version: 66.07
glider: 543
mission: 6
dive: 40
start: 12 15 112 2 58 25
data:
$ID,543
$MISSION,6
$DIVE,40
$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,52459
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7921.0708
$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,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,20
$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
$GPS1,151212,024929,-4227.484,822.714,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-36.3
$GPS2,151212,025729,-4227.440,822.758,16,1.5,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.209,-0.108
$KALMAN_X,2051.8,-237.3,471.4,26495.0,886.5
$KALMAN_Y,42453.4,631.9,424.2,-38714.9,-2321.1
$MHEAD_RNG_PITCHd_Wd,267.6,6055,-17.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.56,-126.4,0.0,0.0,0,119,0.00,0.00,-97.20,0.000,2,0.000,0.000,58,3349,2943,0,0,0,0,0,0
$GC,123,-0.60,-194.7,3.2,-3.6,12,143,5.65,2.22,-8.02,0.000,4,0.236,0.048,1449,1950,3270,0,0,0,0,0,0
$GC,165,-0.60,-194.7,12.3,-20.2,17,176,0.00,2.35,0.00,0.000,6,0.000,0.060,1440,3345,3272,0,0,0,0,0,0
$GC,260,-0.60,-194.7,26.4,-16.1,30,269,0.00,1.00,0.00,0.000,4,0.000,0.060,1434,3957,3272,0,0,0,0,0,0
$GC,445,-0.60,-194.7,58.0,-15.7,60,456,0.00,0.93,0.00,0.000,6,0.000,0.036,1435,3354,3273,0,0,0,0,0,0
$GC,691,-0.60,-194.7,96.2,-15.2,101,697,0.00,0.98,0.00,0.000,4,0.000,0.060,1430,3958,3273,0,0,0,0,0,0
$GC,882,-0.60,-194.7,127.3,-16.5,114,890,0.00,0.93,0.00,0.000,6,0.000,0.036,1430,3349,3274,0,0,0,0,0,0
$GC,1203,-0.60,-194.7,176.3,-15.3,135,1209,0.00,0.98,0.00,0.000,4,0.000,0.060,1426,3961,3274,0,0,0,0,0,0
$GC,1439,-0.60,-194.7,215.3,-16.0,148,1445,0.08,0.93,0.00,0.000,6,0.158,0.036,1449,3349,3274,0,0,0,0,0,0
$GC,1766,-0.60,-194.7,257.9,-12.6,168,1770,0.00,0.95,0.00,0.000,4,0.000,0.060,1446,3951,3274,0,0,0,0,0,0
$GC,1990,-0.60,-194.7,288.4,-13.0,177,1997,0.00,0.90,0.00,0.000,6,0.000,0.036,1445,3352,3274,0,0,0,0,0,0
$GC,2308,-0.60,-194.7,327.2,-12.1,193,2314,0.00,0.95,0.00,0.000,4,0.000,0.060,1441,3955,3274,0,0,0,0,0,0
$GC,2497,-0.60,-194.7,351.5,-12.4,201,2501,0.00,0.90,0.00,0.000,6,0.000,0.037,1441,3356,3274,0,0,0,0,0,0
$GC,2826,-0.60,-194.7,389.2,-11.5,217,2832,0.00,0.95,0.00,0.000,4,0.000,0.060,1437,3954,3274,0,0,0,0,0,0
$GC,3048,-0.60,-194.7,418.2,-12.9,225,3051,0.00,0.90,0.00,0.000,6,0.000,0.037,1437,3354,3274,0,0,0,0,0,0
$GC,3372,-0.60,-194.7,459.4,-12.9,236,3376,0.00,0.95,0.00,0.000,4,0.000,0.060,1433,3956,3274,0,0,0,0,0,0
$GC,3629,-0.60,-194.7,497.0,-15.0,243,3633,0.00,0.90,0.00,0.000,6,0.000,0.037,1432,3358,3274,0,0,0,0,0,0
