version: 66.07
glider: 543
mission: 6
dive: 63
start: 12 18 112 21 44 7
data:
$ID,543
$MISSION,6
$DIVE,63
$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,-8000.874
$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,21
$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
$GPS1,181212,212522,-4230.650,822.473,41,0.9,41,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-23.2
$GPS2,181212,214311,-4230.517,822.574,16,1.3,17,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.164,0.016
$KALMAN_X,-3484.9,417.5,251.5,31353.6,139.7
$KALMAN_Y,83535.0,-129.3,-85.5,-84203.6,592.4
$MHEAD_RNG_PITCHd_Wd,300.7,3642,-25.7,-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,-0.75,-59.9,0.0,0.0,0,118,0.00,0.00,-89.47,0.000,6,0.000,0.000,57,3361,2721,0,0,0,0,0,0
$GC,122,-0.77,-97.2,3.6,-5.2,12,141,5.45,2.20,-3.75,0.000,4,0.239,0.045,1395,1950,2870,0,0,0,0,0,0
$GC,203,-0.77,-97.2,16.7,-14.2,23,214,0.00,2.33,0.00,0.000,6,0.000,0.058,1386,3343,2872,0,0,0,0,0,0
$GC,292,-0.77,-97.2,32.5,-16.7,36,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3343,2872,0,0,0,0,0,0
$GC,542,-0.77,-97.2,72.9,-15.4,77,547,0.00,2.12,0.00,0.000,4,0.000,0.032,1386,1952,2872,0,0,0,0,0,0
$GC,597,-0.77,-97.2,79.9,-12.9,85,602,0.00,2.30,0.00,0.000,6,0.000,0.060,1375,3358,2872,0,0,0,0,0,0
$GC,928,-0.77,-97.2,133.3,-15.7,120,932,0.00,0.93,0.00,0.000,4,0.000,0.057,1371,3944,2873,0,0,0,0,0,0
$GC,1196,-0.77,-97.2,178.8,-17.1,135,1199,0.00,0.88,0.00,0.000,6,0.000,0.034,1371,3362,2873,0,0,0,0,0,0
$GC,1520,-0.77,-97.2,229.6,-16.0,156,1524,0.00,0.93,0.00,0.000,4,0.000,0.055,1366,3950,2873,0,0,0,0,0,0
$GC,1578,-0.77,-97.2,238.5,-17.5,159,1582,0.10,0.90,0.00,0.000,6,0.187,0.034,1394,3353,2872,0,0,0,0,0,0
$GC,1907,-0.77,-97.2,285.7,-14.1,176,1910,0.00,0.98,0.00,0.000,4,0.000,0.058,1391,3955,2873,0,0,0,0,0,0
$GC,2000,-0.77,-97.2,300.0,-14.8,180,2003,0.00,0.90,0.00,0.000,6,0.000,0.035,1391,3354,2873,0,0,0,0,0,0
$GC,2334,-0.77,-97.2,348.1,-14.3,196,2337,0.00,0.95,0.00,0.000,4,0.000,0.057,1387,3958,2873,0,0,0,0,0,0
$GC,2460,-0.77,-97.2,367.3,-14.6,201,2464,0.00,0.90,0.00,0.000,6,0.000,0.035,1387,3357,2872,0,0,0,0,0,0
$GC,2782,-0.77,-97.2,409.4,-12.4,216,2785,0.00,0.93,0.00,0.000,4,0.000,0.057,1382,3948,2873,0,0,0,0,0,0
$GC,2876,-0.77,-97.2,423.0,-14.4,218,2882,0.00,0.90,0.00,0.000,6,0.000,0.036,1382,3348,2872,0,0,0,0,0,0
$GC,3189,-0.77,-97.2,464.0,-13.3,229,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3348,2872,0,0,0,0,0,0
$GC,3496,-0.77,-97.2,506.4,-14.0,239,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3348,2871,0,0,0,0,0,0
