
$GC,5063,-0.53,-194.7,577.6,-11.4,319,5069,0.00,0.95,0.00,0.000,4,0.000,0.063,1444,3951,3269,0,0,0,0,0,0
$GC,5217,-0.53,-194.7,597.2,-13.2,323,5221,0.08,0.90,0.00,0.000,6,0.156,0.041,1468,3356,3270,0,0,0,0,0,0
$GC,5541,-0.53,-194.7,629.7,-9.7,334,5545,0.00,0.95,0.00,0.000,4,0.000,0.064,1465,3958,3269,0,0,0,0,0,0
$GC,5647,-0.53,-194.7,641.4,-11.0,337,5651,0.00,0.93,0.00,0.000,6,0.000,0.041,1465,3346,3269,0,0,0,0,0,0
$GC,5983,-0.53,-194.7,674.9,-10.0,348,5989,0.00,0.95,0.00,0.000,4,0.000,0.064,1461,3949,3268,0,0,0,0,0,0
$GC,6107,-0.53,-194.7,688.6,-11.0,351,6110,0.00,0.90,0.00,0.000,6,0.000,0.042,1461,3354,3267,0,0,0,0,0,0
$GC,6426,-0.53,-194.7,720.1,-9.9,362,6429,0.00,0.95,0.00,0.000,4,0.000,0.065,1456,3954,3267,0,0,0,0,0,0
$GC,6539,-0.53,-194.7,732.2,-10.6,365,6542,0.00,0.93,0.00,0.000,6,0.000,0.041,1456,3346,3267,0,0,0,0,0,0
$GC,6870,-0.53,-194.7,764.3,-9.6,376,6873,0.00,0.95,0.00,0.000,4,0.000,0.064,1452,3947,3266,0,0,0,0,0,0
$GC,7044,-0.53,-194.7,782.8,-9.9,381,7048,0.00,0.90,0.00,0.000,6,0.000,0.042,1452,3354,3266,0,0,0,0,0,0
$GC,7380,-0.53,-194.7,816.8,-9.9,392,7383,0.00,0.98,0.00,0.000,4,0.000,0.067,1448,3952,3265,0,0,0,0,0,0
$GC,7491,-0.53,-194.7,829.9,-11.7,395,7497,0.08,0.90,0.00,0.000,6,0.160,0.042,1471,3357,3265,0,0,0,0,0,0
$GC,7825,-0.53,-194.7,860.0,-9.2,406,7828,0.00,0.95,0.00,0.000,4,0.000,0.066,1468,3956,3264,0,0,0,0,0,0
$GC,7947,-0.53,-194.7,872.6,-10.3,409,7951,0.00,0.93,0.00,0.000,6,0.000,0.043,1468,3346,3264,0,0,0,0,0,0
$GC,8267,-0.53,-194.7,900.8,-8.7,420,8270,0.00,0.95,0.00,0.000,4,0.000,0.066,1463,3947,3264,0,0,0,0,0,0
$GC,8394,-0.53,-194.7,912.7,-10.0,423,8401,0.00,0.90,0.00,0.000,6,0.000,0.043,1464,3356,3264,0,0,0,0,0,0
$GC,8708,-0.53,-194.7,939.2,-8.5,434,8712,0.00,0.95,0.00,0.000,4,0.000,0.066,1459,3952,3263,0,0,0,0,0,0
$GC,8839,-0.53,-194.7,951.6,-9.4,437,8846,0.00,0.93,0.00,0.000,6,0.000,0.043,1459,3344,3263,0,0,0,0,0,0
$GC,9157,-0.53,-194.7,978.7,-8.6,448,9160,0.00,0.98,0.00,0.000,4,0.000,0.066,1455,3958,3262,0,0,0,0,0,0
$GC,9280,-0.53,-194.7,990.7,-9.2,451,9284,0.00,0.93,0.00,0.000,6,0.000,0.044,1455,3352,3262,0,0,0,0,0,0
$STATE,9381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9381,begin apogee
$GC,9388,-0.14,0.0,1000.0,9.0,455,9580,0.47,0.00,184.02,1.857,6,0.138,0.000,1602,3146,2473,0,0,0,0,1,0
$STATE,9582,end apogee,CONTROL_FINISHED_OK
$STATE,9582,begin climb
$GC,9584,0.53,194.7,1006.8,0.0,461,9787,0.62,1.50,188.07,1.826,4,0.056,0.058,1827,3953,1679,0,0,0,0,1,0
$GC,9928,0.53,194.7,950.6,21.1,471,9933,0.00,1.30,0.00,0.000,6,0.000,0.035,1833,3148,1675,0,0,0,0,0,0
$GC,10247,0.53,194.7,888.2,19.3,482,10253,0.00,2.25,0.00,0.000,4,0.000,0.041,1843,1765,1672,0,0,0,0,0,0
$GC,10309,0.53,194.7,877.3,15.6,483,10316,0.00,2.33,0.00,0.000,6,0.000,0.054,1844,3161,1670,0,0,0,0,0,0
$GC,10624,0.53,194.7,814.4,20.5,494,10628,0.00,2.22,0.00,0.000,4,0.000,0.041,1854,1761,1670,0,0,0,0,0,0
