version: 66.07
glider: 543
mission: 6
dive: 105
start: 12 25 112 11 6 4
data:
$ID,543
$MISSION,6
$DIVE,105
$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,-8150.0054
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,251212,105404,-4210.052,821.679,41,0.8,41,-24.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-27.4
$GPS2,251212,110506,-4210.090,821.740,31,1.0,31,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.104,0.264
$KALMAN_X,-4652.0,280.0,67.7,31707.6,-2465.7
$KALMAN_Y,79384.2,94.7,465.6,-43016.1,-4592.9
$MHEAD_RNG_PITCHd_Wd,46.3,18839,-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,-194.7,0.0,0.0,0,112,0.00,0.00,-90.07,0.000,2,0.000,0.000,57,3373,2757,0,0,0,0,0,0
$GC,116,-0.49,-194.7,3.2,-4.3,11,143,5.62,2.20,-13.35,0.000,4,0.224,0.046,1482,1931,3268,0,0,0,0,0,0
$GC,166,-0.49,-194.7,10.5,-15.1,17,176,0.00,2.33,0.00,0.000,6,0.000,0.058,1473,3329,3270,0,0,0,0,0,0
$GC,260,-0.49,-194.7,22.7,-14.3,30,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3329,3270,0,0,0,0,0,0
$GC,350,-0.49,-194.7,34.8,-13.8,43,357,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3949,3270,0,0,0,0,0,0
$GC,482,-0.49,-194.7,52.9,-13.1,64,493,0.00,0.93,0.00,0.000,6,0.000,0.037,1468,3345,3270,0,0,0,0,0,0
$GC,729,-0.49,-194.7,83.2,-12.5,105,735,0.00,0.98,0.00,0.000,4,0.000,0.060,1463,3953,3271,0,0,0,0,0,0
$GC,792,-0.49,-194.7,91.7,-13.2,116,799,0.00,0.93,0.00,0.000,6,0.000,0.037,1463,3345,3271,0,0,0,0,0,0
$GC,1132,-0.49,-194.7,132.4,-12.1,145,1135,0.00,0.98,0.00,0.000,4,0.000,0.060,1459,3957,3271,0,0,0,0,0,0
$GC,1295,-0.49,-194.7,154.0,-12.7,154,1301,0.08,0.93,0.00,0.000,6,0.135,0.036,1484,3343,3271,0,0,0,0,0,0
$GC,1625,-0.49,-194.7,186.9,-9.9,175,1628,0.00,0.98,0.00,0.000,4,0.000,0.059,1481,3958,3271,0,0,0,0,0,0
$GC,1751,-0.49,-194.7,200.4,-10.2,182,1757,0.00,0.93,0.00,0.000,6,0.000,0.035,1481,3342,3271,0,0,0,0,0,0
$GC,2078,-0.49,-194.7,233.0,-10.4,203,2081,0.00,0.98,0.00,0.000,4,0.000,0.060,1477,3958,3271,0,0,0,0,0,0
$GC,2168,-0.49,-194.7,243.3,-11.1,208,2172,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3357,3271,0,0,0,0,0,0
$GC,2493,-0.49,-194.7,278.6,-10.9,225,2499,0.00,0.95,0.00,0.000,4,0.000,0.059,1472,3958,3271,0,0,0,0,0,0
$GC,2589,-0.49,-194.7,289.4,-10.7,229,2593,0.00,0.90,0.00,0.000,6,0.000,0.036,1472,3354,3271,0,0,0,0,0,0
$GC,2924,-0.49,-194.7,326.2,-10.6,245,2929,0.00,0.95,0.00,0.000,4,0.000,0.059,1468,3956,3271,0,0,0,0,0,0
$GC,2982,-0.49,-194.7,333.0,-11.3,247,2985,0.00,0.90,0.00,0.000,6,0.000,0.035,1468,3355,3271,0,0,0,0,0,0
