version: 66.07
glider: 543
mission: 6
dive: 49
start: 12 16 112 20 40 37
data:
$ID,543
$MISSION,6
$DIVE,49
$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,-7953.436
$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,18
$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
$GPS1,161212,203104,-4231.806,821.453,28,1.2,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-35.2
$GPS2,161212,203941,-4231.753,821.424,19,1.3,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.145,-0.186
$KALMAN_X,-6290.9,802.2,114.0,32356.4,-5166.9
$KALMAN_Y,75219.7,-1171.5,-823.2,-76383.9,7351.0
$MHEAD_RNG_PITCHd_Wd,167.0,3785,-17.1,-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,20,-0.55,-127.2,0.0,0.0,0,111,0.00,0.00,-89.60,0.000,2,0.000,0.000,61,3353,2714,0,0,0,0,0,0
$GC,116,-0.60,-194.7,3.2,-4.1,11,142,5.65,1.02,-14.62,0.000,4,0.237,0.090,1447,3960,3269,0,0,0,0,0,0
$GC,344,-0.60,-194.7,43.9,-16.8,45,350,0.00,0.93,0.00,0.000,6,0.000,0.037,1447,3362,3271,0,0,0,0,0,0
$GC,594,-0.60,-194.7,81.9,-14.3,86,600,0.00,0.95,0.00,0.000,4,0.000,0.060,1443,3950,3272,0,0,0,0,0,0
$GC,643,-0.60,-194.7,88.8,-13.2,94,652,0.00,0.93,0.00,0.000,6,0.000,0.037,1443,3348,3272,0,0,0,0,0,0
$GC,982,-0.60,-194.7,133.6,-13.6,124,985,0.00,0.98,0.00,0.000,4,0.000,0.060,1438,3957,3273,0,0,0,0,0,0
$GC,1127,-0.60,-194.7,156.1,-14.8,132,1133,0.00,0.93,0.00,0.000,6,0.000,0.037,1438,3347,3273,0,0,0,0,0,0
$GC,1455,-0.60,-194.7,204.1,-15.0,153,1461,0.00,0.95,0.00,0.000,4,0.000,0.060,1434,3946,3273,0,0,0,0,0,0
$GC,1566,-0.60,-194.7,220.6,-15.1,159,1569,0.00,0.90,0.00,0.000,6,0.000,0.037,1434,3350,3273,0,0,0,0,0,0
$GC,1896,-0.60,-194.7,267.7,-13.9,178,1900,0.00,0.95,0.00,0.000,4,0.000,0.060,1430,3950,3273,0,0,0,0,0,0
$GC,2004,-0.60,-194.7,284.0,-14.3,182,2015,0.00,0.90,0.00,0.000,6,0.000,0.037,1430,3352,3273,0,0,0,0,0,0
$GC,2322,-0.60,-194.7,329.3,-14.4,198,2325,0.00,0.95,0.00,0.000,4,0.000,0.060,1425,3950,3273,0,0,0,0,0,0
$GC,2401,-0.60,-194.7,341.9,-15.1,201,2407,0.05,0.90,0.00,0.000,6,0.159,0.037,1442,3354,3273,0,0,0,0,0,0
$GC,2727,-0.60,-194.7,384.9,-13.5,217,2732,0.00,0.95,0.00,0.000,4,0.000,0.060,1439,3953,3273,0,0,0,0,0,0
$GC,2830,-0.60,-194.7,399.5,-13.5,221,2835,0.00,0.93,0.00,0.000,6,0.000,0.037,1439,3341,3273,0,0,0,0,0,0
$GC,3149,-0.60,-194.7,442.8,-13.9,232,3155,0.00,0.98,0.00,0.000,4,0.000,0.060,1434,3955,3273,0,0,0,0,0,0
$GC,3219,-0.60,-194.7,452.9,-14.4,234,3223,0.00,0.93,0.00,0.000,6,0.000,0.037,1434,3341,3272,0,0,0,0,0,0
$GC,3560,-0.60,-194.7,500.4,-13.6,245,3565,0.00,0.98,0.00,0.000,4,0.000,0.060,1430,3957,3273,0,0,0,0,0,0
$GC,3633,-0.60,-194.7,511.0,-13.3,247,3637,0.00,0.93,0.00,0.000,6,0.000,0.037,1429,3341,3272,0,0,0,0,0,0
