version: 66.07
glider: 543
mission: 6
dive: 45
start: 12 16 112 2 43 52
data:
$ID,543
$MISSION,6
$DIVE,45
$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,-7939.9731
$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,33
$R_STBD_OVSHOOT,47
$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
$GPS1,161212,023022,-4229.440,815.680,40,0.8,40,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-21.6
$GPS2,161212,024254,-4229.517,815.779,17,1.9,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.107,-0.263
$KALMAN_X,3576.5,-322.5,-340.9,16379.1,1545.3
$KALMAN_Y,67796.4,-1852.7,-596.2,-64342.3,9429.9
$MHEAD_RNG_PITCHd_Wd,182.8,5833,-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,-194.7,0.0,0.0,0,119,0.00,0.00,-97.03,0.000,2,0.000,0.000,61,3378,2886,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.2,-4.5,12,143,5.82,0.93,-9.40,0.000,4,0.240,0.095,1482,3923,3270,0,0,0,0,0,0
$GC,427,-0.49,-194.7,43.9,-11.7,59,433,0.00,0.90,0.00,0.000,6,0.000,0.037,1482,3339,3273,0,0,0,0,0,0
$GC,673,-0.49,-194.7,70.8,-10.7,100,680,0.00,0.93,0.00,0.000,4,0.000,0.060,1478,3911,3273,0,0,0,0,0,0
$GC,944,-0.49,-194.7,100.7,-10.8,146,947,0.00,0.85,0.00,0.000,6,0.000,0.037,1478,3353,3273,0,0,0,0,0,0
$GC,1271,-0.49,-194.7,133.6,-10.1,167,1276,0.00,2.17,0.00,0.000,4,0.000,0.032,1478,1943,3273,0,0,0,0,0,0
$GC,1405,-0.49,-194.7,145.2,-8.2,174,1414,0.00,2.25,0.00,0.000,6,0.000,0.055,1468,3324,3274,0,0,0,0,0,0
$GC,1727,-0.49,-194.7,179.5,-11.0,195,1732,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3956,3274,0,0,0,0,0,0
$GC,1996,-0.49,-194.7,211.5,-11.3,210,2000,0.00,0.93,0.00,0.000,6,0.000,0.036,1463,3340,3274,0,0,0,0,0,0
$GC,2322,-0.49,-194.7,247.1,-11.1,231,2328,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3944,3274,0,0,0,0,0,0
$GC,2586,-0.49,-194.7,280.1,-12.4,243,2591,0.08,0.90,0.00,0.000,6,0.142,0.036,1483,3347,3274,0,0,0,0,0,0
$GC,2911,-0.49,-194.7,309.4,-8.9,259,2916,0.00,2.12,0.00,0.000,4,0.000,0.032,1483,1940,3274,0,0,0,0,0,0
$GC,3069,-0.49,-194.7,321.8,-7.7,265,3076,0.00,2.25,0.00,0.000,6,0.000,0.054,1475,3356,3273,0,0,0,0,0,0
$GC,3388,-0.49,-194.7,349.7,-8.7,281,3393,0.00,0.93,0.00,0.000,4,0.000,0.060,1470,3947,3274,0,0,0,0,0,0
$GC,3650,-0.49,-194.7,374.9,-8.7,292,3654,0.00,0.90,0.00,0.000,6,0.000,0.037,1470,3346,3273,0,0,0,0,0,0
$GC,3992,-0.49,-194.7,406.4,-9.4,308,3996,0.00,0.95,0.00,0.000,4,0.000,0.060,1466,3950,3273,0,0,0,0,0,0
$GC,4254,-0.49,-194.7,434.2,-11.5,315,4258,0.00,0.90,0.00,0.000,6,0.000,0.037,1466,3348,3273,0,0,0,0,0,0
$GC,4575,-0.49,-194.7,469.6,-11.0,326,4579,0.00,0.95,0.00,0.000,4,0.000,0.061,1461,3952,3273,0,0,0,0,0,0
$GC,4833,-0.49,-194.7,499.9,-11.8,333,4836,0.00,0.90,0.00,0.000,6,0.000,0.037,1462,3348,3272,0,0,0,0,0,0
$GC,5153,-0.49,-194.7,534.1,-10.6,344,5157,0.00,2.10,0.00,0.000,4,0.000,0.032,1461,1937,3271,0,0,0,0,0,0
$GC,5293,-0.49,-194.7,546.9,-9.3,348,5298,0.12,2.28,0.00,0.000,6,0.154,0.055,1485,3364,3272,0,0,0,0,0,0
$GC,5618,-0.49,-194.7,570.8,-7.1,359,5622,0.00,0.93,0.00,0.000,4,0.000,0.063,1482,3951,3271,0,0,0,0,0,0
