version: 66.07
glider: 543
mission: 6
dive: 113
start: 12 27 112 0 37 14
data:
$ID,543
$MISSION,6
$DIVE,113
$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,-8178.063
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,271212,002204,-4158.505,822.751,40,1.1,40,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-29.1
$GPS2,271212,003617,-4158.468,822.650,16,1.6,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.239,0.068
$KALMAN_X,-31877.0,350.6,480.0,59676.6,-8900.8
$KALMAN_Y,65927.8,867.4,601.9,-8954.1,-4328.3
$MHEAD_RNG_PITCHd_Wd,99.0,4621,-16.0,-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,-0.53,-143.5,0.0,0.0,0,112,0.00,0.00,-90.05,0.000,2,0.000,0.000,54,3369,2770,0,0,0,0,0,0
$GC,117,-0.56,-194.7,3.3,-4.6,11,143,5.50,0.93,-12.35,0.000,4,0.218,0.087,1457,3933,3267,0,0,0,0,0,0
$GC,430,-0.56,-194.7,55.5,-15.4,59,437,0.00,0.88,0.00,0.000,6,0.000,0.036,1457,3362,3270,0,0,0,0,0,0
$GC,672,-0.56,-194.7,89.9,-13.3,100,680,0.00,0.93,0.00,0.000,4,0.000,0.059,1452,3938,3270,0,0,0,0,0,0
$GC,940,-0.56,-194.7,125.9,-13.5,124,944,0.00,0.88,0.00,0.000,6,0.000,0.037,1452,3358,3270,0,0,0,0,0,0
$GC,1266,-0.56,-194.7,166.4,-12.7,145,1272,0.00,0.93,0.00,0.000,4,0.000,0.059,1448,3937,3271,0,0,0,0,0,0
$GC,1466,-0.56,-194.7,194.1,-13.7,156,1471,0.00,0.88,0.00,0.000,6,0.000,0.036,1448,3355,3271,0,0,0,0,0,0
$GC,1799,-0.56,-194.7,239.7,-14.1,177,1804,0.00,0.93,0.00,0.000,4,0.000,0.060,1444,3938,3271,0,0,0,0,0,0
$GC,1968,-0.56,-194.7,265.5,-15.2,185,1972,0.00,0.88,0.00,0.000,6,0.000,0.036,1444,3355,3270,0,0,0,0,0,0
$GC,2303,-0.56,-194.7,316.0,-14.4,201,2309,0.00,0.93,0.00,0.000,4,0.000,0.059,1439,3938,3270,0,0,0,0,0,0
$GC,2435,-0.56,-194.7,337.2,-15.6,206,2446,0.00,0.88,0.00,0.000,6,0.000,0.037,1439,3355,3270,0,0,0,0,0,0
$GC,2753,-0.56,-194.7,381.5,-13.7,222,2756,0.00,0.93,0.00,0.000,4,0.000,0.059,1435,3940,3270,0,0,0,0,0,0
$GC,2915,-0.56,-194.7,405.6,-14.9,228,2921,0.08,0.88,0.00,0.000,6,0.145,0.037,1460,3357,3269,0,0,0,0,0,0
$GC,3235,-0.56,-194.7,441.5,-10.9,239,3241,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3924,3269,0,0,0,0,0,0
$GC,3422,-0.56,-194.7,463.3,-11.7,244,3427,0.00,0.88,0.00,0.000,6,0.000,0.037,1457,3342,3268,0,0,0,0,0,0
$GC,3747,-0.56,-194.7,498.4,-10.7,255,3752,0.00,0.93,0.00,0.000,4,0.000,0.060,1453,3927,3267,0,0,0,0,0,0
$GC,3843,-0.56,-194.7,510.1,-11.8,257,3851,0.00,0.88,0.00,0.000,6,0.000,0.037,1453,3347,3267,0,0,0,0,0,0
$GC,4156,-0.56,-194.7,546.9,-11.9,268,4162,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3929,3267,0,0,0,0,0,0
$GC,4297,-0.56,-194.7,565.5,-13.1,272,4302,0.00,0.88,0.00,0.000,6,0.000,0.037,1448,3346,3267,0,0,0,0,0,0
