version: 66.07
glider: 543
mission: 6
dive: 107
start: 12 25 112 20 30 15
data:
$ID,543
$MISSION,6
$DIVE,107
$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,-8157.0137
$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,53
$R_STBD_OVSHOOT,23
$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
$GPS1,251212,201558,-4206.483,821.884,36,0.8,36,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-25.3
$GPS2,251212,202917,-4206.444,822.011,20,1.3,21,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.162,0.234
$KALMAN_X,-8933.5,-121.7,291.7,36541.8,-3726.4
$KALMAN_Y,74804.1,441.2,62.2,-31618.5,-4589.4
$MHEAD_RNG_PITCHd_Wd,59.6,12251,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.49,-194.7,0.0,0.0,0,111,0.00,0.00,-89.38,0.000,2,0.000,0.000,54,3352,2765,0,0,0,0,0,0
$GC,115,-0.49,-194.7,3.1,-4.4,11,142,5.60,2.15,-13.43,0.000,4,0.221,0.044,1481,1949,3268,0,0,0,0,0,0
$GC,222,-0.49,-194.7,15.8,-10.3,26,231,0.00,2.33,0.00,0.000,6,0.000,0.054,1472,3357,3270,0,0,0,0,0,0
$GC,310,-0.49,-194.7,27.5,-14.4,39,319,0.00,0.95,0.00,0.000,4,0.000,0.059,1468,3945,3270,0,0,0,0,0,0
$GC,381,-0.49,-194.7,39.4,-16.3,50,390,0.00,0.88,0.00,0.000,6,0.000,0.035,1468,3372,3270,0,0,0,0,0,0
$GC,632,-0.49,-194.7,70.8,-11.1,91,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3372,3270,0,0,0,0,0,0
$GC,986,-0.49,-194.7,108.0,-10.3,143,992,0.00,0.93,0.00,0.000,4,0.000,0.057,1463,3951,3270,0,0,0,0,0,0
$GC,1121,-0.49,-194.7,122.9,-10.2,150,1129,0.00,0.90,0.00,0.000,6,0.000,0.034,1463,3349,3271,0,0,0,0,0,0
$GC,1444,-0.49,-194.7,155.7,-10.6,171,1448,0.00,0.95,0.00,0.000,4,0.000,0.058,1459,3950,3271,0,0,0,0,0,0
$GC,1587,-0.49,-194.7,172.0,-11.5,179,1591,0.08,0.90,0.00,0.000,6,0.137,0.034,1485,3346,3272,0,0,0,0,0,0
$GC,1919,-0.49,-194.7,202.7,-9.1,200,1923,0.00,0.95,0.00,0.000,4,0.000,0.059,1481,3951,3272,0,0,0,0,0,0
$GC,2016,-0.49,-194.7,212.4,-9.2,205,2023,0.00,0.90,0.00,0.000,6,0.000,0.035,1481,3344,3272,0,0,0,0,0,0
$GC,2335,-0.49,-194.7,242.2,-9.4,226,2339,0.00,0.95,0.00,0.000,4,0.000,0.058,1477,3951,3271,0,0,0,0,0,0
$GC,2436,-0.49,-194.7,252.3,-9.4,232,2440,0.00,0.90,0.00,0.000,6,0.000,0.035,1476,3345,3272,0,0,0,0,0,0
$GC,2764,-0.49,-194.7,284.2,-9.9,248,2768,0.00,0.95,0.00,0.000,4,0.000,0.058,1472,3949,3271,0,0,0,0,0,0
$GC,2882,-0.49,-194.7,296.1,-10.5,253,2886,0.00,0.88,0.00,0.000,6,0.000,0.036,1472,3360,3271,0,0,0,0,0,0
$GC,3217,-0.49,-194.7,330.4,-10.2,269,3223,0.00,0.93,0.00,0.000,4,0.000,0.059,1468,3949,3270,0,0,0,0,0,0