$GC,5881,-0.49,-194.7,589.5,-7.1,366,5884,0.00,0.90,0.00,0.000,6,0.000,0.038,1482,3353,3270,0,0,0,0,0,0
$GC,6202,-0.49,-194.7,609.3,-6.0,377,6205,0.00,0.95,0.00,0.000,4,0.000,0.064,1478,3940,3269,0,0,0,0,0,0
$GC,6460,-0.49,-194.7,627.2,-7.4,384,6464,0.00,0.88,0.00,0.000,6,0.000,0.039,1478,3359,3268,0,0,0,0,0,0
$GC,6780,-0.49,-194.7,650.2,-7.6,395,6784,0.00,0.93,0.00,0.000,4,0.000,0.063,1474,3943,3268,0,0,0,0,0,0
$GC,7038,-0.49,-194.7,671.9,-8.6,402,7042,0.00,0.90,0.00,0.000,6,0.000,0.039,1474,3348,3268,0,0,0,0,0,0
$GC,7358,-0.49,-194.7,698.1,-8.2,413,7361,0.00,0.95,0.00,0.000,4,0.000,0.063,1469,3949,3267,0,0,0,0,0,0
$GC,7618,-0.49,-194.7,721.2,-9.3,420,7621,0.00,0.90,0.00,0.000,6,0.000,0.039,1469,3353,3267,0,0,0,0,0,0
$GC,7938,-0.49,-194.7,749.0,-8.7,431,7942,0.00,0.98,0.00,0.000,4,0.000,0.065,1465,3952,3265,0,0,0,0,0,0
$GC,8197,-0.49,-194.7,773.7,-10.1,438,8200,0.00,0.90,0.00,0.000,6,0.000,0.039,1465,3355,3265,0,0,0,0,0,0
$GC,8515,-0.49,-194.7,803.1,-9.3,449,8519,0.00,0.95,0.00,0.000,4,0.000,0.063,1461,3953,3264,0,0,0,0,0,0
$GC,8773,-0.49,-194.7,829.1,-10.1,456,8777,0.00,0.90,0.00,0.000,6,0.000,0.039,1461,3350,3264,0,0,0,0,0,0
$GC,9092,-0.49,-194.7,859.8,-9.8,467,9096,0.00,2.12,0.00,0.000,4,0.000,0.034,1461,1927,3263,0,0,0,0,0,0
$GC,9249,-0.49,-194.7,873.4,-8.8,471,9253,0.15,2.28,0.00,0.000,6,0.151,0.057,1492,3354,3263,0,0,0,0,0,0
$GC,9562,-0.49,-194.7,895.9,-7.0,481,9568,0.00,0.93,0.00,0.000,4,0.000,0.063,1489,3942,3262,0,0,0,0,0,0
$GC,9822,-0.49,-194.7,915.4,-7.4,488,9825,0.00,0.90,0.00,0.000,6,0.000,0.041,1489,3348,3262,0,0,0,0,0,0
$GC,10142,-0.49,-194.7,938.5,-7.2,499,10146,0.00,0.95,0.00,0.000,4,0.000,0.064,1485,3949,3262,0,0,0,0,0,0
$GC,10399,-0.49,-194.7,958.4,-7.7,506,10403,0.00,0.90,0.00,0.000,6,0.000,0.041,1485,3355,3261,0,0,0,0,0,0
$GC,10719,-0.49,-194.7,980.9,-7.0,517,10722,0.00,0.93,0.00,0.000,4,0.000,0.064,1481,3941,3261,0,0,0,0,0,0
$STATE,10972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10972,begin apogee
$GC,10980,-0.14,0.0,1000.3,7.7,524,11184,0.35,0.00,200.73,1.177,6,0.125,0.000,1598,3246,2472,0,0,0,0,0,0
$STATE,11185,end apogee,CONTROL_FINISHED_OK
$STATE,11185,begin climb
$GC,11188,0.49,194.7,1006.7,0.0,531,11399,0.57,2.40,200.38,1.144,4,0.057,0.036,1818,1845,1669,0,0,0,0,0,0
$GC,11482,0.49,194.7,966.1,14.2,540,11486,0.00,2.40,0.00,0.000,6,0.000,0.054,1818,3253,1655,0,0,0,0,0,0
$GC,11817,0.49,194.7,902.1,19.2,551,11823,0.00,2.28,0.00,0.000,4,0.000,0.038,1828,1843,1650,0,0,0,0,0,0
$GC,11930,0.49,194.7,883.9,14.7,554,11934,0.00,2.33,0.00,0.000,6,0.000,0.055,1828,3256,1649,0,0,0,0,0,0
$GC,12254,0.49,194.7,820.4,19.9,565,12258,0.00,2.22,0.00,0.000,4,0.000,0.038,1839,1843,1649,0,0,0,0,0,0
$GC,12361,0.49,194.7,802.6,15.5,568,12365,0.00,2.33,0.00,0.000,6,0.000,0.054,1839,3260,1648,0,0,0,0,0,0
$GC,12686,0.49,194.7,735.8,21.0,579,12690,0.00,2.22,0.00,0.000,4,0.000,0.037,1849,1834,1647,0,0,0,0,0,0
$GC,12832,0.49,194.7,710.5,16.8,583,12837,0.15,2.28,0.00,0.000,6,0.180,0.054,1812,3253,1647,0,0,0,0,0,0
$GC,13151,0.49,194.7,654.9,17.2,594,13155,0.00,2.17,0.00,0.000,4,0.000,0.035,1821,1834,1647,0,0,0,0,0,0