$GC,3305,-0.49,-194.7,365.1,-9.6,263,3311,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3957,3271,0,0,0,0,0,0
$GC,3363,-0.49,-194.7,371.5,-10.4,265,3367,0.00,0.90,0.00,0.000,6,0.000,0.036,1463,3354,3271,0,0,0,0,0,0
$GC,3695,-0.49,-194.7,404.9,-10.0,281,3699,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3957,3270,0,0,0,0,0,0
$GC,3770,-0.49,-194.7,412.8,-10.8,283,3774,0.08,0.90,0.00,0.000,6,0.133,0.037,1484,3356,3270,0,0,0,0,0,0
$GC,4105,-0.49,-194.7,440.5,-8.4,294,4109,0.00,0.95,0.00,0.000,4,0.000,0.060,1481,3957,3270,0,0,0,0,0,0
$GC,4223,-0.49,-194.7,451.6,-9.1,297,4228,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3353,3270,0,0,0,0,0,0
$GC,4548,-0.49,-194.7,482.1,-9.7,308,4554,0.00,0.95,0.00,0.000,4,0.000,0.060,1477,3956,3269,0,0,0,0,0,0
$GC,4627,-0.49,-194.7,490.5,-10.3,310,4631,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3352,3269,0,0,0,0,0,0
$GC,4957,-0.49,-194.7,522.7,-9.7,321,4962,0.00,0.95,0.00,0.000,4,0.000,0.060,1472,3954,3268,0,0,0,0,0,0
$GC,5019,-0.49,-194.7,529.2,-10.2,322,5026,0.00,0.90,0.00,0.000,6,0.000,0.037,1472,3352,3268,0,0,0,0,0,0
$GC,5333,-0.49,-194.7,560.4,-9.9,333,5337,0.00,0.95,0.00,0.000,4,0.000,0.061,1468,3954,3268,0,0,0,0,0,0
$GC,5435,-0.49,-194.7,571.1,-10.0,336,5439,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3352,3267,0,0,0,0,0,0
$GC,5777,-0.49,-194.7,607.1,-10.6,347,5782,0.00,0.95,0.00,0.000,4,0.000,0.062,1464,3954,3267,0,0,0,0,0,0
$GC,5856,-0.49,-194.7,616.0,-11.4,349,5859,0.00,0.90,0.00,0.000,6,0.000,0.037,1464,3352,3267,0,0,0,0,0,0
$GC,6186,-0.49,-194.7,650.7,-10.4,360,6192,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3953,3266,0,0,0,0,0,0
$GC,6265,-0.49,-194.7,659.7,-11.2,362,6269,0.08,0.90,0.00,0.000,6,0.138,0.037,1484,3355,3265,0,0,0,0,0,0
$GC,6595,-0.49,-194.7,688.0,-8.6,373,6601,0.00,0.95,0.00,0.000,4,0.000,0.062,1481,3955,3264,0,0,0,0,0,0
$GC,6701,-0.49,-194.7,697.6,-9.2,376,6704,0.00,0.90,0.00,0.000,6,0.000,0.038,1481,3354,3264,0,0,0,0,0,0
$GC,7042,-0.49,-194.7,726.5,-8.2,387,7046,0.00,0.95,0.00,0.000,4,0.000,0.062,1477,3954,3263,0,0,0,0,0,0
$GC,7145,-0.49,-194.7,735.3,-8.3,390,7151,0.00,0.90,0.00,0.000,6,0.000,0.039,1477,3353,3263,0,0,0,0,0,0
$GC,7489,-0.49,-194.7,763.2,-8.0,401,7492,0.00,0.98,0.00,0.000,4,0.000,0.064,1472,3954,3262,0,0,0,0,0,0
$GC,7568,-0.49,-194.7,770.1,-8.2,403,7572,0.00,0.90,0.00,0.000,6,0.000,0.039,1473,3357,3262,0,0,0,0,0,0
$GC,7900,-0.49,-194.7,796.8,-8.1,414,7904,0.00,0.95,0.00,0.000,4,0.000,0.063,1468,3956,3261,0,0,0,0,0,0