$GC,3802,-0.77,-97.2,548.8,-14.0,249,3807,0.00,0.95,0.00,0.000,4,0.000,0.057,1378,3954,2870,0,0,0,0,0,0
$GC,3881,-0.77,-97.2,561.0,-15.5,251,3884,0.00,0.90,0.00,0.000,6,0.000,0.035,1378,3350,2871,0,0,0,0,0,0
$GC,4211,-0.77,-97.2,607.2,-13.9,262,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3350,2870,0,0,0,0,0,0
$GC,4517,-0.77,-97.2,649.1,-13.4,272,4521,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3955,2869,0,0,0,0,0,0
$GC,4713,-0.77,-97.2,678.0,-14.9,277,4720,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3352,2868,0,0,0,0,0,0
$GC,5027,-0.77,-97.2,720.0,-13.5,288,5030,0.00,0.95,0.00,0.000,4,0.000,0.058,1369,3958,2867,0,0,0,0,0,0
$GC,5157,-0.77,-97.2,739.5,-15.0,291,5164,0.08,0.90,0.00,0.000,6,0.192,0.037,1390,3359,2867,0,0,0,0,0,0
$GC,5470,-0.77,-97.2,777.8,-12.1,302,5476,0.00,2.15,0.00,0.000,4,0.000,0.034,1390,1938,2866,0,0,0,0,0,0
$GC,5498,-0.77,-97.2,781.4,-11.7,302,5505,0.00,2.28,0.00,0.000,6,0.000,0.057,1381,3363,2866,0,0,0,0,0,0
$GC,5812,-0.77,-97.2,822.7,-13.7,313,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3363,2866,0,0,0,0,0,0
$GC,6119,-0.77,-97.2,865.0,-14.0,323,6123,0.00,0.93,0.00,0.000,4,0.000,0.059,1377,3953,2865,0,0,0,0,0,0
$GC,6221,-0.77,-97.2,880.0,-15.2,326,6224,0.00,0.90,0.00,0.000,6,0.000,0.037,1377,3351,2864,0,0,0,0,0,0
$GC,6562,-0.77,-97.2,927.1,-13.6,337,6567,0.00,0.95,0.00,0.000,4,0.000,0.059,1372,3954,2864,0,0,0,0,0,0
$GC,6641,-0.77,-97.2,938.8,-14.5,339,6644,0.00,0.90,0.00,0.000,6,0.000,0.038,1372,3355,2864,0,0,0,0,0,0
$GC,6971,-0.77,-97.2,983.6,-13.3,350,6977,0.00,0.93,0.00,0.000,4,0.000,0.058,1368,3947,2863,0,0,0,0,0,0
$GC,7061,-0.77,-97.2,996.6,-14.9,352,7067,0.10,0.90,0.00,0.000,6,0.192,0.038,1396,3349,2862,0,0,0,0,0,0
$STATE,7103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7103,begin apogee
$GC,7110,-0.14,0.0,1001.8,12.5,354,7212,0.68,0.00,94.45,1.800,6,0.163,0.000,1596,3257,2472,0,0,0,0,1,0
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7214,begin climb
$GC,7217,0.77,97.2,1004.2,0.0,357,7325,0.90,0.00,99.10,1.779,6,0.074,0.000,1896,3256,2077,0,0,0,0,1,0
$GC,7625,0.77,97.2,924.9,22.4,371,7628,0.00,1.15,0.00,0.000,4,0.000,0.054,1896,3951,2069,0,0,0,0,0,0
$GC,7668,0.77,97.2,913.9,25.1,372,7672,0.00,1.10,0.00,0.000,6,0.000,0.033,1901,3242,2069,0,0,0,0,0,0
$GC,7999,0.77,97.2,840.0,22.5,383,8002,0.00,1.15,0.00,0.000,4,0.000,0.054,1901,3947,2066,0,0,0,0,0,0
$GC,8121,0.77,97.2,810.8,24.2,386,8124,0.00,1.08,0.00,0.000,6,0.000,0.033,1905,3244,2065,0,0,0,0,0,0
$GC,8441,0.77,97.2,742.5,21.3,397,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3244,2064,0,0,0,0,0,0
