version: 66.07
glider: 543
mission: 6
dive: 109
start: 12 26 112 5 57 16
data:
$ID,543
$MISSION,6
$DIVE,109
$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,-8163.3594
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,261212,054504,-4202.637,821.907,34,1.2,34,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-30.7
$GPS2,261212,055618,-4202.711,821.940,15,1.9,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.086,0.271
$KALMAN_X,-16218.6,136.8,-5.6,43777.0,-5576.7
$KALMAN_Y,71689.4,566.5,76.7,-21744.2,-4180.4
$MHEAD_RNG_PITCHd_Wd,42.5,5687,-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,-194.7,0.0,0.0,0,120,0.00,0.00,-97.62,0.000,2,0.000,0.000,58,3361,2948,0,0,0,0,0,0
$GC,124,-0.49,-194.7,3.3,-3.7,12,144,5.72,2.22,-7.82,0.000,4,0.230,0.047,1489,1960,3269,0,0,0,0,0,0
$GC,184,-0.49,-194.7,15.0,-15.3,20,195,0.00,2.33,0.00,0.000,6,0.000,0.060,1480,3343,3272,0,0,0,0,0,0
$GC,279,-0.49,-194.7,25.3,-12.4,33,288,0.00,1.00,0.00,0.000,4,0.000,0.060,1475,3955,3272,0,0,0,0,0,0
$GC,328,-0.49,-194.7,32.5,-13.5,40,339,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3373,3272,0,0,0,0,0,0
$GC,582,-0.49,-194.7,59.2,-10.2,81,589,0.00,0.93,0.00,0.000,4,0.000,0.060,1471,3950,3272,0,0,0,0,0,0
$GC,678,-0.49,-194.7,69.5,-11.3,97,683,0.00,0.93,0.00,0.000,6,0.000,0.035,1471,3338,3272,0,0,0,0,0,0
$GC,1031,-0.49,-194.7,109.4,-11.4,149,1034,0.00,0.98,0.00,0.000,4,0.000,0.058,1466,3952,3273,0,0,0,0,0,0
$GC,1178,-0.49,-194.7,127.9,-12.2,157,1182,0.00,0.90,0.00,0.000,6,0.000,0.034,1466,3350,3274,0,0,0,0,0,0
$GC,1503,-0.49,-194.7,166.6,-12.3,178,1506,0.00,0.95,0.00,0.000,4,0.000,0.059,1462,3952,3274,0,0,0,0,0,0
$GC,1604,-0.49,-194.7,179.8,-12.6,184,1608,0.00,0.90,0.00,0.000,6,0.000,0.035,1462,3348,3275,0,0,0,0,0,0
$GC,1938,-0.49,-194.7,223.6,-13.1,205,1942,0.00,0.95,0.00,0.000,4,0.000,0.059,1458,3953,3275,0,0,0,0,0,0
$GC,2030,-0.49,-194.7,237.2,-13.8,210,2036,0.08,0.90,0.00,0.000,6,0.135,0.035,1483,3349,3274,0,0,0,0,0,0
$GC,2361,-0.49,-194.7,272.1,-10.4,228,2365,0.00,0.95,0.00,0.000,4,0.000,0.060,1481,3954,3274,0,0,0,0,0,0
$GC,2434,-0.49,-194.7,279.9,-10.5,231,2437,0.00,0.90,0.00,0.000,6,0.000,0.036,1481,3350,3274,0,0,0,0,0,0
$GC,2769,-0.49,-194.7,314.6,-10.2,247,2774,0.00,0.95,0.00,0.000,4,0.000,0.059,1476,3954,3273,0,0,0,0,0,0
$GC,2840,-0.49,-194.7,322.3,-10.9,250,2846,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3350,3273,0,0,0,0,0,0
$GC,3175,-0.49,-194.7,358.3,-10.6,266,3179,0.00,0.95,0.00,0.000,4,0.000,0.059,1472,3954,3273,0,0,0,0,0,0
$GC,3216,-0.49,-194.7,362.9,-11.3,267,3222,0.00,0.90,0.00,0.000,6,0.000,0.035,1472,3348,3273,0,0,0,0,0,0
$GC,3534,-0.49,-194.7,395.8,-10.6,283,3540,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3953,3272,0,0,0,0,0,0
$GC,3609,-0.49,-194.7,405.0,-11.2,286,3615,0.00,0.90,0.00,0.000,6,0.000,0.036,1467,3348,3272,0,0,0,0,0,0
$GC,3947,-0.49,-194.7,440.7,-10.5,297,3950,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3951,3271,0,0,0,0,0,0
$GC,4026,-0.49,-194.7,449.5,-10.9,299,4029,0.00,0.90,0.00,0.000,6,0.000,0.036,1463,3348,3272,0,0,0,0,0,0
$GC,4357,-0.49,-194.7,484.5,-10.5,310,4360,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3953,3271,0,0,0,0,0,0
$GC,4436,-0.49,-194.7,493.4,-11.1,312,4440,0.08,0.90,0.00,0.000,6,0.135,0.037,1484,3352,3271,0,0,0,0,0,0
$GC,4767,-0.49,-194.7,520.8,-7.9,323,4770,0.00,0.95,0.00,0.000,4,0.000,0.060,1480,3954,3271,0,0,0,0,0,0
