version: 66.07
glider: 543
mission: 6
dive: 114
start: 12 27 112 4 30 39
data:
$ID,543
$MISSION,6
$DIVE,114
$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,-8181.521
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,271212,042034,-4157.934,822.987,45,1.0,45,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-25.2
$GPS2,271212,042943,-4157.926,822.956,20,0.9,21,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.282,-0.037
$KALMAN_X,-36548.5,696.2,216.5,64687.3,-10517.5
$KALMAN_Y,66198.4,795.5,177.8,-7722.0,-3242.4
$MHEAD_RNG_PITCHd_Wd,122.3,5595,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.49,-194.7,0.0,0.0,0,113,0.00,0.00,-88.82,0.000,2,0.000,0.000,64,3367,2677,0,0,0,0,0,0
$GC,117,-0.49,-194.7,3.0,-3.9,11,144,5.53,0.98,-16.45,0.000,4,0.220,0.097,1482,3935,3269,0,0,0,0,0,0
$GC,431,-0.49,-194.7,47.6,-17.3,59,438,0.00,0.88,0.00,0.000,6,0.000,0.037,1482,3365,3272,0,0,0,0,0,0
$GC,676,-0.49,-194.7,75.7,-7.9,100,683,0.00,0.93,0.00,0.000,4,0.000,0.060,1478,3939,3273,0,0,0,0,0,0
$GC,844,-0.49,-194.7,89.6,-8.8,127,849,0.00,0.90,0.00,0.000,6,0.000,0.037,1478,3346,3273,0,0,0,0,0,0
$GC,1185,-0.49,-194.7,119.3,-8.8,162,1189,0.00,0.93,0.00,0.000,4,0.000,0.058,1474,3929,3273,0,0,0,0,0,0
$GC,1294,-0.49,-194.7,129.4,-9.6,168,1297,0.00,0.88,0.00,0.000,6,0.000,0.037,1473,3351,3274,0,0,0,0,0,0
$GC,1628,-0.49,-194.7,160.5,-9.8,189,1632,0.00,0.93,0.00,0.000,4,0.000,0.058,1469,3935,3274,0,0,0,0,0,0
$GC,1702,-0.49,-194.7,169.4,-11.3,193,1706,0.00,0.88,0.00,0.000,6,0.000,0.037,1470,3356,3274,0,0,0,0,0,0
$GC,2027,-0.49,-194.7,205.8,-11.7,214,2030,0.00,0.93,0.00,0.000,4,0.000,0.059,1465,3941,3274,0,0,0,0,0,0
$GC,2136,-0.49,-194.7,219.9,-13.0,220,2140,0.00,0.90,0.00,0.000,6,0.000,0.036,1465,3343,3274,0,0,0,0,0,0
$GC,2466,-0.49,-194.7,260.1,-11.9,240,2470,0.00,0.93,0.00,0.000,4,0.000,0.058,1461,3930,3274,0,0,0,0,0,0
$GC,2585,-0.49,-194.7,274.4,-12.4,245,2589,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3363,3273,0,0,0,0,0,0
$GC,2920,-0.49,-194.7,313.4,-11.5,261,2926,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3934,3274,0,0,0,0,0,0
$GC,3016,-0.49,-194.7,325.0,-11.9,265,3021,0.08,0.88,0.00,0.000,6,0.133,0.037,1483,3351,3274,0,0,0,0,0,0
$GC,3351,-0.49,-194.7,358.1,-9.8,281,3357,0.00,0.93,0.00,0.000,4,0.000,0.059,1480,3936,3273,0,0,0,0,0,0
$GC,3435,-0.49,-194.7,367.2,-10.8,284,3439,0.00,0.88,0.00,0.000,6,0.000,0.037,1480,3354,3273,0,0,0,0,0,0
$GC,3759,-0.49,-194.7,402.0,-10.9,300,3762,0.00,0.93,0.00,0.000,4,0.000,0.060,1475,3938,3273,0,0,0,0,0,0
$GC,3860,-0.49,-194.7,414.0,-11.4,303,3863,0.00,0.88,0.00,0.000,6,0.000,0.037,1475,3353,3273,0,0,0,0,0,0
$GC,4201,-0.49,-194.7,452.6,-11.0,314,4207,0.00,0.95,0.00,0.000,4,0.000,0.061,1471,3938,3272,0,0,0,0,0,0
$GC,4306,-0.49,-194.7,464.4,-11.0,317,4310,0.00,0.88,0.00,0.000,6,0.000,0.037,1471,3354,3272,0,0,0,0,0,0
$GC,4648,-0.49,-194.7,499.8,-9.9,328,4651,0.00,0.93,0.00,0.000,4,0.000,0.060,1467,3941,3271,0,0,0,0,0,0
$GC,4731,-0.49,-194.7,508.3,-9.7,330,4735,0.00,0.88,0.00,0.000,6,0.000,0.037,1467,3356,3271,0,0,0,0,0,0
$GC,5056,-0.49,-194.7,538.0,-8.8,341,5060,0.00,0.93,0.00,0.000,4,0.000,0.059,1462,3942,3271,0,0,0,0,0,0
