version: 66.07
glider: 543
mission: 6
dive: 123
start: 12 28 112 18 55 29
data:
$ID,543
$MISSION,6
$DIVE,123
$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,-8207.7432
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,281212,184434,-4157.639,824.528,56,0.8,56,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-20.7
$GPS2,281212,185431,-4157.744,824.396,23,0.8,25,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.227,0.135
$KALMAN_X,-68566.8,887.8,782.3,97895.1,-11008.9
$KALMAN_Y,51859.7,665.5,368.3,6890.6,-7145.1
$MHEAD_RNG_PITCHd_Wd,84.3,7352,-14.8,-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,-0.51,-165.0,0.0,0.0,0,119,0.00,0.00,-96.72,0.000,2,0.000,0.000,56,3366,2902,0,0,0,0,0,0
$GC,123,-0.53,-194.7,3.2,-4.0,12,143,5.60,2.25,-9.02,0.000,4,0.226,0.047,1469,1943,3270,0,0,0,0,0,0
$GC,263,-0.53,-194.7,21.5,-9.6,32,271,0.00,2.33,0.00,0.000,6,0.000,0.055,1460,3347,3272,0,0,0,0,0,0
$GC,352,-0.53,-194.7,31.9,-13.5,45,359,0.00,0.98,0.00,0.000,4,0.000,0.060,1456,3949,3273,0,0,0,0,0,0
$GC,417,-0.53,-194.7,41.8,-14.0,55,424,0.00,0.90,0.00,0.000,6,0.000,0.036,1455,3361,3273,0,0,0,0,0,0
$GC,662,-0.53,-194.7,70.9,-12.4,96,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3361,3273,0,0,0,0,0,0
$GC,1017,-0.53,-194.7,114.9,-13.7,145,1022,0.00,0.95,0.00,0.000,4,0.000,0.058,1451,3956,3274,0,0,0,0,0,0
$GC,1143,-0.53,-194.7,133.5,-14.4,152,1146,0.00,0.90,0.00,0.000,6,0.000,0.035,1451,3355,3274,0,0,0,0,0,0
$GC,1475,-0.53,-194.7,178.5,-13.4,173,1481,0.00,0.95,0.00,0.000,4,0.000,0.057,1447,3954,3274,0,0,0,0,0,0
$GC,1598,-0.53,-194.7,196.1,-13.7,180,1602,0.08,0.90,0.00,0.000,6,0.141,0.034,1471,3352,3274,0,0,0,0,0,0
$GC,1934,-0.53,-194.7,235.9,-12.3,201,1937,0.00,0.95,0.00,0.000,4,0.000,0.059,1468,3952,3275,0,0,0,0,0,0
$GC,2045,-0.53,-194.7,250.7,-12.3,207,2051,0.00,0.90,0.00,0.000,6,0.000,0.035,1468,3350,3274,0,0,0,0,0,0
$GC,2363,-0.53,-194.7,289.6,-12.3,223,2368,0.00,0.95,0.00,0.000,4,0.000,0.059,1464,3953,3274,0,0,0,0,0,0
$GC,2474,-0.53,-194.7,303.9,-12.9,227,2480,0.00,0.90,0.00,0.000,6,0.000,0.036,1464,3350,3274,0,0,0,0,0,0
$GC,2792,-0.53,-194.7,339.7,-10.7,243,2797,0.00,0.95,0.00,0.000,4,0.000,0.059,1459,3952,3274,0,0,0,0,0,0
$GC,2890,-0.53,-194.7,350.8,-10.3,247,2895,0.00,0.90,0.00,0.000,6,0.000,0.036,1459,3346,3274,0,0,0,0,0,0
$GC,3221,-0.53,-194.7,384.4,-10.2,263,3226,0.00,0.95,0.00,0.000,4,0.000,0.059,1455,3950,3273,0,0,0,0,0,0
$GC,3318,-0.53,-194.7,395.5,-10.5,267,3324,0.00,0.90,0.00,0.000,6,0.000,0.035,1455,3345,3273,0,0,0,0,0,0
$GC,3654,-0.53,-194.7,429.5,-10.0,279,3658,0.00,0.95,0.00,0.000,4,0.000,0.059,1450,3950,3273,0,0,0,0,0,0
$GC,3780,-0.53,-194.7,443.4,-11.5,282,3783,0.00,0.90,0.00,0.000,6,0.000,0.036,1450,3347,3273,0,0,0,0,0,0
$GC,4100,-0.53,-194.7,479.1,-11.4,293,4104,0.00,0.95,0.00,0.000,4,0.000,0.060,1446,3951,3272,0,0,0,0,0,0
$GC,4207,-0.53,-194.7,492.8,-12.9,296,4211,0.08,0.90,0.00,0.000,6,0.142,0.036,1472,3346,3272,0,0,0,0,0,0
$GC,4542,-0.53,-194.7,526.7,-10.3,307,4545,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3950,3271,0,0,0,0,0,0
