version: 66.07
glider: 543
mission: 6
dive: 75
start: 12 20 112 15 59 19
data:
$ID,543
$MISSION,6
$DIVE,75
$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,-8043.7534
$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,44
$R_STBD_OVSHOOT,34
$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
$GPS1,201212,154928,-4229.384,821.193,40,1.2,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-24.7
$GPS2,201212,155823,-4229.381,821.217,17,1.2,18,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.237,-0.012
$KALMAN_X,1691.1,284.8,33.8,24681.8,3613.0
$KALMAN_Y,89949.3,272.7,183.1,-89194.6,-872.2
$MHEAD_RNG_PITCHd_Wd,292.1,2018,-17.0,-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,-0.55,-129.5,0.0,0.0,0,119,0.00,0.00,-97.03,0.000,2,0.000,0.000,63,3368,2897,0,0,0,0,0,0
$GC,123,-0.59,-194.7,3.0,-3.7,12,143,5.72,0.98,-9.30,0.000,4,0.243,0.090,1449,3950,3270,0,0,0,0,0,0
$GC,213,-0.59,-194.7,20.6,-17.6,24,222,0.00,0.93,0.00,0.000,6,0.000,0.037,1449,3353,3273,0,0,0,0,0,0
$GC,303,-0.59,-194.7,35.6,-17.0,37,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3353,3273,0,0,0,0,0,0
$GC,550,-0.59,-194.7,72.3,-13.9,78,559,0.00,0.95,0.00,0.000,4,0.000,0.060,1445,3927,3273,0,0,0,0,0,0
$GC,599,-0.59,-194.7,79.5,-13.6,86,607,0.00,0.88,0.00,0.000,6,0.000,0.037,1445,3355,3274,0,0,0,0,0,0
$GC,938,-0.59,-194.7,125.7,-13.3,123,944,0.00,0.93,0.00,0.000,4,0.000,0.060,1440,3932,3274,0,0,0,0,0,0
$GC,1046,-0.59,-194.7,140.7,-13.6,129,1050,0.00,0.88,0.00,0.000,6,0.000,0.036,1440,3352,3274,0,0,0,0,0,0
$GC,1376,-0.59,-194.7,187.0,-14.0,150,1380,0.00,0.93,0.00,0.000,4,0.000,0.059,1436,3935,3275,0,0,0,0,0,0
$GC,1432,-0.59,-194.7,194.7,-14.6,153,1436,0.00,0.88,0.00,0.000,6,0.000,0.036,1436,3353,3275,0,0,0,0,0,0
$GC,1763,-0.59,-194.7,243.9,-14.5,174,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3352,3275,0,0,0,0,0,0
$GC,2079,-0.59,-194.7,290.1,-14.5,190,2083,0.00,0.93,0.00,0.000,4,0.000,0.058,1432,3938,3275,0,0,0,0,0,0
$GC,2187,-0.59,-194.7,306.8,-15.6,194,2197,0.00,0.88,0.00,0.000,6,0.000,0.034,1432,3353,3275,0,0,0,0,0,0
$GC,2504,-0.59,-194.7,352.6,-14.5,210,2508,0.00,0.93,0.00,0.000,4,0.000,0.059,1428,3938,3275,0,0,0,0,0,0
$GC,2584,-0.59,-194.7,364.9,-14.5,213,2590,0.00,0.88,0.00,0.000,6,0.000,0.035,1427,3354,3275,0,0,0,0,0,0
$GC,2907,-0.59,-194.7,408.8,-13.3,228,2911,0.10,0.93,0.00,0.000,4,0.183,0.059,1449,3929,3275,0,0,0,0,0,0
$GC,3015,-0.59,-194.7,421.1,-10.8,231,3018,0.00,0.88,0.00,0.000,6,0.000,0.035,1449,3344,3275,0,0,0,0,0,0
$GC,3351,-0.59,-194.7,457.3,-10.7,242,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3344,3275,0,0,0,0,0,0
$GC,3658,-0.59,-194.7,490.1,-10.9,252,3662,0.00,0.93,0.00,0.000,4,0.000,0.059,1445,3933,3274,0,0,0,0,0,0
$GC,3752,-0.59,-194.7,501.7,-12.1,254,3758,0.00,0.88,0.00,0.000,6,0.000,0.035,1445,3346,3274,0,0,0,0,0,0
