version: 66.07
glider: 543
mission: 6
dive: 65
start: 12 19 112 4 47 7
data:
$ID,543
$MISSION,6
$DIVE,65
$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,-8009.1704
$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,63
$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
$GPS1,191212,043658,-4229.260,819.842,40,1.0,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-28.7
$GPS2,191212,044611,-4229.249,819.792,19,1.2,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.192,-0.131
$KALMAN_X,1275.6,-45.7,-51.9,23577.2,4545.5
$KALMAN_Y,85321.3,318.6,40.7,-84226.3,1521.6
$MHEAD_RNG_PITCHd_Wd,260.6,1419,-17.4,-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,16,begin dive
$GC,19,-0.56,-123.3,0.0,0.0,0,111,0.00,0.00,-89.53,0.000,2,0.000,0.000,54,3359,2738,0,0,0,0,0,0
$GC,115,-0.60,-194.7,3.2,-4.1,11,142,5.78,2.15,-14.02,0.000,4,0.243,0.046,1448,1968,3268,0,0,0,0,0,0
$GC,215,-0.60,-194.7,16.2,-10.9,25,226,0.00,2.28,0.00,0.000,6,0.000,0.056,1438,3336,3270,0,0,0,0,0,0
$GC,309,-0.60,-194.7,30.1,-16.7,38,318,0.00,1.00,0.00,0.000,4,0.000,0.059,1434,3947,3270,0,0,0,0,0,0
$GC,443,-0.60,-194.7,54.6,-16.7,59,451,0.00,0.88,0.00,0.000,6,0.000,0.036,1433,3377,3270,0,0,0,0,0,0
$GC,681,-0.60,-194.7,93.0,-14.9,100,688,0.00,0.93,0.00,0.000,4,0.000,0.059,1429,3953,3271,0,0,0,0,0,0
$GC,809,-0.60,-194.7,113.4,-16.1,113,813,0.00,0.93,0.00,0.000,6,0.000,0.034,1429,3344,3271,0,0,0,0,0,0
$GC,1140,-0.60,-194.7,166.1,-16.0,134,1144,0.00,0.98,0.00,0.000,4,0.000,0.058,1425,3957,3272,0,0,0,0,0,0
$GC,1252,-0.60,-194.7,185.7,-17.5,140,1258,0.00,0.90,0.00,0.000,6,0.000,0.035,1425,3357,3272,0,0,0,0,0,0
$GC,1579,-0.60,-194.7,240.8,-16.9,161,1583,0.00,0.95,0.00,0.000,4,0.000,0.059,1421,3957,3272,0,0,0,0,0,0
$GC,1681,-0.60,-194.7,259.6,-18.8,166,1686,0.08,0.90,0.00,0.000,6,0.160,0.036,1444,3355,3272,0,0,0,0,0,0
$GC,2004,-0.60,-194.7,305.1,-13.6,182,2008,0.00,0.95,0.00,0.000,4,0.000,0.060,1441,3957,3272,0,0,0,0,0,0
$GC,2107,-0.60,-194.7,319.9,-13.7,186,2110,0.00,0.90,0.00,0.000,6,0.000,0.036,1441,3356,3272,0,0,0,0,0,0
$GC,2430,-0.60,-194.7,361.4,-12.8,202,2433,0.00,0.95,0.00,0.000,4,0.000,0.059,1437,3958,3272,0,0,0,0,0,0
$GC,2502,-0.60,-194.7,371.2,-13.7,205,2506,0.00,0.90,0.00,0.000,6,0.000,0.036,1437,3355,3272,0,0,0,0,0,0
$GC,2827,-0.60,-194.7,413.6,-13.1,219,2831,0.00,0.95,0.00,0.000,4,0.000,0.059,1433,3958,3272,0,0,0,0,0,0
$GC,2900,-0.60,-194.7,424.2,-13.6,221,2903,0.00,0.90,0.00,0.000,6,0.000,0.036,1432,3355,3272,0,0,0,0,0,0
$GC,3235,-0.60,-194.7,470.8,-14.2,232,3241,0.00,0.95,0.00,0.000,4,0.000,0.060,1428,3958,3272,0,0,0,0,0,0
$GC,3342,-0.60,-194.7,487.1,-15.0,235,3346,0.00,0.90,0.00,0.000,6,0.000,0.036,1428,3355,3271,0,0,0,0,0,0
