version: 66.07
glider: 543
mission: 6
dive: 19
start: 12 11 112 21 49 43
data:
$ID,543
$MISSION,6
$DIVE,19
$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,-7844.6025
$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,42
$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
$GPS1,111212,213304,-4231.450,815.663,24,1.2,25,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-41.4
$GPS2,111212,214847,-4231.436,815.741,15,1.6,15,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.049,-0.221
$KALMAN_X,308.6,-966.7,-156.2,20067.4,4699.0
$KALMAN_Y,24862.7,-333.9,-349.8,-26754.6,7547.1
$MHEAD_RNG_PITCHd_Wd,192.4,6395,-18.0,-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,-0.57,-116.0,0.0,0.0,0,119,0.00,0.00,-95.30,0.000,6,0.000,0.000,61,3356,2949,0,0,0,0,0,0
$GC,123,-0.62,-194.7,3.4,-3.8,12,142,5.70,1.00,-7.60,0.000,4,0.243,0.093,1437,3950,3270,0,0,0,0,0,0
$GC,423,-0.62,-194.7,58.5,-16.3,59,431,0.00,0.93,0.00,0.000,6,0.000,0.042,1437,3360,3273,0,0,0,0,0,0
$GC,663,-0.62,-194.7,94.1,-14.0,100,669,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3360,3273,0,0,0,0,0,0
$GC,991,-0.62,-194.7,139.3,-13.6,126,995,0.00,0.95,0.00,0.000,4,0.000,0.063,1433,3951,3273,0,0,0,0,0,0
$GC,1233,-0.62,-194.7,174.3,-14.2,140,1236,0.00,0.93,0.00,0.000,6,0.000,0.041,1433,3351,3273,0,0,0,0,0,0
$GC,1567,-0.62,-194.7,220.6,-13.8,161,1570,0.00,0.95,0.00,0.000,4,0.000,0.063,1429,3947,3273,0,0,0,0,0,0
$GC,1768,-0.62,-194.7,251.4,-15.5,172,1773,0.00,0.90,0.00,0.000,6,0.000,0.041,1429,3357,3273,0,0,0,0,0,0
$GC,2092,-0.62,-194.7,298.8,-14.6,188,2096,0.00,0.95,0.00,0.000,4,0.000,0.063,1424,3951,3273,0,0,0,0,0,0
$GC,2289,-0.62,-194.7,330.5,-15.5,196,2293,0.00,0.93,0.00,0.000,6,0.000,0.041,1424,3349,3273,0,0,0,0,0,0
$GC,2612,-0.62,-194.7,378.9,-14.9,212,2616,0.00,0.95,0.00,0.000,4,0.000,0.062,1420,3948,3273,0,0,0,0,0,0
$GC,2877,-0.62,-194.7,420.5,-14.8,221,2881,0.00,0.93,0.00,0.000,6,0.000,0.042,1420,3347,3273,0,0,0,0,0,0
$GC,3197,-0.62,-194.7,465.9,-14.1,232,3201,0.00,0.95,0.00,0.000,4,0.000,0.063,1416,3947,3272,0,0,0,0,0,0
$GC,3333,-0.62,-194.7,486.3,-14.8,236,3339,0.08,0.90,0.00,0.000,6,0.165,0.041,1439,3353,3272,0,0,0,0,0,0
$GC,3676,-0.62,-194.7,527.7,-11.9,247,3680,0.00,0.95,0.00,0.000,4,0.000,0.063,1437,3940,3272,0,0,0,0,0,0
$GC,3807,-0.62,-194.7,544.2,-12.8,250,3814,0.00,0.90,0.00,0.000,6,0.000,0.039,1436,3345,3272,0,0,0,0,0,0
$GC,4121,-0.62,-194.7,582.1,-12.1,261,4126,0.00,0.95,0.00,0.000,4,0.000,0.061,1432,3949,3271,0,0,0,0,0,0
$GC,4269,-0.62,-194.7,601.1,-12.8,265,4272,0.00,0.90,0.00,0.000,6,0.000,0.039,1432,3352,3271,0,0,0,0,0,0
