version: 66.07
glider: 543
mission: 6
dive: 115
start: 12 27 112 9 7 57
data:
$ID,543
$MISSION,6
$DIVE,115
$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,-8184.998
$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,24
$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
$GPS1,271212,085434,-4158.488,823.950,42,1.1,42,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-37.4
$GPS2,271212,090659,-4158.476,823.860,17,1.4,18,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.280,-0.051
$KALMAN_X,-42087.4,1150.2,748.7,70466.2,-12406.2
$KALMAN_Y,66572.5,420.9,242.2,-8800.4,-2194.0
$MHEAD_RNG_PITCHd_Wd,125.2,6016,-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,17,begin dive
$GC,20,-0.49,-194.7,0.0,0.0,0,119,0.00,0.00,-96.90,0.000,2,0.000,0.000,59,3349,2945,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.5,-4.3,12,142,5.65,1.00,-7.68,0.000,4,0.226,0.087,1479,3951,3269,0,0,0,0,0,0
$GC,427,-0.49,-194.7,48.7,-12.2,59,434,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3363,3272,0,0,0,0,0,0
$GC,670,-0.49,-194.7,73.0,-8.8,100,677,0.00,0.93,0.00,0.000,4,0.000,0.060,1475,3938,3272,0,0,0,0,0,0
$GC,803,-0.49,-194.7,83.9,-8.0,122,809,0.00,0.90,0.00,0.000,6,0.000,0.037,1475,3346,3272,0,0,0,0,0,0
$GC,1148,-0.49,-194.7,115.2,-10.1,164,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3346,3273,0,0,0,0,0,0
$GC,1460,-0.49,-194.7,149.5,-11.4,184,1463,0.00,0.95,0.00,0.000,4,0.000,0.059,1471,3947,3273,0,0,0,0,0,0
$GC,1555,-0.49,-194.7,161.4,-12.1,189,1558,0.00,0.90,0.00,0.000,6,0.000,0.036,1471,3349,3273,0,0,0,0,0,0
$GC,1880,-0.49,-194.7,200.0,-11.8,210,1883,0.00,0.95,0.00,0.000,4,0.000,0.060,1467,3949,3273,0,0,0,0,0,0
$GC,1969,-0.49,-194.7,210.4,-12.3,215,1973,0.00,0.90,0.00,0.000,6,0.000,0.037,1467,3349,3273,0,0,0,0,0,0
$GC,2301,-0.49,-194.7,250.9,-11.7,236,2304,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3945,3273,0,0,0,0,0,0
$GC,2388,-0.49,-194.7,261.9,-12.6,239,2395,0.00,0.90,0.00,0.000,6,0.000,0.036,1462,3346,3273,0,0,0,0,0,0
$GC,2707,-0.49,-194.7,297.9,-10.9,255,2712,0.00,0.95,0.00,0.000,4,0.000,0.059,1458,3949,3273,0,0,0,0,0,0
$GC,2803,-0.49,-194.7,308.9,-11.2,259,2807,0.08,0.90,0.00,0.000,6,0.133,0.037,1483,3346,3272,0,0,0,0,0,0
$GC,3138,-0.49,-194.7,338.7,-8.4,275,3144,0.00,0.95,0.00,0.000,4,0.000,0.060,1480,3947,3272,0,0,0,0,0,0
$GC,3264,-0.49,-194.7,350.1,-7.9,280,3268,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3346,3272,0,0,0,0,0,0
$GC,3588,-0.49,-194.7,376.3,-8.3,296,3591,0.00,0.95,0.00,0.000,4,0.000,0.060,1476,3948,3271,0,0,0,0,0,0
$GC,3675,-0.49,-194.7,384.1,-8.4,299,3682,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3346,3271,0,0,0,0,0,0
$GC,3990,-0.49,-194.7,412.6,-9.3,313,3996,0.00,0.95,0.00,0.000,4,0.000,0.060,1471,3951,3271,0,0,0,0,0,0
$GC,4120,-0.49,-194.7,426.3,-10.4,316,4127,0.00,0.88,0.00,0.000,6,0.000,0.037,1471,3363,3271,0,0,0,0,0,0
$GC,4433,-0.49,-194.7,457.5,-10.0,327,4437,0.00,0.93,0.00,0.000,4,0.000,0.061,1467,3952,3270,0,0,0,0,0,0
$GC,4539,-0.49,-194.7,469.2,-11.4,330,4542,0.00,0.90,0.00,0.000,6,0.000,0.037,1467,3348,3270,0,0,0,0,0,0
$GC,4875,-0.49,-194.7,503.2,-10.1,341,4880,0.00,0.95,0.00,0.000,4,0.000,0.060,1462,3950,3270,0,0,0,0,0,0
$GC,4987,-0.49,-194.7,515.4,-10.1,344,4991,0.00,0.90,0.00,0.000,6,0.000,0.036,1463,3349,3269,0,0,0,0,0,0