$GC,4654,-0.53,-194.7,539.2,-11.5,310,4657,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3350,3271,0,0,0,0,0,0
$GC,4984,-0.53,-194.7,576.9,-11.8,321,4987,0.00,0.95,0.00,0.000,4,0.000,0.060,1464,3953,3271,0,0,0,0,0,0
$GC,5101,-0.53,-194.7,591.5,-12.2,324,5106,0.00,0.90,0.00,0.000,6,0.000,0.037,1464,3352,3271,0,0,0,0,0,0
$GC,5426,-0.53,-194.7,628.8,-11.3,335,5432,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3956,3269,0,0,0,0,0,0
$GC,5544,-0.53,-194.7,642.4,-11.2,338,5548,0.00,0.90,0.00,0.000,6,0.000,0.037,1459,3354,3269,0,0,0,0,0,0
$GC,5869,-0.53,-194.7,675.8,-10.3,349,5873,0.00,0.95,0.00,0.000,4,0.000,0.061,1455,3954,3268,0,0,0,0,0,0
$GC,5958,-0.53,-194.7,685.5,-11.0,351,5962,0.00,0.90,0.00,0.000,6,0.000,0.037,1455,3352,3268,0,0,0,0,0,0
$GC,6276,-0.53,-194.7,717.1,-9.9,362,6280,0.00,0.98,0.00,0.000,4,0.000,0.062,1450,3951,3268,0,0,0,0,0,0
$GC,6360,-0.53,-194.7,726.0,-10.0,364,6363,0.00,0.90,0.00,0.000,6,0.000,0.037,1450,3351,3268,0,0,0,0,0,0
$GC,6684,-0.53,-194.7,758.1,-10.1,375,6687,0.00,0.95,0.00,0.000,4,0.000,0.061,1446,3950,3267,0,0,0,0,0,0
$GC,6800,-0.53,-194.7,771.1,-10.9,378,6804,0.08,0.90,0.00,0.000,6,0.140,0.037,1471,3351,3266,0,0,0,0,0,0
$GC,7126,-0.53,-194.7,798.5,-8.4,389,7129,0.00,0.95,0.00,0.000,4,0.000,0.062,1468,3952,3265,0,0,0,0,0,0
$GC,7205,-0.53,-194.7,805.6,-8.5,391,7209,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3355,3265,0,0,0,0,0,0
$GC,7537,-0.53,-194.7,833.9,-8.7,402,7541,0.00,0.95,0.00,0.000,4,0.000,0.062,1463,3954,3263,0,0,0,0,0,0
$GC,7655,-0.53,-194.7,845.4,-9.6,405,7660,0.00,0.90,0.00,0.000,6,0.000,0.038,1463,3356,3264,0,0,0,0,0,0
$GC,7980,-0.53,-194.7,875.2,-9.2,416,7986,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3955,3263,0,0,0,0,0,0
$GC,8059,-0.53,-194.7,882.9,-9.3,418,8063,0.00,0.90,0.00,0.000,6,0.000,0.039,1459,3355,3262,0,0,0,0,0,0
$GC,8389,-0.53,-194.7,914.4,-9.8,429,8395,0.00,0.95,0.00,0.000,4,0.000,0.062,1455,3954,3262,0,0,0,0,0,0
$GC,8530,-0.53,-194.7,929.0,-10.0,433,8536,0.00,0.90,0.00,0.000,6,0.000,0.039,1454,3358,3262,0,0,0,0,0,0
$GC,8868,-0.53,-194.7,963.2,-10.2,444,8871,0.00,0.95,0.00,0.000,4,0.000,0.063,1450,3953,3261,0,0,0,0,0,0
$GC,8973,-0.53,-194.7,974.8,-11.0,447,8977,0.00,0.90,0.00,0.000,6,0.000,0.039,1449,3358,3260,0,0,0,0,0,0
$STATE,9244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9244,begin apogee
$GC,9251,-0.14,0.0,1002.5,10.2,456,9442,0.47,0.00,182.68,1.814,6,0.131,0.000,1598,3248,2473,0,0,0,0,1,0
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9447,0.53,194.7,1010.2,0.0,462,9656,0.62,2.47,193.20,1.778,4,0.048,0.033,1834,1843,1680,0,0,0,0,1,0
$GC,9737,0.53,194.7,969.4,15.9,471,9741,0.00,2.45,0.00,0.000,6,0.000,0.051,1834,3251,1676,0,0,0,0,0,0
$GC,10072,0.53,194.7,900.7,20.6,482,10078,0.00,1.15,0.00,0.000,4,0.000,0.057,1834,3948,1671,0,0,0,0,0,0
$GC,10108,0.53,194.7,892.8,23.0,483,10112,0.00,1.10,0.00,0.000,6,0.000,0.034,1839,3241,1671,0,0,0,0,0,0
$GC,10449,0.53,194.7,819.4,21.6,494,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3241,1669,0,0,0,0,0,0
$GC,10755,0.53,194.7,754.0,21.0,504,10759,0.00,2.12,0.00,0.000,4,0.000,0.035,1850,1840,1669,0,0,0,0,0,0