$GC,3677,-0.60,-194.7,535.7,-14.6,246,3681,0.00,0.95,0.00,0.000,4,0.000,0.060,1423,3957,3271,0,0,0,0,0,0
$GC,3727,-0.60,-194.7,543.8,-16.2,247,3732,0.08,0.90,0.00,0.000,6,0.152,0.036,1447,3357,3272,0,0,0,0,0,0
$GC,4051,-0.60,-194.7,584.3,-12.2,258,4055,0.00,0.95,0.00,0.000,4,0.000,0.060,1444,3958,3271,0,0,0,0,0,0
$GC,4146,-0.60,-194.7,596.7,-12.8,260,4153,0.00,0.93,0.00,0.000,6,0.000,0.036,1444,3344,3271,0,0,0,0,0,0
$GC,4459,-0.60,-194.7,634.2,-11.6,271,4463,0.00,0.98,0.00,0.000,4,0.000,0.060,1440,3961,3270,0,0,0,0,0,0
$GC,4533,-0.60,-194.7,643.0,-11.7,273,4536,0.00,0.93,0.00,0.000,6,0.000,0.037,1439,3347,3270,0,0,0,0,0,0
$GC,4868,-0.60,-194.7,682.3,-11.4,284,4872,0.00,0.95,0.00,0.000,4,0.000,0.061,1435,3950,3268,0,0,0,0,0,0
$GC,4918,-0.60,-194.7,688.7,-12.7,285,4922,0.00,0.90,0.00,0.000,6,0.000,0.037,1435,3349,3268,0,0,0,0,0,0
$GC,5243,-0.60,-194.7,727.8,-12.1,296,5246,0.00,0.95,0.00,0.000,4,0.000,0.062,1431,3953,3268,0,0,0,0,0,0
$GC,5312,-0.60,-194.7,736.7,-12.0,298,5316,0.00,0.90,0.00,0.000,6,0.000,0.037,1431,3354,3268,0,0,0,0,0,0
$GC,5654,-0.60,-194.7,779.9,-12.7,309,5657,0.00,0.95,0.00,0.000,4,0.000,0.061,1426,3955,3266,0,0,0,0,0,0
$GC,5776,-0.60,-194.7,796.6,-13.6,312,5779,0.00,0.90,0.00,0.000,6,0.000,0.037,1426,3357,3266,0,0,0,0,0,0
$GC,6095,-0.60,-194.7,837.5,-12.7,323,6099,0.00,0.95,0.00,0.000,4,0.000,0.062,1422,3956,3265,0,0,0,0,0,0
$GC,6207,-0.60,-194.7,852.8,-14.0,326,6211,0.08,0.93,0.00,0.000,6,0.153,0.038,1446,3343,3265,0,0,0,0,0,0
$GC,6536,-0.60,-194.7,887.5,-10.7,337,6542,0.00,0.98,0.00,0.000,4,0.000,0.063,1443,3958,3264,0,0,0,0,0,0
$GC,6615,-0.60,-194.7,896.4,-11.1,339,6619,0.00,0.93,0.00,0.000,6,0.000,0.038,1443,3343,3263,0,0,0,0,0,0
$GC,6945,-0.60,-194.7,933.3,-11.4,350,6951,0.00,0.98,0.00,0.000,4,0.000,0.063,1438,3958,3263,0,0,0,0,0,0
$GC,7051,-0.60,-194.7,946.0,-11.7,353,7054,0.00,0.93,0.00,0.000,6,0.000,0.038,1439,3345,3263,0,0,0,0,0,0
$GC,7392,-0.60,-194.7,988.0,-12.1,364,7396,0.00,0.98,0.00,0.000,4,0.000,0.063,1433,3958,3262,0,0,0,0,0,0
$GC,7461,-0.60,-194.7,996.5,-13.1,366,7465,0.00,0.93,0.00,0.000,6,0.000,0.038,1434,3346,3262,0,0,0,0,0,0
$STATE,7486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7486,begin apogee
$GC,7493,-0.14,0.0,1000.3,12.7,366,7686,0.52,0.00,184.43,1.851,6,0.142,0.000,1600,3253,2473,0,0,0,0,1,0
$STATE,7687,end apogee,CONTROL_FINISHED_OK
$STATE,7687,begin climb
$GC,7690,0.60,194.7,1008.0,0.0,373,7899,0.68,1.33,193.85,1.805,4,0.050,0.055,1850,3956,1679,0,0,0,0,1,0
$GC,7950,0.60,194.7,965.8,23.8,381,7953,0.00,1.17,0.00,0.000,6,0.000,0.031,1855,3248,1677,0,0,0,0,0,0
$GC,8290,0.60,194.7,886.2,23.3,392,8294,0.00,2.25,0.00,0.000,4,0.000,0.035,1866,1834,1671,0,0,0,0,0,0