$GC,3292,-0.49,-194.7,338.7,-10.4,272,3298,0.00,0.90,0.00,0.000,6,0.000,0.036,1468,3344,3270,0,0,0,0,0,0
$GC,3622,-0.49,-194.7,372.6,-10.1,288,3625,0.00,0.95,0.00,0.000,4,0.000,0.059,1463,3949,3270,0,0,0,0,0,0
$GC,3723,-0.49,-194.7,383.6,-9.9,292,3727,0.00,0.90,0.00,0.000,6,0.000,0.037,1463,3343,3270,0,0,0,0,0,0
$GC,4063,-0.49,-194.7,420.5,-11.1,306,4067,0.00,0.95,0.00,0.000,4,0.000,0.059,1459,3949,3269,0,0,0,0,0,0
$GC,4152,-0.49,-194.7,431.2,-12.0,308,4156,0.08,0.90,0.00,0.000,6,0.135,0.036,1485,3345,3269,0,0,0,0,0,0
$GC,4471,-0.49,-194.7,461.4,-9.5,319,4474,0.00,0.95,0.00,0.000,4,0.000,0.060,1481,3949,3268,0,0,0,0,0,0
$GC,4588,-0.49,-194.7,473.2,-10.4,322,4591,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3345,3268,0,0,0,0,0,0
$GC,4913,-0.49,-194.7,505.9,-10.2,333,4917,0.00,0.95,0.00,0.000,4,0.000,0.060,1477,3948,3268,0,0,0,0,0,0
$GC,5002,-0.49,-194.7,515.8,-10.4,335,5006,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3345,3268,0,0,0,0,0,0
$GC,5322,-0.49,-194.7,548.3,-10.3,346,5326,0.00,0.95,0.00,0.000,4,0.000,0.060,1472,3948,3267,0,0,0,0,0,0
$GC,5405,-0.49,-194.7,557.6,-11.1,348,5409,0.00,0.90,0.00,0.000,6,0.000,0.037,1473,3346,3267,0,0,0,0,0,0
$GC,5731,-0.49,-194.7,590.9,-10.0,359,5735,0.00,0.95,0.00,0.000,4,0.000,0.061,1468,3949,3266,0,0,0,0,0,0
$GC,5811,-0.49,-194.7,599.4,-10.3,361,5814,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3346,3266,0,0,0,0,0,0
$GC,6142,-0.49,-194.7,631.1,-9.3,372,6145,0.00,0.95,0.00,0.000,4,0.000,0.062,1464,3948,3265,0,0,0,0,0,0
$GC,6216,-0.49,-194.7,638.2,-9.0,374,6220,0.00,0.90,0.00,0.000,6,0.000,0.038,1464,3348,3265,0,0,0,0,0,0
$GC,6552,-0.49,-194.7,670.1,-9.4,385,6556,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3950,3264,0,0,0,0,0,0
$GC,6641,-0.49,-194.7,679.0,-10.1,387,6645,0.00,0.90,0.00,0.000,6,0.000,0.038,1460,3349,3263,0,0,0,0,0,0
$GC,6959,-0.49,-194.7,708.6,-9.4,398,6964,0.10,0.98,0.00,0.000,4,0.170,0.063,1483,3953,3263,0,0,0,0,0,0
$GC,7068,-0.49,-194.7,717.1,-7.1,401,7072,0.00,0.90,0.00,0.000,6,0.000,0.038,1483,3356,3263,0,0,0,0,0,0
$GC,7404,-0.49,-194.7,740.9,-7.0,412,7407,0.00,0.95,0.00,0.000,4,0.000,0.063,1479,3953,3261,0,0,0,0,0,0
$GC,7482,-0.49,-194.7,747.0,-6.9,414,7486,0.00,0.90,0.00,0.000,6,0.000,0.038,1479,3355,3261,0,0,0,0,0,0
$GC,7812,-0.49,-194.7,771.2,-7.5,425,7816,0.00,0.95,0.00,0.000,4,0.000,0.063,1474,3953,3260,0,0,0,0,0,0
$GC,7908,-0.49,-194.7,779.0,-7.8,427,7914,0.00,0.93,0.00,0.000,6,0.000,0.038,1474,3340,3260,0,0,0,0,0,0
