version: 66.07
glider: 543
mission: 6
dive: 118
start: 12 27 112 22 13 15
data:
$ID,543
$MISSION,6
$DIVE,118
$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,-8193.7139
$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,33
$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
$GPS1,271212,220228,-4200.951,826.330,78,1.4,78,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-38.5
$GPS2,271212,221217,-4201.047,826.338,15,1.9,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.179,0.170
$KALMAN_X,-53586.5,1274.8,830.8,85128.0,-12582.9
$KALMAN_Y,64636.3,-190.8,-54.9,-10690.0,-1835.7
$MHEAD_RNG_PITCHd_Wd,71.4,8936,-16.2,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-140.8,0.0,0.0,0,120,0.00,0.00,-97.55,0.000,2,0.000,0.000,49,3365,2874,0,0,0,0,0,0
$GC,124,-0.57,-194.7,3.0,-3.6,12,151,5.53,2.22,-10.00,0.000,4,0.222,0.047,1457,1942,3270,0,0,0,0,0,0
$GC,205,-0.57,-194.7,16.9,-13.4,23,216,0.00,2.33,0.00,0.000,6,0.000,0.060,1448,3335,3272,0,0,0,0,0,0
$GC,300,-0.57,-194.7,30.4,-15.6,36,309,0.00,1.00,0.00,0.000,4,0.000,0.060,1443,3950,3272,0,0,0,0,0,0
$GC,338,-0.57,-194.7,36.8,-14.0,42,350,0.00,0.93,0.00,0.000,6,0.000,0.038,1443,3356,3272,0,0,0,0,0,0
$GC,588,-0.57,-194.7,70.1,-13.7,83,595,0.00,0.98,0.00,0.000,4,0.000,0.059,1439,3965,3273,0,0,0,0,0,0
$GC,725,-0.57,-194.7,90.0,-14.7,106,733,0.00,0.95,0.00,0.000,6,0.000,0.036,1439,3339,3273,0,0,0,0,0,0
$GC,1067,-0.57,-194.7,137.8,-13.9,135,1073,0.00,0.98,0.00,0.000,4,0.000,0.058,1434,3957,3274,0,0,0,0,0,0
$GC,1251,-0.57,-194.7,165.2,-14.5,145,1255,0.08,0.90,0.00,0.000,6,0.151,0.036,1458,3357,3274,0,0,0,0,0,0
$GC,1583,-0.57,-194.7,205.7,-11.9,166,1587,0.00,0.95,0.00,0.000,4,0.000,0.059,1455,3958,3274,0,0,0,0,0,0
$GC,1723,-0.57,-194.7,222.8,-11.9,174,1727,0.00,0.90,0.00,0.000,6,0.000,0.037,1455,3355,3274,0,0,0,0,0,0
$GC,2045,-0.57,-194.7,261.2,-12.0,193,2050,0.00,0.95,0.00,0.000,4,0.000,0.059,1451,3957,3274,0,0,0,0,0,0
$GC,2209,-0.57,-194.7,281.7,-12.1,200,2213,0.00,0.90,0.00,0.000,6,0.000,0.037,1451,3355,3273,0,0,0,0,0,0
$GC,2543,-0.57,-194.7,321.3,-11.6,216,2547,0.00,0.95,0.00,0.000,4,0.000,0.059,1446,3958,3274,0,0,0,0,0,0
$GC,2693,-0.57,-194.7,340.1,-12.7,222,2696,0.00,0.90,0.00,0.000,6,0.000,0.037,1446,3358,3273,0,0,0,0,0,0
$GC,3016,-0.57,-194.7,378.0,-11.6,238,3019,0.00,0.95,0.00,0.000,4,0.000,0.059,1442,3959,3273,0,0,0,0,0,0
$GC,3260,-0.57,-194.7,407.6,-12.3,248,3264,0.00,0.90,0.00,0.000,6,0.000,0.037,1442,3357,3273,0,0,0,0,0,0
$GC,3602,-0.57,-194.7,446.6,-11.2,259,3606,0.00,0.95,0.00,0.000,4,0.000,0.059,1437,3957,3272,0,0,0,0,0,0
$GC,3738,-0.57,-194.7,462.8,-11.9,263,3741,0.00,0.90,0.00,0.000,6,0.000,0.037,1437,3354,3272,0,0,0,0,0,0
$GC,4079,-0.57,-194.7,502.9,-11.7,274,4083,0.00,0.95,0.00,0.000,4,0.000,0.060,1433,3957,3272,0,0,0,0,0,0
$GC,4253,-0.57,-194.7,524.1,-11.7,279,4257,0.08,0.90,0.00,0.000,6,0.146,0.037,1458,3356,3271,0,0,0,0,0,0
