version: 66.07
glider: 543
mission: 6
dive: 103
start: 12 25 112 1 33 37
data:
$ID,543
$MISSION,6
$DIVE,103
$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,-8143.6221
$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,33
$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
$GPS1,251212,011822,-4214.016,820.074,39,0.8,39,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-18.9
$GPS2,251212,013241,-4213.956,820.127,18,1.0,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.069,0.278
$KALMAN_X,-2255.9,52.7,-201.4,27615.1,-1539.9
$KALMAN_Y,83182.9,660.2,500.8,-54579.0,-4901.1
$MHEAD_RNG_PITCHd_Wd,38.8,25846,-13.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.49,-194.7,0.0,0.0,0,111,0.00,0.00,-89.35,0.000,2,0.000,0.000,60,3366,2725,0,0,0,0,0,0
$GC,116,-0.49,-194.7,3.0,-3.9,11,143,5.57,2.28,-14.60,0.000,4,0.222,0.047,1485,1921,3268,0,0,0,0,0,0
$GC,181,-0.49,-194.7,11.2,-12.1,19,190,0.00,2.35,0.00,0.000,6,0.000,0.056,1476,3334,3269,0,0,0,0,0,0
$GC,270,-0.49,-194.7,21.9,-13.9,32,279,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3950,3269,0,0,0,0,0,0
$GC,424,-0.49,-194.7,45.3,-14.9,56,433,0.00,0.93,0.00,0.000,6,0.000,0.035,1471,3344,3270,0,0,0,0,0,0
$GC,672,-0.49,-194.7,76.0,-12.5,97,676,0.00,0.98,0.00,0.000,4,0.000,0.059,1466,3951,3270,0,0,0,0,0,0
$GC,732,-0.49,-194.7,84.4,-13.7,108,740,0.00,0.93,0.00,0.000,6,0.000,0.035,1466,3342,3270,0,0,0,0,0,0
$GC,1074,-0.49,-194.7,127.4,-12.3,142,1077,0.00,0.98,0.00,0.000,4,0.000,0.059,1462,3954,3271,0,0,0,0,0,0
$GC,1278,-0.49,-194.7,153.9,-11.6,153,1285,0.00,0.90,0.00,0.000,6,0.000,0.035,1462,3353,3271,0,0,0,0,0,0
$GC,1598,-0.49,-194.7,190.4,-11.1,174,1602,0.10,0.98,0.00,0.000,4,0.169,0.060,1484,3955,3271,0,0,0,0,0,0
$GC,1759,-0.49,-194.7,204.9,-8.7,183,1762,0.00,0.90,0.00,0.000,6,0.000,0.036,1484,3352,3271,0,0,0,0,0,0
$GC,2090,-0.49,-194.7,233.1,-8.0,204,2093,0.00,0.95,0.00,0.000,4,0.000,0.060,1480,3953,3271,0,0,0,0,0,0
$GC,2265,-0.49,-194.7,248.3,-8.7,214,2271,0.00,0.90,0.00,0.000,6,0.000,0.036,1480,3349,3271,0,0,0,0,0,0
$GC,2590,-0.49,-194.7,275.5,-8.3,230,2594,0.00,0.95,0.00,0.000,4,0.000,0.060,1475,3951,3270,0,0,0,0,0,0
$GC,2745,-0.49,-194.7,289.9,-9.8,236,2753,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3349,3270,0,0,0,0,0,0
$GC,3062,-0.49,-194.7,319.3,-9.4,252,3066,0.00,0.95,0.00,0.000,4,0.000,0.060,1471,3953,3270,0,0,0,0,0,0
$GC,3182,-0.49,-194.7,331.2,-10.5,257,3185,0.00,0.90,0.00,0.000,6,0.000,0.036,1471,3349,3270,0,0,0,0,0,0
