version: 66.07
glider: 543
mission: 6
dive: 125
start: 12 29 112 2 34 25
data:
$ID,543
$MISSION,6
$DIVE,125
$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,-8213.5586
$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,57
$R_STBD_OVSHOOT,17
$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
$GPS1,291212,022416,-4156.977,825.032,43,0.7,43,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-30.1
$GPS2,291212,023330,-4156.943,825.006,20,1.9,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.281,0.039
$KALMAN_X,-75405.9,1527.9,803.6,104910.3,-14085.2
$KALMAN_Y,49369.2,1219.6,336.1,10335.0,-7352.1
$MHEAD_RNG_PITCHd_Wd,107.0,8918,-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,-97.68,0.000,2,0.000,0.000,57,3336,2934,0,0,0,0,0,0
$GC,124,-0.49,-194.7,3.3,-3.1,12,144,5.85,2.17,-7.88,0.000,4,0.238,0.047,1494,1959,3270,0,0,0,0,0,0
$GC,230,-0.49,-194.7,20.3,-6.5,27,240,0.00,2.30,0.00,0.000,6,0.000,0.054,1485,3348,3272,0,0,0,0,0,0
$GC,324,-0.49,-194.7,29.5,-10.7,40,332,0.00,0.98,0.00,0.000,4,0.000,0.060,1480,3952,3273,0,0,0,0,0,0
$GC,603,-0.49,-194.7,64.5,-9.6,85,607,0.00,0.90,0.00,0.000,6,0.000,0.035,1480,3358,3272,0,0,0,0,0,0
$GC,954,-0.49,-194.7,96.5,-10.8,146,962,0.00,0.95,0.00,0.000,4,0.000,0.059,1476,3956,3274,0,0,0,0,0,0
$GC,1084,-0.49,-194.7,111.9,-12.5,157,1087,0.00,0.90,0.00,0.000,6,0.000,0.035,1476,3358,3273,0,0,0,0,0,0
$GC,1409,-0.49,-194.7,147.9,-10.4,178,1412,0.00,0.95,0.00,0.000,4,0.000,0.059,1471,3957,3274,0,0,0,0,0,0
$GC,1583,-0.49,-194.7,165.6,-9.6,188,1587,0.00,0.93,0.00,0.000,6,0.000,0.035,1471,3339,3274,0,0,0,0,0,0
$GC,1917,-0.49,-194.7,200.2,-10.9,209,1921,0.00,0.98,0.00,0.000,4,0.000,0.058,1467,3958,3275,0,0,0,0,0,0
$GC,2114,-0.49,-194.7,224.4,-11.8,220,2119,0.00,0.90,0.00,0.000,6,0.000,0.035,1467,3355,3274,0,0,0,0,0,0
$GC,2439,-0.49,-194.7,259.7,-10.5,239,2442,0.00,0.95,0.00,0.000,4,0.000,0.059,1462,3958,3275,0,0,0,0,0,0
$GC,2563,-0.49,-194.7,273.8,-11.3,244,2567,0.00,0.90,0.00,0.000,6,0.000,0.035,1462,3354,3275,0,0,0,0,0,0
$GC,2886,-0.49,-194.7,307.5,-11.0,260,2890,0.00,0.95,0.00,0.000,4,0.000,0.059,1458,3957,3274,0,0,0,0,0,0
$GC,3019,-0.49,-194.7,323.0,-11.4,265,3026,0.08,0.90,0.00,0.000,6,0.133,0.035,1484,3354,3274,0,0,0,0,0,0
$GC,3337,-0.49,-194.7,351.1,-8.8,281,3343,0.00,0.95,0.00,0.000,4,0.000,0.060,1481,3954,3274,0,0,0,0,0,0
$GC,3463,-0.49,-194.7,363.3,-9.8,286,3467,0.00,0.90,0.00,0.000,6,0.000,0.036,1481,3350,3274,0,0,0,0,0,0
$GC,3786,-0.49,-194.7,393.8,-9.5,302,3790,0.00,0.95,0.00,0.000,4,0.000,0.060,1476,3954,3273,0,0,0,0,0,0
$GC,3964,-0.49,-194.7,411.8,-10.2,308,3968,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3348,3273,0,0,0,0,0,0
$GC,4306,-0.49,-194.7,446.6,-9.8,319,4309,0.00,0.95,0.00,0.000,4,0.000,0.060,1472,3952,3273,0,0,0,0,0,0
$GC,4442,-0.49,-194.7,459.9,-9.8,323,4445,0.00,0.90,0.00,0.000,6,0.000,0.037,1472,3346,3273,0,0,0,0,0,0
$GC,4783,-0.49,-194.7,492.3,-9.3,334,4787,0.00,0.95,0.00,0.000,4,0.000,0.060,1467,3950,3272,0,0,0,0,0,0
$GC,4905,-0.49,-194.7,504.1,-9.4,337,4908,0.00,0.90,0.00,0.000,6,0.000,0.036,1467,3346,3272,0,0,0,0,0,0
$GC,5225,-0.49,-194.7,532.8,-9.1,348,5228,0.00,0.95,0.00,0.000,4,0.000,0.060,1463,3950,3271,0,0,0,0,0,0