$GC,3968,-0.60,-194.7,556.1,-13.5,258,3974,0.00,0.98,0.00,0.000,4,0.000,0.060,1425,3956,3272,0,0,0,0,0,0
$GC,4072,-0.60,-194.7,570.0,-13.4,261,4077,0.08,0.93,0.00,0.000,6,0.150,0.037,1450,3345,3272,0,0,0,0,0,0
$GC,4413,-0.60,-194.7,608.1,-11.0,272,4417,0.00,0.95,0.00,0.000,4,0.000,0.061,1447,3947,3271,0,0,0,0,0,0
$GC,4497,-0.60,-194.7,618.1,-11.7,274,4500,0.00,0.90,0.00,0.000,6,0.000,0.037,1447,3350,3271,0,0,0,0,0,0
$GC,4821,-0.60,-194.7,655.6,-11.7,285,4825,0.00,0.95,0.00,0.000,4,0.000,0.062,1442,3950,3271,0,0,0,0,0,0
$GC,4899,-0.60,-194.7,665.5,-12.5,287,4902,0.00,0.90,0.00,0.000,6,0.000,0.037,1442,3352,3270,0,0,0,0,0,0
$GC,5228,-0.60,-194.7,706.8,-12.8,298,5232,0.00,0.95,0.00,0.000,4,0.000,0.062,1438,3952,3270,0,0,0,0,0,0
$GC,5298,-0.60,-194.7,716.0,-13.4,300,5302,0.00,0.90,0.00,0.000,6,0.000,0.038,1438,3354,3269,0,0,0,0,0,0
$GC,5640,-0.60,-194.7,761.2,-13.1,311,5644,0.00,0.98,0.00,0.000,4,0.000,0.063,1433,3951,3269,0,0,0,0,0,0
$GC,5728,-0.60,-194.7,773.7,-14.1,313,5732,0.00,0.90,0.00,0.000,6,0.000,0.038,1433,3356,3269,0,0,0,0,0,0
$GC,6047,-0.60,-194.7,814.2,-12.5,324,6051,0.00,0.95,0.00,0.000,4,0.000,0.062,1429,3953,3268,0,0,0,0,0,0
$GC,6097,-0.60,-194.7,820.9,-13.6,325,6102,0.00,0.93,0.00,0.000,6,0.000,0.039,1429,3341,3268,0,0,0,0,0,0
$GC,6422,-0.60,-194.7,861.4,-12.0,336,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3341,3267,0,0,0,0,0,0
$GC,6728,-0.60,-194.7,898.6,-12.1,346,6732,0.00,0.98,0.00,0.000,4,0.000,0.063,1424,3956,3266,0,0,0,0,0,0
$GC,6868,-0.60,-194.7,916.6,-13.1,350,6872,0.08,0.93,0.00,0.000,6,0.157,0.039,1449,3347,3266,0,0,0,0,0,0
$GC,7203,-0.60,-194.7,951.8,-10.2,361,7207,0.00,0.95,0.00,0.000,4,0.000,0.064,1445,3948,3265,0,0,0,0,0,0
$GC,7312,-0.60,-194.7,963.3,-10.9,364,7316,0.00,0.90,0.00,0.000,6,0.000,0.040,1445,3353,3264,0,0,0,0,0,0
$GC,7648,-0.60,-194.7,1000.0,-10.9,375,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3352,3263,0,0,0,0,0,0
$STATE,7676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7676,begin apogee
$GC,7683,-0.14,0.0,1003.3,10.9,376,7890,0.50,0.00,197.90,1.213,6,0.135,0.000,1601,3256,2465,0,0,0,0,0,0
$STATE,7891,end apogee,CONTROL_FINISHED_OK
$STATE,7892,begin climb
$GC,7894,0.60,194.7,1010.2,0.0,383,8104,0.68,2.47,197.32,1.167,4,0.053,0.034,1863,1830,1666,0,0,0,0,0,0
$GC,8259,0.60,194.7,947.1,18.0,394,8263,0.00,2.40,0.00,0.000,6,0.000,0.052,1863,3253,1651,0,0,0,0,0,0
$GC,8588,0.60,194.7,864.7,26.0,405,8592,0.00,2.22,0.00,0.000,4,0.000,0.035,1873,1834,1648,0,0,0,0,0,0
$GC,8638,0.60,194.7,852.9,20.6,406,8643,0.12,2.35,0.00,0.000,6,0.188,0.052,1845,3259,1647,0,0,0,0,0,0
$GC,8951,0.60,194.7,780.2,24.0,416,8955,0.00,2.22,0.00,0.000,4,0.000,0.034,1854,1833,1646,0,0,0,0,0,0
