version: 66.07
glider: 543
mission: 6
dive: 47
start: 12 16 112 12 33 22
data:
$ID,543
$MISSION,6
$DIVE,47
$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,-7946.7046
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,161212,122153,-4231.997,817.007,36,1.3,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-17.7
$GPS2,161212,123224,-4231.914,817.056,19,1.7,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.252,-0.130
$KALMAN_X,-2773.5,-358.6,707.8,23439.6,-3892.9
$KALMAN_Y,72002.7,-53.1,-1354.4,-74022.3,7578.8
$MHEAD_RNG_PITCHd_Wd,142.2,5359,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-194.7,0.0,0.0,0,117,0.00,0.00,-94.55,0.000,2,0.000,0.000,53,3366,2845,0,0,0,0,0,0
$GC,121,-0.49,-194.7,3.3,-3.9,11,147,5.88,0.95,-10.50,0.000,4,0.240,0.089,1479,3939,3269,0,0,0,0,0,0
$GC,416,-0.49,-194.7,42.5,-11.9,56,424,0.00,0.93,0.00,0.000,6,0.000,0.037,1479,3340,3271,0,0,0,0,0,0
$GC,660,-0.49,-194.7,69.9,-10.1,97,664,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3340,3271,0,0,0,0,0,0
$GC,1007,-0.49,-194.7,106.6,-10.4,150,1010,0.00,0.95,0.00,0.000,4,0.000,0.060,1474,3934,3271,0,0,0,0,0,0
$GC,1176,-0.49,-194.7,125.7,-11.7,159,1183,0.00,0.90,0.00,0.000,6,0.000,0.036,1474,3345,3272,0,0,0,0,0,0
$GC,1498,-0.49,-194.7,162.3,-11.3,180,1501,0.00,0.95,0.00,0.000,4,0.000,0.060,1470,3941,3272,0,0,0,0,0,0
$GC,1563,-0.49,-194.7,170.5,-12.2,183,1569,0.00,0.90,0.00,0.000,6,0.000,0.037,1470,3347,3272,0,0,0,0,0,0
$GC,1882,-0.49,-194.7,207.9,-11.5,204,1886,0.00,0.95,0.00,0.000,4,0.000,0.060,1466,3943,3272,0,0,0,0,0,0
$GC,1951,-0.49,-194.7,215.7,-11.0,208,1955,0.00,0.90,0.00,0.000,6,0.000,0.037,1466,3350,3272,0,0,0,0,0,0
$GC,2286,-0.49,-194.7,249.3,-9.6,229,2289,0.00,0.93,0.00,0.000,4,0.000,0.060,1461,3932,3272,0,0,0,0,0,0
$GC,2358,-0.49,-194.7,256.5,-9.9,233,2361,0.00,0.88,0.00,0.000,6,0.000,0.037,1461,3352,3272,0,0,0,0,0,0
$GC,2693,-0.49,-194.7,290.8,-10.2,249,2698,0.00,0.93,0.00,0.000,4,0.000,0.060,1457,3935,3272,0,0,0,0,0,0
$GC,2751,-0.49,-194.7,297.8,-11.5,251,2755,0.08,0.88,0.00,0.000,6,0.147,0.037,1482,3354,3272,0,0,0,0,0,0
$GC,3075,-0.49,-194.7,325.7,-8.8,267,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3354,3271,0,0,0,0,0,0
$GC,3383,-0.49,-194.7,353.2,-8.7,282,3387,0.00,0.93,0.00,0.000,4,0.000,0.061,1479,3939,3271,0,0,0,0,0,0
$GC,3529,-0.49,-194.7,367.0,-8.9,288,3533,0.00,0.90,0.00,0.000,6,0.000,0.037,1479,3342,3271,0,0,0,0,0,0
$GC,3858,-0.49,-194.7,396.7,-8.7,304,3862,0.00,0.95,0.00,0.000,4,0.000,0.060,1474,3943,3271,0,0,0,0,0,0
$GC,3950,-0.49,-194.7,405.1,-8.7,307,3954,0.00,0.90,0.00,0.000,6,0.000,0.037,1474,3345,3271,0,0,0,0,0,0
$GC,4268,-0.49,-194.7,432.2,-9.0,318,4272,0.00,0.93,0.00,0.000,4,0.000,0.060,1470,3931,3270,0,0,0,0,0,0
$GC,4338,-0.49,-194.7,438.8,-10.0,320,4342,0.00,0.88,0.00,0.000,6,0.000,0.037,1470,3350,3270,0,0,0,0,0,0
$GC,4680,-0.49,-194.7,475.0,-10.8,331,4683,0.00,0.93,0.00,0.000,4,0.000,0.061,1466,3935,3270,0,0,0,0,0,0
$GC,4762,-0.49,-194.7,484.2,-10.5,333,4766,0.00,0.88,0.00,0.000,6,0.000,0.037,1466,3355,3270,0,0,0,0,0,0
$GC,5087,-0.49,-194.7,516.4,-9.5,344,5091,0.00,0.93,0.00,0.000,4,0.000,0.061,1462,3941,3270,0,0,0,0,0,0