$GC,4635,-0.56,-194.7,609.4,-13.2,283,4638,0.00,0.93,0.00,0.000,4,0.000,0.061,1444,3931,3266,0,0,0,0,0,0
$GC,4808,-0.56,-194.7,633.5,-13.8,288,4812,0.00,0.88,0.00,0.000,6,0.000,0.037,1444,3349,3266,0,0,0,0,0,0
$GC,5150,-0.56,-194.7,680.9,-13.6,299,5153,0.00,0.93,0.00,0.000,4,0.000,0.062,1440,3933,3264,0,0,0,0,0,0
$GC,5221,-0.56,-194.7,690.6,-14.2,301,5225,0.00,0.88,0.00,0.000,6,0.000,0.038,1440,3352,3263,0,0,0,0,0,0
$GC,5563,-0.56,-194.7,735.1,-12.5,312,5566,0.00,0.93,0.00,0.000,4,0.000,0.062,1436,3934,3262,0,0,0,0,0,0
$GC,5716,-0.56,-194.7,755.5,-13.4,316,5719,0.00,0.88,0.00,0.000,6,0.000,0.038,1436,3356,3262,0,0,0,0,0,0
$GC,6040,-0.56,-194.7,794.9,-11.9,327,6044,0.12,0.93,0.00,0.000,4,0.170,0.062,1465,3928,3261,0,0,0,0,0,0
$GC,6178,-0.56,-194.7,808.2,-8.9,331,6182,0.00,0.88,0.00,0.000,6,0.000,0.040,1465,3350,3261,0,0,0,0,0,0
$GC,6520,-0.56,-194.7,838.9,-8.8,342,6526,0.00,0.93,0.00,0.000,4,0.000,0.063,1461,3930,3260,0,0,0,0,0,0
$GC,6669,-0.56,-194.7,853.1,-9.2,346,6672,0.00,0.88,0.00,0.000,6,0.000,0.040,1461,3355,3259,0,0,0,0,0,0
$GC,7000,-0.56,-194.7,883.7,-9.1,357,7003,0.00,0.93,0.00,0.000,4,0.000,0.063,1457,3934,3258,0,0,0,0,0,0
$GC,7138,-0.56,-194.7,897.5,-9.3,361,7142,0.00,0.90,0.00,0.000,6,0.000,0.040,1456,3341,3257,0,0,0,0,0,0
$GC,7474,-0.56,-194.7,929.0,-9.4,372,7478,0.00,0.95,0.00,0.000,4,0.000,0.063,1452,3939,3256,0,0,0,0,0,0
$GC,7626,-0.56,-194.7,944.9,-11.0,376,7632,0.00,0.90,0.00,0.000,6,0.000,0.039,1452,3347,3256,0,0,0,0,0,0
$GC,7952,-0.56,-194.7,977.4,-10.2,387,7957,0.00,0.93,0.00,0.000,4,0.000,0.063,1448,3928,3256,0,0,0,0,0,0
$GC,8111,-0.56,-194.7,995.3,-11.3,391,8115,0.00,0.88,0.00,0.000,6,0.000,0.040,1448,3353,3255,0,0,0,0,0,0
$STATE,8153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8153,begin apogee
$GC,8160,-0.14,0.0,1000.0,11.2,393,8349,0.50,0.00,180.70,1.815,6,0.134,0.000,1603,3259,2473,0,0,0,0,1,0
$STATE,8351,end apogee,CONTROL_FINISHED_OK
$STATE,8351,begin climb
$GC,8353,0.56,194.7,1008.5,0.0,399,8561,0.65,2.55,192.05,1.776,4,0.047,0.034,1853,1832,1681,0,0,0,0,1,0
$GC,8670,0.56,194.7,962.1,16.6,408,8677,0.00,2.42,0.00,0.000,6,0.000,0.052,1853,3237,1678,0,0,0,0,0,0
$GC,8984,0.56,194.7,894.2,22.2,419,8988,0.00,1.17,0.00,0.000,4,0.000,0.057,1853,3947,1674,0,0,0,0,0,0
$GC,9090,0.56,194.7,868.2,24.2,422,9094,0.00,1.10,0.00,0.000,6,0.000,0.034,1859,3237,1673,0,0,0,0,0,0
$GC,9426,0.56,194.7,788.5,24.0,433,9431,0.00,1.15,0.00,0.000,4,0.000,0.057,1859,3944,1671,0,0,0,0,0,0
$GC,9482,0.56,194.7,773.8,25.6,434,9486,0.08,1.05,0.00,0.000,6,0.190,0.034,1843,3253,1671,0,0,0,0,0,0
$GC,9802,0.56,194.7,701.9,22.4,445,9805,0.00,1.12,0.00,0.000,4,0.000,0.057,1843,3947,1671,0,0,0,0,0,0