$GC,4599,-0.62,-194.7,641.7,-12.3,276,4603,0.00,0.93,0.00,0.000,4,0.000,0.062,1428,3940,3270,0,0,0,0,0,0
$GC,4736,-0.62,-194.7,660.1,-13.6,280,4740,0.00,0.90,0.00,0.000,6,0.000,0.040,1428,3344,3270,0,0,0,0,0,0
$GC,5078,-0.62,-194.7,703.8,-12.5,291,5081,0.00,0.95,0.00,0.000,4,0.000,0.062,1423,3946,3269,0,0,0,0,0,0
$GC,5180,-0.62,-194.7,717.4,-13.0,294,5185,0.00,0.90,0.00,0.000,6,0.000,0.040,1423,3350,3269,0,0,0,0,0,0
$GC,5523,-0.62,-194.7,762.2,-13.2,305,5526,0.00,0.93,0.00,0.000,4,0.000,0.063,1419,3937,3268,0,0,0,0,0,0
$GC,5601,-0.62,-194.7,773.9,-14.0,307,5606,0.08,0.90,0.00,0.000,6,0.162,0.040,1442,3347,3268,0,0,0,0,0,0
$GC,5932,-0.62,-194.7,812.5,-11.6,318,5936,0.00,0.95,0.00,0.000,4,0.000,0.063,1439,3946,3266,0,0,0,0,0,0
$GC,6015,-0.62,-194.7,823.0,-12.4,320,6019,0.00,0.90,0.00,0.000,6,0.000,0.041,1439,3351,3266,0,0,0,0,0,0
$GC,6341,-0.62,-194.7,860.4,-11.4,331,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3352,3266,0,0,0,0,0,0
$GC,6646,-0.62,-194.7,896.3,-11.7,341,6652,0.00,0.93,0.00,0.000,4,0.000,0.063,1434,3938,3265,0,0,0,0,0,0
$GC,6753,-0.62,-194.7,910.0,-12.1,344,6757,0.00,0.90,0.00,0.000,6,0.000,0.041,1435,3345,3265,0,0,0,0,0,0
$GC,7089,-0.62,-194.7,948.9,-11.3,355,7093,0.00,0.95,0.00,0.000,4,0.000,0.063,1430,3947,3265,0,0,0,0,0,0
$GC,7143,-0.62,-194.7,955.7,-13.1,356,7149,0.00,0.90,0.00,0.000,6,0.000,0.041,1430,3352,3264,0,0,0,0,0,0
$GC,7463,-0.62,-194.7,993.8,-12.0,367,7469,0.00,0.98,0.00,0.000,4,0.000,0.066,1426,3951,3263,0,0,0,0,0,0
$STATE,7513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7513,begin apogee
$GC,7521,-0.14,0.0,1000.4,13.0,368,7723,0.55,0.00,197.98,1.190,6,0.145,0.000,1599,3138,2473,0,0,0,0,0,0
$STATE,7724,end apogee,CONTROL_FINISHED_OK
$STATE,7724,begin climb
$GC,7727,0.62,194.7,1008.2,0.0,375,7930,0.70,2.35,194.85,1.141,4,0.060,0.039,1862,1754,1671,0,0,0,0,0,0
$GC,7992,0.62,194.7,965.4,16.2,383,7996,0.00,2.40,0.00,0.000,6,0.000,0.052,1862,3150,1654,0,0,0,0,0,0
$GC,8310,0.62,194.7,892.3,23.7,394,8314,0.00,2.25,0.00,0.000,4,0.000,0.039,1873,1747,1649,0,0,0,0,0,0
$GC,8378,0.62,194.7,878.6,17.8,396,8383,0.00,2.35,0.00,0.000,6,0.000,0.052,1873,3158,1647,0,0,0,0,0,0
$GC,8708,0.62,194.7,797.4,25.4,407,8712,0.00,2.22,0.00,0.000,4,0.000,0.040,1883,1751,1647,0,0,0,0,0,0
$GC,8808,0.62,194.7,775.7,20.0,410,8813,0.12,2.33,0.00,0.000,6,0.218,0.054,1856,3162,1646,0,0,0,0,0,0
$GC,9138,0.62,194.7,698.1,24.2,421,9144,0.00,2.22,0.00,0.000,4,0.000,0.037,1865,1751,1646,0,0,0,0,0,0