$GC,5174,-0.49,-194.7,549.5,-9.7,344,5177,0.00,0.88,0.00,0.000,6,0.000,0.037,1463,3358,3271,0,0,0,0,0,0
$GC,5500,-0.49,-194.7,579.0,-9.3,355,5503,0.00,0.93,0.00,0.000,4,0.000,0.060,1458,3945,3269,0,0,0,0,0,0
$GC,5605,-0.49,-194.7,589.6,-9.7,358,5609,0.08,0.88,0.00,0.000,6,0.135,0.037,1484,3361,3269,0,0,0,0,0,0
$GC,5941,-0.49,-194.7,615.4,-7.8,369,5947,0.00,0.90,0.00,0.000,4,0.000,0.060,1481,3928,3269,0,0,0,0,0,0
$GC,6003,-0.49,-194.7,621.0,-9.2,370,6010,0.00,0.88,0.00,0.000,6,0.000,0.038,1481,3347,3269,0,0,0,0,0,0
$GC,6318,-0.49,-194.7,647.3,-8.6,381,6322,0.00,0.93,0.00,0.000,4,0.000,0.060,1477,3932,3269,0,0,0,0,0,0
$GC,6435,-0.49,-194.7,658.6,-10.0,384,6440,0.00,0.88,0.00,0.000,6,0.000,0.039,1477,3352,3269,0,0,0,0,0,0
$GC,6760,-0.49,-194.7,688.2,-9.1,395,6765,0.00,0.93,0.00,0.000,4,0.000,0.060,1472,3937,3268,0,0,0,0,0,0
$GC,6850,-0.49,-194.7,696.9,-9.7,397,6855,0.00,0.88,0.00,0.000,6,0.000,0.039,1472,3358,3268,0,0,0,0,0,0
$GC,7169,-0.49,-194.7,725.7,-9.1,408,7175,0.00,0.93,0.00,0.000,4,0.000,0.061,1468,3942,3266,0,0,0,0,0,0
$GC,7248,-0.49,-194.7,733.3,-9.8,410,7252,0.00,0.90,0.00,0.000,6,0.000,0.039,1468,3345,3266,0,0,0,0,0,0
$GC,7579,-0.49,-194.7,763.4,-9.2,421,7584,0.00,0.93,0.00,0.000,4,0.000,0.061,1464,3929,3265,0,0,0,0,0,0
$GC,7658,-0.49,-194.7,771.6,-10.8,423,7661,0.00,0.88,0.00,0.000,6,0.000,0.039,1464,3353,3265,0,0,0,0,0,0
$GC,7988,-0.49,-194.7,804.4,-10.0,434,7993,0.00,0.93,0.00,0.000,4,0.000,0.061,1459,3935,3264,0,0,0,0,0,0
$GC,8073,-0.49,-194.7,813.9,-10.9,436,8077,0.08,0.88,0.00,0.000,6,0.132,0.039,1485,3357,3264,0,0,0,0,0,0
$GC,8397,-0.49,-194.7,842.4,-8.8,447,8401,0.00,0.93,0.00,0.000,4,0.000,0.063,1482,3939,3264,0,0,0,0,0,0
$GC,8499,-0.49,-194.7,852.0,-9.8,450,8505,0.00,0.88,0.00,0.000,6,0.000,0.040,1482,3360,3263,0,0,0,0,0,0
$GC,8843,-0.49,-194.7,883.4,-8.9,461,8847,0.00,0.93,0.00,0.000,4,0.000,0.062,1478,3943,3262,0,0,0,0,0,0
$GC,8903,-0.49,-194.7,889.4,-9.9,462,8910,0.00,0.90,0.00,0.000,6,0.000,0.040,1478,3349,3262,0,0,0,0,0,0
$GC,9217,-0.49,-194.7,917.1,-8.9,473,9221,0.00,0.93,0.00,0.000,4,0.000,0.064,1474,3932,3261,0,0,0,0,0,0
$GC,9312,-0.49,-194.7,926.1,-9.4,475,9318,0.00,0.88,0.00,0.000,6,0.000,0.040,1474,3357,3261,0,0,0,0,0,0
$GC,9625,-0.49,-194.7,953.4,-8.6,486,9629,0.00,0.93,0.00,0.000,4,0.000,0.063,1470,3938,3261,0,0,0,0,0,0
$GC,9729,-0.49,-194.7,962.4,-8.6,489,9732,0.00,0.90,0.00,0.000,6,0.000,0.040,1469,3344,3260,0,0,0,0,0,0
$GC,10072,-0.49,-194.7,989.7,-7.5,500,10076,0.00,0.93,0.00,0.000,4,0.000,0.063,1465,3927,3260,0,0,0,0,0,0
$GC,10170,-0.49,-194.7,997.7,-8.4,502,10176,0.00,0.88,0.00,0.000,6,0.000,0.041,1465,3353,3259,0,0,0,0,0,0
$STATE,10205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10205,begin apogee
$GC,10212,-0.14,0.0,1000.6,7.7,504,10419,0.43,0.00,197.57,1.174,6,0.126,0.000,1599,3256,2464,0,0,0,0,0,0
$STATE,10421,end apogee,CONTROL_FINISHED_OK
$STATE,10421,begin climb
$GC,10424,0.49,194.7,1004.9,0.0,511,10633,0.57,2.47,198.18,1.130,4,0.052,0.034,1828,1837,1667,0,0,0,0,0,0
$GC,10698,0.49,194.7,961.2,17.0,519,10702,0.00,2.45,0.00,0.000,6,0.000,0.052,1828,3241,1655,0,0,0,0,0,0
$GC,11017,0.49,194.7,893.7,21.3,530,11021,0.00,1.17,0.00,0.000,4,0.000,0.058,1828,3941,1650,0,0,0,0,0,0