$GC,3516,-0.49,-194.7,364.7,-9.9,273,3522,0.00,0.95,0.00,0.000,4,0.000,0.060,1467,3953,3269,0,0,0,0,0,0
$GC,3682,-0.49,-194.7,382.2,-10.6,280,3685,0.00,0.90,0.00,0.000,6,0.000,0.036,1467,3349,3268,0,0,0,0,0,0
$GC,4003,-0.49,-194.7,416.4,-10.7,293,4006,0.00,0.95,0.00,0.000,4,0.000,0.060,1462,3953,3268,0,0,0,0,0,0
$GC,4186,-0.49,-194.7,437.1,-11.0,298,4189,0.00,0.90,0.00,0.000,6,0.000,0.036,1462,3348,3268,0,0,0,0,0,0
$GC,4511,-0.49,-194.7,471.4,-10.5,309,4515,0.10,0.98,0.00,0.000,4,0.167,0.061,1485,3955,3268,0,0,0,0,0,0
$GC,4680,-0.49,-194.7,486.3,-8.4,314,4684,0.00,0.90,0.00,0.000,6,0.000,0.037,1485,3352,3267,0,0,0,0,0,0
$GC,5022,-0.49,-194.7,514.9,-8.3,325,5026,0.00,0.95,0.00,0.000,4,0.000,0.060,1480,3956,3268,0,0,0,0,0,0
$GC,5180,-0.49,-194.7,528.8,-8.5,329,5186,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3356,3267,0,0,0,0,0,0
$GC,5500,-0.49,-194.7,556.7,-8.6,340,5506,0.00,0.95,0.00,0.000,4,0.000,0.061,1476,3956,3267,0,0,0,0,0,0
$GC,5641,-0.49,-194.7,570.2,-9.1,344,5647,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3354,3266,0,0,0,0,0,0
$GC,5979,-0.49,-194.7,601.9,-9.6,355,5983,0.00,0.95,0.00,0.000,4,0.000,0.062,1472,3954,3265,0,0,0,0,0,0
$GC,6154,-0.49,-194.7,619.6,-9.8,360,6157,0.00,0.90,0.00,0.000,6,0.000,0.037,1472,3354,3264,0,0,0,0,0,0
$GC,6495,-0.49,-194.7,653.9,-9.8,371,6498,0.00,0.95,0.00,0.000,4,0.000,0.062,1468,3953,3263,0,0,0,0,0,0
$GC,6698,-0.49,-194.7,674.6,-9.9,377,6701,0.00,0.90,0.00,0.000,6,0.000,0.038,1467,3354,3263,0,0,0,0,0,0
$GC,7039,-0.49,-194.7,707.4,-9.5,388,7044,0.00,0.98,0.00,0.000,4,0.000,0.063,1462,3951,3262,0,0,0,0,0,0
$GC,7176,-0.49,-194.7,720.9,-9.8,392,7181,0.00,0.90,0.00,0.000,6,0.000,0.038,1463,3351,3262,0,0,0,0,0,0
$GC,7520,-0.49,-194.7,752.0,-9.0,403,7524,0.00,0.95,0.00,0.000,4,0.000,0.063,1458,3949,3261,0,0,0,0,0,0
$GC,7694,-0.49,-194.7,768.5,-9.7,408,7698,0.08,0.90,0.00,0.000,6,0.135,0.039,1484,3352,3260,0,0,0,0,0,0
$GC,8036,-0.49,-194.7,793.5,-7.0,419,8039,0.00,0.95,0.00,0.000,4,0.000,0.063,1481,3951,3259,0,0,0,0,0,0
$GC,8172,-0.49,-194.7,803.6,-6.6,423,8176,0.00,0.90,0.00,0.000,6,0.000,0.039,1481,3353,3259,0,0,0,0,0,0
$GC,8514,-0.49,-194.7,825.5,-4.7,434,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3353,3258,0,0,0,0,0,0
$GC,8820,-0.49,-194.7,847.7,-7.4,444,8824,0.00,0.98,0.00,0.000,4,0.000,0.064,1478,3950,3257,0,0,0,0,0,0
$GC,8961,-0.49,-194.7,858.9,-7.5,448,8964,0.00,0.90,0.00,0.000,6,0.000,0.040,1478,3354,3257,0,0,0,0,0,0
