version: 66.07
glider: 543
mission: 6
dive: 41
start: 12 15 112 6 49 39
data:
$ID,543
$MISSION,6
$DIVE,41
$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,-7924.4507
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,151212,063634,-4226.264,820.512,41,1.2,41,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-44.4
$GPS2,151212,064841,-4226.232,820.553,23,1.2,23,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.165,-0.231
$KALMAN_X,4141.7,95.7,-219.0,21770.6,3388.8
$KALMAN_Y,47873.1,554.8,580.5,-41989.7,2622.0
$MHEAD_RNG_PITCHd_Wd,240.4,7018,-13.4,-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,-0.49,-194.7,0.0,0.0,0,112,0.00,0.00,-89.75,0.000,2,0.000,0.000,57,3361,2744,0,0,0,0,0,0
$GC,116,-0.49,-194.7,3.2,-3.5,11,145,5.75,0.95,-14.55,0.000,4,0.234,0.092,1481,3936,3266,0,0,0,0,0,0
$GC,193,-0.49,-194.7,12.3,-13.2,21,202,0.00,0.93,0.00,0.000,6,0.000,0.037,1481,3342,3268,0,0,0,0,0,0
$GC,282,-0.49,-194.7,23.0,-11.1,34,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3342,3269,0,0,0,0,0,0
$GC,372,-0.49,-194.7,33.6,-12.0,47,379,0.00,0.98,0.00,0.000,4,0.000,0.060,1477,3941,3268,0,0,0,0,0,0
$GC,527,-0.49,-194.7,51.9,-11.7,72,536,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3351,3268,0,0,0,0,0,0
$GC,771,-0.49,-194.7,78.3,-10.8,113,777,0.00,0.93,0.00,0.000,4,0.000,0.060,1473,3928,3269,0,0,0,0,0,0
$GC,998,-0.49,-194.7,105.6,-12.4,148,1001,0.00,0.88,0.00,0.000,6,0.000,0.037,1473,3351,3268,0,0,0,0,0,0
$GC,1332,-0.49,-194.7,142.5,-10.9,169,1336,0.00,0.93,0.00,0.000,4,0.000,0.060,1469,3931,3268,0,0,0,0,0,0
$GC,1529,-0.49,-194.7,165.8,-11.3,180,1532,0.00,0.88,0.00,0.000,6,0.000,0.036,1469,3349,3268,0,0,0,0,0,0
$GC,1858,-0.49,-194.7,200.8,-10.4,201,1861,0.00,0.93,0.00,0.000,4,0.000,0.060,1464,3934,3269,0,0,0,0,0,0
$GC,2073,-0.49,-194.7,225.2,-10.8,213,2077,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3351,3269,0,0,0,0,0,0
$GC,2410,-0.49,-194.7,258.9,-9.9,233,2416,0.00,0.93,0.00,0.000,4,0.000,0.060,1460,3936,3268,0,0,0,0,0,0
$GC,2642,-0.49,-194.7,284.6,-11.6,243,2649,0.08,0.88,0.00,0.000,6,0.145,0.037,1484,3354,3268,0,0,0,0,0,0
$GC,2981,-0.49,-194.7,313.5,-8.4,259,2987,0.00,0.95,0.00,0.000,4,0.000,0.062,1481,3940,3268,0,0,0,0,0,0
$GC,3146,-0.49,-194.7,328.6,-8.5,266,3152,0.00,0.88,0.00,0.000,6,0.000,0.037,1481,3352,3269,0,0,0,0,0,0
$GC,3482,-0.49,-194.7,357.2,-8.4,282,3485,0.00,0.93,0.00,0.000,4,0.000,0.060,1477,3940,3268,0,0,0,0,0,0
$GC,3680,-0.49,-194.7,375.0,-8.7,290,3683,0.00,0.88,0.00,0.000,6,0.000,0.037,1477,3354,3268,0,0,0,0,0,0
$GC,4014,-0.49,-194.7,404.1,-8.8,306,4018,0.00,0.95,0.00,0.000,4,0.000,0.062,1472,3942,3268,0,0,0,0,0,0
$GC,4245,-0.49,-194.7,426.4,-9.1,312,4252,0.00,0.88,0.00,0.000,6,0.000,0.037,1472,3354,3268,0,0,0,0,0,0
$GC,4558,-0.49,-194.7,455.7,-9.3,323,4563,0.00,0.93,0.00,0.000,4,0.000,0.060,1468,3942,3268,0,0,0,0,0,0
$GC,4817,-0.49,-194.7,481.0,-9.4,330,4820,0.00,0.88,0.00,0.000,6,0.000,0.037,1468,3357,3268,0,0,0,0,0,0
$GC,5136,-0.49,-194.7,509.7,-9.3,341,5140,0.00,0.93,0.00,0.000,4,0.000,0.061,1464,3943,3267,0,0,0,0,0,0
$GC,5348,-0.49,-194.7,530.2,-9.5,347,5354,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3356,3267,0,0,0,0,0,0
