version: 66.07
glider: 543
mission: 6
dive: 96
start: 12 23 112 16 3 14
data:
$ID,543
$MISSION,6
$DIVE,96
$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,-8117.7505
$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,55
$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
$GPS1,231212,155334,-4229.809,819.916,44,1.0,44,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-22.9
$GPS2,231212,160218,-4229.807,819.887,13,0.8,15,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.015,0.281
$KALMAN_X,3858.7,115.8,-1.9,20911.7,-322.6
$KALMAN_Y,97731.8,-201.0,47.0,-97145.8,-2593.2
$MHEAD_RNG_PITCHd_Wd,28.0,55203,-13.5,-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,-0.49,-191.1,0.0,0.0,0,119,0.00,0.00,-96.72,0.000,2,0.000,0.000,58,3363,2950,0,0,0,0,0,0
$GC,123,-0.50,-194.7,3.5,-4.0,12,142,5.72,0.98,-7.53,0.000,4,0.231,0.090,1478,3948,3270,0,0,0,0,0,0
$GC,270,-0.50,-194.7,27.6,-14.2,33,280,0.00,0.90,0.00,0.000,6,0.000,0.036,1478,3362,3273,0,0,0,0,0,0
$GC,357,-0.50,-194.7,39.4,-13.1,46,366,0.00,2.17,0.00,0.000,4,0.000,0.031,1478,1945,3273,0,0,0,0,0,0
$GC,405,-0.50,-194.7,44.8,-10.6,53,412,0.00,2.30,0.00,0.000,6,0.000,0.055,1468,3355,3273,0,0,0,0,0,0
$GC,650,-0.50,-194.7,74.7,-12.0,94,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3355,3273,0,0,0,0,0,0
$GC,1001,-0.50,-194.7,114.8,-11.5,140,1004,0.00,0.95,0.00,0.000,4,0.000,0.058,1463,3953,3274,0,0,0,0,0,0
$GC,1073,-0.50,-194.7,124.0,-12.7,144,1076,0.00,0.90,0.00,0.000,6,0.000,0.034,1463,3352,3274,0,0,0,0,0,0
$GC,1405,-0.50,-194.7,165.4,-12.5,165,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3351,3275,0,0,0,0,0,0
$GC,1718,-0.50,-194.7,204.1,-12.4,185,1723,0.00,0.95,0.00,0.000,4,0.000,0.059,1459,3952,3275,0,0,0,0,0,0
$GC,1772,-0.50,-194.7,211.3,-13.4,188,1776,0.00,0.90,0.00,0.000,6,0.000,0.034,1459,3348,3275,0,0,0,0,0,0
$GC,2107,-0.50,-194.7,251.3,-11.7,209,2109,0.10,0.00,0.00,0.000,6,0.173,0.000,1483,3347,3275,0,0,0,0,0,0
$GC,2414,-0.50,-194.7,280.1,-9.0,224,2417,0.00,0.95,0.00,0.000,4,0.000,0.059,1481,3949,3275,0,0,0,0,0,0
$GC,2474,-0.50,-194.7,286.1,-10.0,226,2477,0.00,0.90,0.00,0.000,6,0.000,0.035,1480,3346,3275,0,0,0,0,0,0
$GC,2797,-0.50,-194.7,317.8,-9.8,242,2801,0.00,2.08,0.00,0.000,4,0.000,0.030,1480,1935,3274,0,0,0,0,0,0
$GC,2818,-0.50,-194.7,319.6,-9.8,243,2822,0.00,2.28,0.00,0.000,6,0.000,0.053,1470,3361,3274,0,0,0,0,0,0
$GC,3147,-0.50,-194.7,353.6,-10.5,259,3153,0.00,0.93,0.00,0.000,4,0.000,0.058,1466,3950,3274,0,0,0,0,0,0
$GC,3229,-0.50,-194.7,362.9,-10.8,262,3233,0.00,0.90,0.00,0.000,6,0.000,0.034,1465,3342,3274,0,0,0,0,0,0
$GC,3552,-0.50,-194.7,396.9,-10.3,278,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3342,3274,0,0,0,0,0,0
$GC,3867,-0.50,-194.7,428.8,-10.1,289,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3342,3274,0,0,0,0,0,0
$GC,4175,-0.50,-194.7,460.6,-10.2,299,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3342,3273,0,0,0,0,0,0
$GC,4480,-0.50,-194.7,490.6,-9.8,309,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3342,3273,0,0,0,0,0,0
$GC,4786,-0.50,-194.7,519.2,-9.3,319,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3342,3273,0,0,0,0,0,0
$GC,5093,-0.50,-194.7,548.5,-9.8,329,5097,0.00,0.95,0.00,0.000,4,0.000,0.060,1461,3945,3272,0,0,0,0,0,0
