version: 66.07
glider: 543
mission: 6
dive: 57
start: 12 18 112 1 9 32
data:
$ID,543
$MISSION,6
$DIVE,57
$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,-7980.3081
$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,32
$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
$GPS1,181212,005710,-4233.293,816.777,38,1.2,38,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-27.1
$GPS2,181212,010836,-4233.273,816.829,14,0.8,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.103,-0.187
$KALMAN_X,-1355.4,-1144.9,-172.2,23401.7,2015.3
$KALMAN_Y,86946.0,-986.2,-756.6,-91165.4,10189.5
$MHEAD_RNG_PITCHd_Wd,176.0,7449,-19.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.60,-102.7,0.0,0.0,0,120,0.00,0.00,-95.88,0.000,6,0.000,0.000,59,3366,2894,0,0,0,0,0,0
$GC,124,-0.65,-186.2,3.3,-4.1,12,143,5.65,0.98,-8.55,0.000,4,0.243,0.092,1427,3948,3236,0,0,0,0,0,0
$GC,420,-0.65,-186.2,64.3,-19.6,59,427,0.00,0.93,0.00,0.000,6,0.000,0.036,1426,3346,3238,0,0,0,0,0,0
$GC,768,-0.65,-186.2,121.0,-16.1,105,771,0.00,0.95,0.00,0.000,4,0.000,0.059,1422,3938,3239,0,0,0,0,0,0
$GC,879,-0.65,-186.2,140.2,-16.6,111,883,0.00,0.90,0.00,0.000,6,0.000,0.035,1422,3346,3239,0,0,0,0,0,0
$GC,1204,-0.65,-186.2,191.3,-15.9,132,1208,0.00,0.95,0.00,0.000,4,0.000,0.058,1418,3945,3240,0,0,0,0,0,0
$GC,1316,-0.65,-186.2,210.2,-16.9,138,1326,0.00,0.90,0.00,0.000,6,0.000,0.035,1418,3347,3240,0,0,0,0,0,0
$GC,1634,-0.65,-186.2,261.0,-16.0,158,1638,0.00,0.93,0.00,0.000,4,0.000,0.059,1414,3932,3240,0,0,0,0,0,0
$GC,1812,-0.65,-186.2,291.2,-16.3,165,1818,0.00,0.88,0.00,0.000,6,0.000,0.036,1414,3349,3240,0,0,0,0,0,0
$GC,2130,-0.65,-186.2,341.3,-16.0,181,2136,0.00,0.93,0.00,0.000,4,0.000,0.058,1409,3934,3240,0,0,0,0,0,0
$GC,2305,-0.65,-186.2,371.4,-16.7,188,2310,0.00,0.88,0.00,0.000,6,0.000,0.036,1409,3352,3240,0,0,0,0,0,0
$GC,2636,-0.65,-186.2,426.0,-16.5,202,2640,0.10,0.95,0.00,0.000,4,0.194,0.060,1429,3940,3240,0,0,0,0,0,0
$GC,2749,-0.65,-186.2,444.0,-15.4,205,2753,0.00,0.88,0.00,0.000,6,0.000,0.037,1430,3356,3240,0,0,0,0,0,0
$GC,3081,-0.65,-186.2,491.3,-14.2,216,3084,0.00,0.93,0.00,0.000,4,0.000,0.060,1425,3943,3239,0,0,0,0,0,0
$GC,3233,-0.65,-186.2,514.1,-15.1,220,3236,0.00,0.90,0.00,0.000,6,0.000,0.037,1425,3345,3239,0,0,0,0,0,0
$GC,3557,-0.65,-186.2,559.0,-13.6,231,3561,0.00,0.93,0.00,0.000,4,0.000,0.060,1421,3930,3239,0,0,0,0,0,0
$GC,3692,-0.65,-186.2,579.0,-14.7,235,3696,0.00,0.88,0.00,0.000,6,0.000,0.037,1421,3346,3238,0,0,0,0,0,0
