version: 66.07
glider: 543
mission: 6
dive: 122
start: 12 28 112 14 2 58
data:
$ID,543
$MISSION,6
$DIVE,122
$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,-8204.8057
$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,50
$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
$GPS1,281212,135255,-4158.988,825.324,21,0.8,22,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-26.7
$GPS2,281212,140203,-4159.020,825.179,32,1.8,32,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.157,0.237
$KALMAN_X,-64873.0,970.3,668.2,95307.9,-12981.4
$KALMAN_Y,54634.4,602.9,55.6,2142.6,-7695.2
$MHEAD_RNG_PITCHd_Wd,58.4,7355,-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,-97.53,0.000,2,0.000,0.000,60,3363,2906,0,0,0,0,0,0
$GC,124,-0.49,-194.7,3.7,-4.5,12,144,5.80,2.25,-8.48,0.000,4,0.238,0.049,1489,1953,3270,0,0,0,0,0,0
$GC,238,-0.49,-194.7,21.9,-8.2,28,248,0.00,2.30,0.00,0.000,6,0.000,0.054,1480,3340,3273,0,0,0,0,0,0
$GC,329,-0.49,-194.7,31.7,-11.6,41,336,0.00,0.98,0.00,0.000,4,0.000,0.061,1475,3942,3273,0,0,0,0,0,0
$GC,384,-0.49,-194.7,39.7,-13.9,49,392,0.00,0.88,0.00,0.000,6,0.000,0.036,1475,3369,3273,0,0,0,0,0,0
$GC,629,-0.49,-194.7,67.2,-11.0,90,638,0.00,0.93,0.00,0.000,4,0.000,0.059,1471,3947,3274,0,0,0,0,0,0
$GC,747,-0.49,-194.7,79.9,-11.0,109,752,0.00,0.90,0.00,0.000,6,0.000,0.035,1471,3350,3274,0,0,0,0,0,0
$GC,1095,-0.49,-194.7,117.4,-11.4,152,1099,0.00,0.95,0.00,0.000,4,0.000,0.059,1466,3948,3274,0,0,0,0,0,0
$GC,1206,-0.49,-194.7,131.1,-11.8,158,1210,0.00,0.90,0.00,0.000,6,0.000,0.035,1466,3347,3274,0,0,0,0,0,0
$GC,1535,-0.49,-194.7,166.9,-10.5,179,1539,0.00,0.95,0.00,0.000,4,0.000,0.059,1462,3948,3275,0,0,0,0,0,0
$GC,1659,-0.49,-194.7,181.5,-10.9,186,1663,0.00,0.88,0.00,0.000,6,0.000,0.035,1462,3358,3275,0,0,0,0,0,0
$GC,1988,-0.49,-194.7,217.6,-11.5,207,1992,0.00,0.93,0.00,0.000,4,0.000,0.059,1458,3944,3275,0,0,0,0,0,0
$GC,2078,-0.49,-194.7,228.8,-11.9,212,2082,0.08,0.88,0.00,0.000,6,0.131,0.036,1483,3358,3275,0,0,0,0,0,0
$GC,2404,-0.49,-194.7,259.9,-9.4,231,2409,0.00,0.93,0.00,0.000,4,0.000,0.060,1480,3944,3275,0,0,0,0,0,0
$GC,2468,-0.49,-194.7,266.2,-9.8,233,2474,0.00,0.88,0.00,0.000,6,0.000,0.035,1481,3357,3275,0,0,0,0,0,0
$GC,2786,-0.49,-194.7,295.6,-9.7,249,2791,0.00,0.93,0.00,0.000,4,0.000,0.060,1476,3945,3275,0,0,0,0,0,0
$GC,2882,-0.49,-194.7,305.0,-9.8,253,2885,0.00,0.88,0.00,0.000,6,0.000,0.036,1477,3356,3274,0,0,0,0,0,0
$GC,3217,-0.49,-194.7,336.6,-8.9,269,3223,0.00,0.93,0.00,0.000,4,0.000,0.059,1472,3945,3275,0,0,0,0,0,0