$GC,5121,-0.50,-194.7,551.7,-10.9,329,5129,0.00,0.88,0.00,0.000,6,0.000,0.036,1461,3357,3272,0,0,0,0,0,0
$GC,5434,-0.50,-194.7,584.1,-10.6,340,5440,0.00,2.12,0.00,0.000,4,0.000,0.031,1461,1944,3271,0,0,0,0,0,0
$GC,5470,-0.50,-194.7,587.7,-9.2,341,5475,0.12,2.25,0.00,0.000,6,0.152,0.054,1484,3354,3272,0,0,0,0,0,0
$GC,5806,-0.50,-194.7,617.0,-8.7,352,5812,0.00,0.93,0.00,0.000,4,0.000,0.060,1482,3943,3271,0,0,0,0,0,0
$GC,5902,-0.50,-194.7,626.0,-9.2,354,5911,0.00,0.88,0.00,0.000,6,0.000,0.036,1481,3355,3270,0,0,0,0,0,0
$GC,6216,-0.50,-194.7,652.8,-8.5,365,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3355,3270,0,0,0,0,0,0
$GC,6522,-0.50,-194.7,678.0,-8.1,375,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3354,3268,0,0,0,0,0,0
$GC,6829,-0.50,-194.7,702.8,-8.0,385,6833,0.00,0.95,0.00,0.000,4,0.000,0.062,1477,3954,3268,0,0,0,0,0,0
$GC,6866,-0.50,-194.7,706.0,-9.0,386,6869,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3352,3268,0,0,0,0,0,0
$GC,7207,-0.50,-194.7,734.8,-8.5,397,7211,0.00,2.08,0.00,0.000,4,0.000,0.032,1477,1942,3268,0,0,0,0,0,0
$GC,7229,-0.50,-194.7,736.9,-8.7,397,7236,0.00,2.25,0.00,0.000,6,0.000,0.054,1468,3359,3268,0,0,0,0,0,0
$GC,7544,-0.50,-194.7,765.5,-9.3,408,7547,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3948,3267,0,0,0,0,0,0
$GC,7593,-0.50,-194.7,770.7,-10.2,409,7597,0.00,0.90,0.00,0.000,6,0.000,0.037,1463,3345,3267,0,0,0,0,0,0
$GC,7917,-0.50,-194.7,801.4,-9.3,420,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3345,3266,0,0,0,0,0,0
$GC,8224,-0.50,-194.7,828.8,-8.8,430,8227,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3949,3265,0,0,0,0,0,0
$GC,8262,-0.50,-194.7,832.6,-9.0,431,8266,0.08,0.90,0.00,0.000,6,0.141,0.037,1483,3346,3265,0,0,0,0,0,0
$GC,8598,-0.50,-194.7,856.2,-7.1,442,8602,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3950,3264,0,0,0,0,0,0
$GC,8637,-0.50,-194.7,859.5,-8.3,443,8641,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3352,3264,0,0,0,0,0,0
$GC,8973,-0.50,-194.7,884.2,-7.4,454,8979,0.00,0.95,0.00,0.000,4,0.000,0.061,1475,3953,3263,0,0,0,0,0,0
$GC,9010,-0.50,-194.7,887.1,-8.2,455,9013,0.00,0.90,0.00,0.000,6,0.000,0.038,1476,3354,3263,0,0,0,0,0,0
$GC,9352,-0.50,-194.7,912.2,-7.2,466,9357,0.00,2.12,0.00,0.000,4,0.000,0.032,1476,1940,3263,0,0,0,0,0,0
$GC,9375,-0.50,-194.7,914.0,-6.9,466,9379,0.00,2.25,0.00,0.000,6,0.000,0.054,1466,3352,3262,0,0,0,0,0,0
$GC,9688,-0.50,-194.7,938.2,-8.1,476,9692,0.00,0.95,0.00,0.000,4,0.000,0.063,1461,3952,3262,0,0,0,0,0,0
$GC,9772,-0.50,-194.7,946.0,-8.9,478,9776,0.00,0.90,0.00,0.000,6,0.000,0.038,1461,3353,3262,0,0,0,0,0,0
$GC,10097,-0.50,-194.7,974.3,-8.9,489,10101,0.00,2.12,0.00,0.000,4,0.000,0.033,1461,1929,3262,0,0,0,0,0,0
$GC,10119,-0.50,-194.7,976.6,-9.0,489,10126,0.12,2.28,0.00,0.000,6,0.153,0.056,1484,3358,3261,0,0,0,0,0,0
$GC,10434,-0.50,-194.7,997.2,-6.5,500,10437,0.00,0.93,0.00,0.000,4,0.000,0.062,1481,3942,3261,0,0,0,0,0,0
$STATE,10469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10469,begin apogee
$GC,10477,-0.14,0.0,1000.1,7.1,501,10679,0.35,0.00,198.23,1.179,6,0.125,0.000,1596,3245,2473,0,0,0,0,0,0
$STATE,10680,end apogee,CONTROL_FINISHED_OK
$STATE,10680,begin climb
$GC,10683,0.50,194.7,1005.6,0.0,507,10892,0.60,2.45,198.30,1.131,4,0.058,0.033,1826,1838,1667,0,0,0,0,0,0
