version: 66.07
glider: 543
mission: 6
dive: 62
start: 12 18 112 18 8 48
data:
$ID,543
$MISSION,6
$DIVE,62
$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,-7997.5137
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,181212,175904,-4231.938,824.055,36,0.9,36,-25.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-16.5
$GPS2,181212,180752,-4231.903,824.127,18,0.8,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.161,0.111
$KALMAN_X,-5503.5,467.2,311.4,35375.4,-2049.2
$KALMAN_Y,83892.0,-368.9,-172.3,-86791.0,1046.9
$MHEAD_RNG_PITCHd_Wd,329.6,6647,-21.4,-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,17,begin dive
$GC,20,-0.65,-84.4,0.0,0.0,0,118,0.00,0.00,-93.90,0.000,6,0.000,0.000,61,3377,2819,0,0,0,0,0,0
$GC,122,-0.69,-146.1,3.4,-4.6,12,142,5.43,2.20,-6.32,0.000,4,0.231,0.046,1424,1950,3070,0,0,0,0,0,0
$GC,180,-0.69,-146.1,12.3,-13.7,19,189,0.00,2.33,0.00,0.000,6,0.000,0.056,1414,3338,3072,0,0,0,0,0,0
$GC,269,-0.69,-146.1,29.8,-19.4,32,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1414,3338,3073,0,0,0,0,0,0
$GC,353,-0.69,-146.1,45.3,-18.1,45,361,0.00,2.15,0.00,0.000,4,0.000,0.033,1415,1960,3073,0,0,0,0,0,0
$GC,393,-0.69,-146.1,51.2,-14.3,51,400,0.00,2.30,0.00,0.000,6,0.000,0.061,1404,3354,3073,0,0,0,0,0,0
$GC,633,-0.69,-146.1,88.6,-15.5,92,640,0.00,0.95,0.00,0.000,4,0.000,0.058,1400,3949,3073,0,0,0,0,0,0
$GC,901,-0.69,-146.1,137.0,-16.9,115,904,0.00,0.90,0.00,0.000,6,0.000,0.035,1399,3356,3074,0,0,0,0,0,0
$GC,1227,-0.69,-146.1,190.4,-15.7,136,1230,0.00,0.95,0.00,0.000,4,0.000,0.057,1396,3957,3074,0,0,0,0,0,0
$GC,1320,-0.69,-146.1,205.6,-16.5,141,1324,0.08,0.90,0.00,0.000,6,0.180,0.036,1417,3359,3074,0,0,0,0,0,0
$GC,1658,-0.69,-146.1,255.0,-14.7,162,1662,0.00,2.12,0.00,0.000,4,0.000,0.032,1417,1942,3074,0,0,0,0,0,0
$GC,1680,-0.69,-146.1,258.1,-14.8,163,1684,0.00,2.28,0.00,0.000,6,0.000,0.057,1408,3362,3075,0,0,0,0,0,0
$GC,2009,-0.69,-146.1,309.4,-15.6,179,2015,0.00,0.93,0.00,0.000,4,0.000,0.057,1403,3950,3075,0,0,0,0,0,0
$GC,2135,-0.69,-146.1,331.0,-16.4,184,2139,0.00,0.90,0.00,0.000,6,0.000,0.035,1404,3348,3075,0,0,0,0,0,0
$GC,2458,-0.69,-146.1,383.3,-16.4,200,2462,0.00,0.95,0.00,0.000,4,0.000,0.057,1399,3953,3075,0,0,0,0,0,0
$GC,2531,-0.69,-146.1,395.7,-17.5,203,2535,0.00,0.90,0.00,0.000,6,0.000,0.035,1399,3350,3075,0,0,0,0,0,0
$GC,2861,-0.69,-146.1,451.7,-16.8,214,2866,0.00,0.95,0.00,0.000,4,0.000,0.057,1395,3955,3074,0,0,0,0,0,0
$GC,2917,-0.69,-146.1,461.7,-17.6,215,2921,0.08,0.90,0.00,0.000,6,0.178,0.035,1417,3356,3074,0,0,0,0,0,0
$GC,3237,-0.69,-146.1,507.9,-14.2,226,3240,0.00,0.93,0.00,0.000,4,0.000,0.059,1414,3946,3074,0,0,0,0,0,0
