version: 66.07
glider: 543
mission: 6
dive: 27
start: 12 13 112 3 4 22
data:
$ID,543
$MISSION,6
$DIVE,27
$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,52589
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7874.3472
$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,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,26
$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
$GPS1,131212,024405,-4231.435,820.341,29,1.0,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-28.1
$GPS2,131212,030324,-4231.345,820.496,15,2.0,16,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.183,-0.200
$KALMAN_X,1442.9,426.1,75.6,23766.7,3389.8
$KALMAN_Y,36585.6,-893.2,136.2,-38238.3,6911.6
$MHEAD_RNG_PITCHd_Wd,247.5,2581,-14.3,-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,-0.50,-174.7,0.0,0.0,0,111,0.00,0.00,-89.62,0.000,2,0.000,0.000,67,3362,2738,0,0,0,0,0,0
$GC,115,-0.52,-194.7,3.0,-3.7,11,142,5.78,1.00,-14.45,0.000,4,0.239,0.093,1472,3953,3268,0,0,0,0,0,0
$GC,215,-0.52,-194.7,16.1,-13.6,25,225,0.00,0.93,0.00,0.000,6,0.000,0.037,1472,3358,3270,0,0,0,0,0,0
$GC,306,-0.52,-194.7,28.5,-13.6,38,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3359,3270,0,0,0,0,0,0
$GC,393,-0.52,-194.7,39.5,-11.7,51,400,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3943,3270,0,0,0,0,0,0
$GC,441,-0.52,-194.7,45.9,-13.7,58,450,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3358,3270,0,0,0,0,0,0
$GC,688,-0.52,-194.7,75.7,-11.3,99,695,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3948,3270,0,0,0,0,0,0
$GC,742,-0.52,-194.7,82.5,-12.4,108,751,0.00,0.93,0.00,0.000,6,0.000,0.037,1463,3346,3270,0,0,0,0,0,0
$GC,1082,-0.52,-194.7,123.5,-12.3,145,1085,0.00,0.95,0.00,0.000,4,0.000,0.059,1459,3945,3270,0,0,0,0,0,0
$GC,1155,-0.52,-194.7,132.6,-12.5,149,1159,0.00,0.90,0.00,0.000,6,0.000,0.037,1459,3350,3270,0,0,0,0,0,0
$GC,1487,-0.52,-194.7,172.8,-12.0,170,1491,0.00,0.95,0.00,0.000,4,0.000,0.060,1455,3947,3271,0,0,0,0,0,0
$GC,1619,-0.52,-194.7,189.7,-11.9,177,1627,0.00,0.90,0.00,0.000,6,0.000,0.036,1455,3348,3271,0,0,0,0,0,0
$GC,1940,-0.52,-194.7,228.7,-12.7,198,1944,0.00,0.95,0.00,0.000,4,0.000,0.059,1450,3949,3271,0,0,0,0,0,0
$GC,2076,-0.52,-194.7,247.3,-13.4,205,2083,0.08,0.90,0.00,0.000,6,0.150,0.036,1475,3350,3271,0,0,0,0,0,0
$GC,2404,-0.52,-194.7,281.5,-10.2,222,2407,0.00,0.93,0.00,0.000,4,0.000,0.060,1472,3937,3270,0,0,0,0,0,0
$GC,2476,-0.52,-194.7,288.8,-10.2,225,2479,0.00,0.88,0.00,0.000,6,0.000,0.037,1472,3354,3271,0,0,0,0,0,0
