version: 66.07
glider: 543
mission: 6
dive: 98
start: 12 24 112 1 25 45
data:
$ID,543
$MISSION,6
$DIVE,98
$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,-8124.7227
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,241212,011534,-4225.199,819.610,36,1.0,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-37.6
$GPS2,241212,012447,-4225.266,819.616,18,1.0,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.046,0.279
$KALMAN_X,2721.9,-118.6,98.8,21810.9,-994.0
$KALMAN_Y,93004.9,443.7,228.7,-84848.5,-4325.8
$MHEAD_RNG_PITCHd_Wd,34.2,46796,-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,-193.2,0.0,0.0,0,119,0.00,0.00,-96.78,0.000,2,0.000,0.000,58,3367,2920,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.2,-3.4,12,142,5.70,0.95,-8.50,0.000,4,0.229,0.090,1482,3936,3270,0,0,0,0,0,0
$GC,270,-0.49,-194.7,27.3,-14.2,33,280,0.00,0.88,0.00,0.000,6,0.000,0.037,1482,3368,3273,0,0,0,0,0,0
$GC,356,-0.49,-194.7,39.6,-13.5,46,364,0.00,2.20,0.00,0.000,4,0.000,0.032,1482,1941,3273,0,0,0,0,0,0
$GC,373,-0.49,-194.7,41.5,-12.2,48,382,0.00,2.33,0.00,0.000,6,0.000,0.059,1472,3339,3273,0,0,0,0,0,0
$GC,620,-0.49,-194.7,73.0,-12.5,89,625,0.00,0.98,0.00,0.000,4,0.000,0.058,1467,3949,3273,0,0,0,0,0,0
$GC,756,-0.49,-194.7,92.0,-14.3,112,762,0.00,0.90,0.00,0.000,6,0.000,0.035,1467,3353,3274,0,0,0,0,0,0
$GC,1091,-0.49,-194.7,133.2,-11.7,139,1095,0.00,0.98,0.00,0.000,4,0.000,0.061,1462,3950,3275,0,0,0,0,0,0
$GC,1238,-0.49,-194.7,152.4,-12.5,147,1245,0.00,0.90,0.00,0.000,6,0.000,0.034,1462,3348,3275,0,0,0,0,0,0
$GC,1558,-0.49,-194.7,189.6,-11.3,168,1561,0.00,0.95,0.00,0.000,4,0.000,0.059,1458,3949,3275,0,0,0,0,0,0
$GC,1682,-0.49,-194.7,204.9,-13.1,175,1686,0.08,0.90,0.00,0.000,6,0.142,0.034,1483,3348,3275,0,0,0,0,0,0
$GC,2010,-0.49,-194.7,233.4,-8.8,196,2014,0.00,0.95,0.00,0.000,4,0.000,0.060,1480,3949,3275,0,0,0,0,0,0
$GC,2176,-0.49,-194.7,248.9,-9.9,205,2179,0.00,0.90,0.00,0.000,6,0.000,0.036,1480,3347,3275,0,0,0,0,0,0
$GC,2505,-0.49,-194.7,279.5,-9.1,221,2511,0.00,0.95,0.00,0.000,4,0.000,0.060,1476,3949,3275,0,0,0,0,0,0
$GC,2616,-0.49,-194.7,290.9,-10.3,225,2623,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3346,3275,0,0,0,0,0,0
$GC,2934,-0.49,-194.7,320.4,-9.1,241,2940,0.00,0.95,0.00,0.000,4,0.000,0.060,1472,3951,3274,0,0,0,0,0,0
$GC,3103,-0.49,-194.7,337.6,-9.3,248,3107,0.00,0.90,0.00,0.000,6,0.000,0.036,1471,3347,3274,0,0,0,0,0,0
$GC,3432,-0.49,-194.7,367.9,-9.3,264,3436,0.00,0.95,0.00,0.000,4,0.000,0.060,1467,3951,3274,0,0,0,0,0,0
