version: 66.07
glider: 543
mission: 6
dive: 18
start: 12 11 112 17 0 41
data:
$ID,543
$MISSION,6
$DIVE,18
$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,-7841.377
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,111212,164442,-4231.171,817.458,31,1.1,32,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-41.2
$GPS2,111212,165943,-4231.120,817.479,21,1.8,22,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.171,-0.220
$KALMAN_X,-135.9,-566.7,-942.6,23256.3,7217.7
$KALMAN_Y,20973.0,-560.2,-269.4,-22139.0,6956.5
$MHEAD_RNG_PITCHd_Wd,242.7,4018,-13.7,-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,-0.50,-186.8,0.0,0.0,0,111,0.00,0.00,-89.55,0.000,2,0.000,0.000,63,3369,2776,0,0,0,0,0,0
$GC,115,-0.50,-194.7,3.0,-3.9,11,142,6.00,0.93,-13.10,0.000,4,0.252,0.091,1477,3932,3267,0,0,0,0,0,0
$GC,191,-0.50,-194.7,12.7,-13.0,21,199,0.00,0.88,0.00,0.000,6,0.000,0.041,1477,3376,3268,0,0,0,0,0,0
$GC,280,-0.50,-194.7,23.8,-12.1,34,288,0.00,2.25,0.00,0.000,4,0.000,0.034,1476,1936,3269,0,0,0,0,0,0
$GC,311,-0.50,-194.7,27.6,-11.8,38,321,0.00,2.35,0.00,0.000,6,0.000,0.060,1467,3342,3269,0,0,0,0,0,0
$GC,399,-0.50,-194.7,37.7,-12.8,51,407,0.00,0.98,0.00,0.000,4,0.000,0.061,1462,3945,3269,0,0,0,0,0,0
$GC,629,-0.50,-194.7,67.3,-12.1,88,636,0.00,0.93,0.00,0.000,6,0.000,0.039,1462,3345,3269,0,0,0,0,0,0
$GC,981,-0.50,-194.7,105.3,-10.3,143,987,0.00,0.98,0.00,0.000,4,0.000,0.059,1458,3957,3269,0,0,0,0,0,0
$GC,1111,-0.50,-194.7,120.6,-11.4,150,1116,0.00,0.93,0.00,0.000,6,0.000,0.038,1458,3350,3269,0,0,0,0,0,0
$GC,1438,-0.50,-194.7,156.1,-11.3,171,1441,0.00,0.95,0.00,0.000,4,0.000,0.059,1453,3949,3269,0,0,0,0,0,0
$GC,1581,-0.50,-194.7,173.0,-12.1,179,1586,0.08,0.90,0.00,0.000,6,0.150,0.038,1478,3354,3269,0,0,0,0,0,0
$GC,1914,-0.50,-194.7,205.5,-9.9,200,1917,0.00,0.95,0.00,0.000,4,0.000,0.060,1474,3958,3269,0,0,0,0,0,0
$GC,2038,-0.50,-194.7,218.6,-11.0,207,2042,0.00,0.93,0.00,0.000,6,0.000,0.038,1474,3346,3269,0,0,0,0,0,0
$GC,2373,-0.50,-194.7,253.1,-10.2,228,2377,0.00,0.95,0.00,0.000,4,0.000,0.060,1470,3950,3270,0,0,0,0,0,0
$GC,2567,-0.50,-194.7,274.8,-11.2,236,2571,0.00,0.90,0.00,0.000,6,0.000,0.039,1470,3354,3269,0,0,0,0,0,0
$GC,2891,-0.50,-194.7,307.4,-9.8,252,2894,0.00,0.95,0.00,0.000,4,0.000,0.059,1466,3958,3269,0,0,0,0,0,0
$GC,3030,-0.50,-194.7,322.3,-10.8,258,3034,0.00,0.93,0.00,0.000,6,0.000,0.039,1466,3344,3269,0,0,0,0,0,0
$GC,3364,-0.50,-194.7,356.3,-10.0,274,3367,0.00,0.95,0.00,0.000,4,0.000,0.060,1461,3949,3269,0,0,0,0,0,0