$GC,3273,-0.69,-146.1,513.1,-14.6,227,3276,0.00,0.90,0.00,0.000,6,0.000,0.037,1414,3346,3074,0,0,0,0,0,0
$GC,3614,-0.69,-146.1,559.5,-13.2,238,3618,0.00,2.10,0.00,0.000,4,0.000,0.032,1414,1934,3074,0,0,0,0,0,0
$GC,3629,-0.69,-146.1,561.9,-13.6,238,3634,0.00,2.28,0.00,0.000,6,0.000,0.057,1403,3354,3074,0,0,0,0,0,0
$GC,3945,-0.69,-146.1,606.1,-14.3,248,3948,0.00,0.93,0.00,0.000,4,0.000,0.059,1399,3947,3073,0,0,0,0,0,0
$GC,4062,-0.69,-146.1,624.9,-15.1,251,4066,0.00,0.90,0.00,0.000,6,0.000,0.037,1399,3347,3073,0,0,0,0,0,0
$GC,4387,-0.69,-146.1,672.5,-14.7,262,4390,0.00,0.95,0.00,0.000,4,0.000,0.059,1395,3951,3073,0,0,0,0,0,0
$GC,4430,-0.69,-146.1,679.4,-15.6,263,4435,0.08,0.90,0.00,0.000,6,0.179,0.037,1417,3351,3072,0,0,0,0,0,0
$GC,4760,-0.69,-146.1,721.1,-12.6,274,4766,0.00,0.95,0.00,0.000,4,0.000,0.060,1413,3954,3072,0,0,0,0,0,0
$GC,4908,-0.69,-146.1,741.2,-13.5,278,4912,0.00,0.90,0.00,0.000,6,0.000,0.037,1413,3355,3071,0,0,0,0,0,0
$GC,5240,-0.69,-146.1,783.8,-12.8,289,5243,0.00,0.93,0.00,0.000,4,0.000,0.060,1409,3945,3070,0,0,0,0,0,0
$GC,5319,-0.69,-146.1,794.5,-12.7,291,5323,0.00,0.90,0.00,0.000,6,0.000,0.037,1409,3347,3070,0,0,0,0,0,0
$GC,5650,-0.69,-146.1,835.6,-12.5,302,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,1409,3346,3070,0,0,0,0,0,0
$GC,5955,-0.69,-146.1,873.6,-12.5,312,5960,0.00,0.95,0.00,0.000,4,0.000,0.061,1405,3950,3069,0,0,0,0,0,0
$GC,6039,-0.69,-146.1,885.2,-13.8,314,6043,0.00,0.90,0.00,0.000,6,0.000,0.038,1405,3353,3068,0,0,0,0,0,0
$GC,6364,-0.69,-146.1,926.5,-12.8,325,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,1405,3352,3068,0,0,0,0,0,0
$GC,6670,-0.69,-146.1,965.8,-12.9,335,6674,0.00,0.95,0.00,0.000,4,0.000,0.061,1400,3955,3067,0,0,0,0,0,0
$GC,6745,-0.69,-146.1,976.1,-14.4,337,6748,0.00,0.90,0.00,0.000,6,0.000,0.039,1400,3358,3067,0,0,0,0,0,0
$STATE,6925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6925,begin apogee
$GC,6932,-0.14,0.0,1000.6,13.6,343,7085,0.68,0.00,149.95,1.188,6,0.156,0.000,1602,3249,2473,0,0,0,0,0,0
$STATE,7087,end apogee,CONTROL_FINISHED_OK
$STATE,7087,begin climb
$GC,7090,0.69,146.1,1004.3,0.0,348,7250,0.75,2.35,149.27,1.155,4,0.051,0.031,1889,1830,1865,0,0,0,0,0,0
$GC,7289,0.69,146.1,970.5,19.7,354,7294,0.00,2.45,0.00,0.000,6,0.000,0.050,1889,3258,1854,0,0,0,0,0,0
$GC,7619,0.69,146.1,891.1,24.3,365,7625,0.00,1.12,0.00,0.000,4,0.000,0.055,1889,3942,1846,0,0,0,0,0,0
$GC,7676,0.69,146.1,876.5,25.6,366,7679,0.00,1.10,0.00,0.000,6,0.000,0.032,1895,3232,1845,0,0,0,0,0,0
$GC,7996,0.69,146.1,800.8,24.0,377,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3233,1844,0,0,0,0,0,0