$GC,7960,-0.49,-194.7,802.5,-8.8,415,7967,0.00,0.93,0.00,0.000,6,0.000,0.039,1468,3343,3260,0,0,0,0,0,0
$GC,8274,-0.49,-194.7,829.1,-8.5,426,8278,0.00,0.98,0.00,0.000,4,0.000,0.063,1464,3955,3260,0,0,0,0,0,0
$GC,8380,-0.49,-194.7,839.1,-9.2,429,8386,0.00,0.90,0.00,0.000,6,0.000,0.039,1464,3357,3259,0,0,0,0,0,0
$GC,8718,-0.49,-194.7,869.2,-9.0,440,8722,0.00,0.95,0.00,0.000,4,0.000,0.063,1459,3954,3258,0,0,0,0,0,0
$GC,8806,-0.49,-194.7,878.1,-10.1,442,8810,0.00,0.93,0.00,0.000,6,0.000,0.039,1459,3342,3258,0,0,0,0,0,0
$GC,9126,-0.49,-194.7,907.9,-9.6,453,9131,0.12,1.00,0.00,0.000,4,0.162,0.065,1489,3958,3257,0,0,0,0,0,0
$GC,9206,-0.49,-194.7,914.1,-7.1,455,9209,0.00,0.93,0.00,0.000,6,0.000,0.040,1489,3348,3257,0,0,0,0,0,0
$GC,9537,-0.49,-194.7,936.1,-6.6,466,9541,0.00,0.98,0.00,0.000,4,0.000,0.064,1485,3960,3257,0,0,0,0,0,0
$GC,9643,-0.49,-194.7,943.7,-6.6,469,9647,0.00,0.93,0.00,0.000,6,0.000,0.040,1485,3349,3257,0,0,0,0,0,0
$GC,9980,-0.49,-194.7,966.9,-6.9,480,9985,0.00,0.95,0.00,0.000,4,0.000,0.065,1481,3947,3256,0,0,0,0,0,0
$GC,10092,-0.49,-194.7,975.7,-7.6,483,10096,0.00,0.90,0.00,0.000,6,0.000,0.041,1481,3353,3256,0,0,0,0,0,0
$STATE,10421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10421,begin apogee
$GC,10428,-0.14,0.0,1000.8,7.7,494,10634,0.38,0.00,197.93,1.184,6,0.122,0.000,1599,3257,2465,0,0,0,0,0,0
$STATE,10635,end apogee,CONTROL_FINISHED_OK
$STATE,10636,begin climb
$GC,10638,0.49,194.7,1007.6,0.0,501,10831,0.57,0.00,182.62,1.788,6,0.059,0.000,1807,3257,1679,0,0,0,0,1,0
$GC,11167,0.49,194.7,919.1,19.0,518,11171,0.00,2.25,0.00,0.000,4,0.000,0.035,1818,1834,1676,0,0,0,0,0,0
$GC,11196,0.49,194.7,912.9,16.7,519,11201,0.00,2.40,0.00,0.000,6,0.000,0.054,1818,3252,1675,0,0,0,0,0,0
$GC,11538,0.49,194.7,843.8,20.3,530,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3252,1673,0,0,0,0,0,0
$GC,11844,0.49,194.7,783.4,19.4,540,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3252,1673,0,0,0,0,0,0
$GC,12151,0.49,194.7,722.8,19.9,550,12154,0.00,2.15,0.00,0.000,4,0.000,0.035,1829,1832,1672,0,0,0,0,0,0
$GC,12183,0.49,194.7,716.6,17.5,551,12187,0.00,2.30,0.00,0.000,6,0.000,0.054,1829,3253,1672,0,0,0,0,0,0
$GC,12513,0.49,194.7,649.9,20.8,562,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3253,1671,0,0,0,0,0,0
$GC,12819,0.49,194.7,586.5,20.7,572,12823,0.00,1.10,0.00,0.000,4,0.000,0.057,1828,3949,1671,0,0,0,0,0,0
$GC,12854,0.49,194.7,579.1,23.5,573,12857,0.00,1.08,0.00,0.000,6,0.000,0.033,1834,3233,1671,0,0,0,0,0,0
