version: 66.07
glider: 543
mission: 6
dive: 26
start: 12 12 112 23 19 18
data:
$ID,543
$MISSION,6
$DIVE,26
$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,482.49722
$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,-7871.0054
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,121212,225604,-4232.796,821.782,32,1.0,32,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-30.2
$GPS2,121212,231821,-4232.662,822.123,17,0.9,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.216,-0.061
$KALMAN_X,-1133.9,-80.0,492.5,28636.1,1910.2
$KALMAN_Y,33887.8,-856.0,-671.9,-37188.7,6248.5
$MHEAD_RNG_PITCHd_Wd,279.3,5719,-18.2,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-113.7,0.0,0.0,0,113,0.00,0.00,-90.25,0.000,2,0.000,0.000,61,3375,2790,0,0,0,0,0,0
$GC,117,-0.63,-194.7,3.1,-3.5,11,146,5.53,2.22,-12.80,0.000,4,0.234,0.050,1442,1958,3270,0,0,0,0,0,0
$GC,185,-0.63,-194.7,12.2,-13.3,19,194,0.00,2.30,0.00,0.000,6,0.000,0.057,1433,3339,3272,0,0,0,0,0,0
$GC,274,-0.63,-194.7,26.8,-17.8,32,283,0.00,0.98,0.00,0.000,4,0.000,0.060,1428,3943,3271,0,0,0,0,0,0
$GC,347,-0.63,-194.7,39.8,-16.6,43,354,0.00,0.90,0.00,0.000,6,0.000,0.037,1428,3360,3272,0,0,0,0,0,0
$GC,584,-0.63,-194.7,79.1,-15.6,84,592,0.00,0.95,0.00,0.000,4,0.000,0.059,1423,3953,3272,0,0,0,0,0,0
$GC,684,-0.63,-194.7,95.4,-16.4,100,692,0.00,0.93,0.00,0.000,6,0.000,0.037,1423,3348,3272,0,0,0,0,0,0
$GC,1012,-0.63,-194.7,149.8,-16.7,123,1017,0.00,0.95,0.00,0.000,4,0.000,0.059,1419,3945,3272,0,0,0,0,0,0
$GC,1127,-0.63,-194.7,170.6,-16.9,129,1133,0.00,0.90,0.00,0.000,6,0.000,0.036,1419,3353,3272,0,0,0,0,0,0
$GC,1446,-0.63,-194.7,223.3,-16.0,150,1450,0.00,0.98,0.00,0.000,4,0.000,0.060,1414,3951,3272,0,0,0,0,0,0
$GC,1605,-0.63,-194.7,248.7,-15.9,159,1610,0.08,0.93,0.00,0.000,6,0.168,0.036,1438,3340,3272,0,0,0,0,0,0
$GC,1934,-0.63,-194.7,292.8,-13.0,175,1940,0.00,0.98,0.00,0.000,4,0.000,0.060,1434,3958,3272,0,0,0,0,0,0
$GC,1985,-0.63,-194.7,299.7,-14.0,177,1989,0.00,0.93,0.00,0.000,6,0.000,0.037,1434,3343,3272,0,0,0,0,0,0
$GC,2320,-0.63,-194.7,346.6,-14.0,193,2326,0.00,0.95,0.00,0.000,4,0.000,0.060,1430,3948,3272,0,0,0,0,0,0
$GC,2416,-0.63,-194.7,360.5,-13.9,197,2420,0.00,0.90,0.00,0.000,6,0.000,0.037,1430,3348,3272,0,0,0,0,0,0
$GC,2740,-0.63,-194.7,407.3,-14.7,212,2744,0.00,0.95,0.00,0.000,4,0.000,0.060,1425,3951,3272,0,0,0,0,0,0
$GC,2851,-0.63,-194.7,424.4,-15.4,215,2857,0.00,0.90,0.00,0.000,6,0.000,0.037,1425,3347,3272,0,0,0,0,0,0
$GC,3184,-0.63,-194.7,472.2,-14.5,226,3188,0.00,0.95,0.00,0.000,4,0.000,0.059,1421,3952,3272,0,0,0,0,0,0
$GC,3276,-0.63,-194.7,486.4,-15.2,228,3280,0.00,0.90,0.00,0.000,6,0.000,0.037,1422,3354,3272,0,0,0,0,0,0