$GC,9846,0.56,194.7,690.8,24.7,446,9850,0.00,1.05,0.00,0.000,6,0.000,0.034,1847,3253,1671,0,0,0,0,0,0
$GC,10177,0.56,194.7,616.9,22.6,457,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3253,1670,0,0,0,0,0,0
$GC,10483,0.56,194.7,549.3,22.0,467,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3253,1669,0,0,0,0,0,0
$GC,10790,0.56,194.7,483.4,21.2,477,10794,0.00,1.12,0.00,0.000,4,0.000,0.055,1847,3956,1669,0,0,0,0,0,0
$GC,10865,0.56,194.7,466.4,23.5,479,10869,0.00,1.05,0.00,0.000,6,0.000,0.034,1852,3253,1669,0,0,0,0,0,0
$GC,11202,0.56,194.7,395.2,20.5,490,11206,0.00,1.10,0.00,0.000,4,0.000,0.054,1852,3949,1668,0,0,0,0,0,0
$GC,11242,0.56,194.7,386.4,21.0,491,11249,0.00,1.05,0.00,0.000,6,0.000,0.033,1858,3243,1668,0,0,0,0,0,0
$GC,11561,0.56,194.7,323.0,19.9,507,11566,0.00,1.12,0.00,0.000,4,0.000,0.054,1858,3949,1668,0,0,0,0,0,0
$GC,11636,0.56,194.7,306.6,21.9,510,11642,0.08,1.02,0.00,0.000,6,0.190,0.033,1841,3254,1668,0,0,0,0,0,0
$GC,11961,0.56,194.7,246.8,18.9,526,11962,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,3253,1668,0,0,0,0,0,0
$GC,12274,0.56,194.7,186.9,19.4,546,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,3254,1668,0,0,0,0,0,0
$GC,12586,0.56,194.7,123.4,20.8,566,12589,0.00,1.10,0.00,0.000,4,0.000,0.053,1841,3949,1668,0,0,0,0,0,0
$GC,12658,0.56,194.7,106.8,23.3,570,12661,0.00,1.02,0.00,0.000,6,0.000,0.032,1845,3252,1668,0,0,0,0,0,0
$GC,13017,0.56,194.7,26.8,16.0,627,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3252,1668,0,0,0,0,0,0
$GC,13108,0.56,194.7,11.1,19.3,640,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3252,1668,0,0,0,0,0,0
$STATE,13149,end climb,SURFACE_DEPTH_REACHED
$STATE,13149,begin surface coast
$FINISH,0.9,1.026049
$STATE,13164,end surface coast,CONTROL_FINISHED_OK
$STATE,13164,begin surface
$SM_CCo,13180,128.55,0.738,1,0,504,482.50
$SM_GC,1.47,0.00,0.00,128.55,0.000,0.000,0.738,65,3367,504,-4.95,0.40,482.50
$IRIDIUM_FIX,-4143.80,825.83,271212,000031
$TT8_MAMPS,0.025466
$HUMID,55.78
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,22.501
$10V_AH,10.1,11.944
$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,11.675,51.175,372.750,128.550,0.000,54.059,75.548,466.548,0.000,0.000,20.235,1713.776,8378.526,564.955,2668.649,836.424,33.360,1564.137,0.000,2253.208,0.000,1.014,0.000
$DEVICE_MAMPS,218.025,87.210,1814.580,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.495,1450.635,655.248,292.371,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,47161,647
$CAP_FILE_SIZE,121264,0
$CFSIZE,259252224,251523072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,271212,042034,-4157.934,822.987,45,1.0,45,-24.9