$GC,4034,-0.65,-186.2,626.8,-14.0,246,4039,0.00,0.93,0.00,0.000,4,0.000,0.060,1416,3930,3237,0,0,0,0,0,0
$GC,4182,-0.65,-186.2,649.0,-15.1,250,4185,0.00,0.88,0.00,0.000,6,0.000,0.037,1417,3350,3237,0,0,0,0,0,0
$GC,4513,-0.65,-186.2,696.3,-14.3,261,4517,0.00,0.93,0.00,0.000,4,0.000,0.060,1412,3937,3236,0,0,0,0,0,0
$GC,4593,-0.65,-186.2,708.6,-15.0,263,4596,0.00,0.88,0.00,0.000,6,0.000,0.038,1412,3356,3236,0,0,0,0,0,0
$GC,4924,-0.65,-186.2,754.7,-14.0,274,4927,0.00,0.93,0.00,0.000,4,0.000,0.061,1408,3941,3235,0,0,0,0,0,0
$GC,5054,-0.65,-186.2,773.5,-14.4,277,5062,0.08,0.88,0.00,0.000,6,0.169,0.038,1431,3361,3235,0,0,0,0,0,0
$GC,5368,-0.65,-186.2,808.7,-10.8,288,5373,0.00,0.90,0.00,0.000,4,0.000,0.062,1428,3930,3234,0,0,0,0,0,0
$GC,5542,-0.65,-186.2,829.5,-11.9,293,5546,0.00,0.88,0.00,0.000,6,0.000,0.039,1428,3349,3234,0,0,0,0,0,0
$GC,5878,-0.65,-186.2,867.0,-11.3,304,5883,0.00,0.93,0.00,0.000,4,0.000,0.063,1424,3933,3232,0,0,0,0,0,0
$GC,6019,-0.65,-186.2,884.7,-13.2,308,6024,0.00,0.88,0.00,0.000,6,0.000,0.040,1424,3356,3232,0,0,0,0,0,0
$GC,6356,-0.65,-186.2,925.3,-12.3,319,6360,0.00,0.93,0.00,0.000,4,0.000,0.062,1419,3942,3231,0,0,0,0,0,0
$GC,6430,-0.65,-186.2,935.1,-13.2,321,6434,0.00,0.90,0.00,0.000,6,0.000,0.039,1419,3347,3231,0,0,0,0,0,0
$GC,6766,-0.65,-186.2,977.9,-12.6,332,6770,0.00,0.93,0.00,0.000,4,0.000,0.062,1415,3933,3231,0,0,0,0,0,0
$GC,6869,-0.65,-186.2,991.5,-13.0,335,6873,0.00,0.88,0.00,0.000,6,0.000,0.040,1415,3355,3230,0,0,0,0,0,0
$STATE,6931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6931,begin apogee
$GC,6939,-0.14,0.0,1000.2,12.9,337,7123,0.60,0.00,176.12,1.831,6,0.148,0.000,1598,3245,2473,0,0,0,0,1,0
$STATE,7124,end apogee,CONTROL_FINISHED_OK
$STATE,7124,begin climb
$GC,7127,0.65,186.2,1006.8,0.0,343,7325,0.73,2.50,183.88,1.803,4,0.052,0.035,1872,1845,1715,0,0,0,0,1,0
$GC,7403,0.65,186.2,958.9,18.1,351,7408,0.00,2.42,0.00,0.000,6,0.000,0.050,1872,3246,1710,0,0,0,0,0,0
$GC,7717,0.65,186.2,881.6,24.8,361,7721,0.00,2.28,0.00,0.000,4,0.000,0.035,1883,1823,1706,0,0,0,0,0,0
$GC,7785,0.65,186.2,867.1,18.9,363,7789,0.00,2.38,0.00,0.000,6,0.000,0.052,1883,3260,1705,0,0,0,0,0,0
$GC,8115,0.65,186.2,784.3,25.3,374,8119,0.00,2.25,0.00,0.000,4,0.000,0.035,1894,1822,1704,0,0,0,0,0,0
$GC,8143,0.65,186.2,777.4,23.3,375,8148,0.12,2.35,0.00,0.000,6,0.195,0.051,1865,3259,1704,0,0,0,0,0,0