$GC,3335,-0.49,-194.7,347.9,-9.2,274,3338,0.00,0.88,0.00,0.000,6,0.000,0.036,1473,3355,3274,0,0,0,0,0,0
$GC,3669,-0.49,-194.7,379.6,-9.6,290,3673,0.00,0.95,0.00,0.000,4,0.000,0.060,1467,3955,3274,0,0,0,0,0,0
$GC,3734,-0.49,-194.7,386.1,-10.5,292,3743,0.00,0.90,0.00,0.000,6,0.000,0.035,1468,3353,3274,0,0,0,0,0,0
$GC,4069,-0.49,-194.7,418.0,-9.4,306,4073,0.00,0.98,0.00,0.000,4,0.000,0.060,1463,3955,3273,0,0,0,0,0,0
$GC,4108,-0.49,-194.7,421.9,-9.7,307,4111,0.00,0.90,0.00,0.000,6,0.000,0.035,1463,3352,3273,0,0,0,0,0,0
$GC,4444,-0.49,-194.7,452.9,-9.2,318,4449,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3953,3273,0,0,0,0,0,0
$GC,4551,-0.49,-194.7,463.4,-9.1,321,4555,0.08,0.90,0.00,0.000,6,0.130,0.036,1484,3352,3273,0,0,0,0,0,0
$GC,4886,-0.49,-194.7,485.5,-6.4,332,4890,0.00,0.95,0.00,0.000,4,0.000,0.060,1481,3954,3273,0,0,0,0,0,0
$GC,4988,-0.49,-194.7,492.2,-6.1,335,4993,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3349,3272,0,0,0,0,0,0
$GC,5332,-0.49,-194.7,514.5,-6.5,346,5335,0.00,0.95,0.00,0.000,4,0.000,0.060,1477,3951,3272,0,0,0,0,0,0
$GC,5454,-0.49,-194.7,523.4,-7.1,349,5460,0.00,0.90,0.00,0.000,6,0.000,0.036,1477,3349,3271,0,0,0,0,0,0
$GC,5774,-0.49,-194.7,546.7,-7.4,360,5780,0.00,0.95,0.00,0.000,4,0.000,0.060,1472,3949,3271,0,0,0,0,0,0
$GC,5827,-0.49,-194.7,551.1,-8.6,361,5831,0.00,0.90,0.00,0.000,6,0.000,0.037,1472,3348,3271,0,0,0,0,0,0
$GC,6153,-0.49,-194.7,577.6,-8.2,372,6156,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3950,3270,0,0,0,0,0,0
$GC,6270,-0.49,-194.7,587.7,-8.2,375,6275,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3348,3270,0,0,0,0,0,0
$GC,6595,-0.49,-194.7,616.3,-9.0,386,6601,0.00,0.95,0.00,0.000,4,0.000,0.060,1464,3949,3269,0,0,0,0,0,0
$GC,6665,-0.49,-194.7,623.1,-9.8,388,6668,0.00,0.90,0.00,0.000,6,0.000,0.037,1464,3348,3269,0,0,0,0,0,0
$GC,7006,-0.49,-194.7,658.3,-10.6,399,7011,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3949,3268,0,0,0,0,0,0
$GC,7089,-0.49,-194.7,667.7,-11.1,401,7094,0.08,0.90,0.00,0.000,6,0.134,0.037,1484,3349,3268,0,0,0,0,0,0
$GC,7414,-0.49,-194.7,695.0,-8.4,412,7418,0.00,0.95,0.00,0.000,4,0.000,0.062,1481,3950,3268,0,0,0,0,0,0
$GC,7542,-0.49,-194.7,706.5,-9.1,415,7548,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3354,3268,0,0,0,0,0,0
$GC,7856,-0.49,-194.7,732.5,-8.2,426,7859,0.00,0.98,0.00,0.000,4,0.000,0.063,1477,3953,3267,0,0,0,0,0,0
$GC,7940,-0.49,-194.7,740.2,-8.2,428,7943,0.00,0.90,0.00,0.000,6,0.000,0.038,1477,3356,3267,0,0,0,0,0,0
$GC,8265,-0.49,-194.7,768.8,-9.0,439,8269,0.00,0.95,0.00,0.000,4,0.000,0.061,1473,3955,3265,0,0,0,0,0,0
