version: 66.07
glider: 543
mission: 6
dive: 17
start: 12 11 112 12 25 15
data:
$ID,543
$MISSION,6
$DIVE,17
$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,370
$T_MISSION,385
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7838.1167
$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,49
$R_STBD_OVSHOOT,23
$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,800
$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
$GPS1,111212,120835,-4230.830,819.689,33,0.9,34,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-32.8
$GPS2,111212,122419,-4230.720,819.792,14,0.8,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.197,-0.183
$KALMAN_X,-2492.5,-456.3,394.2,27310.1,4661.9
$KALMAN_Y,17366.6,-416.8,65.4,-18274.0,5390.1
$MHEAD_RNG_PITCHd_Wd,252.1,1363,-14.4,-9.009
$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,16,begin dive
$GC,19,-0.51,-172.0,0.0,0.0,0,111,0.00,0.00,-89.55,0.000,2,0.000,0.000,55,3357,2768,0,0,0,0,0,0
$GC,115,-0.52,-194.7,3.1,-3.6,11,142,5.90,0.98,-13.20,0.000,4,0.243,0.092,1472,3943,3268,0,0,0,0,0,0
$GC,172,-0.52,-194.7,10.8,-13.9,18,183,0.00,0.93,0.00,0.000,6,0.000,0.044,1472,3361,3270,0,0,0,0,0,0
$GC,261,-0.52,-194.7,22.6,-13.3,31,272,0.00,2.25,0.00,0.000,4,0.000,0.040,1472,1944,3270,0,0,0,0,0,0
$GC,294,-0.52,-194.7,26.5,-12.2,35,305,0.00,2.38,0.00,0.000,6,0.000,0.066,1462,3347,3270,0,0,0,0,0,0
$GC,381,-0.52,-194.7,37.6,-13.9,48,389,0.00,0.98,0.00,0.000,4,0.000,0.067,1457,3942,3270,0,0,0,0,0,0
$GC,516,-0.52,-194.7,57.4,-14.3,70,527,0.00,0.93,0.00,0.000,6,0.000,0.042,1457,3351,3270,0,0,0,0,0,0
$GC,763,-0.52,-194.7,90.0,-13.0,111,768,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3352,3271,0,0,0,0,0,0
$GC,1095,-0.52,-194.7,130.7,-12.0,141,1098,0.00,0.95,0.00,0.000,4,0.000,0.063,1453,3949,3271,0,0,0,0,0,0
$GC,1242,-0.52,-194.7,150.1,-13.2,149,1245,0.00,0.93,0.00,0.000,6,0.000,0.040,1452,3346,3271,0,0,0,0,0,0
$GC,1567,-0.52,-194.7,189.5,-12.2,170,1570,0.00,0.98,0.00,0.000,4,0.000,0.061,1448,3958,3271,0,0,0,0,0,0
$GC,1636,-0.52,-194.7,198.4,-13.4,174,1640,0.08,0.93,0.00,0.000,6,0.151,0.039,1472,3353,3271,0,0,0,0,0,0
$GC,1972,-0.52,-194.7,232.5,-10.2,195,1976,0.00,0.98,0.00,0.000,4,0.000,0.064,1469,3950,3271,0,0,0,0,0,0
$GC,2044,-0.52,-194.7,240.4,-10.5,199,2048,0.00,0.93,0.00,0.000,6,0.000,0.041,1469,3343,3271,0,0,0,0,0,0
$GC,2368,-0.52,-194.7,275.0,-10.7,216,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3342,3271,0,0,0,0,0,0
$GC,2678,-0.52,-194.7,308.0,-10.7,231,2683,0.00,0.98,0.00,0.000,4,0.000,0.062,1465,3958,3271,0,0,0,0,0,0
$GC,2776,-0.52,-194.7,319.7,-11.6,235,2781,0.00,0.93,0.00,0.000,6,0.000,0.040,1465,3351,3271,0,0,0,0,0,0
$GC,3106,-0.52,-194.7,355.1,-10.8,251,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3350,3271,0,0,0,0,0,0
$GC,3414,-0.52,-194.7,387.3,-10.2,266,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3350,3271,0,0,0,0,0,0
$GC,3741,-0.52,-194.7,419.5,-9.9,279,3745,0.00,0.95,0.00,0.000,4,0.000,0.063,1460,3953,3270,0,0,0,0,0,0
$GC,3844,-0.52,-194.7,430.9,-10.7,282,3847,0.00,0.90,0.00,0.000,6,0.000,0.041,1460,3359,3270,0,0,0,0,0,0