$GC,2811,-0.52,-194.7,323.4,-10.3,241,2816,0.00,0.95,0.00,0.000,4,0.000,0.061,1467,3939,3270,0,0,0,0,0,0
$GC,2899,-0.52,-194.7,333.0,-11.0,244,2908,0.00,0.88,0.00,0.000,6,0.000,0.037,1468,3358,3270,0,0,0,0,0,0
$GC,3217,-0.52,-194.7,364.4,-9.9,260,3221,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3944,3270,0,0,0,0,0,0
$GC,3265,-0.52,-194.7,369.6,-10.1,262,3269,0.00,0.90,0.00,0.000,6,0.000,0.037,1463,3344,3270,0,0,0,0,0,0
$GC,3610,-0.52,-194.7,403.8,-9.8,278,3613,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3947,3270,0,0,0,0,0,0
$GC,3712,-0.52,-194.7,414.5,-9.9,281,3715,0.00,0.90,0.00,0.000,6,0.000,0.037,1459,3345,3270,0,0,0,0,0,0
$GC,4053,-0.52,-194.7,449.5,-10.2,292,4058,0.00,0.95,0.00,0.000,4,0.000,0.060,1455,3949,3269,0,0,0,0,0,0
$GC,4137,-0.52,-194.7,458.5,-10.5,294,4141,0.00,0.90,0.00,0.000,6,0.000,0.037,1455,3348,3269,0,0,0,0,0,0
$GC,4462,-0.52,-194.7,493.0,-10.8,305,4466,0.00,0.95,0.00,0.000,4,0.000,0.060,1451,3950,3268,0,0,0,0,0,0
$GC,4556,-0.52,-194.7,504.3,-11.7,307,4563,0.08,0.90,0.00,0.000,6,0.150,0.037,1474,3349,3268,0,0,0,0,0,0
$GC,4869,-0.52,-194.7,534.1,-9.7,318,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3349,3268,0,0,0,0,0,0
$GC,5177,-0.52,-194.7,564.6,-9.9,328,5180,0.00,0.95,0.00,0.000,4,0.000,0.061,1472,3951,3267,0,0,0,0,0,0
$GC,5299,-0.52,-194.7,577.5,-10.3,331,5304,0.00,0.90,0.00,0.000,6,0.000,0.038,1472,3348,3268,0,0,0,0,0,0
$GC,5618,-0.52,-194.7,608.2,-9.6,342,5624,0.00,0.95,0.00,0.000,4,0.000,0.062,1467,3951,3267,0,0,0,0,0,0
$GC,5731,-0.52,-194.7,619.4,-9.5,345,5734,0.00,0.90,0.00,0.000,6,0.000,0.039,1467,3351,3266,0,0,0,0,0,0
$GC,6060,-0.52,-194.7,650.7,-9.7,356,6064,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3936,3265,0,0,0,0,0,0
$GC,6144,-0.52,-194.7,659.2,-9.8,358,6148,0.00,0.88,0.00,0.000,6,0.000,0.039,1463,3356,3265,0,0,0,0,0,0
$GC,6469,-0.52,-194.7,691.4,-10.0,369,6472,0.00,0.93,0.00,0.000,4,0.000,0.062,1459,3942,3264,0,0,0,0,0,0
$GC,6571,-0.52,-194.7,702.3,-10.5,372,6576,0.00,0.90,0.00,0.000,6,0.000,0.040,1459,3342,3264,0,0,0,0,0,0
$GC,6914,-0.52,-194.7,737.3,-10.3,383,6918,0.00,0.95,0.00,0.000,4,0.000,0.063,1454,3944,3263,0,0,0,0,0,0
$GC,7008,-0.52,-194.7,747.9,-10.7,385,7015,0.00,0.90,0.00,0.000,6,0.000,0.039,1454,3346,3263,0,0,0,0,0,0
$GC,7321,-0.52,-194.7,781.8,-10.9,396,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3346,3262,0,0,0,0,0,0
$GC,7627,-0.52,-194.7,813.5,-10.2,406,7633,0.00,0.95,0.00,0.000,4,0.000,0.063,1450,3950,3260,0,0,0,0,0,0
$GC,7787,-0.52,-194.7,830.2,-10.1,410,7791,0.08,0.90,0.00,0.000,6,0.151,0.040,1475,3353,3261,0,0,0,0,0,0