$GC,11072,0.49,194.7,880.6,23.9,531,11076,0.00,1.10,0.00,0.000,6,0.000,0.034,1833,3239,1649,0,0,0,0,0,0
$GC,11391,0.49,194.7,812.7,21.4,542,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3239,1648,0,0,0,0,0,0
$GC,11697,0.49,194.7,748.5,20.7,552,11701,0.00,1.17,0.00,0.000,4,0.000,0.058,1833,3955,1647,0,0,0,0,0,0
$GC,11769,0.49,194.7,733.1,22.0,554,11773,0.00,1.08,0.00,0.000,6,0.000,0.034,1839,3250,1647,0,0,0,0,0,0
$GC,12111,0.49,194.7,659.5,21.1,565,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3249,1646,0,0,0,0,0,0
$GC,12418,0.49,194.7,593.9,21.4,575,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3249,1646,0,0,0,0,0,0
$GC,12723,0.49,194.7,529.1,21.2,585,12729,0.00,1.12,0.00,0.000,4,0.000,0.057,1839,3949,1646,0,0,0,0,0,0
$GC,12828,0.49,194.7,506.0,22.4,588,12833,0.10,1.05,0.00,0.000,6,0.178,0.034,1815,3247,1645,0,0,0,0,0,0
$GC,13169,0.49,194.7,442.6,18.2,599,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3246,1645,0,0,0,0,0,0
$GC,13487,0.49,194.7,387.8,17.3,610,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3246,1644,0,0,0,0,0,0
$GC,13798,0.49,194.7,332.3,18.3,625,13804,0.00,1.12,0.00,0.000,4,0.000,0.055,1815,3952,1644,0,0,0,0,0,0
$GC,13873,0.49,194.7,316.8,19.8,628,13879,0.00,1.05,0.00,0.000,6,0.000,0.034,1819,3246,1644,0,0,0,0,0,0
$GC,14203,0.49,194.7,253.4,19.4,644,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3246,1644,0,0,0,0,0,0
$GC,14520,0.49,194.7,190.7,20.0,664,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3246,1644,0,0,0,0,0,0
$GC,14832,0.49,194.7,128.6,19.7,684,14835,0.00,1.12,0.00,0.000,4,0.000,0.054,1818,3952,1644,0,0,0,0,0,0
$GC,14889,0.49,194.7,117.6,20.5,687,14892,0.00,1.02,0.00,0.000,6,0.000,0.032,1824,3254,1644,0,0,0,0,0,0
$GC,15240,0.49,194.7,54.3,16.6,736,15249,0.00,2.12,0.00,0.000,4,0.000,0.031,1835,1843,1644,0,0,0,0,0,0
$GC,15301,0.49,194.7,45.7,13.2,745,15308,0.00,2.22,0.00,0.000,6,0.000,0.048,1835,3256,1644,0,0,0,0,0,0
$GC,15561,0.49,194.7,5.5,14.3,786,15572,0.00,1.08,0.00,0.000,4,0.000,0.054,1835,3946,1644,0,0,0,0,0,0
$STATE,15581,end climb,SURFACE_DEPTH_REACHED
$STATE,15581,begin surface coast
$FINISH,0.8,1.013843
$STATE,15605,end surface coast,CONTROL_FINISHED_OK
$STATE,15605,begin surface
$SM_CCo,15621,124.82,0.738,1,0,505,482.50
$SM_GC,1.17,0.00,0.00,124.82,0.000,0.000,0.738,59,3349,505,-4.97,-0.11,482.50
$IRIDIUM_FIX,-4143.80,825.83,271212,000031
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,8.98589
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.9,22.676
$10V_AH,10.1,12.062
$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,11.600,65.725,395.750,124.825,0.000,25.055,43.594,311.936,0.000,0.000,22.953,2029.441,10078.037,591.097,2683.909,916.623,33.364,1667.486,0.000,2491.078,0.000,1.015,0.000
$DEVICE_MAMPS,219.555,97.155,1173.510,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.959,1726.076,810.028,366.965,0.000,0.000,0.000,0.000,0.000,0.000
$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,57017,791
$CAP_FILE_SIZE,135734,0
$CFSIZE,259252224,251428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,271212,085434,-4158.488,823.950,42,1.1,42,-24.9