$GC,3490,-0.50,-194.7,370.9,-11.1,279,3493,0.00,0.90,0.00,0.000,6,0.000,0.039,1461,3351,3270,0,0,0,0,0,0
$GC,3832,-0.50,-194.7,407.0,-10.6,295,3835,0.00,0.95,0.00,0.000,4,0.000,0.060,1457,3956,3269,0,0,0,0,0,0
$GC,3984,-0.50,-194.7,424.4,-11.5,299,3988,0.00,0.90,0.00,0.000,6,0.000,0.039,1457,3354,3269,0,0,0,0,0,0
$GC,4309,-0.50,-194.7,460.8,-11.4,310,4313,0.10,0.95,0.00,0.000,4,0.175,0.061,1478,3950,3268,0,0,0,0,0,0
$GC,4391,-0.50,-194.7,469.2,-9.2,312,4395,0.00,0.90,0.00,0.000,6,0.000,0.039,1478,3351,3268,0,0,0,0,0,0
$GC,4716,-0.50,-194.7,498.7,-9.0,323,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3350,3267,0,0,0,0,0,0
$GC,5024,-0.50,-194.7,526.3,-8.9,333,5027,0.00,0.95,0.00,0.000,4,0.000,0.060,1474,3955,3267,0,0,0,0,0,0
$GC,5107,-0.50,-194.7,534.2,-9.0,335,5110,0.00,0.90,0.00,0.000,6,0.000,0.040,1474,3357,3267,0,0,0,0,0,0
$GC,5432,-0.50,-194.7,562.3,-8.5,346,5436,0.00,0.93,0.00,0.000,4,0.000,0.061,1470,3946,3267,0,0,0,0,0,0
$GC,5569,-0.50,-194.7,574.5,-8.7,350,5573,0.00,0.90,0.00,0.000,6,0.000,0.040,1470,3350,3267,0,0,0,0,0,0
$GC,5910,-0.50,-194.7,603.0,-7.9,361,5914,0.00,0.95,0.00,0.000,4,0.000,0.061,1465,3956,3266,0,0,0,0,0,0
$GC,6090,-0.50,-194.7,619.4,-8.7,366,6093,0.00,0.90,0.00,0.000,6,0.000,0.041,1466,3359,3266,0,0,0,0,0,0
$GC,6420,-0.50,-194.7,648.7,-9.0,377,6423,0.00,0.93,0.00,0.000,4,0.000,0.061,1461,3950,3265,0,0,0,0,0,0
$GC,6528,-0.50,-194.7,659.3,-9.6,380,6531,0.00,0.90,0.00,0.000,6,0.000,0.041,1461,3355,3264,0,0,0,0,0,0
$GC,6863,-0.50,-194.7,692.8,-10.1,391,6867,0.00,0.93,0.00,0.000,4,0.000,0.061,1456,3946,3263,0,0,0,0,0,0
$GC,6981,-0.50,-194.7,706.1,-11.3,394,6987,0.08,0.90,0.00,0.000,6,0.144,0.041,1481,3349,3263,0,0,0,0,0,0
$GC,7307,-0.50,-194.7,734.4,-8.8,405,7312,0.00,0.95,0.00,0.000,4,0.000,0.063,1477,3953,3263,0,0,0,0,0,0
$GC,7391,-0.50,-194.7,742.7,-9.4,407,7395,0.00,0.90,0.00,0.000,6,0.000,0.041,1477,3355,3263,0,0,0,0,0,0
$GC,7716,-0.50,-194.7,772.1,-8.8,418,7720,0.00,0.93,0.00,0.000,4,0.000,0.062,1473,3943,3262,0,0,0,0,0,0
$GC,7805,-0.50,-194.7,780.9,-10.3,420,7809,0.00,0.90,0.00,0.000,6,0.000,0.041,1474,3348,3262,0,0,0,0,0,0
$GC,8125,-0.50,-194.7,808.9,-8.5,431,8128,0.00,0.95,0.00,0.000,4,0.000,0.063,1469,3951,3261,0,0,0,0,0,0
$GC,8264,-0.50,-194.7,822.1,-9.2,435,8268,0.00,0.90,0.00,0.000,6,0.000,0.041,1469,3355,3261,0,0,0,0,0,0
$GC,8600,-0.50,-194.7,851.9,-8.9,446,8605,0.00,0.95,0.00,0.000,4,0.000,0.063,1465,3955,3260,0,0,0,0,0,0
$GC,8706,-0.50,-194.7,862.1,-9.7,449,8710,0.00,0.93,0.00,0.000,6,0.000,0.042,1465,3345,3260,0,0,0,0,0,0