$GC,5317,-0.49,-194.7,548.1,-9.9,355,5320,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3951,3269,0,0,0,0,0,0
$GC,5388,-0.49,-194.7,555.6,-9.8,357,5392,0.08,0.90,0.00,0.000,6,0.135,0.037,1484,3346,3269,0,0,0,0,0,0
$GC,5725,-0.49,-194.7,581.2,-7.5,368,5728,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3947,3267,0,0,0,0,0,0
$GC,5847,-0.49,-194.7,591.0,-8.4,371,5851,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3346,3267,0,0,0,0,0,0
$GC,6167,-0.49,-194.7,615.5,-7.8,382,6170,0.00,0.95,0.00,0.000,4,0.000,0.061,1476,3948,3267,0,0,0,0,0,0
$GC,6269,-0.49,-194.7,624.0,-7.9,385,6272,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3346,3267,0,0,0,0,0,0
$GC,6610,-0.49,-194.7,652.2,-8.5,396,6616,0.00,0.95,0.00,0.000,4,0.000,0.061,1472,3949,3266,0,0,0,0,0,0
$GC,6695,-0.49,-194.7,660.0,-9.2,398,6698,0.00,0.90,0.00,0.000,6,0.000,0.038,1472,3350,3266,0,0,0,0,0,0
$GC,7019,-0.49,-194.7,687.9,-8.6,409,7023,0.00,0.95,0.00,0.000,4,0.000,0.061,1468,3949,3265,0,0,0,0,0,0
$GC,7164,-0.49,-194.7,702.3,-10.0,413,7168,0.00,0.90,0.00,0.000,6,0.000,0.038,1467,3348,3265,0,0,0,0,0,0
$GC,7495,-0.49,-194.7,733.5,-9.5,424,7500,0.00,0.95,0.00,0.000,4,0.000,0.063,1463,3950,3263,0,0,0,0,0,0
$GC,7585,-0.49,-194.7,742.6,-10.4,426,7590,0.00,0.90,0.00,0.000,6,0.000,0.037,1463,3348,3263,0,0,0,0,0,0
$GC,7905,-0.49,-194.7,773.0,-9.5,437,7910,0.00,0.95,0.00,0.000,4,0.000,0.062,1458,3948,3262,0,0,0,0,0,0
$GC,8017,-0.49,-194.7,784.3,-9.3,440,8021,0.08,0.90,0.00,0.000,6,0.137,0.038,1483,3349,3262,0,0,0,0,0,0
$GC,8347,-0.49,-194.7,806.3,-6.4,451,8351,0.00,0.95,0.00,0.000,4,0.000,0.063,1481,3949,3262,0,0,0,0,0,0
$GC,8471,-0.49,-194.7,814.6,-6.5,454,8474,0.00,0.90,0.00,0.000,6,0.000,0.040,1480,3354,3262,0,0,0,0,0,0
$GC,8791,-0.49,-194.7,834.3,-6.0,465,8794,0.00,0.95,0.00,0.000,4,0.000,0.063,1476,3949,3261,0,0,0,0,0,0
$GC,8913,-0.49,-194.7,842.8,-7.3,468,8919,0.00,0.90,0.00,0.000,6,0.000,0.040,1476,3353,3261,0,0,0,0,0,0
$GC,9233,-0.49,-194.7,864.6,-7.1,479,9239,0.00,0.98,0.00,0.000,4,0.000,0.064,1472,3949,3260,0,0,0,0,0,0
$GC,9341,-0.49,-194.7,873.2,-7.7,482,9345,0.00,0.90,0.00,0.000,6,0.000,0.040,1472,3354,3259,0,0,0,0,0,0
$GC,9677,-0.49,-194.7,900.0,-8.2,493,9680,0.00,0.95,0.00,0.000,4,0.000,0.063,1468,3951,3259,0,0,0,0,0,0
$GC,9765,-0.49,-194.7,908.2,-9.9,495,9768,0.00,0.90,0.00,0.000,6,0.000,0.040,1468,3357,3258,0,0,0,0,0,0
$GC,10084,-0.49,-194.7,936.1,-8.9,506,10088,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3939,3258,0,0,0,0,0,0
$GC,10178,-0.49,-194.7,945.0,-8.7,508,10185,0.00,0.90,0.00,0.000,6,0.000,0.040,1463,3345,3258,0,0,0,0,0,0
$GC,10492,-0.49,-194.7,973.1,-9.2,519,10495,0.00,0.95,0.00,0.000,4,0.000,0.063,1459,3944,3257,0,0,0,0,0,0
$GC,10609,-0.49,-194.7,984.7,-10.7,522,10615,0.08,0.90,0.00,0.000,6,0.136,0.040,1484,3349,3257,0,0,0,0,0,0
$STATE,10842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10842,begin apogee
$GC,10849,-0.14,0.0,1001.8,7.1,530,11038,0.38,0.00,180.70,1.838,6,0.121,0.000,1605,3257,2473,0,0,0,0,1,0
$STATE,11039,end apogee,CONTROL_FINISHED_OK
$STATE,11039,begin climb
$GC,11042,0.49,194.7,1009.0,0.0,536,11252,0.57,2.53,193.70,1.789,4,0.044,0.034,1832,1836,1679,0,0,0,0,1,0
$GC,11377,0.49,194.7,961.9,15.6,546,11382,0.00,2.42,0.00,0.000,6,0.000,0.053,1832,3246,1675,0,0,0,0,0,0