$GC,11005,0.50,194.7,958.1,15.4,516,11012,0.00,2.42,0.00,0.000,6,0.000,0.053,1826,3245,1654,0,0,0,0,0,0
$GC,11319,0.50,194.7,895.3,20.4,527,11323,0.00,1.17,0.00,0.000,4,0.000,0.058,1826,3946,1650,0,0,0,0,0,0
$GC,11435,0.50,194.7,868.8,22.3,530,11441,0.00,1.08,0.00,0.000,6,0.000,0.033,1831,3246,1648,0,0,0,0,0,0
$GC,11761,0.50,194.7,802.5,20.2,541,11766,0.00,1.15,0.00,0.000,4,0.000,0.058,1831,3947,1648,0,0,0,0,0,0
$GC,11901,0.50,194.7,770.7,22.9,545,11906,0.00,1.05,0.00,0.000,6,0.000,0.033,1837,3251,1648,0,0,0,0,0,0
$GC,12238,0.50,194.7,700.5,20.8,556,12242,0.00,1.12,0.00,0.000,4,0.000,0.057,1837,3946,1648,0,0,0,0,0,0
$GC,12282,0.50,194.7,690.3,22.3,557,12286,0.10,1.05,0.00,0.000,6,0.183,0.032,1814,3249,1647,0,0,0,0,0,0
$GC,12612,0.50,194.7,629.8,18.2,568,12615,0.00,1.15,0.00,0.000,4,0.000,0.057,1814,3958,1646,0,0,0,0,0,0
$GC,12695,0.50,194.7,612.7,19.5,570,12699,0.00,1.08,0.00,0.000,6,0.000,0.032,1818,3239,1646,0,0,0,0,0,0
$GC,13020,0.50,194.7,550.3,19.3,581,13023,0.00,1.15,0.00,0.000,4,0.000,0.057,1818,3951,1646,0,0,0,0,0,0
$GC,13091,0.50,194.7,535.1,21.9,583,13095,0.00,1.05,0.00,0.000,6,0.000,0.031,1823,3245,1646,0,0,0,0,0,0
$GC,13427,0.50,194.7,469.5,19.4,594,13431,0.00,1.15,0.00,0.000,4,0.000,0.057,1823,3958,1645,0,0,0,0,0,0
$GC,13498,0.50,194.7,454.3,22.0,596,13502,0.00,1.05,0.00,0.000,6,0.000,0.031,1828,3249,1646,0,0,0,0,0,0
$GC,13828,0.50,194.7,390.7,19.6,607,13832,0.00,2.10,0.00,0.000,4,0.000,0.031,1839,1835,1645,0,0,0,0,0,0
$GC,13849,0.50,194.7,385.7,18.5,608,13855,0.00,2.28,0.00,0.000,6,0.000,0.050,1840,3253,1645,0,0,0,0,0,0
$GC,14179,0.50,194.7,319.0,21.1,624,14182,0.00,1.10,0.00,0.000,4,0.000,0.054,1839,3947,1645,0,0,0,0,0,0
$GC,14281,0.50,194.7,295.0,23.3,628,14285,0.10,1.02,0.00,0.000,6,0.187,0.031,1816,3251,1644,0,0,0,0,0,0
$GC,14605,0.50,194.7,235.0,18.0,645,14606,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3250,1645,0,0,0,0,0,0
$GC,14917,0.50,194.7,177.4,18.2,665,14923,0.00,1.10,0.00,0.000,4,0.000,0.055,1816,3948,1645,0,0,0,0,0,0
$GC,14992,0.50,194.7,163.0,19.9,669,14996,0.00,1.02,0.00,0.000,6,0.000,0.030,1820,3246,1645,0,0,0,0,0,0
$GC,15322,0.50,194.7,101.8,17.5,690,15324,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3245,1644,0,0,0,0,0,0
$GC,15668,0.50,194.7,39.9,17.3,748,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3245,1645,0,0,0,0,0,0
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,0.9,1.026102
$STATE,15923,end surface coast,CONTROL_FINISHED_OK
$STATE,15923,begin surface
$SM_CCo,15939,122.55,0.734,1,0,505,482.50
$SM_GC,1.29,0.00,0.00,122.55,0.000,0.000,0.734,55,3366,505,-4.98,0.37,482.50
$IRIDIUM_FIX,-4215.72,821.02,231212,121245
$TT8_MAMPS,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.9,19.049
$10V_AH,10.1,9.916
$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,12.025,79.200,396.525,122.550,0.000,25.864,47.902,300.018,0.000,0.000,17.566,1993.482,10689.196,586.813,2451.753,872.326,33.357,1590.984,0.000,2312.084,0.000,1.013,0.000
$DEVICE_MAMPS,231.030,89.505,1178.865,734.400,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.754,1725.561,765.142,340.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,57076,787
$CAP_FILE_SIZE,131680,0
$CFSIZE,259252224,252727296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,203222,-4227.719,819.790,40,0.9,40,-24.9