$GC,9042,-0.50,-194.7,891.7,-9.0,460,9045,0.00,0.95,0.00,0.000,4,0.000,0.063,1460,3949,3260,0,0,0,0,0,0
$GC,9194,-0.50,-194.7,906.2,-9.9,464,9199,0.00,0.90,0.00,0.000,6,0.000,0.042,1460,3355,3259,0,0,0,0,0,0
$GC,9520,-0.50,-194.7,935.3,-9.0,475,9525,0.00,0.93,0.00,0.000,4,0.000,0.063,1455,3944,3258,0,0,0,0,0,0
$GC,9649,-0.50,-194.7,947.9,-9.8,478,9656,0.08,0.90,0.00,0.000,6,0.148,0.042,1480,3351,3258,0,0,0,0,0,0
$GC,9963,-0.50,-194.7,969.3,-6.7,489,9966,0.00,0.95,0.00,0.000,4,0.000,0.063,1477,3953,3258,0,0,0,0,0,0
$GC,10065,-0.50,-194.7,976.6,-7.1,492,10069,0.00,0.90,0.00,0.000,6,0.000,0.043,1476,3358,3258,0,0,0,0,0,0
$GC,10407,-0.50,-194.7,999.5,-6.7,503,10413,0.00,0.93,0.00,0.000,4,0.000,0.064,1473,3946,3258,0,0,0,0,0,0
$STATE,10416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10416,begin apogee
$GC,10424,-0.14,0.0,1000.4,6.9,503,10627,0.38,0.00,198.93,1.158,6,0.128,0.000,1597,3150,2471,0,0,0,0,0,0
$STATE,10628,end apogee,CONTROL_FINISHED_OK
$STATE,10628,begin climb
$GC,10631,0.50,194.7,1005.4,0.0,510,10829,0.60,1.45,184.98,1.395,4,0.058,0.058,1815,3953,1679,0,0,0,0,1,0
$GC,10890,0.50,194.7,964.9,20.4,518,10894,0.00,1.30,0.00,0.000,6,0.000,0.034,1821,3151,1679,0,0,0,0,0,0
$GC,11226,0.50,194.7,897.6,20.1,529,11230,0.00,2.22,0.00,0.000,4,0.000,0.040,1831,1754,1679,0,0,0,0,0,0
$GC,11291,0.50,194.7,886.8,15.9,531,11296,0.00,2.35,0.00,0.000,6,0.000,0.054,1831,3168,1678,0,0,0,0,0,0
$GC,11627,0.50,194.7,817.7,20.7,542,11631,0.00,2.22,0.00,0.000,4,0.000,0.040,1842,1759,1678,0,0,0,0,0,0
$GC,11682,0.50,194.7,807.4,16.6,543,11690,0.08,2.33,0.00,0.000,6,0.170,0.054,1820,3158,1677,0,0,0,0,0,0
$GC,11995,0.50,194.7,749.2,18.5,554,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3157,1678,0,0,0,0,0,0
$GC,12301,0.50,194.7,694.0,17.8,564,12305,0.00,2.17,0.00,0.000,4,0.000,0.040,1829,1750,1677,0,0,0,0,0,0
$GC,12390,0.50,194.7,681.2,12.7,566,12397,0.00,2.28,0.00,0.000,6,0.000,0.054,1829,3154,1677,0,0,0,0,0,0
$GC,12703,0.50,194.7,623.7,19.0,577,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3154,1677,0,0,0,0,0,0
$GC,13010,0.50,194.7,564.8,19.5,587,13014,0.00,2.17,0.00,0.000,4,0.000,0.040,1839,1749,1677,0,0,0,0,0,0
$GC,13060,0.50,194.7,556.0,15.0,588,13064,0.00,2.30,0.00,0.000,6,0.000,0.056,1839,3162,1676,0,0,0,0,0,0
$GC,13373,0.50,194.7,492.8,20.6,598,13377,0.00,2.17,0.00,0.000,4,0.000,0.041,1850,1756,1676,0,0,0,0,0,0
$GC,13403,0.50,194.7,486.9,19.5,599,13408,0.15,2.28,0.00,0.000,6,0.189,0.055,1813,3159,1676,0,0,0,0,0,0
