version: 66.07
glider: 543
mission: 6
dive: 97
start: 12 23 112 20 42 57
data:
$ID,543
$MISSION,6
$DIVE,97
$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,-8121.2583
$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,56
$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
$GPS1,231212,203222,-4227.719,819.790,40,0.9,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-21.4
$GPS2,231212,204159,-4227.730,819.720,14,1.0,15,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.023,0.282
$KALMAN_X,3371.2,116.0,-106.5,21275.6,-495.5
$KALMAN_Y,95121.5,82.9,-1.6,-90929.9,-3389.4
$MHEAD_RNG_PITCHd_Wd,29.6,51357,-13.4,-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,-194.0,0.0,0.0,0,119,0.00,0.00,-96.78,0.000,2,0.000,0.000,55,3366,2924,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.2,-4.0,12,142,5.70,0.98,-8.45,0.000,4,0.229,0.090,1478,3950,3270,0,0,0,0,0,0
$GC,299,-0.49,-194.7,30.8,-13.2,38,308,0.00,0.90,0.00,0.000,6,0.000,0.036,1478,3368,3272,0,0,0,0,0,0
$GC,553,-0.49,-194.7,61.6,-12.1,79,559,0.00,0.93,0.00,0.000,4,0.000,0.060,1474,3938,3273,0,0,0,0,0,0
$GC,795,-0.49,-194.7,92.8,-12.3,121,800,0.00,0.90,0.00,0.000,6,0.000,0.036,1474,3346,3273,0,0,0,0,0,0
$GC,1130,-0.49,-194.7,129.6,-10.9,150,1134,0.00,0.95,0.00,0.000,4,0.000,0.059,1470,3946,3274,0,0,0,0,0,0
$GC,1220,-0.49,-194.7,139.7,-11.6,155,1223,0.00,0.90,0.00,0.000,6,0.000,0.036,1470,3347,3274,0,0,0,0,0,0
$GC,1551,-0.49,-194.7,176.9,-11.1,176,1554,0.00,0.95,0.00,0.000,4,0.000,0.059,1466,3947,3274,0,0,0,0,0,0
$GC,1659,-0.49,-194.7,190.3,-11.9,182,1663,0.00,0.90,0.00,0.000,6,0.000,0.035,1465,3349,3274,0,0,0,0,0,0
$GC,1985,-0.49,-194.7,227.1,-11.1,203,1989,0.00,0.95,0.00,0.000,4,0.000,0.060,1461,3948,3274,0,0,0,0,0,0
$GC,2114,-0.49,-194.7,242.9,-11.9,210,2120,0.00,0.90,0.00,0.000,6,0.000,0.036,1460,3349,3274,0,0,0,0,0,0
$GC,2439,-0.49,-194.7,280.5,-12.3,227,2445,0.00,0.95,0.00,0.000,4,0.000,0.060,1457,3949,3274,0,0,0,0,0,0
$GC,2582,-0.49,-194.7,299.1,-13.4,233,2586,0.08,0.90,0.00,0.000,6,0.144,0.035,1481,3347,3274,0,0,0,0,0,0
$GC,2917,-0.49,-194.7,332.9,-9.8,249,2922,0.00,0.95,0.00,0.000,4,0.000,0.060,1478,3949,3273,0,0,0,0,0,0
$GC,3001,-0.49,-194.7,341.8,-10.2,252,3004,0.00,0.90,0.00,0.000,6,0.000,0.035,1478,3345,3273,0,0,0,0,0,0
$GC,3324,-0.49,-194.7,374.2,-9.7,268,3328,0.00,0.95,0.00,0.000,4,0.000,0.059,1474,3949,3273,0,0,0,0,0,0
$GC,3445,-0.49,-194.7,386.7,-10.7,273,3448,0.00,0.90,0.00,0.000,6,0.000,0.035,1474,3344,3273,0,0,0,0,0,0