$GC,8301,0.69,146.1,728.3,23.4,387,8306,0.00,1.15,0.00,0.000,4,0.000,0.055,1895,3945,1843,0,0,0,0,0,0
$GC,8441,0.69,146.1,692.8,25.9,391,8447,0.00,1.05,0.00,0.000,6,0.000,0.033,1900,3250,1843,0,0,0,0,0,0
$GC,8779,0.69,146.1,613.8,23.6,402,8782,0.00,1.12,0.00,0.000,4,0.000,0.054,1900,3955,1842,0,0,0,0,0,0
$GC,8846,0.69,146.1,596.2,27.1,404,8852,0.10,1.05,0.00,0.000,6,0.216,0.033,1879,3253,1842,0,0,0,0,0,0
$GC,9190,0.69,146.1,518.9,22.0,415,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,3252,1841,0,0,0,0,0,0
$GC,9495,0.69,146.1,450.5,22.5,425,9501,0.00,1.10,0.00,0.000,4,0.000,0.054,1877,3947,1841,0,0,0,0,0,0
$GC,9543,0.69,146.1,439.3,24.9,426,9547,0.00,1.05,0.00,0.000,6,0.000,0.033,1881,3244,1841,0,0,0,0,0,0
$GC,9868,0.69,146.1,368.7,21.5,439,9872,0.00,1.12,0.00,0.000,4,0.000,0.054,1881,3957,1840,0,0,0,0,0,0
$GC,9947,0.69,146.1,349.2,23.6,442,9951,0.00,1.05,0.00,0.000,6,0.000,0.033,1886,3251,1840,0,0,0,0,0,0
$GC,10270,0.69,146.1,277.3,22.5,458,10274,0.00,1.10,0.00,0.000,4,0.000,0.053,1886,3947,1840,0,0,0,0,0,0
$GC,10373,0.69,146.1,251.7,24.7,462,10377,0.00,1.02,0.00,0.000,6,0.000,0.033,1892,3255,1839,0,0,0,0,0,0
$GC,10701,0.69,146.1,177.7,22.6,483,10705,0.00,1.10,0.00,0.000,4,0.000,0.053,1892,3953,1839,0,0,0,0,0,0
$GC,10740,0.69,146.1,168.4,25.1,485,10744,0.00,1.05,0.00,0.000,6,0.000,0.032,1897,3243,1840,0,0,0,0,0,0
$GC,11062,0.69,146.1,97.2,20.8,506,11069,0.00,1.12,0.00,0.000,4,0.000,0.052,1897,3958,1840,0,0,0,0,0,0
$GC,11129,0.69,146.1,81.9,24.1,517,11134,0.00,1.05,0.00,0.000,6,0.000,0.032,1903,3248,1840,0,0,0,0,0,0
$GC,11503,0.69,146.1,4.9,20.3,578,11513,0.12,2.12,0.00,0.000,4,0.240,0.034,1885,1847,1840,0,0,0,0,0,0
$STATE,11519,end climb,SURFACE_DEPTH_REACHED
$STATE,11519,begin surface coast
$FINISH,0.9,1.002677
$STATE,11542,end surface coast,CONTROL_FINISHED_OK
$STATE,11542,begin surface
$SM_CCo,11560,146.07,0.740,1,0,502,482.50
$SM_GC,1.52,0.00,0.00,146.07,0.000,0.000,0.740,57,3361,502,-4.98,0.23,482.50
$IRIDIUM_FIX,-4215.72,827.22,181212,141409
$TT8_MAMPS,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.5,13.559
$10V_AH,10.1,6.811
$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,12.175,66.750,299.225,146.075,0.000,24.941,42.328,307.159,0.000,0.000,22.022,1516.161,7457.092,519.768,2053.406,695.642,33.351,1333.957,0.000,1818.970,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,66.555,1188.045,739.755,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.284,1282.813,607.475,273.388,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,43832,583
$CAP_FILE_SIZE,105411,0
$CFSIZE,259252224,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,181212,212522,-4230.650,822.473,41,0.9,41,-25.0