$GC,5158,-0.49,-194.7,523.6,-10.2,346,5162,0.00,0.88,0.00,0.000,6,0.000,0.037,1462,3354,3270,0,0,0,0,0,0
$GC,5494,-0.49,-194.7,554.8,-9.4,357,5498,0.00,0.95,0.00,0.000,4,0.000,0.063,1458,3938,3269,0,0,0,0,0,0
$GC,5566,-0.49,-194.7,562.3,-10.1,359,5570,0.08,0.88,0.00,0.000,6,0.145,0.037,1482,3359,3269,0,0,0,0,0,0
$GC,5902,-0.49,-194.7,589.4,-8.3,370,5906,0.00,0.93,0.00,0.000,4,0.000,0.062,1479,3944,3267,0,0,0,0,0,0
$GC,5991,-0.49,-194.7,597.4,-9.0,372,5995,0.00,0.90,0.00,0.000,6,0.000,0.037,1479,3348,3268,0,0,0,0,0,0
$GC,6311,-0.49,-194.7,624.4,-8.7,383,6314,0.00,0.93,0.00,0.000,4,0.000,0.062,1475,3931,3268,0,0,0,0,0,0
$GC,6388,-0.49,-194.7,631.6,-9.5,385,6392,0.00,0.88,0.00,0.000,6,0.000,0.038,1475,3353,3267,0,0,0,0,0,0
$GC,6719,-0.49,-194.7,660.4,-8.9,396,6722,0.00,0.93,0.00,0.000,4,0.000,0.062,1471,3935,3267,0,0,0,0,0,0
$GC,6821,-0.49,-194.7,669.8,-8.5,399,6826,0.00,0.88,0.00,0.000,6,0.000,0.038,1471,3355,3267,0,0,0,0,0,0
$GC,7164,-0.49,-194.7,701.2,-9.2,410,7168,0.00,0.93,0.00,0.000,4,0.000,0.063,1467,3939,3266,0,0,0,0,0,0
$GC,7218,-0.49,-194.7,706.9,-10.0,411,7222,0.00,0.90,0.00,0.000,6,0.000,0.038,1466,3341,3266,0,0,0,0,0,0
$GC,7537,-0.49,-194.7,737.8,-9.7,422,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3340,3265,0,0,0,0,0,0
$GC,7844,-0.49,-194.7,768.1,-10.2,432,7847,0.00,0.95,0.00,0.000,4,0.000,0.063,1462,3940,3264,0,0,0,0,0,0
$GC,7961,-0.49,-194.7,780.7,-10.3,435,7966,0.00,0.90,0.00,0.000,6,0.000,0.039,1462,3343,3264,0,0,0,0,0,0
$GC,8286,-0.49,-194.7,813.8,-9.9,446,8292,0.00,0.95,0.00,0.000,4,0.000,0.063,1458,3942,3263,0,0,0,0,0,0
$GC,8393,-0.49,-194.7,824.8,-9.5,449,8398,0.08,0.90,0.00,0.000,6,0.147,0.039,1483,3347,3263,0,0,0,0,0,0
$GC,8729,-0.49,-194.7,850.1,-7.5,460,8733,0.00,0.93,0.00,0.000,4,0.000,0.063,1479,3931,3262,0,0,0,0,0,0
$GC,8838,-0.49,-194.7,858.4,-7.8,463,8841,0.00,0.88,0.00,0.000,6,0.000,0.040,1480,3354,3262,0,0,0,0,0,0
$GC,9174,-0.49,-194.7,883.7,-7.6,474,9177,0.00,0.93,0.00,0.000,4,0.000,0.063,1476,3935,3262,0,0,0,0,0,0
$GC,9246,-0.49,-194.7,889.2,-8.0,476,9249,0.00,0.88,0.00,0.000,6,0.000,0.040,1476,3354,3262,0,0,0,0,0,0
$GC,9587,-0.49,-194.7,916.8,-7.8,487,9591,0.00,0.93,0.00,0.000,4,0.000,0.063,1471,3938,3261,0,0,0,0,0,0
$GC,9683,-0.49,-194.7,924.7,-9.0,489,9689,0.00,0.90,0.00,0.000,6,0.000,0.040,1472,3344,3261,0,0,0,0,0,0
$GC,9996,-0.49,-194.7,951.2,-8.8,500,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3343,3260,0,0,0,0,0,0
$GC,10304,-0.49,-194.7,977.3,-8.4,510,10307,0.00,0.95,0.00,0.000,4,0.000,0.064,1467,3943,3260,0,0,0,0,0,0
$GC,10415,-0.49,-194.7,987.2,-9.1,513,10418,0.00,0.90,0.00,0.000,6,0.000,0.040,1467,3348,3259,0,0,0,0,0,0
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10596,-0.14,0.0,1001.2,8.1,519,10804,0.43,0.00,199.90,1.193,6,0.132,0.000,1600,3255,2465,0,0,0,0,0,0
$STATE,10805,end apogee,CONTROL_FINISHED_OK
$STATE,10806,begin climb
$GC,10808,0.49,194.7,1006.9,0.0,526,11013,0.57,2.38,196.45,1.147,4,0.052,0.033,1824,1839,1672,0,0,0,0,0,0
$GC,11133,0.49,194.7,957.2,16.0,536,11137,0.00,2.40,0.00,0.000,6,0.000,0.053,1825,3242,1652,0,0,0,0,0,0
$GC,11463,0.49,194.7,885.0,22.5,547,11467,0.00,2.22,0.00,0.000,4,0.000,0.036,1835,1829,1649,0,0,0,0,0,0