$GC,8329,0.60,194.7,877.8,20.2,393,8333,0.00,2.38,0.00,0.000,6,0.000,0.051,1866,3258,1670,0,0,0,0,0,0
$GC,8653,0.60,194.7,799.6,24.7,404,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3259,1669,0,0,0,0,0,0
$GC,8959,0.60,194.7,725.5,23.9,414,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,3258,1668,0,0,0,0,0,0
$GC,9266,0.60,194.7,652.8,23.7,424,9270,0.00,2.20,0.00,0.000,4,0.000,0.034,1877,1828,1668,0,0,0,0,0,0
$GC,9287,0.60,194.7,647.4,22.5,424,9296,0.10,2.33,0.00,0.000,6,0.168,0.051,1848,3254,1667,0,0,0,0,0,0
$GC,9601,0.60,194.7,579.5,21.7,435,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1667,0,0,0,0,0,0
$GC,9907,0.60,194.7,514.0,21.1,445,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1667,0,0,0,0,0,0
$GC,10214,0.60,194.7,448.5,21.3,455,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1666,0,0,0,0,0,0
$GC,10520,0.60,194.7,383.6,20.7,466,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3254,1666,0,0,0,0,0,0
$GC,10831,0.60,194.7,320.1,20.6,481,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1665,0,0,0,0,0,0
$GC,11140,0.60,194.7,255.7,21.2,496,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1665,0,0,0,0,0,0
$GC,11462,0.60,194.7,186.3,21.5,516,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3255,1665,0,0,0,0,0,0
$GC,11775,0.60,194.7,120.4,20.6,536,11779,0.00,2.12,0.00,0.000,4,0.000,0.031,1858,1826,1665,0,0,0,0,0,0
$GC,11805,0.60,194.7,114.1,18.8,538,11810,0.00,2.28,0.00,0.000,6,0.000,0.050,1858,3261,1664,0,0,0,0,0,0
$GC,12156,0.60,194.7,41.2,19.6,590,12166,0.00,1.10,0.00,0.000,4,0.000,0.055,1858,3955,1664,0,0,0,0,0,0
$GC,12201,0.60,194.7,32.1,20.2,596,12210,0.00,1.05,0.00,0.000,6,0.000,0.031,1863,3239,1664,0,0,0,0,0,0
$STATE,12349,end climb,SURFACE_DEPTH_REACHED
$STATE,12350,begin surface coast
$FINISH,1.0,1.009979
$STATE,12370,end surface coast,CONTROL_FINISHED_OK
$STATE,12370,begin surface
$SM_CCo,12385,128.43,0.758,1,0,504,482.50
$SM_GC,1.36,0.00,0.00,128.43,0.000,0.000,0.758,62,3362,504,-4.96,0.28,482.50
$IRIDIUM_FIX,-4215.72,818.13,191212,010114
$TT8_MAMPS,0.025466
$HUMID,54.96
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.1,14.127
$10V_AH,10.1,7.094
$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,12.025,56.550,378.275,128.425,0.000,36.440,68.432,294.844,0.000,0.000,22.061,1591.174,8051.282,569.021,2140.042,723.289,33.354,1411.742,0.000,1899.795,0.000,1.012,0.000
$DEVICE_MAMPS,243.270,74.970,1851.300,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.700,1374.639,636.568,281.087,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,47087,621
$CAP_FILE_SIZE,107788,0
$CFSIZE,259252224,254418944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,191212,081705,-4229.129,817.158,38,0.8,38,-24.9