$GC,8221,-0.49,-194.7,803.3,-8.0,438,8225,0.00,0.98,0.00,0.000,4,0.000,0.063,1470,3955,3259,0,0,0,0,0,0
$GC,8310,-0.49,-194.7,811.0,-9.3,440,8314,0.00,0.90,0.00,0.000,6,0.000,0.039,1470,3355,3258,0,0,0,0,0,0
$GC,8629,-0.49,-194.7,837.0,-8.3,451,8632,0.00,0.95,0.00,0.000,4,0.000,0.063,1466,3952,3257,0,0,0,0,0,0
$GC,8703,-0.49,-194.7,843.5,-8.9,453,8706,0.00,0.90,0.00,0.000,6,0.000,0.039,1466,3354,3257,0,0,0,0,0,0
$GC,9039,-0.49,-194.7,871.1,-8.2,464,9042,0.00,0.98,0.00,0.000,4,0.000,0.065,1461,3952,3257,0,0,0,0,0,0
$GC,9141,-0.49,-194.7,880.2,-8.7,467,9147,0.00,0.90,0.00,0.000,6,0.000,0.039,1461,3354,3256,0,0,0,0,0,0
$GC,9485,-0.49,-194.7,910.1,-8.7,478,9489,0.00,0.95,0.00,0.000,4,0.000,0.063,1457,3952,3256,0,0,0,0,0,0
$GC,9586,-0.49,-194.7,919.8,-9.8,481,9591,0.08,0.90,0.00,0.000,6,0.138,0.040,1482,3354,3256,0,0,0,0,0,0
$GC,9928,-0.49,-194.7,943.6,-7.0,492,9933,0.00,0.95,0.00,0.000,4,0.000,0.065,1479,3950,3255,0,0,0,0,0,0
$GC,10007,-0.49,-194.7,949.8,-7.6,494,10011,0.00,0.90,0.00,0.000,6,0.000,0.040,1480,3354,3255,0,0,0,0,0,0
$GC,10338,-0.49,-194.7,974.5,-7.7,505,10343,0.00,0.98,0.00,0.000,4,0.000,0.067,1475,3951,3254,0,0,0,0,0,0
$GC,10434,-0.49,-194.7,982.5,-8.6,507,10442,0.00,0.90,0.00,0.000,6,0.000,0.040,1475,3354,3254,0,0,0,0,0,0
$STATE,10654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10654,begin apogee
$GC,10661,-0.14,0.0,1000.5,8.3,515,10866,0.40,0.00,198.07,1.167,6,0.126,0.000,1600,3245,2467,0,0,0,0,0,0
$STATE,10867,end apogee,CONTROL_FINISHED_OK
$STATE,10867,begin climb
$GC,10870,0.49,194.7,1008.2,0.0,522,11079,0.57,2.47,197.12,1.127,4,0.054,0.034,1826,1835,1667,0,0,0,0,0,0
$GC,11144,0.49,194.7,969.1,15.1,530,11148,0.00,2.47,0.00,0.000,6,0.000,0.053,1827,3252,1656,0,0,0,0,0,0
$GC,11463,0.49,194.7,902.8,21.3,541,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3252,1650,0,0,0,0,0,0
$GC,11768,0.49,194.7,838.3,21.0,551,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,3252,1649,0,0,0,0,0,0
$GC,12075,0.49,194.7,773.4,22.0,561,12079,0.00,2.20,0.00,0.000,4,0.000,0.035,1838,1831,1648,0,0,0,0,0,0
$GC,12113,0.49,194.7,765.5,17.5,562,12117,0.00,2.33,0.00,0.000,6,0.000,0.054,1837,3261,1647,0,0,0,0,0,0
$GC,12437,0.49,194.7,693.5,22.9,573,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,3261,1647,0,0,0,0,0,0
$GC,12743,0.49,194.7,622.8,22.7,583,12747,0.00,2.20,0.00,0.000,4,0.000,0.034,1848,1824,1647,0,0,0,0,0,0
$GC,12792,0.49,194.7,612.2,17.9,584,12797,0.15,2.30,0.00,0.000,6,0.174,0.052,1810,3255,1646,0,0,0,0,0,0