$GC,4185,-0.52,-194.7,468.0,-10.8,293,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3357,3270,0,0,0,0,0,0
$GC,4491,-0.52,-194.7,502.1,-11.2,303,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3357,3269,0,0,0,0,0,0
$GC,4798,-0.52,-194.7,534.5,-10.4,313,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3357,3269,0,0,0,0,0,0
$GC,5103,-0.52,-194.7,566.4,-10.4,323,5109,0.00,2.15,0.00,0.000,4,0.000,0.037,1460,1944,3268,0,0,0,0,0,0
$GC,5132,-0.52,-194.7,569.4,-9.1,323,5139,0.10,2.25,0.00,0.000,6,0.162,0.057,1477,3361,3267,0,0,0,0,0,0
$GC,5445,-0.52,-194.7,596.3,-8.6,334,5449,0.00,0.93,0.00,0.000,4,0.000,0.063,1474,3946,3267,0,0,0,0,0,0
$GC,5557,-0.52,-194.7,606.8,-9.6,337,5563,0.00,0.90,0.00,0.000,6,0.000,0.042,1474,3355,3267,0,0,0,0,0,0
$GC,5890,-0.52,-194.7,635.5,-8.6,348,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3354,3267,0,0,0,0,0,0
$GC,6195,-0.52,-194.7,661.5,-8.3,358,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3354,3266,0,0,0,0,0,0
$GC,6501,-0.52,-194.7,686.4,-8.2,368,6505,0.00,0.93,0.00,0.000,4,0.000,0.065,1470,3940,3264,0,0,0,0,0,0
$GC,6556,-0.52,-194.7,691.3,-8.5,369,6560,0.00,0.90,0.00,0.000,6,0.000,0.044,1470,3350,3264,0,0,0,0,0,0
$GC,6875,-0.52,-194.7,719.4,-9.0,380,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3349,3264,0,0,0,0,0,0
$GC,7182,-0.52,-194.7,746.8,-8.9,390,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3350,3263,0,0,0,0,0,0
$GC,7489,-0.52,-194.7,773.4,-8.7,400,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3349,3263,0,0,0,0,0,0
$GC,7794,-0.52,-194.7,799.6,-8.5,410,7800,0.00,0.95,0.00,0.000,4,0.000,0.063,1466,3950,3262,0,0,0,0,0,0
$GC,7834,-0.52,-194.7,803.4,-9.0,411,7840,0.00,0.90,0.00,0.000,6,0.000,0.042,1466,3355,3262,0,0,0,0,0,0
$GC,8172,-0.52,-194.7,832.4,-8.6,422,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3261,0,0,0,0,0,0
$GC,8477,-0.52,-194.7,858.1,-8.3,432,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3261,0,0,0,0,0,0
$GC,8784,-0.52,-194.7,883.8,-8.3,442,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3260,0,0,0,0,0,0
$GC,9091,-0.52,-194.7,909.7,-8.6,452,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3260,0,0,0,0,0,0
$GC,9396,-0.52,-194.7,937.2,-9.2,462,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3259,0,0,0,0,0,0
$GC,9702,-0.52,-194.7,965.7,-9.3,472,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3355,3258,0,0,0,0,0,0
$GC,10010,-0.52,-194.7,993.7,-8.9,482,10013,0.00,0.93,0.00,0.000,4,0.000,0.065,1462,3937,3258,0,0,0,0,0,0
$STATE,10075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10075,begin apogee
$GC,10083,-0.14,0.0,1000.0,8.7,484,10273,0.45,0.00,181.60,1.847,6,0.133,0.000,1602,3146,2473,0,0,0,0,1,0
$STATE,10274,end apogee,CONTROL_FINISHED_OK
$STATE,10274,begin climb
$GC,10277,0.52,194.7,1006.5,0.0,490,10479,0.60,1.50,188.30,1.818,4,0.053,0.057,1820,3952,1679,0,0,0,0,1,0
$GC,10678,0.52,194.7,934.6,22.2,502,10681,0.00,1.30,0.00,0.000,6,0.000,0.035,1826,3148,1674,0,0,0,0,0,0
$GC,11007,0.52,194.7,864.1,21.3,513,11013,0.00,1.33,0.00,0.000,4,0.000,0.057,1827,3938,1670,0,0,0,0,0,0