$GC,3771,-0.49,-194.7,417.1,-9.0,286,3775,0.00,0.95,0.00,0.000,4,0.000,0.059,1470,3947,3273,0,0,0,0,0,0
$GC,3841,-0.49,-194.7,423.7,-9.5,288,3844,0.00,0.88,0.00,0.000,6,0.000,0.036,1469,3356,3273,0,0,0,0,0,0
$GC,4182,-0.49,-194.7,455.9,-9.3,299,4185,0.00,0.93,0.00,0.000,4,0.000,0.060,1465,3943,3272,0,0,0,0,0,0
$GC,4265,-0.49,-194.7,464.3,-10.1,301,4268,0.00,0.88,0.00,0.000,6,0.000,0.035,1465,3356,3272,0,0,0,0,0,0
$GC,4589,-0.49,-194.7,495.1,-9.3,312,4593,0.00,0.93,0.00,0.000,4,0.000,0.060,1461,3942,3272,0,0,0,0,0,0
$GC,4661,-0.49,-194.7,502.6,-9.6,314,4665,0.00,0.88,0.00,0.000,6,0.000,0.036,1461,3354,3272,0,0,0,0,0,0
$GC,4997,-0.49,-194.7,536.6,-10.3,325,5001,0.00,0.93,0.00,0.000,4,0.000,0.060,1457,3939,3271,0,0,0,0,0,0
$GC,5099,-0.49,-194.7,548.2,-11.1,328,5105,0.08,0.88,0.00,0.000,6,0.143,0.036,1482,3353,3271,0,0,0,0,0,0
$GC,5444,-0.49,-194.7,576.9,-8.0,339,5447,0.00,0.93,0.00,0.000,4,0.000,0.061,1479,3940,3271,0,0,0,0,0,0
$GC,5566,-0.49,-194.7,587.7,-9.3,342,5572,0.00,0.88,0.00,0.000,6,0.000,0.036,1479,3354,3270,0,0,0,0,0,0
$GC,5886,-0.49,-194.7,615.0,-8.7,353,5892,0.00,0.93,0.00,0.000,4,0.000,0.061,1475,3938,3269,0,0,0,0,0,0
$GC,5949,-0.49,-194.7,621.2,-8.9,354,5955,0.00,0.88,0.00,0.000,6,0.000,0.036,1475,3354,3269,0,0,0,0,0,0
$GC,6263,-0.49,-194.7,648.2,-8.5,365,6267,0.00,0.95,0.00,0.000,4,0.000,0.063,1471,3941,3269,0,0,0,0,0,0
$GC,6381,-0.49,-194.7,659.3,-9.4,368,6386,0.00,0.88,0.00,0.000,6,0.000,0.037,1471,3356,3268,0,0,0,0,0,0
$GC,6706,-0.49,-194.7,687.0,-8.5,379,6712,0.00,0.93,0.00,0.000,4,0.000,0.062,1466,3940,3268,0,0,0,0,0,0
$GC,6824,-0.49,-194.7,698.4,-10.0,382,6828,0.00,0.88,0.00,0.000,6,0.000,0.037,1466,3351,3268,0,0,0,0,0,0
$GC,7150,-0.49,-194.7,725.6,-8.4,393,7153,0.00,0.95,0.00,0.000,4,0.000,0.061,1462,3949,3266,0,0,0,0,0,0
$GC,7258,-0.49,-194.7,735.6,-9.6,396,7262,0.00,0.90,0.00,0.000,6,0.000,0.037,1462,3348,3266,0,0,0,0,0,0
$GC,7594,-0.49,-194.7,766.9,-9.5,407,7598,0.00,0.95,0.00,0.000,4,0.000,0.062,1457,3949,3265,0,0,0,0,0,0
$GC,7644,-0.49,-194.7,772.3,-10.9,408,7649,0.10,0.90,0.00,0.000,6,0.138,0.037,1490,3347,3265,0,0,0,0,0,0
$GC,7969,-0.49,-194.7,795.8,-6.9,419,7972,0.00,0.95,0.00,0.000,4,0.000,0.063,1487,3947,3264,0,0,0,0,0,0
$GC,8091,-0.49,-194.7,804.8,-7.8,422,8095,0.00,0.90,0.00,0.000,6,0.000,0.038,1487,3347,3264,0,0,0,0,0,0
$GC,8412,-0.49,-194.7,827.8,-7.4,433,8415,0.00,0.95,0.00,0.000,4,0.000,0.063,1483,3946,3263,0,0,0,0,0,0
$GC,8524,-0.49,-194.7,836.9,-8.2,436,8527,0.00,0.90,0.00,0.000,6,0.000,0.037,1483,3348,3263,0,0,0,0,0,0