$GC,9297,-0.49,-194.7,885.7,-8.0,459,9300,0.00,0.98,0.00,0.000,4,0.000,0.063,1473,3952,3256,0,0,0,0,0,0
$GC,9448,-0.49,-194.7,898.6,-9.2,463,9453,0.00,0.90,0.00,0.000,6,0.000,0.041,1473,3357,3256,0,0,0,0,0,0
$GC,9774,-0.49,-194.7,925.3,-8.2,474,9779,0.00,0.95,0.00,0.000,4,0.000,0.063,1469,3955,3256,0,0,0,0,0,0
$GC,9887,-0.49,-194.7,935.2,-9.0,477,9890,0.00,0.93,0.00,0.000,6,0.000,0.040,1469,3345,3256,0,0,0,0,0,0
$GC,10217,-0.49,-194.7,961.8,-7.9,488,10221,0.00,0.95,0.00,0.000,4,0.000,0.062,1465,3948,3255,0,0,0,0,0,0
$GC,10389,-0.49,-194.7,976.3,-9.0,493,10393,0.00,0.90,0.00,0.000,6,0.000,0.041,1465,3352,3255,0,0,0,0,0,0
$STATE,10696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10697,begin apogee
$GC,10704,-0.14,0.0,1001.6,8.1,503,10911,0.45,0.00,202.50,1.161,6,0.129,0.000,1605,3258,2468,0,0,0,0,0,0
$STATE,10912,end apogee,CONTROL_FINISHED_OK
$STATE,10912,begin climb
$GC,10915,0.49,194.7,1007.9,0.0,510,11125,0.55,1.27,199.60,1.128,4,0.052,0.057,1813,3949,1668,0,0,0,0,0,0
$GC,11174,0.49,194.7,968.0,21.3,518,11180,0.00,1.17,0.00,0.000,6,0.000,0.034,1818,3241,1653,0,0,0,0,0,0
$GC,11518,0.49,194.7,898.2,20.6,529,11522,0.00,2.22,0.00,0.000,4,0.000,0.036,1829,1839,1646,0,0,0,0,0,0
$GC,11614,0.49,194.7,881.7,15.8,532,11618,0.00,2.35,0.00,0.000,6,0.000,0.053,1829,3255,1644,0,0,0,0,0,0
$GC,11949,0.49,194.7,810.2,21.9,543,11955,0.00,2.25,0.00,0.000,4,0.000,0.037,1840,1835,1644,0,0,0,0,0,0
$GC,12019,0.49,194.7,797.2,16.9,545,12024,0.12,2.33,0.00,0.000,6,0.178,0.053,1809,3260,1643,0,0,0,0,0,0
$GC,12355,0.49,194.7,732.2,19.6,556,12361,0.00,2.22,0.00,0.000,4,0.000,0.035,1818,1834,1643,0,0,0,0,0,0
$GC,12395,0.49,194.7,725.2,14.7,557,12400,0.00,2.30,0.00,0.000,6,0.000,0.052,1818,3243,1642,0,0,0,0,0,0
$GC,12732,0.49,194.7,660.4,19.5,568,12736,0.00,2.15,0.00,0.000,4,0.000,0.034,1829,1828,1642,0,0,0,0,0,0
$GC,12771,0.49,194.7,653.1,16.1,569,12775,0.00,2.30,0.00,0.000,6,0.000,0.051,1829,3261,1641,0,0,0,0,0,0
$GC,13095,0.49,194.7,587.2,20.4,580,13099,0.00,2.15,0.00,0.000,4,0.000,0.034,1840,1837,1641,0,0,0,0,0,0
$GC,13158,0.49,194.7,576.0,15.3,582,13165,0.10,2.28,0.00,0.000,6,0.156,0.051,1809,3246,1641,0,0,0,0,0,0
$GC,13501,0.49,194.7,514.2,18.1,593,13505,0.00,2.15,0.00,0.000,4,0.000,0.033,1818,1832,1641,0,0,0,0,0,0
$GC,13534,0.49,194.7,508.6,15.7,594,13538,0.00,2.28,0.00,0.000,6,0.000,0.050,1818,3260,1641,0,0,0,0,0,0