$GC,4067,-0.59,-194.7,539.8,-12.3,265,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3346,3274,0,0,0,0,0,0
$GC,4371,-0.59,-194.7,577.3,-12.2,275,4377,0.00,0.93,0.00,0.000,4,0.000,0.059,1440,3933,3273,0,0,0,0,0,0
$GC,4450,-0.59,-194.7,587.5,-12.9,277,4454,0.00,0.88,0.00,0.000,6,0.000,0.037,1441,3351,3273,0,0,0,0,0,0
$GC,4781,-0.59,-194.7,627.5,-12.1,288,4786,0.00,0.93,0.00,0.000,4,0.000,0.060,1437,3940,3273,0,0,0,0,0,0
$GC,4877,-0.59,-194.7,639.4,-12.2,290,4885,0.00,0.88,0.00,0.000,6,0.000,0.037,1436,3355,3272,0,0,0,0,0,0
$GC,5190,-0.59,-194.7,677.0,-12.1,301,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3354,3272,0,0,0,0,0,0
$GC,5496,-0.59,-194.7,713.4,-11.8,311,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3355,3271,0,0,0,0,0,0
$GC,5804,-0.59,-194.7,749.5,-11.9,321,5807,0.00,0.93,0.00,0.000,4,0.000,0.060,1432,3941,3269,0,0,0,0,0,0
$GC,5883,-0.59,-194.7,759.9,-12.6,323,5887,0.00,0.90,0.00,0.000,6,0.000,0.037,1432,3342,3269,0,0,0,0,0,0
$GC,6214,-0.59,-194.7,801.4,-12.6,334,6217,0.00,0.93,0.00,0.000,4,0.000,0.061,1427,3928,3269,0,0,0,0,0,0
$GC,6296,-0.59,-194.7,812.8,-13.4,336,6301,0.08,0.88,0.00,0.000,6,0.147,0.037,1452,3348,3269,0,0,0,0,0,0
$GC,6622,-0.59,-194.7,846.8,-10.3,347,6625,0.00,0.93,0.00,0.000,4,0.000,0.062,1449,3933,3268,0,0,0,0,0,0
$GC,6701,-0.59,-194.7,855.5,-11.4,349,6704,0.00,0.88,0.00,0.000,6,0.000,0.038,1449,3354,3268,0,0,0,0,0,0
$GC,7032,-0.59,-194.7,890.7,-10.6,360,7036,0.00,0.93,0.00,0.000,4,0.000,0.063,1445,3938,3267,0,0,0,0,0,0
$GC,7081,-0.59,-194.7,896.2,-10.6,361,7085,0.00,0.88,0.00,0.000,6,0.000,0.038,1444,3356,3267,0,0,0,0,0,0
$GC,7405,-0.59,-194.7,930.7,-10.7,372,7409,0.00,0.93,0.00,0.000,4,0.000,0.062,1440,3941,3266,0,0,0,0,0,0
$GC,7469,-0.59,-194.7,938.0,-11.8,373,7476,0.00,0.90,0.00,0.000,6,0.000,0.038,1440,3345,3266,0,0,0,0,0,0
$GC,7783,-0.59,-194.7,970.6,-10.3,384,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,1440,3345,3265,0,0,0,0,0,0
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8087,begin apogee
$GC,8093,-0.14,0.0,1002.4,10.5,394,8300,0.52,0.00,198.40,1.186,6,0.135,0.000,1603,3252,2465,0,0,0,0,0,0
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8305,0.59,194.7,1009.1,0.0,401,8514,0.62,2.45,198.75,1.139,4,0.050,0.034,1852,1833,1668,0,0,0,0,0,0
$GC,8649,0.59,194.7,956.0,15.5,411,8654,0.00,2.40,0.00,0.000,6,0.000,0.051,1852,3237,1651,0,0,0,0,0,0
$GC,8962,0.59,194.7,889.2,22.3,421,8966,0.00,1.17,0.00,0.000,4,0.000,0.056,1852,3947,1647,0,0,0,0,0,0
$GC,9018,0.59,194.7,875.3,24.5,422,9022,0.00,1.10,0.00,0.000,6,0.000,0.031,1857,3236,1646,0,0,0,0,0,0
$GC,9336,0.59,194.7,800.7,23.4,433,9340,0.00,1.15,0.00,0.000,4,0.000,0.056,1857,3938,1646,0,0,0,0,0,0