$GC,8106,-0.52,-194.7,853.6,-7.1,421,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3352,3260,0,0,0,0,0,0
$GC,8413,-0.52,-194.7,875.3,-6.9,431,8417,0.00,0.95,0.00,0.000,4,0.000,0.066,1472,3936,3259,0,0,0,0,0,0
$GC,8524,-0.52,-194.7,883.7,-7.1,434,8528,0.00,0.88,0.00,0.000,6,0.000,0.041,1473,3357,3259,0,0,0,0,0,0
$GC,8855,-0.52,-194.7,906.9,-7.1,445,8860,0.00,0.93,0.00,0.000,4,0.000,0.064,1468,3941,3258,0,0,0,0,0,0
$GC,8951,-0.52,-194.7,914.3,-6.6,447,8959,0.00,0.90,0.00,0.000,6,0.000,0.041,1468,3348,3258,0,0,0,0,0,0
$GC,9265,-0.52,-194.7,937.7,-7.6,458,9270,0.00,0.95,0.00,0.000,4,0.000,0.064,1464,3949,3257,0,0,0,0,0,0
$GC,9338,-0.52,-194.7,944.2,-8.2,460,9342,0.00,0.90,0.00,0.000,6,0.000,0.041,1464,3354,3257,0,0,0,0,0,0
$GC,9673,-0.52,-194.7,973.3,-9.1,471,9679,0.00,0.93,0.00,0.000,4,0.000,0.064,1459,3937,3257,0,0,0,0,0,0
$GC,9726,-0.52,-194.7,978.3,-10.0,472,9730,0.00,0.88,0.00,0.000,6,0.000,0.041,1459,3357,3257,0,0,0,0,0,0
$STATE,9955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9956,begin apogee
$GC,9962,-0.14,0.0,1000.2,9.7,480,10170,0.45,0.00,197.77,1.190,6,0.133,0.000,1600,3146,2465,0,0,0,0,0,0
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10172,begin climb
$GC,10174,0.52,194.7,1007.6,0.0,487,10379,0.60,2.35,195.98,1.152,4,0.059,0.036,1827,1753,1671,0,0,0,0,0,0
$GC,10448,0.52,194.7,970.6,14.0,495,10453,0.00,2.40,0.00,0.000,6,0.000,0.052,1827,3148,1655,0,0,0,0,0,0
$GC,10763,0.52,194.7,909.8,20.0,505,10767,0.00,2.25,0.00,0.000,4,0.000,0.039,1837,1753,1649,0,0,0,0,0,0
$GC,10807,0.52,194.7,901.5,15.6,506,10811,0.00,2.35,0.00,0.000,6,0.000,0.054,1838,3158,1648,0,0,0,0,0,0
$GC,11125,0.52,194.7,837.4,20.3,517,11129,0.00,2.22,0.00,0.000,4,0.000,0.039,1848,1749,1647,0,0,0,0,0,0
$GC,11169,0.52,194.7,829.0,16.9,518,11174,0.12,2.33,0.00,0.000,6,0.195,0.054,1819,3158,1647,0,0,0,0,0,0
$GC,11488,0.52,194.7,771.3,18.3,529,11492,0.00,2.20,0.00,0.000,4,0.000,0.037,1828,1750,1647,0,0,0,0,0,0
$GC,11526,0.52,194.7,764.7,15.1,530,11530,0.00,2.30,0.00,0.000,6,0.000,0.054,1828,3154,1645,0,0,0,0,0,0
$GC,11851,0.52,194.7,702.9,19.3,541,11855,0.00,2.17,0.00,0.000,4,0.000,0.037,1839,1745,1645,0,0,0,0,0,0
$GC,11900,0.52,194.7,694.1,14.9,542,11906,0.00,2.33,0.00,0.000,6,0.000,0.054,1839,3153,1645,0,0,0,0,0,0
$GC,12220,0.52,194.7,631.3,19.9,553,12225,0.00,2.20,0.00,0.000,4,0.000,0.038,1849,1747,1645,0,0,0,0,0,0
$GC,12256,0.52,194.7,624.7,17.6,554,12261,0.12,2.30,0.00,0.000,6,0.197,0.054,1819,3166,1645,0,0,0,0,0,0