$GC,3552,-0.49,-194.7,379.9,-10.5,269,3555,0.00,0.90,0.00,0.000,6,0.000,0.036,1467,3346,3273,0,0,0,0,0,0
$GC,3883,-0.49,-194.7,414.3,-10.3,283,3889,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3950,3273,0,0,0,0,0,0
$GC,3979,-0.49,-194.7,425.1,-10.8,285,3987,0.00,0.90,0.00,0.000,6,0.000,0.035,1463,3347,3273,0,0,0,0,0,0
$GC,4293,-0.49,-194.7,458.3,-10.6,296,4298,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3950,3273,0,0,0,0,0,0
$GC,4422,-0.49,-194.7,473.4,-11.7,299,4429,0.10,0.90,0.00,0.000,6,0.133,0.036,1492,3345,3273,0,0,0,0,0,0
$GC,4736,-0.49,-194.7,496.6,-7.1,310,4740,0.00,0.95,0.00,0.000,4,0.000,0.060,1489,3949,3272,0,0,0,0,0,0
$GC,4838,-0.49,-194.7,504.6,-8.0,313,4842,0.00,0.90,0.00,0.000,6,0.000,0.037,1489,3345,3272,0,0,0,0,0,0
$GC,5180,-0.49,-194.7,529.3,-7.2,324,5186,0.00,0.95,0.00,0.000,4,0.000,0.060,1484,3948,3271,0,0,0,0,0,0
$GC,5299,-0.49,-194.7,539.3,-8.4,327,5303,0.00,0.90,0.00,0.000,6,0.000,0.037,1484,3346,3271,0,0,0,0,0,0
$GC,5623,-0.49,-194.7,564.8,-7.9,338,5627,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3948,3270,0,0,0,0,0,0
$GC,5737,-0.49,-194.7,574.4,-8.7,341,5741,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3346,3270,0,0,0,0,0,0
$GC,6069,-0.49,-194.7,600.4,-7.5,352,6072,0.00,0.95,0.00,0.000,4,0.000,0.062,1476,3950,3270,0,0,0,0,0,0
$GC,6174,-0.49,-194.7,609.2,-8.8,355,6177,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3349,3269,0,0,0,0,0,0
$GC,6510,-0.49,-194.7,635.1,-7.7,366,6515,0.00,0.95,0.00,0.000,4,0.000,0.063,1471,3950,3268,0,0,0,0,0,0
$GC,6651,-0.49,-194.7,647.6,-8.6,370,6656,0.00,0.90,0.00,0.000,6,0.000,0.037,1471,3348,3268,0,0,0,0,0,0
$GC,6989,-0.49,-194.7,675.8,-8.5,381,6992,0.00,0.95,0.00,0.000,4,0.000,0.063,1467,3950,3268,0,0,0,0,0,0
$GC,7111,-0.49,-194.7,687.6,-9.2,384,7117,0.00,0.90,0.00,0.000,6,0.000,0.038,1467,3349,3268,0,0,0,0,0,0
$GC,7431,-0.49,-194.7,717.2,-9.3,395,7437,0.00,0.95,0.00,0.000,4,0.000,0.063,1463,3950,3266,0,0,0,0,0,0
$GC,7521,-0.49,-194.7,727.0,-11.1,397,7527,0.00,0.88,0.00,0.000,6,0.000,0.037,1463,3364,3266,0,0,0,0,0,0
$GC,7841,-0.49,-194.7,759.4,-10.1,408,7847,0.00,0.93,0.00,0.000,4,0.000,0.063,1458,3948,3265,0,0,0,0,0,0
$GC,7946,-0.49,-194.7,770.7,-11.5,411,7950,0.08,0.90,0.00,0.000,6,0.141,0.038,1483,3349,3265,0,0,0,0,0,0
$GC,8287,-0.49,-194.7,797.9,-7.5,422,8291,0.00,0.95,0.00,0.000,4,0.000,0.063,1480,3949,3264,0,0,0,0,0,0
$GC,8427,-0.49,-194.7,809.1,-8.6,426,8431,0.00,0.90,0.00,0.000,6,0.000,0.039,1480,3351,3264,0,0,0,0,0,0
$GC,8764,-0.49,-194.7,833.8,-7.2,437,8769,0.00,0.95,0.00,0.000,4,0.000,0.063,1476,3949,3263,0,0,0,0,0,0