$GC,8371,-0.49,-194.7,778.9,-9.1,442,8375,0.00,0.93,0.00,0.000,6,0.000,0.038,1473,3342,3265,0,0,0,0,0,0
$GC,8707,-0.49,-194.7,809.0,-9.2,453,8713,0.00,0.98,0.00,0.000,4,0.000,0.062,1468,3954,3264,0,0,0,0,0,0
$GC,8820,-0.49,-194.7,820.2,-10.2,456,8823,0.00,0.90,0.00,0.000,6,0.000,0.038,1468,3358,3264,0,0,0,0,0,0
$GC,9150,-0.49,-194.7,851.5,-9.7,467,9153,0.00,0.95,0.00,0.000,4,0.000,0.062,1464,3954,3264,0,0,0,0,0,0
$GC,9239,-0.49,-194.7,860.8,-10.5,469,9242,0.00,0.90,0.00,0.000,6,0.000,0.038,1464,3359,3263,0,0,0,0,0,0
$GC,9558,-0.49,-194.7,891.9,-9.8,480,9561,0.00,0.95,0.00,0.000,4,0.000,0.062,1460,3954,3263,0,0,0,0,0,0
$GC,9629,-0.49,-194.7,899.5,-9.7,482,9634,0.08,0.90,0.00,0.000,6,0.132,0.038,1485,3359,3263,0,0,0,0,0,0
$GC,9965,-0.49,-194.7,922.7,-6.5,493,9969,0.00,0.95,0.00,0.000,4,0.000,0.063,1482,3954,3263,0,0,0,0,0,0
$GC,10049,-0.49,-194.7,928.4,-7.1,495,10053,0.00,0.93,0.00,0.000,6,0.000,0.039,1482,3341,3262,0,0,0,0,0,0
$GC,10373,-0.49,-194.7,946.4,-5.3,506,10377,0.00,0.98,0.00,0.000,4,0.000,0.063,1477,3954,3261,0,0,0,0,0,0
$GC,10512,-0.49,-194.7,954.1,-5.6,510,10515,0.00,0.90,0.00,0.000,6,0.000,0.039,1477,3357,3261,0,0,0,0,0,0
$GC,10853,-0.49,-194.7,973.3,-5.7,521,10859,0.00,0.95,0.00,0.000,4,0.000,0.063,1473,3954,3261,0,0,0,0,0,0
$GC,10959,-0.49,-194.7,979.8,-6.0,524,10963,0.00,0.90,0.00,0.000,6,0.000,0.039,1473,3356,3261,0,0,0,0,0,0
$STATE,11267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11267,begin apogee
$GC,11274,-0.14,0.0,1000.1,6.7,534,11483,0.40,0.00,201.43,1.151,6,0.124,0.000,1599,3245,2466,0,0,0,0,0,0
$STATE,11484,end apogee,CONTROL_FINISHED_OK
$STATE,11484,begin climb
$GC,11487,0.49,194.7,1005.1,0.0,541,11698,0.57,2.45,201.82,1.108,4,0.057,0.032,1820,1834,1671,0,0,0,0,0,0
$GC,11829,0.49,194.7,956.3,13.4,551,11833,0.00,2.45,0.00,0.000,6,0.000,0.053,1819,3259,1650,0,0,0,0,0,0
$GC,12147,0.49,194.7,897.1,18.6,562,12151,0.00,1.15,0.00,0.000,4,0.000,0.057,1819,3952,1646,0,0,0,0,0,0
$GC,12175,0.49,194.7,891.2,19.4,562,12182,0.00,1.10,0.00,0.000,6,0.000,0.034,1826,3244,1646,0,0,0,0,0,0
$GC,12488,0.49,194.7,828.5,20.0,573,12492,0.00,2.15,0.00,0.000,4,0.000,0.035,1836,1842,1645,0,0,0,0,0,0
$GC,12526,0.49,194.7,821.1,17.8,574,12531,0.00,2.30,0.00,0.000,6,0.000,0.054,1836,3250,1644,0,0,0,0,0,0
$GC,12851,0.49,194.7,752.8,21.6,585,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1644,0,0,0,0,0,0
$GC,13157,0.49,194.7,686.1,22.0,595,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1643,0,0,0,0,0,0
$GC,13464,0.49,194.7,619.9,21.4,605,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1643,0,0,0,0,0,0