$GC,3947,-0.60,-194.7,539.9,-13.5,254,3951,0.00,0.95,0.00,0.000,4,0.000,0.060,1428,3960,3273,0,0,0,0,0,0
$GC,4162,-0.60,-194.7,570.6,-13.9,260,4166,0.00,0.90,0.00,0.000,6,0.000,0.037,1428,3355,3273,0,0,0,0,0,0
$GC,4492,-0.60,-194.7,614.6,-13.4,271,4495,0.00,0.95,0.00,0.000,4,0.000,0.060,1423,3956,3272,0,0,0,0,0,0
$GC,4667,-0.60,-194.7,638.9,-13.9,276,4672,0.08,0.90,0.00,0.000,6,0.157,0.037,1448,3356,3272,0,0,0,0,0,0
$GC,5003,-0.60,-194.7,675.3,-10.6,287,5006,0.00,0.95,0.00,0.000,4,0.000,0.062,1445,3955,3272,0,0,0,0,0,0
$GC,5227,-0.60,-194.7,701.9,-12.0,293,5232,0.00,0.90,0.00,0.000,6,0.000,0.038,1445,3355,3271,0,0,0,0,0,0
$GC,5546,-0.60,-194.7,738.9,-11.5,304,5552,0.00,0.95,0.00,0.000,4,0.000,0.063,1440,3955,3270,0,0,0,0,0,0
$GC,5700,-0.60,-194.7,757.7,-12.4,308,5703,0.00,0.90,0.00,0.000,6,0.000,0.038,1440,3358,3270,0,0,0,0,0,0
$GC,6024,-0.60,-194.7,794.5,-11.4,319,6028,0.00,0.95,0.00,0.000,4,0.000,0.063,1436,3956,3269,0,0,0,0,0,0
$GC,6196,-0.60,-194.7,814.1,-10.9,324,6201,0.00,0.90,0.00,0.000,6,0.000,0.039,1436,3355,3268,0,0,0,0,0,0
$GC,6539,-0.60,-194.7,850.2,-10.4,335,6543,0.00,0.95,0.00,0.000,4,0.000,0.063,1432,3953,3268,0,0,0,0,0,0
$GC,6770,-0.60,-194.7,876.2,-12.0,341,6777,0.00,0.90,0.00,0.000,6,0.000,0.039,1431,3355,3267,0,0,0,0,0,0
$GC,7084,-0.60,-194.7,909.7,-10.7,352,7089,0.00,0.95,0.00,0.000,4,0.000,0.063,1427,3955,3267,0,0,0,0,0,0
$GC,7244,-0.60,-194.7,928.5,-12.0,356,7248,0.00,0.93,0.00,0.000,6,0.000,0.039,1427,3343,3267,0,0,0,0,0,0
$GC,7563,-0.60,-194.7,965.5,-11.5,367,7567,0.00,0.98,0.00,0.000,4,0.000,0.063,1422,3955,3266,0,0,0,0,0,0
$GC,7800,-0.60,-194.7,995.5,-12.3,374,7805,0.08,0.90,0.00,0.000,6,0.154,0.040,1447,3357,3265,0,0,0,0,0,0
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7870,-0.14,0.0,1002.5,10.0,376,8069,0.50,0.00,195.48,1.193,6,0.135,0.000,1604,3246,2473,0,0,0,0,0,0
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8073,0.60,194.7,1009.1,0.0,382,8275,0.65,1.25,195.25,1.143,4,0.054,0.053,1846,3962,1674,0,0,0,0,0,0
$GC,8298,0.60,194.7,972.1,22.2,389,8302,0.00,1.17,0.00,0.000,6,0.000,0.032,1851,3243,1659,0,0,0,0,0,0
$GC,8628,0.60,194.7,899.8,21.7,400,8632,0.00,2.25,0.00,0.000,4,0.000,0.039,1862,1832,1651,0,0,0,0,0,0
$GC,8758,0.60,194.7,875.9,17.7,404,8762,0.00,2.38,0.00,0.000,6,0.000,0.052,1862,3268,1649,0,0,0,0,0,0
$GC,9093,0.60,194.7,800.6,22.7,415,9099,0.00,2.28,0.00,0.000,4,0.000,0.039,1873,1833,1648,0,0,0,0,0,0
$GC,9200,0.60,194.7,779.4,19.1,418,9204,0.00,2.33,0.00,0.000,6,0.000,0.052,1873,3263,1647,0,0,0,0,0,0
$GC,9530,0.60,194.7,702.1,23.9,429,9534,0.00,2.20,0.00,0.000,4,0.000,0.037,1883,1832,1648,0,0,0,0,0,0