$GC,11043,0.52,194.7,856.3,22.6,514,11047,0.00,1.25,0.00,0.000,6,0.000,0.036,1833,3149,1670,0,0,0,0,0,0
$GC,11385,0.52,194.7,784.1,20.8,525,11390,0.00,1.33,0.00,0.000,4,0.000,0.058,1833,3951,1670,0,0,0,0,0,0
$GC,11437,0.52,194.7,772.4,22.0,526,11441,0.00,1.25,0.00,0.000,6,0.000,0.036,1839,3149,1669,0,0,0,0,0,0
$GC,11762,0.52,194.7,704.4,20.5,537,11766,0.00,1.30,0.00,0.000,4,0.000,0.058,1839,3944,1669,0,0,0,0,0,0
$GC,11823,0.52,194.7,690.6,21.3,538,11830,0.00,1.23,0.00,0.000,6,0.000,0.035,1845,3145,1668,0,0,0,0,0,0
$GC,12136,0.52,194.7,625.5,20.9,549,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3144,1668,0,0,0,0,0,0
$GC,12444,0.52,194.7,561.6,20.8,559,12447,0.00,1.30,0.00,0.000,4,0.000,0.059,1845,3950,1668,0,0,0,0,0,0
$GC,12549,0.52,194.7,537.3,22.5,562,12553,0.10,1.20,0.00,0.000,6,0.197,0.035,1823,3155,1667,0,0,0,0,0,0
$GC,12884,0.52,194.7,473.5,19.2,573,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3153,1667,0,0,0,0,0,0
$GC,13190,0.52,194.7,416.0,18.5,583,13194,0.00,1.27,0.00,0.000,4,0.000,0.057,1823,3951,1667,0,0,0,0,0,0
$GC,13308,0.52,194.7,393.5,20.2,587,13311,0.00,1.20,0.00,0.000,6,0.000,0.035,1828,3156,1667,0,0,0,0,0,0
$GC,13643,0.52,194.7,329.2,19.6,603,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3156,1666,0,0,0,0,0,0
$GC,13951,0.52,194.7,269.8,19.1,618,13955,0.00,1.27,0.00,0.000,4,0.000,0.057,1828,3955,1666,0,0,0,0,0,0
$GC,14012,0.52,194.7,257.4,20.6,620,14015,0.00,1.23,0.00,0.000,6,0.000,0.034,1834,3143,1665,0,0,0,0,0,0
$GC,14331,0.52,194.7,195.8,18.6,640,14335,0.00,1.27,0.00,0.000,4,0.000,0.056,1834,3941,1665,0,0,0,0,0,0
$GC,14412,0.52,194.7,179.0,19.7,644,14420,0.00,1.17,0.00,0.000,6,0.000,0.034,1840,3152,1666,0,0,0,0,0,0
$GC,14736,0.52,194.7,117.4,19.2,665,14739,0.00,1.27,0.00,0.000,4,0.000,0.055,1840,3955,1665,0,0,0,0,0,0
$GC,14789,0.52,194.7,106.0,20.6,668,14793,0.00,1.20,0.00,0.000,6,0.000,0.034,1846,3151,1666,0,0,0,0,0,0
$GC,15149,0.52,194.7,36.6,17.4,725,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3146,1665,0,0,0,0,0,0
$STATE,15326,end climb,SURFACE_DEPTH_REACHED
$STATE,15326,begin surface coast
$FINISH,1.0,1.026291
$STATE,15348,end surface coast,CONTROL_FINISHED_OK
$STATE,15348,begin surface
$SM_CCo,15364,124.40,0.752,1,0,542,472.69
$SM_GC,1.37,0.00,0.00,124.40,0.000,0.000,0.752,64,3370,542,-4.95,0.48,472.69
$IRIDIUM_FIX,-4215.72,824.33,111212,070706
$TT8_MAMPS,0.025466
$HUMID,54.05
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.5,5.333
$10V_AH,10.2,2.237
$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,11.975,53.125,369.900,124.400,0.000,26.443,20.722,635.812,0.000,0.000,18.535,1893.618,10421.492,567.773,2620.646,891.197,33.357,1492.166,0.000,2162.288,0.000,1.014,0.000
$DEVICE_MAMPS,243.270,91.800,1847.475,751.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.374,1666.695,744.221,319.410,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,53699,756
$CAP_FILE_SIZE,125533,0
$CFSIZE,259252224,257253376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,111212,164442,-4231.171,817.458,31,1.1,32,-24.9