$GC,9035,0.60,194.7,763.4,17.3,418,9039,0.00,2.30,0.00,0.000,6,0.000,0.052,1854,3260,1646,0,0,0,0,0,0
$GC,9349,0.60,194.7,689.9,23.7,428,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3260,1645,0,0,0,0,0,0
$GC,9655,0.60,194.7,616.5,23.9,438,9660,0.00,2.22,0.00,0.000,4,0.000,0.034,1865,1831,1645,0,0,0,0,0,0
$GC,9733,0.60,194.7,600.6,18.1,440,9737,0.00,2.25,0.00,0.000,6,0.000,0.050,1865,3251,1644,0,0,0,0,0,0
$GC,10057,0.60,194.7,520.0,25.6,451,10061,0.00,2.15,0.00,0.000,4,0.000,0.034,1876,1832,1644,0,0,0,0,0,0
$GC,10090,0.60,194.7,512.1,21.7,452,10095,0.12,2.25,0.00,0.000,6,0.197,0.050,1847,3257,1644,0,0,0,0,0,0
$GC,10420,0.60,194.7,436.1,23.5,463,10426,0.00,2.20,0.00,0.000,4,0.000,0.034,1856,1834,1643,0,0,0,0,0,0
$GC,10473,0.60,194.7,425.3,18.3,464,10477,0.00,2.25,0.00,0.000,6,0.000,0.049,1856,3249,1643,0,0,0,0,0,0
$GC,10793,0.60,194.7,349.3,24.2,478,10797,0.00,2.15,0.00,0.000,4,0.000,0.034,1867,1822,1642,0,0,0,0,0,0
$GC,10828,0.60,194.7,341.4,20.4,479,10835,0.00,2.28,0.00,0.000,6,0.000,0.050,1867,3256,1642,0,0,0,0,0,0
$GC,11146,0.60,194.7,266.0,24.3,495,11152,0.00,2.20,0.00,0.000,4,0.000,0.034,1878,1827,1642,0,0,0,0,0,0
$GC,11180,0.60,194.7,257.6,21.4,496,11185,0.12,2.25,0.00,0.000,6,0.196,0.050,1849,3260,1642,0,0,0,0,0,0
$GC,11513,0.60,194.7,185.8,22.0,516,11517,0.00,2.17,0.00,0.000,4,0.000,0.034,1858,1829,1642,0,0,0,0,0,0
$GC,11579,0.60,194.7,172.6,17.2,520,11583,0.00,2.22,0.00,0.000,6,0.000,0.049,1858,3249,1642,0,0,0,0,0,0
$GC,11905,0.60,194.7,97.5,24.2,541,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3249,1643,0,0,0,0,0,0
$GC,12276,0.60,194.7,15.5,20.8,602,12285,0.00,2.17,0.00,0.000,4,0.000,0.033,1869,1827,1642,0,0,0,0,0,0
$STATE,12336,end climb,SURFACE_DEPTH_REACHED
$STATE,12336,begin surface coast
$FINISH,1.0,1.026236
$STATE,12354,end surface coast,CONTROL_FINISHED_OK
$STATE,12354,begin surface
$SM_CCo,12372,126.25,0.787,1,0,503,482.50
$SM_GC,1.40,0.00,0.00,126.25,0.000,0.000,0.787,58,3352,503,-4.97,-0.03,482.50
$IRIDIUM_FIX,-4215.72,821.44,161212,171739
$TT8_MAMPS,0.024717
$HUMID,54.72
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.2,11.306
$10V_AH,10.1,5.620
$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,12.125,77.250,395.225,126.250,0.000,25.394,50.328,289.798,0.000,0.000,22.434,1599.028,7946.254,585.149,2165.686,728.504,33.351,1471.424,0.000,1950.071,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,90.270,1213.290,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.451,1350.538,618.991,275.856,0.000,0.000,0.000,0.000,0.000,0.000
$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,43970,613
$CAP_FILE_SIZE,111593,0
$CFSIZE,259252224,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,171212,001022,-4233.436,822.860,40,1.2,40,-25.0