$GC,5679,-0.49,-194.7,561.5,-9.4,358,5685,0.00,0.93,0.00,0.000,4,0.000,0.060,1459,3944,3266,0,0,0,0,0,0
$GC,5924,-0.49,-194.7,587.1,-10.2,365,5928,0.08,0.90,0.00,0.000,6,0.145,0.037,1483,3346,3265,0,0,0,0,0,0
$GC,6260,-0.49,-194.7,613.2,-7.5,376,6263,0.00,0.93,0.00,0.000,4,0.000,0.061,1481,3932,3265,0,0,0,0,0,0
$GC,6498,-0.49,-194.7,632.7,-8.2,383,6501,0.00,0.88,0.00,0.000,6,0.000,0.038,1481,3350,3264,0,0,0,0,0,0
$GC,6839,-0.49,-194.7,659.7,-7.8,394,6842,0.00,0.93,0.00,0.000,4,0.000,0.062,1477,3937,3264,0,0,0,0,0,0
$GC,7087,-0.49,-194.7,680.8,-8.7,401,7092,0.00,0.88,0.00,0.000,6,0.000,0.038,1477,3354,3263,0,0,0,0,0,0
$GC,7418,-0.49,-194.7,707.4,-8.1,412,7423,0.00,0.93,0.00,0.000,4,0.000,0.063,1472,3939,3262,0,0,0,0,0,0
$GC,7632,-0.49,-194.7,726.3,-8.9,418,7636,0.00,0.88,0.00,0.000,6,0.000,0.039,1472,3357,3261,0,0,0,0,0,0
$GC,7963,-0.49,-194.7,753.1,-8.2,429,7966,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3941,3260,0,0,0,0,0,0
$GC,8224,-0.49,-194.7,776.6,-9.3,436,8228,0.00,0.90,0.00,0.000,6,0.000,0.039,1468,3345,3260,0,0,0,0,0,0
$GC,8545,-0.49,-194.7,804.7,-8.8,447,8549,0.00,0.95,0.00,0.000,4,0.000,0.063,1464,3945,3259,0,0,0,0,0,0
$GC,8769,-0.49,-194.7,826.8,-10.2,453,8773,0.00,0.90,0.00,0.000,6,0.000,0.039,1464,3346,3259,0,0,0,0,0,0
$GC,9088,-0.49,-194.7,856.3,-9.2,464,9092,0.00,0.93,0.00,0.000,4,0.000,0.063,1459,3929,3258,0,0,0,0,0,0
$GC,9350,-0.49,-194.7,882.1,-10.5,471,9354,0.08,0.88,0.00,0.000,6,0.145,0.040,1483,3351,3258,0,0,0,0,0,0
$GC,9670,-0.49,-194.7,905.5,-7.1,482,9674,0.00,0.93,0.00,0.000,4,0.000,0.064,1481,3933,3257,0,0,0,0,0,0
$GC,9829,-0.49,-194.7,917.7,-7.6,486,9833,0.00,0.88,0.00,0.000,6,0.000,0.041,1481,3355,3257,0,0,0,0,0,0
$GC,10149,-0.49,-194.7,940.0,-6.8,497,10152,0.00,0.93,0.00,0.000,4,0.000,0.064,1477,3939,3256,0,0,0,0,0,0
$GC,10318,-0.49,-194.7,952.6,-7.6,502,10323,0.00,0.88,0.00,0.000,6,0.000,0.040,1477,3357,3256,0,0,0,0,0,0
$GC,10661,-0.49,-194.7,976.1,-6.9,513,10665,0.00,0.90,0.00,0.000,4,0.000,0.064,1472,3925,3255,0,0,0,0,0,0
$GC,10880,-0.49,-194.7,993.2,-7.5,519,10886,0.00,0.88,0.00,0.000,6,0.000,0.041,1472,3346,3255,0,0,0,0,0,0
$STATE,10989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10989,begin apogee
$GC,10997,-0.14,0.0,1001.5,7.6,523,11186,0.43,0.00,181.30,1.859,6,0.129,0.000,1607,3254,2473,0,0,0,0,1,0
$STATE,11187,end apogee,CONTROL_FINISHED_OK
$STATE,11187,begin climb
$GC,11190,0.49,194.7,1007.8,0.0,529,11397,0.57,2.55,192.07,1.825,4,0.050,0.034,1829,1839,1679,0,0,0,0,1,0
$GC,11428,0.49,194.7,975.3,15.4,536,11432,0.00,2.50,0.00,0.000,6,0.000,0.052,1829,3241,1677,0,0,0,0,0,0
$GC,11746,0.49,194.7,912.8,20.0,547,11750,0.00,2.28,0.00,0.000,4,0.000,0.037,1839,1835,1671,0,0,0,0,0,0
$GC,11779,0.49,194.7,906.3,17.9,548,11783,0.00,2.40,0.00,0.000,6,0.000,0.054,1839,3260,1671,0,0,0,0,0,0
$GC,12109,0.49,194.7,837.6,21.2,559,12114,0.00,2.28,0.00,0.000,4,0.000,0.038,1850,1843,1669,0,0,0,0,0,0
$GC,12157,0.49,194.7,828.5,18.1,560,12162,0.15,2.33,0.00,0.000,6,0.183,0.054,1813,3251,1669,0,0,0,0,0,0
$GC,12481,0.49,194.7,767.7,18.9,571,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3251,1667,0,0,0,0,0,0