$GC,11495,0.49,194.7,877.7,20.4,548,11500,0.00,2.38,0.00,0.000,6,0.000,0.054,1835,3256,1648,0,0,0,0,0,0
$GC,11825,0.49,194.7,803.6,22.9,559,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,3256,1648,0,0,0,0,0,0
$GC,12131,0.49,194.7,733.5,22.7,569,12135,0.00,2.22,0.00,0.000,4,0.000,0.035,1846,1826,1647,0,0,0,0,0,0
$GC,12181,0.49,194.7,723.3,17.2,570,12186,0.12,2.33,0.00,0.000,6,0.181,0.054,1816,3254,1647,0,0,0,0,0,0
$GC,12494,0.49,194.7,663.1,19.2,580,12498,0.00,2.17,0.00,0.000,4,0.000,0.034,1824,1825,1646,0,0,0,0,0,0
$GC,12557,0.49,194.7,653.1,14.7,582,12563,0.00,2.33,0.00,0.000,6,0.000,0.052,1825,3252,1645,0,0,0,0,0,0
$GC,12900,0.49,194.7,585.2,19.9,593,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3252,1645,0,0,0,0,0,0
$GC,13206,0.49,194.7,524.0,20.0,603,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3252,1645,0,0,0,0,0,0
$GC,13512,0.49,194.7,464.2,19.5,613,13516,0.00,2.15,0.00,0.000,4,0.000,0.033,1835,1822,1645,0,0,0,0,0,0
$GC,13556,0.49,194.7,456.3,15.7,614,13560,0.00,2.30,0.00,0.000,6,0.000,0.051,1836,3259,1644,0,0,0,0,0,0
$GC,13885,0.49,194.7,388.4,21.2,626,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,3260,1644,0,0,0,0,0,0
$GC,14196,0.49,194.7,323.9,20.8,641,14201,0.00,2.20,0.00,0.000,4,0.000,0.033,1846,1825,1644,0,0,0,0,0,0
$GC,14230,0.49,194.7,316.5,18.6,642,14235,0.12,2.28,0.00,0.000,6,0.181,0.051,1815,3255,1644,0,0,0,0,0,0
$GC,14548,0.49,194.7,257.9,18.9,657,14554,0.00,2.17,0.00,0.000,4,0.000,0.034,1824,1833,1644,0,0,0,0,0,0
$GC,14588,0.49,194.7,250.5,15.1,658,14596,0.00,2.28,0.00,0.000,6,0.000,0.051,1824,3249,1644,0,0,0,0,0,0
$GC,14909,0.49,194.7,189.0,20.0,679,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3249,1644,0,0,0,0,0,0
$GC,15223,0.49,194.7,127.9,19.4,699,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3249,1644,0,0,0,0,0,0
$GC,15552,0.49,194.7,65.1,17.9,739,15556,0.00,2.15,0.00,0.000,4,0.000,0.033,1835,1820,1644,0,0,0,0,0,0
$GC,15615,0.49,194.7,55.6,13.7,749,15621,0.00,2.28,0.00,0.000,6,0.000,0.050,1835,3257,1644,0,0,0,0,0,0
$GC,15875,0.49,194.7,7.7,17.9,790,15886,0.00,1.08,0.00,0.000,4,0.000,0.054,1835,3945,1644,0,0,0,0,0,0
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15901,begin surface coast
$FINISH,1.0,1.026254
$STATE,15921,end surface coast,CONTROL_FINISHED_OK
$STATE,15922,begin surface
$SM_CCo,15938,127.07,0.774,1,0,505,482.50
$SM_GC,1.01,0.00,0.00,127.07,0.000,0.000,0.774,66,3337,505,-4.95,-0.45,482.50
$IRIDIUM_FIX,-4212.81,814.82,161212,070750
$TT8_MAMPS,0.025466
$HUMID,54.01
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.2,10.947
$10V_AH,10.1,5.437
$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,12.050,78.500,396.350,127.075,0.000,24.801,46.300,387.004,0.000,0.000,22.291,2045.862,10457.239,591.713,2695.891,906.563,33.357,1641.905,0.000,2446.988,0.000,1.012,0.000
$DEVICE_MAMPS,240.210,88.740,1192.635,774.180,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.548,1743.697,799.702,351.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,60500,796
$CAP_FILE_SIZE,137206,0
$CFSIZE,259252224,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,161212,170256,-4232.162,820.208,41,6.9,61,-25.0