$GC,8480,0.65,186.2,700.8,22.6,386,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,3259,1703,0,0,0,0,0,0
$GC,8786,0.65,186.2,631.7,22.6,396,8790,0.00,2.20,0.00,0.000,4,0.000,0.034,1875,1827,1702,0,0,0,0,0,0
$GC,8886,0.65,186.2,612.4,18.0,399,8890,0.00,2.28,0.00,0.000,6,0.000,0.050,1875,3256,1700,0,0,0,0,0,0
$GC,9215,0.65,186.2,533.6,24.7,410,9221,0.00,2.20,0.00,0.000,4,0.000,0.033,1885,1831,1701,0,0,0,0,0,0
$GC,9268,0.65,186.2,522.1,20.2,411,9272,0.00,2.28,0.00,0.000,6,0.000,0.049,1885,3256,1700,0,0,0,0,0,0
$GC,9588,0.65,186.2,441.9,25.6,422,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,3256,1700,0,0,0,0,0,0
$GC,9894,0.65,186.2,366.1,24.3,434,9898,0.00,2.17,0.00,0.000,4,0.000,0.033,1896,1824,1700,0,0,0,0,0,0
$GC,9965,0.65,186.2,350.6,20.0,437,9970,0.15,2.28,0.00,0.000,6,0.194,0.049,1860,3257,1700,0,0,0,0,0,0
$GC,10283,0.65,186.2,283.1,22.1,452,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3257,1699,0,0,0,0,0,0
$GC,10603,0.65,186.2,210.3,22.8,470,10607,0.00,2.15,0.00,0.000,4,0.000,0.033,1869,1822,1699,0,0,0,0,0,0
$GC,10650,0.65,186.2,200.9,18.7,473,10654,0.00,2.25,0.00,0.000,6,0.000,0.049,1870,3256,1699,0,0,0,0,0,0
$GC,10976,0.65,186.2,124.5,23.5,494,10980,0.00,2.17,0.00,0.000,4,0.000,0.033,1880,1818,1699,0,0,0,0,0,0
$GC,11034,0.65,186.2,111.8,18.5,497,11041,0.00,2.25,0.00,0.000,6,0.000,0.049,1880,3250,1699,0,0,0,0,0,0
$GC,11386,0.65,186.2,33.3,20.8,550,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,3250,1699,0,0,0,0,0,0
$STATE,11526,end climb,SURFACE_DEPTH_REACHED
$STATE,11526,begin surface coast
$FINISH,0.9,1.023149
$STATE,11543,end surface coast,CONTROL_FINISHED_OK
$STATE,11543,begin surface
$SM_CCo,11559,131.98,0.757,1,0,503,482.50
$SM_GC,1.11,0.00,0.00,131.98,0.000,0.000,0.757,71,3360,503,-4.93,0.20,482.50
$IRIDIUM_FIX,-4218.64,818.55,181212,000016
$TT8_MAMPS,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.1,12.820
$10V_AH,10.2,6.363
$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,12.325,63.975,360.000,131.975,0.000,54.121,137.424,287.464,0.000,0.000,18.668,1510.715,7385.283,550.150,2245.568,694.311,33.352,1410.675,0.000,1903.718,0.000,1.013,0.000
$DEVICE_MAMPS,243.270,91.800,1831.410,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.594,1262.867,575.010,259.677,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,43930,573
$CAP_FILE_SIZE,105771,0
$CFSIZE,259252224,254861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,181212,042604,-4234.639,817.662,54,1.0,54,-24.9