$GC,8745,0.77,97.2,677.5,21.0,407,8751,0.00,1.12,0.00,0.000,4,0.000,0.055,1905,3946,2063,0,0,0,0,0,0
$GC,9004,0.77,97.2,618.0,23.2,414,9008,0.00,1.05,0.00,0.000,6,0.000,0.032,1911,3246,2062,0,0,0,0,0,0
$GC,9324,0.77,97.2,551.6,20.5,425,9328,0.00,1.12,0.00,0.000,4,0.000,0.054,1911,3950,2062,0,0,0,0,0,0
$GC,9400,0.77,97.2,534.9,22.7,427,9403,0.00,1.05,0.00,0.000,6,0.000,0.033,1916,3249,2062,0,0,0,0,0,0
$GC,9735,0.77,97.2,464.4,21.0,438,9739,0.00,1.12,0.00,0.000,4,0.000,0.054,1916,3958,2061,0,0,0,0,0,0
$GC,9847,0.77,97.2,439.1,22.0,441,9853,0.00,1.05,0.00,0.000,6,0.000,0.033,1921,3253,2060,0,0,0,0,0,0
$GC,10179,0.77,97.2,369.4,20.9,454,10183,0.00,1.10,0.00,0.000,4,0.000,0.053,1921,3950,2060,0,0,0,0,0,0
$GC,10259,0.77,97.2,351.1,23.5,457,10263,0.00,1.05,0.00,0.000,6,0.000,0.033,1926,3247,2060,0,0,0,0,0,0
$GC,10584,0.77,97.2,283.0,21.3,473,10589,0.00,1.12,0.00,0.000,4,0.000,0.053,1926,3954,2060,0,0,0,0,0,0
$GC,10668,0.77,97.2,263.9,23.8,476,10672,0.10,1.05,0.00,0.000,6,0.216,0.033,1905,3248,2060,0,0,0,0,0,0
$GC,10995,0.77,97.2,200.3,18.9,496,10999,0.00,1.10,0.00,0.000,4,0.000,0.054,1904,3947,2059,0,0,0,0,0,0
$GC,11016,0.77,97.2,196.2,19.6,497,11020,0.00,1.02,0.00,0.000,6,0.000,0.033,1908,3256,2059,0,0,0,0,0,0
$GC,11348,0.77,97.2,130.8,19.4,518,11352,0.00,1.10,0.00,0.000,4,0.000,0.053,1908,3955,2059,0,0,0,0,0,0
$GC,11620,0.77,97.2,74.0,20.3,546,11629,0.00,1.05,0.00,0.000,6,0.000,0.032,1914,3246,2059,0,0,0,0,0,0
$GC,12001,0.77,97.2,11.3,16.0,607,12010,0.00,2.12,0.00,0.000,4,0.000,0.031,1925,1837,2059,0,0,0,0,0,0
$GC,12027,0.77,97.2,6.2,17.4,610,12036,0.00,2.25,0.00,0.000,6,0.000,0.047,1925,3258,2057,0,0,0,0,0,0
$STATE,12042,end climb,SURFACE_DEPTH_REACHED
$STATE,12042,begin surface coast
$FINISH,0.9,1.017512
$STATE,12065,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12081,168.62,0.749,1,0,505,482.50
$SM_GC,1.46,0.00,0.00,168.62,0.000,0.000,0.749,54,3369,505,-4.99,0.45,482.50
$IRIDIUM_FIX,-4215.72,821.02,181212,212124
$TT8_MAMPS,0.025466
$HUMID,54.96
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,23.0,13.733
$10V_AH,10.1,6.910
$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,12.250,57.850,193.550,168.625,0.000,91.565,106.411,550.225,0.000,0.000,19.470,1610.986,7897.170,481.166,2565.586,771.007,33.357,1315.505,0.000,1983.810,0.000,1.013,0.000
$DEVICE_MAMPS,239.445,86.445,1800.045,748.935,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.809,1359.739,648.712,307.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,47036,615
$CAP_FILE_SIZE,114063,0
$CFSIZE,259252224,254529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,191212,010934,-4230.042,821.246,31,0.9,31,-25.0