$GC,12592,0.52,194.7,566.1,17.5,565,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3166,1644,0,0,0,0,0,0
$GC,12898,0.52,194.7,512.4,17.5,575,12902,0.00,2.20,0.00,0.000,4,0.000,0.037,1829,1746,1645,0,0,0,0,0,0
$GC,12942,0.52,194.7,505.3,13.8,576,12946,0.00,2.28,0.00,0.000,6,0.000,0.054,1829,3154,1644,0,0,0,0,0,0
$GC,13260,0.52,194.7,447.2,18.4,587,13261,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3154,1643,0,0,0,0,0,0
$GC,13578,0.52,194.7,387.6,19.1,598,13582,0.00,2.17,0.00,0.000,4,0.000,0.037,1839,1745,1644,0,0,0,0,0,0
$GC,13620,0.52,194.7,380.4,14.2,600,13624,0.00,2.28,0.00,0.000,6,0.000,0.053,1839,3161,1643,0,0,0,0,0,0
$GC,13948,0.52,194.7,316.2,19.7,616,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3162,1643,0,0,0,0,0,0
$GC,14258,0.52,194.7,254.4,20.2,631,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3162,1643,0,0,0,0,0,0
$GC,14582,0.52,194.7,190.3,20.1,651,14586,0.00,2.17,0.00,0.000,4,0.000,0.037,1850,1747,1643,0,0,0,0,0,0
$GC,14621,0.52,194.7,182.3,15.9,653,14629,0.00,2.28,0.00,0.000,6,0.000,0.053,1850,3151,1643,0,0,0,0,0,0
$GC,14942,0.52,194.7,118.8,19.8,674,14946,0.12,1.25,0.00,0.000,4,0.222,0.055,1821,3949,1643,0,0,0,0,0,0
$GC,14988,0.52,194.7,109.2,19.8,676,14996,0.00,1.20,0.00,0.000,6,0.000,0.033,1826,3139,1643,0,0,0,0,0,0
$GC,15340,0.52,194.7,49.4,16.5,731,15347,0.00,2.08,0.00,0.000,4,0.000,0.034,1837,1762,1643,0,0,0,0,0,0
$GC,15394,0.52,194.7,41.8,13.3,739,15402,0.00,2.25,0.00,0.000,6,0.000,0.052,1836,3159,1643,0,0,0,0,0,0
$STATE,15629,end climb,SURFACE_DEPTH_REACHED
$STATE,15629,begin surface coast
$FINISH,0.9,1.026047
$STATE,15653,end surface coast,CONTROL_FINISHED_OK
$STATE,15653,begin surface
$SM_CCo,15669,122.60,0.776,1,0,504,482.50
$SM_GC,1.30,0.00,0.00,122.60,0.000,0.000,0.776,64,3364,504,-4.95,0.31,482.50
$IRIDIUM_FIX,-4215.72,829.68,121212,232329
$TT8_MAMPS,0.025466
$HUMID,53.50
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.4,7.225
$10V_AH,10.1,3.270
$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,12.050,88.700,393.750,122.600,0.000,25.803,20.180,864.080,0.000,0.000,18.096,1995.155,10272.723,614.777,3079.894,958.004,33.352,1671.575,0.000,2396.058,0.000,1.014,0.000
$DEVICE_MAMPS,239.445,92.565,1189.575,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.958,1706.669,777.519,354.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,57194,779
$CAP_FILE_SIZE,146227,0
$CFSIZE,259252224,256638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,131212,072858,-4231.531,817.934,38,0.9,38,-24.9