$GC,13195,0.49,194.7,506.8,21.2,584,13199,0.00,2.10,0.00,0.000,4,0.000,0.033,1845,1842,1671,0,0,0,0,0,0
$GC,13234,0.49,194.7,499.0,17.2,585,13239,0.12,2.25,0.00,0.000,6,0.180,0.050,1815,3253,1671,0,0,0,0,0,0
$GC,13558,0.49,194.7,440.8,17.9,596,13562,0.00,1.10,0.00,0.000,4,0.000,0.056,1815,3945,1670,0,0,0,0,0,0
$GC,13580,0.49,194.7,436.2,19.2,596,13584,0.00,1.02,0.00,0.000,6,0.000,0.034,1818,3256,1670,0,0,0,0,0,0
$GC,13902,0.49,194.7,375.8,18.7,609,13908,0.00,2.15,0.00,0.000,4,0.000,0.033,1829,1840,1670,0,0,0,0,0,0
$GC,13942,0.49,194.7,368.6,15.1,610,13950,0.00,2.25,0.00,0.000,6,0.000,0.049,1829,3245,1669,0,0,0,0,0,0
$GC,14259,0.49,194.7,307.7,20.0,626,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3245,1669,0,0,0,0,0,0
$GC,14570,0.49,194.7,248.2,19.3,641,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3245,1669,0,0,0,0,0,0
$GC,14882,0.49,194.7,186.7,19.4,661,14888,0.00,2.12,0.00,0.000,4,0.000,0.032,1840,1843,1670,0,0,0,0,0,0
$GC,14910,0.49,194.7,180.9,17.7,662,14922,0.08,2.25,0.00,0.000,6,0.149,0.050,1816,3248,1670,0,0,0,0,0,0
$GC,15236,0.49,194.7,123.6,18.6,683,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3248,1669,0,0,0,0,0,0
$GC,15566,0.49,194.7,59.2,19.5,727,15572,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3248,1669,0,0,0,0,0,0
$GC,15828,0.49,194.7,13.1,15.4,768,15837,0.00,2.12,0.00,0.000,4,0.000,0.032,1825,1841,1669,0,0,0,0,0,0
$STATE,15904,end climb,SURFACE_DEPTH_REACHED
$STATE,15905,begin surface coast
$FINISH,1.0,1.025977
$STATE,15930,end surface coast,CONTROL_FINISHED_OK
$STATE,15930,begin surface
$SM_CCo,15948,128.20,0.728,1,0,506,482.50
$SM_GC,1.37,0.00,0.00,128.20,0.000,0.000,0.728,47,3357,506,-5.01,0.11,482.50
$IRIDIUM_FIX,-4155.38,818.49,251212,060626
$TT8_MAMPS,0.025466
$HUMID,54.41
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.2,20.885
$10V_AH,10.1,11.010
$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,11.775,80.625,380.550,128.200,0.000,27.247,43.603,406.589,0.000,0.000,33.030,2021.858,10499.334,605.618,2705.879,907.110,33.363,1674.534,0.000,2389.409,0.000,1.014,0.000
$DEVICE_MAMPS,224.145,73.440,1787.805,728.280,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.823,1708.255,776.471,342.052,0.000,0.000,0.000,0.000,0.000,0.000
$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,57011,783
$CAP_FILE_SIZE,137363,0
$CFSIZE,259252224,252059648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,251212,153522,-4208.005,821.562,35,1.0,35,-24.9