$GC,8854,-0.49,-194.7,861.7,-7.7,447,8860,0.00,0.95,0.00,0.000,4,0.000,0.063,1479,3947,3262,0,0,0,0,0,0
$GC,8972,-0.49,-194.7,872.3,-9.4,450,8975,0.00,0.90,0.00,0.000,6,0.000,0.037,1478,3347,3262,0,0,0,0,0,0
$GC,9296,-0.49,-194.7,900.3,-8.9,461,9300,0.00,0.95,0.00,0.000,4,0.000,0.063,1474,3947,3261,0,0,0,0,0,0
$GC,9441,-0.49,-194.7,914.8,-9.6,465,9445,0.00,0.90,0.00,0.000,6,0.000,0.037,1475,3348,3261,0,0,0,0,0,0
$GC,9772,-0.49,-194.7,944.2,-8.7,476,9778,0.00,0.95,0.00,0.000,4,0.000,0.063,1470,3946,3261,0,0,0,0,0,0
$GC,9945,-0.49,-194.7,959.6,-7.8,481,9949,0.00,0.90,0.00,0.000,6,0.000,0.038,1470,3345,3260,0,0,0,0,0,0
$GC,10287,-0.49,-194.7,987.3,-7.7,492,10293,0.00,0.95,0.00,0.000,4,0.000,0.063,1465,3945,3259,0,0,0,0,0,0
$STATE,10434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10434,begin apogee
$GC,10442,-0.14,0.0,1000.1,8.3,496,10633,0.40,0.00,182.73,1.827,6,0.132,0.000,1596,3245,2473,0,0,0,0,1,0
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10637,0.49,194.7,1005.9,0.0,502,10846,0.60,2.50,193.23,1.779,4,0.057,0.033,1819,1839,1680,0,0,0,0,1,0
$GC,10871,0.49,194.7,972.9,16.2,509,10876,0.00,2.50,0.00,0.000,6,0.000,0.053,1819,3245,1679,0,0,0,0,0,0
$GC,11195,0.49,194.7,906.7,20.9,520,11199,0.00,1.17,0.00,0.000,4,0.000,0.057,1819,3950,1671,0,0,0,0,0,0
$GC,11231,0.49,194.7,899.1,22.6,521,11234,0.00,1.12,0.00,0.000,6,0.000,0.032,1825,3232,1671,0,0,0,0,0,0
$GC,11572,0.49,194.7,827.7,20.4,532,11578,0.00,2.17,0.00,0.000,4,0.000,0.036,1835,1855,1670,0,0,0,0,0,0
$GC,11628,0.49,194.7,817.1,17.0,533,11633,0.00,2.30,0.00,0.000,6,0.000,0.054,1835,3255,1669,0,0,0,0,0,0
$GC,11944,0.49,194.7,753.0,20.6,543,11948,0.00,2.20,0.00,0.000,4,0.000,0.035,1846,1835,1668,0,0,0,0,0,0
$GC,11978,0.49,194.7,746.1,17.5,544,11983,0.12,2.30,0.00,0.000,6,0.181,0.054,1816,3262,1668,0,0,0,0,0,0
$GC,12308,0.49,194.7,686.1,18.2,555,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3262,1668,0,0,0,0,0,0
$GC,12616,0.49,194.7,630.2,18.3,565,12619,0.00,1.10,0.00,0.000,4,0.000,0.059,1815,3945,1667,0,0,0,0,0,0
$GC,12670,0.49,194.7,619.0,20.3,566,12674,0.00,1.05,0.00,0.000,6,0.000,0.033,1819,3245,1667,0,0,0,0,0,0
$GC,12989,0.49,194.7,559.0,18.7,577,12993,0.00,2.12,0.00,0.000,4,0.000,0.033,1830,1834,1667,0,0,0,0,0,0
$GC,13019,0.49,194.7,553.7,18.7,578,13023,0.00,2.25,0.00,0.000,6,0.000,0.050,1829,3259,1666,0,0,0,0,0,0
$GC,13354,0.49,194.7,486.6,20.2,589,13360,0.00,2.17,0.00,0.000,4,0.000,0.031,1841,1838,1666,0,0,0,0,0,0
