version: 66.07
glider: 543
mission: 6
dive: 66
start: 12 19 112 8 27 26
data:
$ID,543
$MISSION,6
$DIVE,66
$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,-8012.6436
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,191212,081705,-4229.129,817.158,38,0.8,38,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-35.2
$GPS2,191212,082630,-4229.109,817.142,17,1.0,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.054,-0.246
$KALMAN_X,2300.2,-528.9,-420.2,19800.2,5088.7
$KALMAN_Y,88587.1,302.4,160.9,-87338.4,3824.1
$MHEAD_RNG_PITCHd_Wd,217.3,4236,-15.7,-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,17,begin dive
$GC,20,-0.53,-148.1,0.0,0.0,0,111,0.00,0.00,-89.40,0.000,2,0.000,0.000,61,3364,2724,0,0,0,0,0,0
$GC,116,-0.56,-194.7,3.1,-3.8,11,142,5.78,0.98,-14.75,0.000,4,0.244,0.094,1457,3947,3269,0,0,0,0,0,0
$GC,197,-0.56,-194.7,14.9,-15.3,22,207,0.00,0.90,0.00,0.000,6,0.000,0.036,1457,3364,3271,0,0,0,0,0,0
$GC,291,-0.56,-194.7,29.2,-14.8,35,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3364,3271,0,0,0,0,0,0
$GC,373,-0.56,-194.7,41.9,-14.2,48,384,0.00,0.93,0.00,0.000,4,0.000,0.060,1453,3937,3271,0,0,0,0,0,0
$GC,461,-0.56,-194.7,54.0,-13.8,61,467,0.00,0.90,0.00,0.000,6,0.000,0.036,1453,3348,3271,0,0,0,0,0,0
$GC,702,-0.56,-194.7,87.2,-14.3,102,711,0.00,0.95,0.00,0.000,4,0.000,0.059,1449,3941,3271,0,0,0,0,0,0
$GC,794,-0.56,-194.7,100.2,-14.2,117,797,0.00,0.90,0.00,0.000,6,0.000,0.035,1449,3347,3272,0,0,0,0,0,0
$GC,1126,-0.56,-194.7,145.4,-14.0,138,1130,0.00,0.95,0.00,0.000,4,0.000,0.059,1444,3946,3273,0,0,0,0,0,0
$GC,1208,-0.56,-194.7,157.2,-13.5,142,1216,0.00,0.90,0.00,0.000,6,0.000,0.034,1444,3347,3273,0,0,0,0,0,0
$GC,1532,-0.56,-194.7,199.4,-12.8,163,1535,0.00,0.95,0.00,0.000,4,0.000,0.058,1440,3947,3273,0,0,0,0,0,0
$GC,1626,-0.56,-194.7,213.4,-13.9,168,1637,0.00,0.90,0.00,0.000,6,0.000,0.035,1440,3346,3273,0,0,0,0,0,0
$GC,1958,-0.56,-194.7,255.9,-13.1,189,1963,0.00,0.95,0.00,0.000,4,0.000,0.058,1435,3949,3273,0,0,0,0,0,0
$GC,2056,-0.56,-194.7,270.0,-13.6,193,2062,0.08,0.90,0.00,0.000,6,0.145,0.035,1459,3349,3273,0,0,0,0,0,0
$GC,2387,-0.56,-194.7,305.5,-10.3,209,2392,0.00,0.93,0.00,0.000,4,0.000,0.060,1456,3936,3273,0,0,0,0,0,0
$GC,2517,-0.56,-194.7,320.7,-10.9,214,2528,0.00,0.88,0.00,0.000,6,0.000,0.035,1457,3351,3273,0,0,0,0,0,0
$GC,2835,-0.56,-194.7,355.9,-11.2,230,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3351,3273,0,0,0,0,0,0
$GC,3145,-0.56,-194.7,391.0,-11.6,245,3151,0.00,0.93,0.00,0.000,4,0.000,0.060,1452,3940,3272,0,0,0,0,0,0
$GC,3301,-0.56,-194.7,409.9,-12.0,251,3307,0.00,0.88,0.00,0.000,6,0.000,0.036,1452,3354,3273,0,0,0,0,0,0
$GC,3626,-0.56,-194.7,448.5,-11.9,262,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3354,3272,0,0,0,0,0,0
$GC,3933,-0.56,-194.7,485.7,-12.3,272,3936,0.00,0.93,0.00,0.000,4,0.000,0.060,1448,3941,3272,0,0,0,0,0,0
$GC,4028,-0.56,-194.7,497.9,-12.0,274,4034,0.00,0.88,0.00,0.000,6,0.000,0.036,1448,3354,3272,0,0,0,0,0,0