$GC,10656,0.53,194.7,807.5,19.3,495,10661,0.12,2.30,0.00,0.000,6,0.197,0.055,1825,3155,1669,0,0,0,0,0,0
$GC,10986,0.53,194.7,745.5,19.2,506,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3155,1669,0,0,0,0,0,0
$GC,11294,0.53,194.7,685.2,19.7,516,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3155,1668,0,0,0,0,0,0
$GC,11599,0.53,194.7,627.2,18.7,526,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3155,1668,0,0,0,0,0,0
$GC,11905,0.53,194.7,571.1,18.2,536,11909,0.00,2.15,0.00,0.000,4,0.000,0.041,1834,1763,1668,0,0,0,0,0,0
$GC,11972,0.53,194.7,560.3,14.6,538,11977,0.00,2.28,0.00,0.000,6,0.000,0.056,1834,3161,1666,0,0,0,0,0,0
$GC,12302,0.53,194.7,497.7,19.5,549,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3161,1666,0,0,0,0,0,0
$GC,12609,0.53,194.7,437.0,20.0,559,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3161,1666,0,0,0,0,0,0
$GC,12917,0.53,194.7,375.8,19.3,571,12923,0.00,2.20,0.00,0.000,4,0.000,0.043,1845,1760,1666,0,0,0,0,0,0
$GC,13001,0.53,194.7,361.8,15.7,574,13005,0.00,2.25,0.00,0.000,6,0.000,0.055,1845,3153,1666,0,0,0,0,0,0
$GC,13319,0.53,194.7,298.2,20.5,589,13325,0.00,1.25,0.00,0.000,4,0.000,0.060,1845,3945,1666,0,0,0,0,0,0
$GC,13347,0.53,194.7,291.6,21.0,590,13351,0.00,1.20,0.00,0.000,6,0.000,0.039,1851,3158,1666,0,0,0,0,0,0
$GC,13676,0.53,194.7,222.8,21.6,608,13682,0.00,2.20,0.00,0.000,4,0.000,0.042,1862,1751,1666,0,0,0,0,0,0
$GC,13757,0.53,194.7,207.6,16.4,612,13768,0.12,2.28,0.00,0.000,6,0.166,0.055,1823,3148,1666,0,0,0,0,0,0
$GC,14080,0.53,194.7,148.0,18.8,633,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3149,1665,0,0,0,0,0,0
$GC,14391,0.53,194.7,89.4,17.8,659,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3148,1665,0,0,0,0,0,0
$GC,14751,0.53,194.7,30.5,15.7,720,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3149,1666,0,0,0,0,0,0
$STATE,14933,end climb,SURFACE_DEPTH_REACHED
$STATE,14934,begin surface coast
$FINISH,0.7,1.026343
$STATE,14964,end surface coast,CONTROL_FINISHED_OK
$STATE,14964,begin surface
$SM_CCo,14980,125.22,0.770,1,0,543,472.69
$SM_GC,1.16,0.00,0.00,125.22,0.000,0.000,0.770,62,3369,543,-4.96,0.48,472.69
$IRIDIUM_FIX,-4212.81,818.13,101212,171750
$TT8_MAMPS,0.025466
$HUMID,53.54
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.6,4.414
$10V_AH,10.2,1.756
$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,12.075,68.550,372.100,125.225,0.000,50.373,89.045,475.589,0.000,0.000,20.222,1954.894,9685.610,580.643,2871.751,878.670,33.346,1643.790,0.000,2417.479,0.000,1.014,0.000
$DEVICE_MAMPS,241.740,68.850,1856.655,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.609,1623.290,763.346,347.547,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,57060,752
$CAP_FILE_SIZE,133548,0
$CFSIZE,259252224,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,101212,220205,-4231.650,822.995,40,1.2,40,-25.0