$GC,9392,0.59,194.7,786.3,25.5,434,9398,0.00,1.05,0.00,0.000,6,0.000,0.033,1862,3253,1645,0,0,0,0,0,0
$GC,9712,0.59,194.7,709.2,24.0,445,9717,0.00,1.12,0.00,0.000,4,0.000,0.056,1863,3949,1645,0,0,0,0,0,0
$GC,9759,0.59,194.7,697.2,27.8,446,9763,0.00,1.08,0.00,0.000,6,0.000,0.033,1868,3240,1644,0,0,0,0,0,0
$GC,10091,0.59,194.7,615.5,24.3,457,10094,0.00,2.12,0.00,0.000,4,0.000,0.034,1878,1846,1644,0,0,0,0,0,0
$GC,10106,0.59,194.7,610.8,25.5,457,10111,0.15,2.25,0.00,0.000,6,0.190,0.050,1842,3254,1644,0,0,0,0,0,0
$GC,10420,0.59,194.7,542.8,22.0,467,10423,0.00,1.10,0.00,0.000,4,0.000,0.055,1842,3944,1643,0,0,0,0,0,0
$GC,10493,0.59,194.7,525.9,23.6,469,10497,0.00,1.05,0.00,0.000,6,0.000,0.032,1846,3245,1642,0,0,0,0,0,0
$GC,10829,0.59,194.7,452.3,21.6,480,10833,0.00,1.12,0.00,0.000,4,0.000,0.054,1846,3947,1642,0,0,0,0,0,0
$GC,10864,0.59,194.7,444.4,24.2,481,10867,0.00,1.05,0.00,0.000,6,0.000,0.032,1851,3243,1642,0,0,0,0,0,0
$GC,11189,0.59,194.7,372.6,22.5,493,11193,0.00,2.12,0.00,0.000,4,0.000,0.032,1862,1833,1642,0,0,0,0,0,0
$GC,11213,0.59,194.7,366.9,21.4,494,11217,0.00,2.25,0.00,0.000,6,0.000,0.048,1862,3251,1641,0,0,0,0,0,0
$GC,11536,0.59,194.7,293.7,23.1,510,11539,0.00,1.10,0.00,0.000,4,0.000,0.054,1862,3955,1641,0,0,0,0,0,0
$GC,11600,0.59,194.7,277.3,25.7,512,11609,0.00,1.05,0.00,0.000,6,0.000,0.032,1868,3247,1641,0,0,0,0,0,0
$GC,11923,0.59,194.7,202.4,23.7,531,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3248,1641,0,0,0,0,0,0
$GC,12235,0.59,194.7,129.2,22.9,551,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3248,1641,0,0,0,0,0,0
$GC,12564,0.59,194.7,55.4,22.3,593,12571,0.00,1.12,0.00,0.000,4,0.000,0.053,1868,3957,1641,0,0,0,0,0,0
$GC,12643,0.59,194.7,37.4,22.2,605,12650,0.10,1.02,0.00,0.000,6,0.187,0.031,1844,3256,1641,0,0,0,0,0,0
$STATE,12821,end climb,SURFACE_DEPTH_REACHED
$STATE,12821,begin surface coast
$FINISH,0.9,1.014552
$STATE,12841,end surface coast,CONTROL_FINISHED_OK
$STATE,12841,begin surface
$SM_CCo,12856,125.80,0.747,1,0,503,482.50
$SM_GC,1.08,0.00,0.00,125.80,0.000,0.000,0.747,62,3361,503,-4.96,0.23,482.50
$IRIDIUM_FIX,-4212.81,826.79,201212,121209
$TT8_MAMPS,0.026215
$HUMID,55.00
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.0,15.776
$10V_AH,10.1,8.015
$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,11.900,56.375,397.150,125.800,0.000,34.196,45.764,302.157,0.000,0.000,20.379,1620.066,8447.558,589.772,2122.740,743.958,33.358,1445.472,0.000,1915.944,0.000,1.012,0.000
$DEVICE_MAMPS,242.505,89.505,1185.750,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.355,1400.278,632.222,290.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,47146,635
$CAP_FILE_SIZE,109857,0
$CFSIZE,259252224,253874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,201212,193704,-4228.430,819.174,36,0.9,36,-24.9