$GC,8905,-0.49,-194.7,844.9,-7.6,441,8910,0.00,0.90,0.00,0.000,6,0.000,0.038,1476,3354,3263,0,0,0,0,0,0
$GC,9243,-0.49,-194.7,869.1,-7.5,452,9247,0.00,0.95,0.00,0.000,4,0.000,0.063,1472,3951,3263,0,0,0,0,0,0
$GC,9383,-0.49,-194.7,880.6,-7.9,456,9386,0.00,0.90,0.00,0.000,6,0.000,0.039,1472,3355,3262,0,0,0,0,0,0
$GC,9718,-0.49,-194.7,907.7,-8.2,467,9722,0.00,0.95,0.00,0.000,4,0.000,0.064,1467,3952,3262,0,0,0,0,0,0
$GC,9866,-0.49,-194.7,920.7,-8.5,471,9871,0.00,0.90,0.00,0.000,6,0.000,0.039,1467,3354,3261,0,0,0,0,0,0
$GC,10199,-0.49,-194.7,948.9,-8.5,482,10202,0.00,0.95,0.00,0.000,4,0.000,0.064,1463,3951,3261,0,0,0,0,0,0
$GC,10352,-0.49,-194.7,963.4,-10.0,486,10355,0.00,0.90,0.00,0.000,6,0.000,0.039,1463,3354,3261,0,0,0,0,0,0
$GC,10677,-0.49,-194.7,992.5,-8.7,497,10681,0.00,0.95,0.00,0.000,4,0.000,0.064,1458,3951,3260,0,0,0,0,0,0
$STATE,10759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10759,begin apogee
$GC,10766,-0.14,0.0,1000.5,9.4,499,10969,0.43,0.00,199.43,1.161,6,0.131,0.000,1597,3252,2473,0,0,0,0,0,0
$STATE,10971,end apogee,CONTROL_FINISHED_OK
$STATE,10971,begin climb
$GC,10973,0.49,194.7,1005.9,0.0,506,11182,0.57,2.45,199.55,1.119,4,0.060,0.033,1817,1839,1670,0,0,0,0,0,0
$GC,11223,0.49,194.7,972.9,16.0,513,11231,0.00,2.50,0.00,0.000,6,0.000,0.053,1817,3261,1656,0,0,0,0,0,0
$GC,11537,0.49,194.7,913.4,18.8,524,11540,0.00,1.15,0.00,0.000,4,0.000,0.059,1818,3944,1649,0,0,0,0,0,0
$GC,11586,0.49,194.7,902.5,22.7,525,11590,0.00,1.10,0.00,0.000,6,0.000,0.034,1823,3244,1649,0,0,0,0,0,0
$GC,11911,0.49,194.7,835.1,21.3,536,11915,0.00,2.15,0.00,0.000,4,0.000,0.036,1834,1845,1648,0,0,0,0,0,0
$GC,11943,0.49,194.7,828.4,18.2,537,11948,0.00,2.30,0.00,0.000,6,0.000,0.054,1834,3259,1647,0,0,0,0,0,0
$GC,12273,0.49,194.7,757.8,21.9,548,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3259,1647,0,0,0,0,0,0
$GC,12579,0.49,194.7,691.9,21.5,558,12583,0.00,2.17,0.00,0.000,4,0.000,0.035,1844,1841,1646,0,0,0,0,0,0
$GC,12629,0.49,194.7,681.9,16.8,559,12634,0.12,2.28,0.00,0.000,6,0.181,0.054,1814,3259,1646,0,0,0,0,0,0
$GC,12943,0.49,194.7,621.7,19.3,569,12946,0.00,1.12,0.00,0.000,4,0.000,0.059,1814,3954,1646,0,0,0,0,0,0
$GC,12987,0.49,194.7,612.2,20.9,570,12990,0.00,1.08,0.00,0.000,6,0.000,0.034,1818,3242,1645,0,0,0,0,0,0
$GC,13317,0.49,194.7,546.9,20.0,581,13321,0.00,2.12,0.00,0.000,4,0.000,0.033,1829,1834,1645,0,0,0,0,0,0
$GC,13346,0.49,194.7,541.6,16.8,582,13350,0.00,2.28,0.00,0.000,6,0.000,0.050,1829,3256,1645,0,0,0,0,0,0
$GC,13681,0.49,194.7,473.6,20.5,593,13686,0.00,1.10,0.00,0.000,4,0.000,0.056,1829,3944,1645,0,0,0,0,0,0