$GC,9626,0.60,194.7,682.0,20.3,432,9632,0.12,2.30,0.00,0.000,6,0.168,0.051,1847,3244,1646,0,0,0,0,0,0
$GC,9969,0.60,194.7,608.2,21.3,443,9973,0.00,2.17,0.00,0.000,4,0.000,0.034,1856,1829,1646,0,0,0,0,0,0
$GC,10001,0.60,194.7,601.2,19.5,444,10005,0.00,2.28,0.00,0.000,6,0.000,0.050,1856,3250,1645,0,0,0,0,0,0
$GC,10331,0.60,194.7,529.2,22.1,455,10335,0.00,2.17,0.00,0.000,4,0.000,0.035,1867,1824,1645,0,0,0,0,0,0
$GC,10427,0.60,194.7,510.6,18.3,458,10433,0.00,2.30,0.00,0.000,6,0.000,0.050,1867,3248,1645,0,0,0,0,0,0
$GC,10770,0.60,194.7,431.2,23.0,469,10773,0.00,2.15,0.00,0.000,4,0.000,0.036,1877,1837,1645,0,0,0,0,0,0
$GC,10838,0.60,194.7,417.3,20.0,471,10843,0.12,2.25,0.00,0.000,6,0.197,0.050,1848,3254,1644,0,0,0,0,0,0
$GC,11172,0.60,194.7,346.4,21.0,486,11176,0.00,2.17,0.00,0.000,4,0.000,0.035,1858,1824,1644,0,0,0,0,0,0
$GC,11251,0.60,194.7,331.7,16.2,489,11258,0.00,2.25,0.00,0.000,6,0.000,0.050,1858,3250,1644,0,0,0,0,0,0
$GC,11569,0.60,194.7,263.4,22.3,505,11575,0.00,2.17,0.00,0.000,4,0.000,0.035,1869,1831,1644,0,0,0,0,0,0
$GC,11677,0.60,194.7,242.6,17.0,510,11683,0.00,2.28,0.00,0.000,6,0.000,0.050,1869,3249,1644,0,0,0,0,0,0
$GC,12005,0.60,194.7,169.4,23.3,531,12011,0.00,2.17,0.00,0.000,4,0.000,0.035,1879,1834,1644,0,0,0,0,0,0
$GC,12116,0.60,194.7,148.5,17.6,537,12121,0.12,2.25,0.00,0.000,6,0.193,0.050,1850,3256,1644,0,0,0,0,0,0
$GC,12450,0.60,194.7,78.9,20.8,569,12454,0.00,2.15,0.00,0.000,4,0.000,0.034,1859,1834,1644,0,0,0,0,0,0
$GC,12557,0.60,194.7,60.4,15.7,587,12564,0.00,2.25,0.00,0.000,6,0.000,0.049,1859,3244,1644,0,0,0,0,0,0
$STATE,12843,end climb,SURFACE_DEPTH_REACHED
$STATE,12843,begin surface coast
$FINISH,1.0,1.026252
$STATE,12863,end surface coast,CONTROL_FINISHED_OK
$STATE,12863,begin surface
$SM_CCo,12879,123.07,0.748,1,0,505,482.50
$SM_GC,1.36,0.00,0.00,123.07,0.000,0.000,0.748,57,3362,505,-4.98,0.25,482.50
$IRIDIUM_FIX,-4215.72,826.79,141212,232336
$TT8_MAMPS,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.3,9.461
$10V_AH,10.1,4.545
$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,12.150,80.050,390.725,123.075,0.000,26.528,21.257,282.234,0.000,0.000,19.167,1724.565,7869.711,570.001,2530.775,793.847,33.354,1619.971,0.000,2335.904,0.000,1.012,0.000
$DEVICE_MAMPS,236.385,78.795,1192.635,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.163,1396.614,644.000,283.377,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,47065,636
$CAP_FILE_SIZE,122145,0
$CFSIZE,259252224,255930368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,151212,063634,-4226.264,820.512,41,1.2,41,-24.9