$GC,4861,-0.49,-194.7,528.8,-7.9,325,4868,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3353,3271,0,0,0,0,0,0
$GC,5175,-0.49,-194.7,553.9,-8.1,336,5178,0.00,0.98,0.00,0.000,4,0.000,0.062,1476,3955,3270,0,0,0,0,0,0
$GC,5250,-0.49,-194.7,560.5,-9.0,338,5253,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3353,3270,0,0,0,0,0,0
$GC,5586,-0.49,-194.7,589.0,-8.5,349,5589,0.00,0.98,0.00,0.000,4,0.000,0.062,1472,3954,3268,0,0,0,0,0,0
$GC,5696,-0.49,-194.7,599.6,-9.2,352,5702,0.00,0.90,0.00,0.000,6,0.000,0.037,1472,3354,3268,0,0,0,0,0,0
$GC,6027,-0.49,-194.7,630.5,-9.5,363,6033,0.00,0.98,0.00,0.000,4,0.000,0.063,1468,3954,3268,0,0,0,0,0,0
$GC,6080,-0.49,-194.7,635.9,-10.5,364,6083,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3353,3268,0,0,0,0,0,0
$GC,6405,-0.49,-194.7,669.4,-10.4,375,6409,0.00,0.98,0.00,0.000,4,0.000,0.063,1463,3954,3267,0,0,0,0,0,0
$GC,6459,-0.49,-194.7,675.8,-11.5,376,6463,0.00,0.90,0.00,0.000,6,0.000,0.037,1463,3355,3267,0,0,0,0,0,0
$GC,6779,-0.49,-194.7,710.3,-11.0,387,6782,0.00,0.95,0.00,0.000,4,0.000,0.062,1459,3955,3266,0,0,0,0,0,0
$GC,6823,-0.49,-194.7,715.6,-11.5,388,6827,0.08,0.90,0.00,0.000,6,0.136,0.037,1484,3357,3266,0,0,0,0,0,0
$GC,7153,-0.49,-194.7,743.9,-8.3,399,7159,0.00,0.95,0.00,0.000,4,0.000,0.062,1481,3957,3265,0,0,0,0,0,0
$GC,7202,-0.49,-194.7,748.0,-8.9,400,7205,0.00,0.93,0.00,0.000,6,0.000,0.038,1481,3340,3265,0,0,0,0,0,0
$GC,7533,-0.49,-194.7,775.2,-8.2,411,7537,0.00,0.98,0.00,0.000,4,0.000,0.062,1477,3958,3264,0,0,0,0,0,0
$GC,7628,-0.49,-194.7,783.6,-9.2,413,7634,0.00,0.93,0.00,0.000,6,0.000,0.038,1476,3345,3264,0,0,0,0,0,0
$GC,7941,-0.49,-194.7,808.9,-8.0,424,7945,0.00,0.95,0.00,0.000,4,0.000,0.062,1472,3949,3263,0,0,0,0,0,0
$GC,7992,-0.49,-194.7,813.5,-8.9,425,7995,0.00,0.90,0.00,0.000,6,0.000,0.040,1472,3351,3262,0,0,0,0,0,0
$GC,8316,-0.49,-194.7,840.3,-8.4,436,8320,0.00,0.95,0.00,0.000,4,0.000,0.063,1468,3951,3262,0,0,0,0,0,0
$GC,8366,-0.49,-194.7,845.2,-10.5,437,8372,0.00,0.90,0.00,0.000,6,0.000,0.039,1468,3353,3262,0,0,0,0,0,0
$GC,8692,-0.49,-194.7,872.9,-8.5,448,8697,0.00,0.95,0.00,0.000,4,0.000,0.063,1463,3952,3261,0,0,0,0,0,0
$GC,8745,-0.49,-194.7,877.6,-9.3,449,8748,0.00,0.90,0.00,0.000,6,0.000,0.039,1463,3356,3261,0,0,0,0,0,0
$GC,9071,-0.49,-194.7,904.7,-8.3,460,9074,0.00,0.95,0.00,0.000,4,0.000,0.063,1459,3954,3260,0,0,0,0,0,0
$GC,9146,-0.49,-194.7,911.6,-8.9,462,9150,0.08,0.90,0.00,0.000,6,0.138,0.039,1484,3359,3260,0,0,0,0,0,0
$GC,9482,-0.49,-194.7,934.4,-6.5,473,9485,0.00,0.95,0.00,0.000,4,0.000,0.064,1481,3957,3259,0,0,0,0,0,0
$GC,9526,-0.49,-194.7,937.7,-7.3,474,9530,0.00,0.93,0.00,0.000,6,0.000,0.040,1481,3347,3259,0,0,0,0,0,0
$GC,9857,-0.49,-194.7,959.4,-6.6,485,9860,0.00,0.95,0.00,0.000,4,0.000,0.063,1477,3946,3258,0,0,0,0,0,0
$GC,9929,-0.49,-194.7,964.7,-6.5,487,9932,0.00,0.90,0.00,0.000,6,0.000,0.041,1477,3353,3258,0,0,0,0,0,0
$GC,10265,-0.49,-194.7,987.5,-7.0,498,10268,0.00,0.95,0.00,0.000,4,0.000,0.063,1472,3951,3257,0,0,0,0,0,0
$GC,10320,-0.49,-194.7,991.8,-8.0,499,10326,0.00,0.90,0.00,0.000,6,0.000,0.040,1472,3356,3257,0,0,0,0,0,0
$STATE,10453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10454,begin apogee
$GC,10461,-0.14,0.0,1001.2,7.0,504,10650,0.43,0.00,181.12,1.827,6,0.125,0.000,1606,3245,2474,0,0,0,0,1,0
$STATE,10651,end apogee,CONTROL_FINISHED_OK
$STATE,10651,begin climb