$GC,13769,0.49,194.7,554.6,21.3,615,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1643,0,0,0,0,0,0
$GC,14076,0.49,194.7,489.5,21.3,625,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3250,1643,0,0,0,0,0,0
$GC,14383,0.49,194.7,424.2,21.4,635,14387,0.00,2.10,0.00,0.000,4,0.000,0.033,1847,1835,1642,0,0,0,0,0,0
$GC,14404,0.49,194.7,419.2,21.1,635,14413,0.10,2.28,0.00,0.000,6,0.155,0.050,1816,3250,1643,0,0,0,0,0,0
$GC,14721,0.49,194.7,360.2,18.7,649,14727,0.00,1.10,0.00,0.000,4,0.000,0.056,1815,3944,1642,0,0,0,0,0,0
$GC,14761,0.49,194.7,351.5,21.0,650,14769,0.00,1.05,0.00,0.000,6,0.000,0.033,1819,3240,1642,0,0,0,0,0,0
$GC,15078,0.49,194.7,289.3,19.5,666,15082,0.00,2.08,0.00,0.000,4,0.000,0.032,1830,1839,1642,0,0,0,0,0,0
$GC,15100,0.49,194.7,285.5,19.8,667,15104,0.00,2.25,0.00,0.000,6,0.000,0.049,1830,3258,1642,0,0,0,0,0,0
$GC,15426,0.49,194.7,221.1,20.0,685,15427,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3258,1642,0,0,0,0,0,0
$GC,15738,0.49,194.7,158.2,20.2,705,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3258,1642,0,0,0,0,0,0
$GC,16054,0.49,194.7,94.9,20.2,727,16058,0.00,2.12,0.00,0.000,4,0.000,0.031,1841,1838,1642,0,0,0,0,0,0
$GC,16082,0.49,194.7,88.5,18.8,732,16093,0.08,2.25,0.00,0.000,6,0.140,0.050,1816,3243,1642,0,0,0,0,0,0
$GC,16457,0.49,194.7,25.8,17.8,793,16466,0.00,2.12,0.00,0.000,4,0.000,0.031,1825,1838,1642,0,0,0,0,0,0
$GC,16540,0.49,194.7,13.5,13.2,805,16550,0.00,2.25,0.00,0.000,6,0.000,0.049,1825,3247,1642,0,0,0,0,0,0
$STATE,16623,end climb,SURFACE_DEPTH_REACHED
$STATE,16623,begin surface coast
$FINISH,0.9,1.026210
$STATE,16649,end surface coast,CONTROL_FINISHED_OK
$STATE,16649,begin surface
$SM_CCo,16665,127.03,0.717,1,0,504,482.50
$SM_GC,1.35,0.00,0.00,127.03,0.000,0.000,0.717,56,3365,504,-4.98,0.34,482.50
$IRIDIUM_FIX,-4143.80,828.70,281212,050545
$TT8_MAMPS,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.9,24.190
$10V_AH,10.1,12.942
$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,11.850,84.075,403.250,127.025,0.000,35.669,47.654,297.366,0.000,0.000,35.073,2116.570,10933.063,614.883,2748.282,934.553,33.353,1744.483,0.000,2539.988,0.000,1.013,0.000
$DEVICE_MAMPS,237.915,79.560,1150.560,716.805,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.227,1789.034,806.854,372.293,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,60492,821
$CAP_FILE_SIZE,143721,0
$CFSIZE,259252224,250892288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,281212,184434,-4157.639,824.528,56,0.8,56,-24.9