$GC,9228,0.62,194.7,679.9,18.5,423,9234,0.00,2.33,0.00,0.000,6,0.000,0.054,1865,3157,1645,0,0,0,0,0,0
$GC,9548,0.62,194.7,603.3,24.2,434,9554,0.00,2.22,0.00,0.000,4,0.000,0.040,1876,1748,1645,0,0,0,0,0,0
$GC,9618,0.62,194.7,588.8,18.5,436,9622,0.00,2.30,0.00,0.000,6,0.000,0.054,1876,3163,1645,0,0,0,0,0,0
$GC,9953,0.62,194.7,507.8,24.3,447,9958,0.00,2.20,0.00,0.000,4,0.000,0.040,1886,1757,1645,0,0,0,0,0,0
$GC,10022,0.62,194.7,493.1,19.5,449,10027,0.15,2.25,0.00,0.000,6,0.226,0.054,1853,3152,1644,0,0,0,0,0,0
$GC,10358,0.62,194.7,422.2,21.1,460,10364,0.00,2.20,0.00,0.000,4,0.000,0.040,1862,1750,1644,0,0,0,0,0,0
$GC,10406,0.62,194.7,413.4,16.1,461,10410,0.00,2.28,0.00,0.000,6,0.000,0.054,1863,3156,1644,0,0,0,0,0,0
$GC,10734,0.62,194.7,340.3,23.0,476,10738,0.00,2.17,0.00,0.000,4,0.000,0.041,1873,1749,1644,0,0,0,0,0,0
$GC,10779,0.62,194.7,330.4,19.4,478,10785,0.00,2.28,0.00,0.000,6,0.000,0.054,1874,3149,1644,0,0,0,0,0,0
$GC,11109,0.62,194.7,254.1,23.8,494,11113,0.00,2.17,0.00,0.000,4,0.000,0.041,1884,1746,1643,0,0,0,0,0,0
$GC,11195,0.62,194.7,237.7,16.7,499,11200,0.12,2.28,0.00,0.000,6,0.224,0.055,1857,3159,1642,0,0,0,0,0,0
$GC,11522,0.62,194.7,168.7,21.5,520,11526,0.00,2.17,0.00,0.000,4,0.000,0.041,1866,1747,1643,0,0,0,0,0,0
$GC,11586,0.62,194.7,156.9,16.9,524,11590,0.00,2.25,0.00,0.000,6,0.000,0.054,1866,3163,1643,0,0,0,0,0,0
$GC,11914,0.62,194.7,82.0,23.0,552,11922,0.00,2.20,0.00,0.000,4,0.000,0.041,1877,1753,1643,0,0,0,0,0,0
$GC,11972,0.62,194.7,71.3,17.1,561,11978,0.00,2.28,0.00,0.000,6,0.000,0.054,1877,3154,1643,0,0,0,0,0,0
$STATE,12285,end climb,SURFACE_DEPTH_REACHED
$STATE,12285,begin surface coast
$FINISH,1.0,1.013207
$STATE,12301,end surface coast,CONTROL_FINISHED_OK
$STATE,12302,begin surface
$SM_CCo,12317,121.22,0.748,1,0,543,472.69
$SM_GC,1.26,0.00,0.00,121.22,0.000,0.000,0.748,67,3353,543,-4.95,0.03,472.69
$IRIDIUM_FIX,-4215.72,815.24,111212,161629
$TT8_MAMPS,0.025466
$HUMID,54.41
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.5,5.730
$10V_AH,10.2,2.462
$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,12.525,78.225,392.825,121.225,0.000,26.911,22.115,629.083,0.000,0.000,18.415,1621.351,7761.373,559.885,2601.403,798.391,33.351,1486.746,0.000,2052.359,0.000,1.014,0.000
$DEVICE_MAMPS,242.505,92.565,1189.575,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.971,1340.907,618.024,263.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,47074,614
$CAP_FILE_SIZE,118676,0
$CFSIZE,259252224,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,121212,011834,-4232.579,815.510,46,1.2,46,-24.9