$GC,10654,0.49,194.7,1005.4,0.0,510,10864,0.57,2.53,192.68,1.780,4,0.046,0.034,1830,1834,1679,0,0,0,0,1,0
$GC,10982,0.49,194.7,954.1,17.0,520,10986,0.00,2.45,0.00,0.000,6,0.000,0.053,1830,3253,1675,0,0,0,0,0,0
$GC,11317,0.49,194.7,881.9,21.7,531,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3254,1671,0,0,0,0,0,0
$GC,11624,0.49,194.7,817.3,20.8,541,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3253,1669,0,0,0,0,0,0
$GC,11931,0.49,194.7,755.5,20.1,551,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3253,1669,0,0,0,0,0,0
$GC,12236,0.49,194.7,693.9,19.9,561,12241,0.00,2.22,0.00,0.000,4,0.000,0.035,1841,1826,1668,0,0,0,0,0,0
$GC,12264,0.49,194.7,688.3,17.9,561,12272,0.12,2.30,0.00,0.000,6,0.171,0.052,1810,3256,1668,0,0,0,0,0,0
$GC,12578,0.49,194.7,634.0,17.7,572,12581,0.00,1.12,0.00,0.000,4,0.000,0.058,1810,3954,1667,0,0,0,0,0,0
$GC,12605,0.49,194.7,628.8,18.3,572,12611,0.00,1.08,0.00,0.000,6,0.000,0.034,1814,3242,1667,0,0,0,0,0,0
$GC,12920,0.49,194.7,572.3,18.1,583,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3242,1667,0,0,0,0,0,0
$GC,13224,0.49,194.7,516.6,18.5,593,13225,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3242,1666,0,0,0,0,0,0
$GC,13530,0.49,194.7,459.9,18.6,603,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3242,1666,0,0,0,0,0,0
$GC,13838,0.49,194.7,403.4,18.2,613,13839,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3242,1665,0,0,0,0,0,0
$GC,14157,0.49,194.7,345.8,18.4,628,14161,0.00,2.10,0.00,0.000,4,0.000,0.033,1824,1831,1665,0,0,0,0,0,0
$GC,14192,0.49,194.7,339.6,15.4,629,14199,0.00,2.25,0.00,0.000,6,0.000,0.048,1824,3256,1664,0,0,0,0,0,0
$GC,14510,0.49,194.7,280.8,18.6,645,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3256,1664,0,0,0,0,0,0
$GC,14833,0.49,194.7,220.1,18.9,663,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3256,1664,0,0,0,0,0,0
$GC,15143,0.49,194.7,161.6,18.6,683,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3256,1664,0,0,0,0,0,0
$GC,15458,0.49,194.7,103.4,18.6,703,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3256,1664,0,0,0,0,0,0
$GC,15801,0.49,194.7,41.5,16.8,759,15808,0.00,2.12,0.00,0.000,4,0.000,0.031,1835,1833,1664,0,0,0,0,0,0
$GC,15883,0.49,194.7,30.4,11.3,772,15894,0.00,2.25,0.00,0.000,6,0.000,0.048,1836,3247,1664,0,0,0,0,0,0
$STATE,16057,end climb,SURFACE_DEPTH_REACHED
$STATE,16057,begin surface coast
$FINISH,0.9,1.016152
$STATE,16077,end surface coast,CONTROL_FINISHED_OK
$STATE,16077,begin surface
$SM_CCo,16093,125.95,0.736,1,0,505,482.50
$SM_GC,1.49,0.00,0.00,125.95,0.000,0.000,0.736,50,3367,505,-5.00,0.42,482.50
$IRIDIUM_FIX,-4149.58,820.52,261212,010147
$TT8_MAMPS,0.025466
$HUMID,54.44
$INTERNAL_PRESSURE,8.99566
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.2,21.669
$10V_AH,10.1,11.481
$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,11.700,73.675,373.800,125.950,0.000,27.025,24.347,450.433,0.000,0.000,18.147,2040.576,10694.157,592.208,2662.304,906.447,33.363,1627.473,0.000,2386.055,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,80.325,1826.820,735.930,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.094,1746.280,786.585,365.442,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,60305,801
$CAP_FILE_SIZE,136419,0
$CFSIZE,259252224,251772928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,261212,102859,-4200.907,821.396,37,0.9,37,-24.9