$GC,4588,-0.57,-194.7,555.6,-9.4,290,4592,0.00,0.95,0.00,0.000,4,0.000,0.060,1455,3956,3271,0,0,0,0,0,0
$GC,4766,-0.57,-194.7,574.8,-11.3,295,4770,0.00,0.90,0.00,0.000,6,0.000,0.037,1455,3354,3271,0,0,0,0,0,0
$GC,5098,-0.57,-194.7,609.1,-10.5,306,5101,0.00,0.95,0.00,0.000,4,0.000,0.061,1451,3956,3270,0,0,0,0,0,0
$GC,5233,-0.57,-194.7,624.7,-11.1,310,5237,0.00,0.90,0.00,0.000,6,0.000,0.037,1451,3355,3270,0,0,0,0,0,0
$GC,5575,-0.57,-194.7,663.6,-11.7,321,5580,0.00,0.95,0.00,0.000,4,0.000,0.061,1446,3954,3268,0,0,0,0,0,0
$GC,5699,-0.57,-194.7,678.9,-12.3,324,5702,0.00,0.90,0.00,0.000,6,0.000,0.038,1446,3356,3268,0,0,0,0,0,0
$GC,6018,-0.57,-194.7,715.7,-11.6,335,6021,0.00,0.95,0.00,0.000,4,0.000,0.061,1442,3956,3268,0,0,0,0,0,0
$GC,6157,-0.57,-194.7,733.6,-12.7,339,6161,0.00,0.93,0.00,0.000,6,0.000,0.037,1442,3344,3267,0,0,0,0,0,0
$GC,6492,-0.57,-194.7,775.0,-12.3,350,6498,0.00,0.98,0.00,0.000,4,0.000,0.061,1437,3960,3266,0,0,0,0,0,0
$GC,6617,-0.57,-194.7,791.8,-13.5,353,6621,0.00,0.93,0.00,0.000,6,0.000,0.038,1437,3345,3266,0,0,0,0,0,0
$GC,6936,-0.57,-194.7,830.7,-11.9,364,6939,0.00,0.98,0.00,0.000,4,0.000,0.060,1432,3959,3265,0,0,0,0,0,0
$GC,7088,-0.57,-194.7,849.7,-12.2,368,7094,0.08,0.93,0.00,0.000,6,0.147,0.038,1458,3347,3265,0,0,0,0,0,0
$GC,7414,-0.57,-194.7,880.9,-9.2,379,7420,0.00,0.98,0.00,0.000,4,0.000,0.062,1455,3960,3264,0,0,0,0,0,0
$GC,7587,-0.57,-194.7,897.2,-9.4,384,7590,0.00,0.93,0.00,0.000,6,0.000,0.039,1455,3349,3263,0,0,0,0,0,0
$GC,7929,-0.57,-194.7,926.0,-8.0,395,7934,0.00,0.98,0.00,0.000,4,0.000,0.063,1450,3959,3262,0,0,0,0,0,0
$GC,8083,-0.57,-194.7,939.2,-9.1,399,8086,0.00,0.93,0.00,0.000,6,0.000,0.039,1450,3350,3262,0,0,0,0,0,0
$GC,8407,-0.57,-194.7,965.6,-8.0,410,8411,0.00,0.98,0.00,0.000,4,0.000,0.063,1446,3962,3262,0,0,0,0,0,0
$GC,8566,-0.57,-194.7,979.5,-9.0,414,8570,0.00,0.93,0.00,0.000,6,0.000,0.039,1446,3352,3262,0,0,0,0,0,0
$STATE,8823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8823,begin apogee
$GC,8830,-0.14,0.0,1001.9,8.7,423,9036,0.50,0.00,196.88,1.174,6,0.133,0.000,1601,3258,2466,0,0,0,0,0,0
$STATE,9037,end apogee,CONTROL_FINISHED_OK
$STATE,9037,begin climb
$GC,9040,0.57,194.7,1007.2,0.0,430,9246,0.62,1.30,197.05,1.142,4,0.051,0.057,1837,3956,1669,0,0,0,0,0,0
$GC,9303,0.57,194.7,964.2,21.8,438,9307,0.00,1.17,0.00,0.000,6,0.000,0.034,1842,3247,1654,0,0,0,0,0,0
$GC,9633,0.57,194.7,898.3,20.3,449,9637,0.00,2.20,0.00,0.000,4,0.000,0.035,1853,1839,1648,0,0,0,0,0,0
$GC,9671,0.57,194.7,890.9,17.1,450,9675,0.00,2.38,0.00,0.000,6,0.000,0.054,1853,3267,1647,0,0,0,0,0,0
$GC,9995,0.57,194.7,823.6,21.3,461,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3267,1646,0,0,0,0,0,0
$GC,10301,0.57,194.7,757.2,21.6,471,10305,0.00,2.22,0.00,0.000,4,0.000,0.035,1864,1830,1646,0,0,0,0,0,0