$GC,4341,-0.56,-194.7,535.3,-11.8,285,4344,0.00,0.93,0.00,0.000,4,0.000,0.060,1443,3942,3271,0,0,0,0,0,0
$GC,4443,-0.56,-194.7,547.9,-12.1,288,4447,0.00,0.88,0.00,0.000,6,0.000,0.037,1443,3354,3271,0,0,0,0,0,0
$GC,4784,-0.56,-194.7,588.0,-11.7,299,4789,0.00,0.95,0.00,0.000,4,0.000,0.062,1439,3941,3271,0,0,0,0,0,0
$GC,4880,-0.56,-194.7,599.8,-12.1,301,4888,0.08,0.88,0.00,0.000,6,0.145,0.037,1463,3358,3270,0,0,0,0,0,0
$GC,5193,-0.56,-194.7,629.4,-9.3,312,5198,0.00,0.93,0.00,0.000,4,0.000,0.061,1460,3947,3270,0,0,0,0,0,0
$GC,5266,-0.56,-194.7,636.7,-9.4,314,5270,0.00,0.90,0.00,0.000,6,0.000,0.037,1460,3344,3269,0,0,0,0,0,0
$GC,5602,-0.56,-194.7,667.2,-9.0,325,5608,0.00,0.95,0.00,0.000,4,0.000,0.061,1456,3947,3269,0,0,0,0,0,0
$GC,5658,-0.56,-194.7,672.8,-9.7,326,5662,0.00,0.90,0.00,0.000,6,0.000,0.037,1456,3345,3269,0,0,0,0,0,0
$GC,5979,-0.56,-194.7,702.7,-9.5,337,5982,0.00,0.95,0.00,0.000,4,0.000,0.061,1451,3944,3268,0,0,0,0,0,0
$GC,6067,-0.56,-194.7,712.3,-11.1,339,6071,0.00,0.90,0.00,0.000,6,0.000,0.038,1451,3346,3268,0,0,0,0,0,0
$GC,6387,-0.56,-194.7,744.9,-10.5,350,6391,0.00,0.95,0.00,0.000,4,0.000,0.063,1447,3948,3267,0,0,0,0,0,0
$GC,6499,-0.56,-194.7,757.4,-11.1,353,6502,0.00,0.90,0.00,0.000,6,0.000,0.037,1447,3350,3267,0,0,0,0,0,0
$GC,6829,-0.56,-194.7,792.9,-10.7,364,6834,0.00,0.95,0.00,0.000,4,0.000,0.063,1442,3950,3266,0,0,0,0,0,0
$GC,6969,-0.56,-194.7,808.9,-11.3,368,6975,0.00,0.90,0.00,0.000,6,0.000,0.038,1442,3348,3265,0,0,0,0,0,0
$GC,7307,-0.56,-194.7,845.8,-11.2,379,7311,0.00,0.93,0.00,0.000,4,0.000,0.063,1438,3934,3264,0,0,0,0,0,0
$GC,7412,-0.56,-194.7,858.6,-12.3,382,7416,0.08,0.88,0.00,0.000,6,0.145,0.038,1462,3354,3264,0,0,0,0,0,0
$GC,7748,-0.56,-194.7,890.3,-9.6,393,7753,0.00,0.95,0.00,0.000,4,0.000,0.064,1460,3937,3263,0,0,0,0,0,0
$GC,7871,-0.56,-194.7,903.0,-10.2,396,7875,0.00,0.88,0.00,0.000,6,0.000,0.039,1459,3356,3263,0,0,0,0,0,0
$GC,8190,-0.56,-194.7,932.9,-9.5,407,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3356,3263,0,0,0,0,0,0
$GC,8498,-0.56,-194.7,960.8,-8.9,417,8502,0.00,0.93,0.00,0.000,4,0.000,0.063,1455,3940,3262,0,0,0,0,0,0
$GC,8636,-0.56,-194.7,974.0,-9.3,421,8640,0.00,0.88,0.00,0.000,6,0.000,0.040,1455,3358,3262,0,0,0,0,0,0
$STATE,8939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8939,begin apogee
$GC,8946,-0.14,0.0,1002.0,9.3,431,9153,0.47,0.00,198.05,1.203,6,0.131,0.000,1604,3250,2465,0,0,0,0,0,0
$STATE,9154,end apogee,CONTROL_FINISHED_OK
$STATE,9154,begin climb
$GC,9157,0.56,194.7,1007.8,0.0,438,9354,0.62,1.33,183.15,1.821,4,0.053,0.056,1834,3947,1681,0,0,0,0,1,0
$GC,9608,0.56,194.7,920.3,22.3,451,9615,0.00,1.12,0.00,0.000,6,0.000,0.033,1840,3241,1677,0,0,0,0,0,0
$GC,9922,0.56,194.7,853.1,21.4,462,9927,0.00,2.22,0.00,0.000,4,0.000,0.036,1850,1838,1674,0,0,0,0,0,0
$GC,9974,0.56,194.7,843.3,17.5,463,9978,0.00,2.33,0.00,0.000,6,0.000,0.052,1850,3245,1673,0,0,0,0,0,0
$GC,10294,0.56,194.7,774.6,21.8,474,10298,0.00,2.17,0.00,0.000,4,0.000,0.036,1861,1843,1673,0,0,0,0,0,0