$GC,5347,-0.49,-194.7,544.9,-9.7,351,5352,0.00,0.90,0.00,0.000,6,0.000,0.036,1463,3349,3271,0,0,0,0,0,0
$GC,5667,-0.49,-194.7,574.3,-9.1,362,5672,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3951,3271,0,0,0,0,0,0
$GC,5815,-0.49,-194.7,588.3,-9.7,366,5819,0.08,0.90,0.00,0.000,6,0.132,0.037,1484,3351,3270,0,0,0,0,0,0
$GC,6146,-0.49,-194.7,608.9,-6.0,377,6150,0.00,0.95,0.00,0.000,4,0.000,0.061,1481,3952,3269,0,0,0,0,0,0
$GC,6258,-0.49,-194.7,616.1,-6.9,380,6262,0.00,0.90,0.00,0.000,6,0.000,0.037,1481,3351,3269,0,0,0,0,0,0
$GC,6588,-0.49,-194.7,637.7,-7.0,391,6594,0.00,0.95,0.00,0.000,4,0.000,0.062,1477,3951,3269,0,0,0,0,0,0
$GC,6695,-0.49,-194.7,646.1,-8.0,394,6699,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3352,3268,0,0,0,0,0,0
$GC,7032,-0.49,-194.7,671.0,-7.7,405,7035,0.00,0.95,0.00,0.000,4,0.000,0.062,1472,3952,3268,0,0,0,0,0,0
$GC,7174,-0.49,-194.7,683.2,-8.6,409,7177,0.00,0.90,0.00,0.000,6,0.000,0.037,1473,3353,3268,0,0,0,0,0,0
$GC,7510,-0.49,-194.7,712.3,-8.7,420,7515,0.00,0.98,0.00,0.000,4,0.000,0.063,1468,3951,3267,0,0,0,0,0,0
$GC,7647,-0.49,-194.7,724.4,-8.4,424,7652,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3350,3267,0,0,0,0,0,0
$GC,7991,-0.49,-194.7,753.7,-8.4,435,7994,0.00,0.95,0.00,0.000,4,0.000,0.063,1464,3951,3266,0,0,0,0,0,0
$GC,8102,-0.49,-194.7,764.0,-8.8,438,8106,0.00,0.90,0.00,0.000,6,0.000,0.038,1463,3354,3266,0,0,0,0,0,0
$GC,8433,-0.49,-194.7,792.3,-8.6,449,8438,0.00,0.95,0.00,0.000,4,0.000,0.063,1459,3952,3264,0,0,0,0,0,0
$GC,8570,-0.49,-194.7,805.1,-9.3,453,8576,0.08,0.90,0.00,0.000,6,0.133,0.038,1484,3352,3264,0,0,0,0,0,0
$GC,8914,-0.49,-194.7,829.0,-6.8,464,8918,0.00,0.95,0.00,0.000,4,0.000,0.063,1482,3951,3263,0,0,0,0,0,0
$GC,9060,-0.49,-194.7,839.5,-6.3,468,9064,0.00,0.90,0.00,0.000,6,0.000,0.038,1482,3355,3263,0,0,0,0,0,0
$GC,9390,-0.49,-194.7,862.7,-7.1,479,9394,0.00,0.95,0.00,0.000,4,0.000,0.063,1477,3952,3262,0,0,0,0,0,0
$GC,9504,-0.49,-194.7,871.3,-7.9,482,9507,0.00,0.90,0.00,0.000,6,0.000,0.039,1477,3356,3262,0,0,0,0,0,0
$GC,9835,-0.49,-194.7,896.7,-8.0,493,9839,0.00,0.95,0.00,0.000,4,0.000,0.063,1473,3951,3262,0,0,0,0,0,0
$GC,9914,-0.49,-194.7,903.6,-8.0,495,9918,0.00,0.90,0.00,0.000,6,0.000,0.039,1473,3356,3262,0,0,0,0,0,0
$GC,10245,-0.49,-194.7,933.1,-9.1,506,10248,0.00,0.95,0.00,0.000,4,0.000,0.063,1469,3953,3261,0,0,0,0,0,0
$GC,10357,-0.49,-194.7,943.9,-9.5,509,10360,0.00,0.90,0.00,0.000,6,0.000,0.039,1469,3357,3261,0,0,0,0,0,0
$GC,10686,-0.49,-194.7,974.4,-9.3,520,10692,0.00,0.95,0.00,0.000,4,0.000,0.064,1464,3953,3260,0,0,0,0,0,0
$GC,10810,-0.49,-194.7,986.1,-9.5,523,10814,0.00,0.90,0.00,0.000,6,0.000,0.039,1465,3356,3260,0,0,0,0,0,0
$STATE,10973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10973,begin apogee
$GC,10981,-0.14,0.0,1000.2,8.5,529,11172,0.43,0.00,183.50,1.839,6,0.125,0.000,1598,3245,2472,0,0,0,0,1,0
$STATE,11174,end apogee,CONTROL_FINISHED_OK
$STATE,11174,begin climb
$GC,11176,0.49,194.7,1007.0,0.0,535,11387,0.60,2.50,193.80,1.779,4,0.050,0.034,1823,1839,1679,0,0,0,0,1,0
$GC,11529,0.49,194.7,958.7,14.2,545,11536,0.00,2.42,0.00,0.000,6,0.000,0.052,1823,3253,1673,0,0,0,0,0,0