$GC,10334,0.57,194.7,750.1,19.8,472,10338,0.00,2.33,0.00,0.000,6,0.000,0.053,1864,3262,1645,0,0,0,0,0,0
$GC,10663,0.57,194.7,675.3,23.3,483,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3262,1644,0,0,0,0,0,0
$GC,10971,0.57,194.7,604.7,23.0,493,10974,0.00,2.17,0.00,0.000,4,0.000,0.033,1875,1833,1644,0,0,0,0,0,0
$GC,11043,0.57,194.7,590.1,18.5,495,11047,0.15,2.28,0.00,0.000,6,0.183,0.050,1837,3249,1644,0,0,0,0,0,0
$GC,11367,0.57,194.7,525.6,20.0,506,11368,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,3249,1643,0,0,0,0,0,0
$GC,11674,0.57,194.7,463.7,20.1,516,11678,0.00,2.15,0.00,0.000,4,0.000,0.032,1847,1824,1643,0,0,0,0,0,0
$GC,11705,0.57,194.7,458.0,18.2,517,11709,0.00,2.28,0.00,0.000,6,0.000,0.050,1847,3252,1642,0,0,0,0,0,0
$GC,12031,0.57,194.7,390.4,20.7,528,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3252,1642,0,0,0,0,0,0
$GC,12342,0.57,194.7,325.0,21.3,543,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3253,1642,0,0,0,0,0,0
$GC,12651,0.57,194.7,260.1,20.7,558,12655,0.00,2.12,0.00,0.000,4,0.000,0.031,1858,1827,1642,0,0,0,0,0,0
$GC,12710,0.57,194.7,249.1,16.7,560,12718,0.00,2.28,0.00,0.000,6,0.000,0.049,1858,3244,1641,0,0,0,0,0,0
$GC,13031,0.57,194.7,181.0,21.8,581,13037,0.00,2.15,0.00,0.000,4,0.000,0.031,1869,1827,1641,0,0,0,0,0,0
$GC,13059,0.57,194.7,174.5,19.9,582,13071,0.10,2.30,0.00,0.000,6,0.159,0.050,1838,3263,1641,0,0,0,0,0,0
$GC,13384,0.57,194.7,115.5,17.9,603,13388,0.00,2.15,0.00,0.000,4,0.000,0.031,1848,1825,1641,0,0,0,0,0,0
$GC,13432,0.57,194.7,107.5,14.2,606,13436,0.00,2.25,0.00,0.000,6,0.000,0.049,1848,3249,1641,0,0,0,0,0,0
$GC,13783,0.57,194.7,47.5,16.6,660,13791,0.00,2.12,0.00,0.000,4,0.000,0.031,1859,1833,1641,0,0,0,0,0,0
$GC,13822,0.57,194.7,41.9,16.1,665,13828,0.00,2.25,0.00,0.000,6,0.000,0.050,1859,3256,1641,0,0,0,0,0,0
$STATE,14051,end climb,SURFACE_DEPTH_REACHED
$STATE,14051,begin surface coast
$FINISH,0.8,1.012718
$STATE,14071,end surface coast,CONTROL_FINISHED_OK
$STATE,14072,begin surface
$SM_CCo,14087,127.90,0.737,1,0,504,482.50
$SM_GC,1.23,0.00,0.00,127.90,0.000,0.000,0.737,70,3366,504,-4.94,0.37,482.50
$IRIDIUM_FIX,-4146.69,826.26,271212,171737
$TT8_MAMPS,0.025466
$HUMID,54.41
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.9,23.521
$10V_AH,10.1,12.510
$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,11.850,76.675,393.925,127.900,0.000,26.075,43.038,350.575,0.000,0.000,18.310,1837.242,8939.731,592.401,2592.127,844.717,33.358,1624.341,0.000,2334.651,0.000,1.013,0.000
$DEVICE_MAMPS,221.850,87.210,1174.275,737.460,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.869,1548.341,707.576,322.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,50480,704
$CAP_FILE_SIZE,125535,0
$CFSIZE,259252224,251179008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,281212,021204,-4159.926,826.672,67,0.8,67,-24.9