$GC,10324,0.56,194.7,768.5,20.1,475,10329,0.12,2.30,0.00,0.000,6,0.189,0.053,1832,3256,1672,0,0,0,0,0,0
$GC,10660,0.56,194.7,704.1,19.3,486,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,3255,1672,0,0,0,0,0,0
$GC,10968,0.56,194.7,644.3,19.5,496,10972,0.00,2.17,0.00,0.000,4,0.000,0.034,1841,1826,1671,0,0,0,0,0,0
$GC,11001,0.56,194.7,637.8,16.7,497,11005,0.00,2.30,0.00,0.000,6,0.000,0.051,1841,3257,1671,0,0,0,0,0,0
$GC,11330,0.56,194.7,572.0,20.3,508,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,3257,1671,0,0,0,0,0,0
$GC,11638,0.56,194.7,510.2,20.1,518,11642,0.00,2.15,0.00,0.000,4,0.000,0.032,1852,1827,1671,0,0,0,0,0,0
$GC,11700,0.56,194.7,499.2,15.5,520,11705,0.00,2.28,0.00,0.000,6,0.000,0.050,1852,3252,1671,0,0,0,0,0,0
$GC,12036,0.56,194.7,428.0,21.5,531,12041,0.00,2.17,0.00,0.000,4,0.000,0.033,1863,1834,1670,0,0,0,0,0,0
$GC,12064,0.56,194.7,421.8,19.7,531,12071,0.12,2.25,0.00,0.000,6,0.201,0.050,1834,3257,1670,0,0,0,0,0,0
$GC,12383,0.56,194.7,362.3,18.5,545,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3257,1670,0,0,0,0,0,0
$GC,12690,0.56,194.7,304.9,19.1,560,12694,0.00,2.15,0.00,0.000,4,0.000,0.033,1843,1834,1670,0,0,0,0,0,0
$GC,12718,0.56,194.7,299.4,16.6,561,12722,0.00,2.25,0.00,0.000,6,0.000,0.050,1843,3250,1670,0,0,0,0,0,0
$GC,13037,0.56,194.7,236.1,20.5,577,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3250,1670,0,0,0,0,0,0
$GC,13350,0.56,194.7,173.6,20.0,597,13355,0.00,2.15,0.00,0.000,4,0.000,0.033,1854,1836,1670,0,0,0,0,0,0
$GC,13404,0.56,194.7,163.8,15.8,600,13408,0.00,2.25,0.00,0.000,6,0.000,0.050,1854,3253,1670,0,0,0,0,0,0
$GC,13733,0.56,194.7,96.9,20.7,621,13739,0.00,2.15,0.00,0.000,4,0.000,0.033,1865,1841,1670,0,0,0,0,0,0
$GC,13794,0.56,194.7,85.3,17.2,631,13799,0.12,2.25,0.00,0.000,6,0.188,0.051,1834,3261,1669,0,0,0,0,0,0
$GC,14160,0.56,194.7,20.1,16.3,692,14171,0.00,1.08,0.00,0.000,4,0.000,0.055,1834,3943,1670,0,0,0,0,0,0
$GC,14215,0.56,194.7,11.0,17.4,699,14223,0.00,1.05,0.00,0.000,6,0.000,0.031,1838,3228,1670,0,0,0,0,0,0
$STATE,14261,end climb,SURFACE_DEPTH_REACHED
$STATE,14261,begin surface coast
$FINISH,1.2,1.026161
$STATE,14285,end surface coast,CONTROL_FINISHED_OK
$STATE,14285,begin surface
$SM_CCo,14301,131.50,0.751,1,0,503,482.50
$SM_GC,1.53,0.00,0.00,131.50,0.000,0.000,0.751,57,3369,503,-4.98,0.48,482.50
$IRIDIUM_FIX,-4212.81,823.48,191212,040422
$TT8_MAMPS,0.025466
$HUMID,54.64
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.1,14.337
$10V_AH,10.1,7.201
$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,12.175,75.275,381.200,131.500,0.000,43.389,51.998,308.682,0.000,0.000,20.248,1821.531,9302.571,610.026,2448.701,821.254,33.356,1612.101,0.000,2223.989,0.000,1.013,0.000
$DEVICE_MAMPS,244.035,94.095,1820.700,751.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.743,1569.481,715.963,319.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,53712,709
$CAP_FILE_SIZE,125340,0
$CFSIZE,259252224,254332928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,122922,-4230.699,815.468,22,1.0,37,-24.9