$GC,13377,0.49,194.7,481.9,19.5,589,13382,0.12,2.22,0.00,0.000,6,0.187,0.048,1811,3255,1665,0,0,0,0,0,0
$GC,13690,0.49,194.7,426.2,17.6,599,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3255,1665,0,0,0,0,0,0
$GC,14008,0.49,194.7,371.9,16.8,612,14012,0.00,2.12,0.00,0.000,4,0.000,0.031,1820,1839,1665,0,0,0,0,0,0
$GC,14029,0.49,194.7,368.9,16.6,613,14033,0.00,2.22,0.00,0.000,6,0.000,0.048,1820,3260,1665,0,0,0,0,0,0
$GC,14358,0.49,194.7,309.7,18.3,629,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3261,1665,0,0,0,0,0,0
$GC,14667,0.49,194.7,253.4,18.2,644,14671,0.00,2.10,0.00,0.000,4,0.000,0.031,1831,1841,1664,0,0,0,0,0,0
$GC,14709,0.49,194.7,246.5,15.0,646,14719,0.00,2.25,0.00,0.000,6,0.000,0.049,1831,3246,1665,0,0,0,0,0,0
$GC,15032,0.49,194.7,186.5,19.3,667,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,3245,1664,0,0,0,0,0,0
$GC,15344,0.49,194.7,125.2,20.1,687,15348,0.00,2.10,0.00,0.000,4,0.000,0.031,1842,1831,1664,0,0,0,0,0,0
$GC,15368,0.49,194.7,120.2,19.2,688,15377,0.08,2.28,0.00,0.000,6,0.151,0.048,1818,3256,1664,0,0,0,0,0,0
$GC,15712,0.49,194.7,63.9,17.0,733,15716,0.00,2.10,0.00,0.000,4,0.000,0.031,1828,1834,1664,0,0,0,0,0,0
$GC,15762,0.49,194.7,56.1,14.0,741,15770,0.00,2.25,0.00,0.000,6,0.000,0.048,1828,3248,1664,0,0,0,0,0,0
$GC,16022,0.49,194.7,13.2,16.0,782,16032,0.00,2.12,0.00,0.000,4,0.000,0.033,1838,1848,1664,0,0,0,0,0,0
$GC,16084,0.49,194.7,4.8,12.2,790,16093,0.00,2.22,0.00,0.000,6,0.000,0.049,1839,3245,1664,0,0,0,0,0,0
$STATE,16099,end climb,SURFACE_DEPTH_REACHED
$STATE,16100,begin surface coast
$FINISH,0.9,1.013796
$STATE,16132,end surface coast,CONTROL_FINISHED_OK
$STATE,16132,begin surface
$SM_CCo,16148,126.95,0.731,1,0,506,482.50
$SM_GC,1.15,0.00,0.00,126.95,0.000,0.000,0.731,58,3367,506,-4.97,0.40,482.50
$IRIDIUM_FIX,-4215.72,823.91,231212,151537
$TT8_MAMPS,0.025466
$HUMID,53.58
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.2,19.288
$10V_AH,10.1,10.036
$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,12.050,93.375,375.950,126.950,0.000,27.860,41.619,341.714,0.000,0.000,17.251,2086.252,10481.098,579.855,2768.397,939.808,33.356,1705.912,0.000,2527.767,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,90.270,1826.820,730.575,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.027,1732.691,792.061,350.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,60506,796
$CAP_FILE_SIZE,143792,0
$CFSIZE,259252224,252641280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,241212,011534,-4225.199,819.610,36,1.0,36,-24.9