$GC,3596,-0.63,-194.7,533.6,-14.5,239,3600,0.00,0.98,0.00,0.000,4,0.000,0.060,1417,3956,3271,0,0,0,0,0,0
$GC,3668,-0.63,-194.7,544.9,-15.0,241,3672,0.00,0.90,0.00,0.000,6,0.000,0.037,1417,3357,3271,0,0,0,0,0,0
$GC,4003,-0.63,-194.7,594.4,-14.9,252,4009,0.12,0.95,0.00,0.000,4,0.182,0.062,1445,3949,3270,0,0,0,0,0,0
$GC,4083,-0.63,-194.7,605.2,-12.3,254,4086,0.00,0.90,0.00,0.000,6,0.000,0.038,1445,3348,3271,0,0,0,0,0,0
$GC,4413,-0.63,-194.7,643.9,-11.6,265,4418,0.00,0.95,0.00,0.000,4,0.000,0.061,1440,3949,3270,0,0,0,0,0,0
$GC,4525,-0.63,-194.7,657.9,-12.6,268,4529,0.00,0.90,0.00,0.000,6,0.000,0.038,1441,3350,3269,0,0,0,0,0,0
$GC,4856,-0.63,-194.7,697.3,-12.0,279,4859,0.00,0.95,0.00,0.000,4,0.000,0.062,1436,3952,3269,0,0,0,0,0,0
$GC,4957,-0.63,-194.7,709.8,-11.8,282,4963,0.00,0.90,0.00,0.000,6,0.000,0.038,1436,3353,3268,0,0,0,0,0,0
$GC,5300,-0.63,-194.7,751.3,-12.0,293,5304,0.00,0.95,0.00,0.000,4,0.000,0.061,1432,3953,3268,0,0,0,0,0,0
$GC,5395,-0.63,-194.7,763.6,-12.8,295,5402,0.00,0.90,0.00,0.000,6,0.000,0.039,1432,3354,3268,0,0,0,0,0,0
$GC,5708,-0.63,-194.7,800.8,-11.9,306,5712,0.00,0.95,0.00,0.000,4,0.000,0.062,1427,3956,3267,0,0,0,0,0,0
$GC,5753,-0.63,-194.7,806.6,-12.3,307,5756,0.00,0.90,0.00,0.000,6,0.000,0.039,1427,3357,3267,0,0,0,0,0,0
$GC,6082,-0.63,-194.7,847.0,-12.2,318,6086,0.00,0.95,0.00,0.000,4,0.000,0.063,1423,3956,3266,0,0,0,0,0,0
$GC,6152,-0.63,-194.7,856.0,-12.9,320,6156,0.00,0.93,0.00,0.000,6,0.000,0.040,1423,3344,3266,0,0,0,0,0,0
$GC,6494,-0.63,-194.7,899.6,-12.7,331,6498,0.00,0.95,0.00,0.000,4,0.000,0.062,1418,3948,3264,0,0,0,0,0,0
$GC,6616,-0.63,-194.7,916.5,-13.5,334,6620,0.00,0.90,0.00,0.000,6,0.000,0.040,1418,3350,3264,0,0,0,0,0,0
$GC,6935,-0.63,-194.7,957.6,-12.9,345,6939,0.00,0.95,0.00,0.000,4,0.000,0.063,1414,3952,3264,0,0,0,0,0,0
$GC,7030,-0.63,-194.7,970.8,-12.9,347,7037,0.08,0.90,0.00,0.000,6,0.168,0.041,1437,3357,3263,0,0,0,0,0,0
$STATE,7312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7312,begin apogee
$GC,7319,-0.14,0.0,1002.4,10.9,357,7517,0.52,0.00,194.98,1.203,6,0.136,0.000,1602,3147,2473,0,0,0,0,0,0
$STATE,7518,end apogee,CONTROL_FINISHED_OK
$STATE,7518,begin climb
$GC,7521,0.63,194.7,1008.6,0.0,363,7721,0.70,0.00,196.62,1.166,6,0.054,0.000,1859,3147,1679,0,0,0,0,0,0
$GC,8017,0.63,194.7,907.2,22.7,380,8021,0.00,2.25,0.00,0.000,4,0.000,0.038,1870,1749,1651,0,0,0,0,0,0
$GC,8049,0.63,194.7,899.5,20.3,381,8053,0.00,2.35,0.00,0.000,6,0.000,0.050,1870,3157,1650,0,0,0,0,0,0
$GC,8379,0.63,194.7,823.7,23.1,392,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3157,1649,0,0,0,0,0,0