$GC,13739,0.50,194.7,426.2,18.3,610,13743,0.00,2.17,0.00,0.000,4,0.000,0.040,1822,1750,1676,0,0,0,0,0,0
$GC,13803,0.50,194.7,416.1,14.9,612,13807,0.00,2.28,0.00,0.000,6,0.000,0.056,1822,3156,1676,0,0,0,0,0,0
$GC,14121,0.50,194.7,355.1,19.3,626,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3156,1675,0,0,0,0,0,0
$GC,14431,0.50,194.7,295.0,19.5,641,14437,0.00,2.17,0.00,0.000,4,0.000,0.041,1833,1760,1676,0,0,0,0,0,0
$GC,14459,0.50,194.7,289.1,18.8,642,14463,0.00,2.25,0.00,0.000,6,0.000,0.055,1833,3158,1676,0,0,0,0,0,0
$GC,14787,0.50,194.7,226.0,19.2,660,14793,0.00,2.17,0.00,0.000,4,0.000,0.041,1843,1761,1676,0,0,0,0,0,0
$GC,14845,0.50,194.7,216.0,14.9,663,14850,0.12,2.25,0.00,0.000,6,0.185,0.056,1813,3159,1675,0,0,0,0,0,0
$GC,15170,0.50,194.7,162.6,16.6,683,15174,0.00,2.15,0.00,0.000,4,0.000,0.040,1822,1748,1675,0,0,0,0,0,0
$GC,15209,0.50,194.7,155.8,13.7,685,15216,0.00,2.28,0.00,0.000,6,0.000,0.054,1822,3151,1676,0,0,0,0,0,0
$GC,15529,0.50,194.7,99.5,17.7,706,15536,0.00,2.15,0.00,0.000,4,0.000,0.039,1832,1747,1676,0,0,0,0,0,0
$GC,15563,0.50,194.7,93.8,16.3,711,15571,0.00,2.28,0.00,0.000,6,0.000,0.054,1833,3151,1675,0,0,0,0,0,0
$GC,15931,0.50,194.7,28.0,18.4,772,15940,0.00,2.15,0.00,0.000,4,0.000,0.039,1844,1761,1675,0,0,0,0,0,0
$GC,15994,0.50,194.7,18.4,13.3,781,16005,0.08,2.25,0.00,0.000,6,0.158,0.055,1819,3151,1675,0,0,0,0,0,0
$GC,16088,0.50,194.7,5.0,15.4,794,16097,0.00,1.25,0.00,0.000,4,0.000,0.059,1818,3944,1676,0,0,0,0,0,0
$STATE,16104,end climb,SURFACE_DEPTH_REACHED
$STATE,16104,begin surface coast
$FINISH,1.2,1.026280
$STATE,16127,end surface coast,CONTROL_FINISHED_OK
$STATE,16127,begin surface
$SM_CCo,16143,128.10,0.751,1,0,545,472.69
$SM_GC,1.37,0.00,0.00,128.10,0.000,0.000,0.751,61,3356,545,-4.96,0.06,472.69
$IRIDIUM_FIX,-4215.72,818.13,111212,121230
$TT8_MAMPS,0.025466
$HUMID,53.81
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.9,5.535
$10V_AH,10.1,2.362
$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,12.350,101.400,383.900,128.100,0.000,28.035,41.509,574.474,0.000,0.000,24.142,2099.808,10399.141,606.225,3059.977,973.719,33.346,1756.479,0.000,2600.938,0.000,1.013,0.000
$DEVICE_MAMPS,252.450,91.035,1394.595,751.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.544,1734.366,798.045,359.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,60386,799
$CAP_FILE_SIZE,153176,0
$CFSIZE,259252224,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,111212,213304,-4231.450,815.663,24,1.2,25,-24.9