$GC,13218,0.49,194.7,645.3,12.4,596,13222,0.00,2.25,0.00,0.000,6,0.000,0.052,1821,3250,1647,0,0,0,0,0,0
$GC,13547,0.49,194.7,586.6,18.2,607,13551,0.00,2.17,0.00,0.000,4,0.000,0.034,1832,1828,1646,0,0,0,0,0,0
$GC,13597,0.49,194.7,578.2,14.2,608,13602,0.00,2.33,0.00,0.000,6,0.000,0.054,1832,3256,1647,0,0,0,0,0,0
$GC,13916,0.49,194.7,515.7,20.2,619,13922,0.00,2.20,0.00,0.000,4,0.000,0.034,1843,1831,1646,0,0,0,0,0,0
$GC,14040,0.49,194.7,495.2,15.1,622,14045,0.12,2.25,0.00,0.000,6,0.187,0.052,1812,3255,1646,0,0,0,0,0,0
$GC,14354,0.49,194.7,440.9,17.6,632,14358,0.00,2.17,0.00,0.000,4,0.000,0.034,1821,1825,1646,0,0,0,0,0,0
$GC,14403,0.49,194.7,433.0,15.0,633,14407,0.00,2.25,0.00,0.000,6,0.000,0.052,1821,3249,1646,0,0,0,0,0,0
$GC,14721,0.49,194.7,376.9,18.6,645,14725,0.00,2.15,0.00,0.000,4,0.000,0.033,1832,1834,1646,0,0,0,0,0,0
$GC,14785,0.49,194.7,366.3,13.2,648,14789,0.00,2.25,0.00,0.000,6,0.000,0.051,1832,3258,1645,0,0,0,0,0,0
$GC,15113,0.49,194.7,303.2,19.5,664,15117,0.00,2.17,0.00,0.000,4,0.000,0.033,1843,1826,1645,0,0,0,0,0,0
$GC,15227,0.49,194.7,285.6,14.7,669,15232,0.12,2.25,0.00,0.000,6,0.182,0.051,1812,3257,1645,0,0,0,0,0,0
$GC,15559,0.49,194.7,228.7,17.1,687,15563,0.00,2.15,0.00,0.000,4,0.000,0.032,1821,1831,1645,0,0,0,0,0,0
$GC,15644,0.49,194.7,216.0,12.5,692,15648,0.00,2.22,0.00,0.000,6,0.000,0.050,1822,3253,1645,0,0,0,0,0,0
$GC,15965,0.49,194.7,160.7,17.8,712,15969,0.00,2.15,0.00,0.000,4,0.000,0.032,1832,1830,1645,0,0,0,0,0,0
$GC,16041,0.49,194.7,149.2,13.7,716,16049,0.00,2.28,0.00,0.000,6,0.000,0.050,1832,3249,1645,0,0,0,0,0,0
$GC,16368,0.49,194.7,90.5,17.5,743,16372,0.00,2.15,0.00,0.000,4,0.000,0.032,1843,1824,1645,0,0,0,0,0,0
$GC,16428,0.49,194.7,80.7,13.8,753,16435,0.10,2.28,0.00,0.000,6,0.151,0.050,1811,3249,1645,0,0,0,0,0,0
$GC,16799,0.49,194.7,21.7,16.3,814,16808,0.00,2.17,0.00,0.000,4,0.000,0.032,1821,1818,1645,0,0,0,0,0,0
$GC,16889,0.49,194.7,9.4,11.6,827,16897,0.00,2.30,0.00,0.000,6,0.000,0.052,1821,3250,1645,0,0,0,0,0,0
$STATE,16943,end climb,SURFACE_DEPTH_REACHED
$STATE,16943,begin surface coast
$FINISH,0.9,1.026006
$STATE,16970,end surface coast,CONTROL_FINISHED_OK
$STATE,16970,begin surface
$SM_CCo,16986,124.78,0.751,1,0,505,482.50
$SM_GC,1.21,0.00,0.00,124.78,0.000,0.000,0.751,63,3361,505,-4.96,0.23,482.50
$IRIDIUM_FIX,-4212.81,814.82,161212,020255
$TT8_MAMPS,0.025466
$HUMID,53.22
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.3,10.582
$10V_AH,10.1,5.193
$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,12.300,110.150,401.100,124.775,0.000,54.520,121.735,347.171,0.000,0.000,21.809,2275.842,10510.437,593.078,3449.761,1035.728,33.353,1918.070,0.000,3123.450,0.000,1.014,0.000
$DEVICE_MAMPS,240.210,94.860,1177.335,751.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.371,1828.488,850.268,388.045,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,63797,839
$CAP_FILE_SIZE,159210,0
$CFSIZE,259252224,255508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,161212,073028,-4230.126,814.287,39,0.8,39,-24.9