$GC,10788,0.53,194.7,747.1,20.3,505,10792,0.00,2.30,0.00,0.000,6,0.000,0.053,1850,3263,1668,0,0,0,0,0,0
$GC,11117,0.53,194.7,674.3,22.3,516,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3263,1668,0,0,0,0,0,0
$GC,11424,0.53,194.7,605.7,22.2,526,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3263,1668,0,0,0,0,0,0
$GC,11731,0.53,194.7,537.7,21.8,536,11735,0.00,2.17,0.00,0.000,4,0.000,0.033,1861,1831,1666,0,0,0,0,0,0
$GC,11764,0.53,194.7,530.6,19.9,537,11768,0.15,2.28,0.00,0.000,6,0.174,0.050,1823,3255,1666,0,0,0,0,0,0
$GC,12094,0.53,194.7,470.8,18.2,548,12097,0.00,1.10,0.00,0.000,4,0.000,0.055,1823,3947,1666,0,0,0,0,0,0
$GC,12138,0.53,194.7,461.8,19.9,549,12141,0.00,1.05,0.00,0.000,6,0.000,0.034,1826,3246,1665,0,0,0,0,0,0
$GC,12467,0.53,194.7,399.3,19.0,560,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3245,1665,0,0,0,0,0,0
$GC,12778,0.53,194.7,342.4,18.4,575,12784,0.00,2.15,0.00,0.000,4,0.000,0.032,1837,1833,1665,0,0,0,0,0,0
$GC,12842,0.53,194.7,331.9,13.4,577,12849,0.00,2.25,0.00,0.000,6,0.000,0.050,1838,3256,1664,0,0,0,0,0,0
$GC,13161,0.53,194.7,271.5,19.5,593,13166,0.00,1.10,0.00,0.000,4,0.000,0.054,1838,3950,1664,0,0,0,0,0,0
$GC,13195,0.53,194.7,263.9,20.3,594,13198,0.00,1.05,0.00,0.000,6,0.000,0.033,1843,3243,1664,0,0,0,0,0,0
$GC,13519,0.53,194.7,197.7,20.8,614,13523,0.00,2.10,0.00,0.000,4,0.000,0.032,1854,1849,1664,0,0,0,0,0,0
$GC,13554,0.53,194.7,191.1,17.3,616,13560,0.10,2.25,0.00,0.000,6,0.151,0.049,1822,3247,1664,0,0,0,0,0,0
$GC,13893,0.53,194.7,128.9,18.9,637,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3247,1664,0,0,0,0,0,0
$GC,14217,0.53,194.7,66.5,17.3,677,14222,0.00,2.12,0.00,0.000,4,0.000,0.031,1831,1829,1664,0,0,0,0,0,0
$GC,14271,0.53,194.7,58.8,13.4,686,14279,0.00,2.28,0.00,0.000,6,0.000,0.048,1831,3254,1664,0,0,0,0,0,0
$GC,14524,0.53,194.7,25.1,15.5,727,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3254,1664,0,0,0,0,0,0
$GC,14615,0.53,194.7,9.6,17.1,740,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,3254,1664,0,0,0,0,0,0
$STATE,14656,end climb,SURFACE_DEPTH_REACHED
$STATE,14656,begin surface coast
$FINISH,1.0,1.025869
$STATE,14679,end surface coast,CONTROL_FINISHED_OK
$STATE,14680,begin surface
$SM_CCo,14695,131.80,0.727,1,0,505,482.50
$SM_GC,1.11,0.00,0.00,131.80,0.000,0.000,0.727,55,3393,505,-4.98,1.13,482.50
$IRIDIUM_FIX,-4143.80,828.70,281212,131313
$TT8_MAMPS,0.027713
$HUMID,54.84
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.3,24.430
$10V_AH,10.1,13.056
$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,11.725,75.450,375.875,131.800,0.000,28.143,43.318,343.849,0.000,0.000,27.210,1929.544,9422.113,588.178,2604.980,880.646,33.360,1634.847,0.000,2359.053,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,78.795,1813.815,726.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.147,1618.761,768.780,360.849,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,53692,748
$CAP_FILE_SIZE,130211,0
$CFSIZE,259252224,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,281212,230359,-4157.147,825.069,36,1.0,36,-24.9