$GC,13106,0.49,194.7,551.3,19.7,594,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3255,1646,0,0,0,0,0,0
$GC,13413,0.49,194.7,491.6,19.5,604,13417,0.00,2.17,0.00,0.000,4,0.000,0.033,1819,1819,1645,0,0,0,0,0,0
$GC,13434,0.49,194.7,487.0,19.6,604,13442,0.00,2.30,0.00,0.000,6,0.000,0.050,1819,3245,1645,0,0,0,0,0,0
$GC,13748,0.49,194.7,423.5,20.7,615,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3245,1645,0,0,0,0,0,0
$GC,14057,0.49,194.7,360.6,20.2,628,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3245,1644,0,0,0,0,0,0
$GC,14367,0.49,194.7,295.6,20.7,643,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3245,1644,0,0,0,0,0,0
$GC,14686,0.49,194.7,231.3,19.8,660,14691,0.00,2.17,0.00,0.000,4,0.000,0.032,1830,1821,1644,0,0,0,0,0,0
$GC,14710,0.49,194.7,226.9,18.2,661,14714,0.00,2.28,0.00,0.000,6,0.000,0.050,1830,3250,1644,0,0,0,0,0,0
$GC,15033,0.49,194.7,162.0,20.3,681,15035,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3250,1644,0,0,0,0,0,0
$GC,15347,0.49,194.7,95.9,21.4,703,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3251,1644,0,0,0,0,0,0
$GC,15710,0.49,194.7,27.0,16.3,764,15720,0.00,1.10,0.00,0.000,4,0.000,0.053,1830,3950,1644,0,0,0,0,0,0
$GC,15745,0.49,194.7,20.8,18.8,768,15756,0.00,1.05,0.00,0.000,6,0.000,0.031,1836,3234,1644,0,0,0,0,0,0
$GC,15834,0.49,194.7,3.2,18.1,781,15844,0.00,2.10,0.00,0.000,4,0.000,0.031,1847,1836,1642,0,0,0,0,0,0
$STATE,15853,end climb,SURFACE_DEPTH_REACHED
$STATE,15854,begin surface coast
$FINISH,0.9,1.013173
$STATE,15879,end surface coast,CONTROL_FINISHED_OK
$STATE,15879,begin surface
$SM_CCo,15897,122.70,0.726,1,0,502,482.50
$SM_GC,1.07,0.00,0.00,122.70,0.000,0.000,0.726,65,3352,502,-4.95,-0.03,482.50
$IRIDIUM_FIX,-4152.48,823.81,251212,151544
$TT8_MAMPS,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,8.98589
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.9,21.243
$10V_AH,10.1,11.246
$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,11.725,78.650,395.200,122.700,0.000,58.229,134.755,369.753,0.000,0.000,22.761,2021.664,10511.105,600.815,2788.447,899.800,33.364,1664.173,0.000,2432.009,0.000,1.014,0.000
$DEVICE_MAMPS,221.085,66.555,1167.390,725.985,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.825,1736.085,775.612,340.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,57125,787
$CAP_FILE_SIZE,137405,0
$CFSIZE,259252224,251916288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,261212,005835,-4204.347,822.430,33,0.9,33,-24.9