$GC,11702,0.49,194.7,897.2,20.4,557,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3246,1671,0,0,0,0,0,0
$GC,12008,0.49,194.7,834.0,20.9,567,12012,0.00,2.20,0.00,0.000,4,0.000,0.037,1843,1836,1670,0,0,0,0,0,0
$GC,12046,0.49,194.7,826.4,17.9,568,12051,0.12,2.33,0.00,0.000,6,0.175,0.054,1813,3259,1669,0,0,0,0,0,0
$GC,12371,0.49,194.7,766.0,18.9,579,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3259,1668,0,0,0,0,0,0
$GC,12677,0.49,194.7,709.4,18.4,589,12681,0.00,1.10,0.00,0.000,4,0.000,0.060,1812,3940,1667,0,0,0,0,0,0
$GC,12732,0.49,194.7,698.0,19.8,590,12736,0.00,1.08,0.00,0.000,6,0.000,0.035,1816,3235,1667,0,0,0,0,0,0
$GC,13051,0.49,194.7,638.9,18.5,601,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3236,1667,0,0,0,0,0,0
$GC,13357,0.49,194.7,584.1,17.8,611,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3236,1667,0,0,0,0,0,0
$GC,13664,0.49,194.7,530.6,17.3,621,13665,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3236,1667,0,0,0,0,0,0
$GC,13969,0.49,194.7,478.9,16.6,631,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3236,1666,0,0,0,0,0,0
$GC,14275,0.49,194.7,427.1,17.2,641,14279,0.00,2.12,0.00,0.000,4,0.000,0.034,1827,1829,1665,0,0,0,0,0,0
$GC,14319,0.49,194.7,420.1,13.5,642,14323,0.00,2.28,0.00,0.000,6,0.000,0.049,1827,3263,1664,0,0,0,0,0,0
$GC,14641,0.49,194.7,360.8,19.3,656,14644,0.00,1.08,0.00,0.000,4,0.000,0.054,1827,3945,1664,0,0,0,0,0,0
$GC,14692,0.49,194.7,349.7,19.9,658,14698,0.00,1.05,0.00,0.000,6,0.000,0.033,1832,3240,1664,0,0,0,0,0,0
$GC,15022,0.49,194.7,285.0,19.5,674,15023,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3240,1664,0,0,0,0,0,0
$GC,15338,0.49,194.7,226.6,18.4,691,15340,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3240,1664,0,0,0,0,0,0
$GC,15651,0.49,194.7,167.2,19.5,711,15652,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3240,1664,0,0,0,0,0,0
$GC,15962,0.49,194.7,104.0,20.2,731,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3240,1664,0,0,0,0,0,0
$GC,16315,0.49,194.7,34.4,19.7,787,16322,0.00,1.12,0.00,0.000,4,0.000,0.054,1832,3945,1664,0,0,0,0,0,0
$GC,16403,0.49,194.7,17.8,17.8,800,16414,0.00,1.02,0.00,0.000,6,0.000,0.034,1838,3251,1664,0,0,0,0,0,0
$GC,16495,0.49,194.7,4.3,12.7,813,16504,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3251,1664,0,0,0,0,0,0
$STATE,16513,end climb,SURFACE_DEPTH_REACHED
$STATE,16513,begin surface coast
$FINISH,0.8,1.026048
$STATE,16537,end surface coast,CONTROL_FINISHED_OK
$STATE,16537,begin surface
$SM_CCo,16553,127.90,0.728,1,0,503,482.50
$SM_GC,1.27,0.00,0.00,127.90,0.000,0.000,0.728,56,3372,503,-4.98,0.57,482.50
$IRIDIUM_FIX,-4143.80,825.83,271212,080856
$TT8_MAMPS,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.3,22.920
$10V_AH,10.1,12.184
$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,11.725,65.000,374.400,127.900,0.000,51.380,104.021,356.383,0.000,0.000,20.339,2102.174,10958.215,582.041,2855.656,930.664,33.362,1677.094,0.000,2547.687,0.000,1.014,0.000
$DEVICE_MAMPS,226.440,87.210,1838.295,728.280,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.530,1782.753,795.072,353.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,60398,818
$CAP_FILE_SIZE,141017,0
$CFSIZE,259252224,251351040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,271212,134722,-4159.021,825.122,37,1.0,37,-24.9