$GC,13704,0.49,194.7,468.4,20.5,593,13707,0.00,1.05,0.00,0.000,6,0.000,0.033,1834,3243,1645,0,0,0,0,0,0
$GC,14023,0.49,194.7,402.5,20.5,604,14027,0.00,2.10,0.00,0.000,4,0.000,0.031,1845,1838,1645,0,0,0,0,0,0
$GC,14051,0.49,194.7,397.0,19.0,605,14056,0.12,2.25,0.00,0.000,6,0.185,0.050,1815,3249,1644,0,0,0,0,0,0
$GC,14369,0.49,194.7,340.3,17.8,620,14370,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3249,1644,0,0,0,0,0,0
$GC,14679,0.49,194.7,284.0,18.4,635,14685,0.00,1.10,0.00,0.000,4,0.000,0.056,1815,3945,1644,0,0,0,0,0,0
$GC,14719,0.49,194.7,275.5,20.1,636,14727,0.00,1.02,0.00,0.000,6,0.000,0.031,1818,3248,1644,0,0,0,0,0,0
$GC,15046,0.49,194.7,214.6,18.5,655,15049,0.00,2.10,0.00,0.000,4,0.000,0.031,1830,1828,1644,0,0,0,0,0,0
$GC,15095,0.49,194.7,205.9,14.3,658,15099,0.00,2.22,0.00,0.000,6,0.000,0.048,1830,3250,1643,0,0,0,0,0,0
$GC,15416,0.49,194.7,146.2,19.5,678,15420,0.00,2.10,0.00,0.000,4,0.000,0.032,1840,1841,1643,0,0,0,0,0,0
$GC,15447,0.49,194.7,140.1,18.7,680,15452,0.12,2.22,0.00,0.000,6,0.176,0.049,1809,3249,1643,0,0,0,0,0,0
$GC,15773,0.49,194.7,85.3,16.7,710,15781,0.00,2.12,0.00,0.000,4,0.000,0.031,1818,1839,1643,0,0,0,0,0,0
$GC,15811,0.49,194.7,80.3,15.8,715,15815,0.00,2.22,0.00,0.000,6,0.000,0.049,1818,3251,1643,0,0,0,0,0,0
$GC,16177,0.49,194.7,19.1,16.6,776,16188,0.00,2.12,0.00,0.000,4,0.000,0.031,1829,1838,1644,0,0,0,0,0,0
$GC,16271,0.49,194.7,6.6,12.5,789,16280,0.00,2.25,0.00,0.000,6,0.000,0.049,1829,3248,1643,0,0,0,0,0,0
$STATE,16294,end climb,SURFACE_DEPTH_REACHED
$STATE,16294,begin surface coast
$FINISH,0.9,1.026068
$STATE,16320,end surface coast,CONTROL_FINISHED_OK
$STATE,16320,begin surface
$SM_CCo,16336,124.20,0.728,1,0,503,482.50
$SM_GC,1.35,0.00,0.00,124.20,0.000,0.000,0.728,57,3372,503,-4.98,0.54,482.50
$IRIDIUM_FIX,-4212.81,821.02,231212,202044
$TT8_MAMPS,0.025466
$HUMID,53.66
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.9,19.464
$10V_AH,10.1,10.158
$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,11.950,97.950,398.975,124.200,0.000,24.788,19.908,338.053,0.000,0.000,20.879,2101.257,10527.281,606.850,2814.794,965.548,33.361,1783.452,0.000,2622.413,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,89.505,1161.270,728.280,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.795,1750.139,790.221,339.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,57203,796
$CAP_FILE_SIZE,149194,0
$CFSIZE,259252224,252567552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,241212,060134,-4223.221,819.917,42,0.9,42,-24.9