$GC,12788,0.49,194.7,710.6,18.6,581,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3251,1667,0,0,0,0,0,0
$GC,13094,0.49,194.7,653.1,18.8,591,13098,0.00,2.20,0.00,0.000,4,0.000,0.035,1823,1822,1667,0,0,0,0,0,0
$GC,13138,0.49,194.7,645.4,16.1,592,13142,0.00,2.33,0.00,0.000,6,0.000,0.053,1823,3263,1666,0,0,0,0,0,0
$GC,13456,0.49,194.7,584.7,19.3,603,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3263,1666,0,0,0,0,0,0
$GC,13762,0.49,194.7,525.3,19.5,613,13766,0.00,2.20,0.00,0.000,4,0.000,0.034,1834,1826,1666,0,0,0,0,0,0
$GC,13817,0.49,194.7,515.4,15.5,614,13824,0.00,2.28,0.00,0.000,6,0.000,0.051,1834,3254,1665,0,0,0,0,0,0
$GC,14131,0.49,194.7,451.9,20.7,625,14135,0.00,2.17,0.00,0.000,4,0.000,0.034,1845,1825,1665,0,0,0,0,0,0
$GC,14169,0.49,194.7,444.5,17.0,626,14174,0.12,2.28,0.00,0.000,6,0.186,0.050,1814,3252,1664,0,0,0,0,0,0
$GC,14494,0.49,194.7,386.7,18.0,638,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3252,1665,0,0,0,0,0,0
$GC,14805,0.49,194.7,333.3,17.3,653,14807,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3252,1664,0,0,0,0,0,0
$GC,15114,0.49,194.7,281.6,16.6,668,15118,0.00,2.15,0.00,0.000,4,0.000,0.034,1824,1818,1664,0,0,0,0,0,0
$GC,15160,0.49,194.7,274.4,13.4,670,15165,0.00,2.30,0.00,0.000,6,0.000,0.051,1824,3247,1663,0,0,0,0,0,0
$GC,15479,0.49,194.7,218.6,17.9,688,15483,0.00,2.15,0.00,0.000,4,0.000,0.034,1835,1832,1663,0,0,0,0,0,0
$GC,15531,0.49,194.7,211.0,14.1,691,15535,0.00,2.25,0.00,0.000,6,0.000,0.051,1835,3252,1663,0,0,0,0,0,0
$GC,15857,0.49,194.7,148.5,19.3,712,15861,0.00,2.15,0.00,0.000,4,0.000,0.033,1845,1826,1663,0,0,0,0,0,0
$GC,15897,0.49,194.7,141.1,15.5,714,15907,0.10,2.28,0.00,0.000,6,0.154,0.050,1814,3247,1663,0,0,0,0,0,0
$GC,16226,0.49,194.7,86.6,16.5,743,16230,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3247,1663,0,0,0,0,0,0
$GC,16593,0.49,194.7,29.0,14.4,804,16602,0.00,2.15,0.00,0.000,4,0.000,0.034,1823,1831,1663,0,0,0,0,0,0
$GC,16688,0.49,194.7,17.4,11.1,818,16699,0.00,2.25,0.00,0.000,6,0.000,0.050,1823,3242,1663,0,0,0,0,0,0
$GC,16783,0.49,194.7,3.2,16.8,831,16791,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3243,1663,0,0,0,0,0,0
$STATE,16797,end climb,SURFACE_DEPTH_REACHED
$STATE,16798,begin surface coast
$FINISH,0.9,1.014559
$STATE,16829,end surface coast,CONTROL_FINISHED_OK
$STATE,16829,begin surface
$SM_CCo,16845,125.57,0.757,1,0,504,482.50
$SM_GC,1.29,0.00,0.00,125.57,0.000,0.000,0.757,61,3361,504,-4.96,0.23,482.50
$IRIDIUM_FIX,-4209.90,820.17,151212,060645
$TT8_MAMPS,0.025466
$HUMID,53.50
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.1,9.707
$10V_AH,10.1,4.677
$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,12.075,83.825,373.375,125.575,0.000,53.077,133.698,312.303,0.000,0.000,25.792,2237.461,10625.213,588.864,3262.030,989.925,33.388,1853.016,0.000,2954.470,0.000,1.012,0.000
$DEVICE_MAMPS,234.090,91.800,1858.950,757.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.800,1824.016,858.620,398.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,60525,837
$CAP_FILE_SIZE,152911,0
$CFSIZE,259252224,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,151212,113355,-4226.297,818.562,39,0.7,39,-24.9