$GC,13863,0.49,194.7,449.0,18.4,605,13867,0.00,2.15,0.00,0.000,4,0.000,0.033,1829,1830,1641,0,0,0,0,0,0
$GC,13896,0.49,194.7,443.2,15.4,606,13900,0.00,2.25,0.00,0.000,6,0.000,0.050,1829,3250,1640,0,0,0,0,0,0
$GC,14217,0.49,194.7,381.3,20.2,618,14221,0.00,2.15,0.00,0.000,4,0.000,0.033,1840,1831,1640,0,0,0,0,0,0
$GC,14253,0.49,194.7,374.8,18.3,619,14260,0.12,2.25,0.00,0.000,6,0.177,0.049,1809,3255,1640,0,0,0,0,0,0
$GC,14571,0.49,194.7,317.9,17.7,635,14577,0.00,2.17,0.00,0.000,4,0.000,0.033,1818,1834,1640,0,0,0,0,0,0
$GC,14622,0.49,194.7,310.3,14.1,637,14626,0.00,2.25,0.00,0.000,6,0.000,0.048,1818,3258,1640,0,0,0,0,0,0
$GC,14951,0.49,194.7,250.0,18.8,653,14956,0.00,2.17,0.00,0.000,4,0.000,0.033,1829,1835,1640,0,0,0,0,0,0
$GC,15009,0.49,194.7,240.2,13.3,656,15014,0.00,2.25,0.00,0.000,6,0.000,0.048,1829,3242,1640,0,0,0,0,0,0
$GC,15337,0.49,194.7,178.1,19.9,677,15342,0.00,2.15,0.00,0.000,4,0.000,0.032,1840,1831,1640,0,0,0,0,0,0
$GC,15384,0.49,194.7,169.4,15.6,679,15391,0.12,2.25,0.00,0.000,6,0.173,0.048,1808,3259,1640,0,0,0,0,0,0
$GC,15705,0.49,194.7,114.2,17.5,700,15709,0.00,2.15,0.00,0.000,4,0.000,0.031,1817,1827,1640,0,0,0,0,0,0
$GC,15755,0.49,194.7,106.2,13.1,703,15760,0.00,2.25,0.00,0.000,6,0.000,0.048,1817,3243,1640,0,0,0,0,0,0
$GC,16116,0.49,194.7,40.5,18.4,759,16123,0.00,2.15,0.00,0.000,4,0.000,0.031,1828,1824,1640,0,0,0,0,0,0
$GC,16144,0.49,194.7,35.7,16.5,763,16152,0.00,2.28,0.00,0.000,6,0.000,0.048,1828,3252,1640,0,0,0,0,0,0
$STATE,16338,end climb,SURFACE_DEPTH_REACHED
$STATE,16338,begin surface coast
$FINISH,1.0,1.012637
$STATE,16362,end surface coast,CONTROL_FINISHED_OK
$STATE,16362,begin surface
$SM_CCo,16377,122.95,0.738,1,0,503,482.50
$SM_GC,1.55,0.00,0.00,122.95,0.000,0.000,0.738,53,3369,503,-4.99,0.45,482.50
$IRIDIUM_FIX,-4158.28,818.91,251212,010147
$TT8_MAMPS,0.025466
$HUMID,54.13
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.9,20.496
$10V_AH,10.1,10.773
$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,11.950,104.375,402.100,122.950,0.000,53.654,67.565,480.391,0.000,0.000,21.314,2129.853,10486.988,604.598,3144.292,994.622,33.364,1817.427,0.000,2736.816,0.000,1.013,0.000
$DEVICE_MAMPS,221.850,81.090,1161.270,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.037,1735.312,790.434,332.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,57030,796
$CAP_FILE_SIZE,152622,0
$CFSIZE,259252224,252194816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,251212,061004,-4212.191,820.672,40,1.1,40,-24.9