$GC,8685,0.63,194.7,753.3,22.9,402,8689,0.00,2.20,0.00,0.000,4,0.000,0.038,1880,1743,1649,0,0,0,0,0,0
$GC,8762,0.63,194.7,738.0,17.6,404,8767,0.00,2.30,0.00,0.000,6,0.000,0.051,1880,3155,1648,0,0,0,0,0,0
$GC,9081,0.63,194.7,662.9,24.0,415,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3154,1647,0,0,0,0,0,0
$GC,9387,0.63,194.7,588.5,24.2,425,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,3154,1647,0,0,0,0,0,0
$GC,9693,0.63,194.7,515.1,24.0,435,9697,0.00,2.17,0.00,0.000,4,0.000,0.037,1891,1743,1647,0,0,0,0,0,0
$GC,9738,0.63,194.7,505.0,20.2,436,9743,0.15,2.28,0.00,0.000,6,0.197,0.050,1855,3154,1646,0,0,0,0,0,0
$GC,10057,0.63,194.7,438.1,21.3,447,10061,0.00,2.17,0.00,0.000,4,0.000,0.037,1864,1744,1645,0,0,0,0,0,0
$GC,10072,0.63,194.7,434.4,21.6,447,10076,0.00,2.25,0.00,0.000,6,0.000,0.048,1864,3154,1645,0,0,0,0,0,0
$GC,10399,0.63,194.7,362.4,22.3,460,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3154,1645,0,0,0,0,0,0
$GC,10709,0.63,194.7,294.0,21.7,475,10714,0.00,2.17,0.00,0.000,4,0.000,0.037,1874,1749,1645,0,0,0,0,0,0
$GC,10733,0.63,194.7,288.5,20.7,476,10738,0.00,2.25,0.00,0.000,6,0.000,0.050,1875,3160,1645,0,0,0,0,0,0
$GC,11059,0.63,194.7,215.1,22.5,494,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3161,1644,0,0,0,0,0,0
$GC,11372,0.63,194.7,144.6,22.4,514,11376,0.00,1.25,0.00,0.000,4,0.000,0.054,1875,3949,1644,0,0,0,0,0,0
$GC,11409,0.63,194.7,135.5,23.2,516,11412,0.00,1.23,0.00,0.000,6,0.000,0.032,1881,3132,1644,0,0,0,0,0,0
$GC,11744,0.63,194.7,61.0,22.4,555,11750,0.00,2.10,0.00,0.000,4,0.000,0.037,1891,1764,1644,0,0,0,0,0,0
$GC,11813,0.63,194.7,47.5,17.3,566,11822,0.10,2.22,0.00,0.000,6,0.179,0.050,1862,3150,1644,0,0,0,0,0,0
$STATE,12048,end climb,SURFACE_DEPTH_REACHED
$STATE,12048,begin surface coast
$FINISH,1.1,1.026324
$STATE,12072,end surface coast,CONTROL_FINISHED_OK
$STATE,12072,begin surface
$SM_CCo,12088,124.35,0.774,1,0,506,482.50
$SM_GC,1.36,0.00,0.00,124.35,0.000,0.000,0.774,67,3361,506,-4.95,0.25,482.50
$IRIDIUM_FIX,-4215.72,829.68,121212,232329
$TT8_MAMPS,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.4,7.014
$10V_AH,10.2,3.148
$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,11.950,66.000,391.600,124.350,0.000,146.850,341.606,348.001,0.000,0.000,21.906,1557.658,8056.471,629.114,2494.890,778.910,33.348,1411.885,0.000,1808.325,0.000,1.013,0.000
$DEVICE_MAMPS,234.090,68.085,1202.580,774.180,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.298,1324.037,629.760,284.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,43916,605
$CAP_FILE_SIZE,108461,0
$CFSIZE,259252224,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,131212,024405,-4231.435,820.341,29,1.0,29,-25.0