$GC,11842,0.49,194.7,897.0,20.3,556,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1671,0,0,0,0,0,0
$GC,12150,0.49,194.7,836.3,19.7,566,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1670,0,0,0,0,0,0
$GC,12455,0.49,194.7,776.3,19.4,576,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1668,0,0,0,0,0,0
$GC,12761,0.49,194.7,718.2,19.3,586,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1668,0,0,0,0,0,0
$GC,13068,0.49,194.7,660.0,18.7,596,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1668,0,0,0,0,0,0
$GC,13373,0.49,194.7,602.4,19.0,606,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1667,0,0,0,0,0,0
$GC,13680,0.49,194.7,543.7,19.1,616,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3253,1667,0,0,0,0,0,0
$GC,13987,0.49,194.7,482.0,20.2,626,13991,0.00,2.15,0.00,0.000,4,0.000,0.032,1834,1819,1667,0,0,0,0,0,0
$GC,14031,0.49,194.7,473.6,16.8,627,14035,0.00,2.30,0.00,0.000,6,0.000,0.050,1835,3264,1666,0,0,0,0,0,0
$GC,14349,0.49,194.7,408.0,21.6,638,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3264,1666,0,0,0,0,0,0
$GC,14659,0.49,194.7,346.0,19.3,652,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3264,1665,0,0,0,0,0,0
$GC,14969,0.49,194.7,286.3,18.9,667,14974,0.00,1.08,0.00,0.000,4,0.000,0.055,1834,3942,1665,0,0,0,0,0,0
$GC,15020,0.49,194.7,276.3,21.1,669,15024,0.08,1.05,0.00,0.000,6,0.187,0.032,1818,3233,1665,0,0,0,0,0,0
$GC,15346,0.49,194.7,221.5,16.4,687,15349,0.00,2.10,0.00,0.000,4,0.000,0.033,1827,1840,1666,0,0,0,0,0,0
$GC,15384,0.49,194.7,215.0,14.6,689,15389,0.00,2.25,0.00,0.000,6,0.000,0.048,1827,3257,1665,0,0,0,0,0,0
$GC,15709,0.49,194.7,158.5,17.8,710,15713,0.00,1.08,0.00,0.000,4,0.000,0.054,1827,3942,1665,0,0,0,0,0,0
$GC,15754,0.49,194.7,150.0,18.6,712,15763,0.00,1.02,0.00,0.000,6,0.000,0.031,1833,3246,1665,0,0,0,0,0,0
$GC,16078,0.49,194.7,90.8,19.0,737,16082,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3246,1665,0,0,0,0,0,0
$GC,16445,0.49,194.7,10.7,23.5,798,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3246,1665,0,0,0,0,0,0
$STATE,16481,end climb,SURFACE_DEPTH_REACHED
$STATE,16481,begin surface coast
$FINISH,0.9,1.026070
$STATE,16494,end surface coast,CONTROL_FINISHED_OK
$STATE,16494,begin surface
$SM_CCo,16510,133.43,0.728,1,0,506,482.50
$SM_GC,1.29,0.00,0.00,133.43,0.000,0.000,0.728,63,3366,506,-4.96,0.37,482.50
$IRIDIUM_FIX,-4140.91,825.41,281212,181800
$TT8_MAMPS,0.025466
$HUMID,55.47
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,24.837
$10V_AH,10.1,13.268
$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,11.825,65.400,377.300,133.425,0.000,33.396,44.929,315.864,0.000,0.000,22.277,2104.419,10778.511,582.113,2828.615,910.666,33.356,1712.765,0.000,2591.986,0.000,1.013,0.000
$DEVICE_MAMPS,237.915,76.500,1839.060,727.515,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.121,1735.316,773.561,325.924,0.000,0.000,0.000,0.000,0.000,0.000
$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,60434,805
$CAP_FILE_SIZE,139789,0
$CFSIZE,259252224,250699776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291212,071308,-4156.968,825.986,31,0.8,32,-24.9