version: 66.07
glider: 543
mission: 6
dive: 207
start: 1 13 113 2 16 17
data:
$ID,543
$MISSION,6
$DIVE,207
$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,400
$T_MISSION,420
$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,150
$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,250
$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,-8425.6758
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,27
$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
$GPS1,130113,020704,-4203.413,903.821,34,1.0,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-50.0
$GPS2,130113,021517,-4203.313,903.963,19,1.2,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.192,-0.135
$KALMAN_X,-142860.6,490.5,391.8,227020.0,-773.2
$KALMAN_Y,33708.8,-997.3,-350.5,17158.8,9351.5
$MHEAD_RNG_PITCHd_Wd,260.0,8209,-15.4,-8.333
$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,-0.50,-134.2,0.0,0.0,0,71,0.00,0.00,-49.50,0.000,2,0.000,0.000,54,3380,2604,0,0,0,0,0,0
$GC,75,-0.51,-146.1,3.1,-3.5,6,103,5.65,2.17,-14.52,0.000,4,0.222,0.043,1462,1970,3069,0,0,0,0,0,0
$GC,112,-0.51,-146.1,5.6,-5.7,10,123,0.00,2.35,0.00,0.000,6,0.000,0.062,1453,3364,3070,0,0,0,0,0,0
$GC,207,-0.51,-146.1,17.3,-14.1,23,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3364,3071,0,0,0,0,0,0
$GC,295,-0.51,-146.1,30.0,-14.0,36,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3364,3071,0,0,0,0,0,0
$GC,543,-0.51,-146.1,63.5,-11.6,77,547,0.00,2.12,0.00,0.000,4,0.000,0.031,1453,1966,3072,0,0,0,0,0,0
$GC,598,-0.51,-146.1,69.1,-9.5,86,605,0.00,2.33,0.00,0.000,6,0.000,0.060,1442,3386,3072,0,0,0,0,0,0
$GC,960,-0.51,-146.1,111.4,-12.1,137,964,0.00,0.90,0.00,0.000,4,0.000,0.060,1438,3952,3073,0,0,0,0,0,0
$GC,1069,-0.51,-146.1,125.6,-13.2,143,1073,0.08,0.85,0.00,0.000,6,0.153,0.035,1462,3391,3074,0,0,0,0,0,0
$GC,1401,-0.51,-146.1,161.0,-10.2,164,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3391,3075,0,0,0,0,0,0
$GC,1712,-0.51,-146.1,193.2,-10.3,184,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3391,3075,0,0,0,0,0,0
$GC,2024,-0.51,-146.1,226.6,-10.9,204,2027,0.00,0.90,0.00,0.000,4,0.000,0.060,1460,3954,3075,0,0,0,0,0,0
$GC,2077,-0.51,-146.1,232.3,-10.9,207,2080,0.00,0.88,0.00,0.000,6,0.000,0.035,1460,3371,3075,0,0,0,0,0,0
$GC,2399,-0.51,-146.1,267.1,-10.7,225,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3371,3075,0,0,0,0,0,0
$GC,2706,-0.51,-146.1,298.1,-10.0,240,2709,0.00,0.93,0.00,0.000,4,0.000,0.059,1455,3951,3076,0,0,0,0,0,0
$GC,2802,-0.51,-146.1,308.5,-9.9,244,2806,0.00,0.85,0.00,0.000,6,0.000,0.035,1455,3384,3075,0,0,0,0,0,0
$GC,3131,-0.51,-146.1,341.6,-10.1,260,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3383,3076,0,0,0,0,0,0
$GC,3440,-0.51,-146.1,373.7,-10.3,275,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3383,3075,0,0,0,0,0,0
$GC,3768,-0.51,-146.1,406.8,-10.0,290,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3383,3075,0,0,0,0,0,0
$GC,4074,-0.51,-146.1,438.3,-10.5,300,4078,0.00,0.93,0.00,0.000,4,0.000,0.060,1451,3958,3075,0,0,0,0,0,0
$GC,4176,-0.51,-146.1,449.7,-10.7,303,4180,0.00,0.88,0.00,0.000,6,0.000,0.036,1451,3378,3076,0,0,0,0,0,0
$GC,4517,-0.51,-146.1,484.8,-10.0,314,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3378,3075,0,0,0,0,0,0
$GC,4823,-0.51,-146.1,514.9,-9.7,324,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3378,3075,0,0,0,0,0,0
$GC,5131,-0.51,-146.1,544.2,-9.5,334,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3378,3074,0,0,0,0,0,0
$GC,5436,-0.51,-146.1,572.9,-9.4,344,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3378,3074,0,0,0,0,0,0
$GC,5742,-0.51,-146.1,602.9,-9.8,354,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3378,3073,0,0,0,0,0,0
$GC,6049,-0.51,-146.1,634.3,-10.4,364,6053,0.00,0.93,0.00,0.000,4,0.000,0.060,1447,3951,3073,0,0,0,0,0,0
$GC,6092,-0.51,-146.1,639.4,-10.4,365,6096,0.00,0.88,0.00,0.000,6,0.000,0.037,1447,3372,3073,0,0,0,0,0,0
$GC,6423,-0.51,-146.1,673.6,-10.2,376,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3372,3072,0,0,0,0,0,0
$GC,6730,-0.51,-146.1,704.6,-10.0,386,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3372,3071,0,0,0,0,0,0
$GC,7035,-0.51,-146.1,735.7,-10.4,396,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3371,3071,0,0,0,0,0,0
$GC,7342,-0.51,-146.1,769.1,-10.9,406,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3372,3070,0,0,0,0,0,0
$GC,7649,-0.51,-146.1,801.0,-10.0,416,7652,0.00,0.95,0.00,0.000,4,0.000,0.062,1443,3958,3069,0,0,0,0,0,0
$GC,7732,-0.51,-146.1,810.2,-11.5,418,7736,0.00,0.88,0.00,0.000,6,0.000,0.037,1443,3384,3069,0,0,0,0,0,0
$GC,8057,-0.51,-146.1,841.7,-9.5,429,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3384,3068,0,0,0,0,0,0
$GC,8362,-0.51,-146.1,870.4,-9.3,439,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3383,3068,0,0,0,0,0,0
$GC,8668,-0.51,-146.1,898.0,-8.7,449,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3384,3067,0,0,0,0,0,0
$GC,8976,-0.51,-146.1,924.5,-8.7,459,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3384,3066,0,0,0,0,0,0
$GC,9281,-0.51,-146.1,951.5,-8.9,469,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3384,3065,0,0,0,0,0,0
$GC,9587,-0.51,-146.1,978.2,-8.7,479,9591,0.00,0.93,0.00,0.000,4,0.000,0.063,1439,3951,3065,0,0,0,0,0,0
$GC,9636,-0.51,-146.1,983.2,-10.6,480,9640,0.08,0.88,0.00,0.000,6,0.143,0.037,1463,3381,3064,0,0,0,0,0,0
$STATE,9866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9866,begin apogee
$GC,9873,-0.14,0.0,1000.2,7.3,488,10023,0.40,0.00,147.05,1.225,6,0.132,0.000,1585,3269,2473,0,0,0,0,0,0
$STATE,10025,end apogee,CONTROL_FINISHED_OK
$STATE,10025,begin climb
$GC,10028,0.51,146.1,1002.9,0.0,493,10187,0.62,2.42,148.93,1.196,4,0.084,0.029,1805,1845,1871,0,0,0,0,0,0
$GC,10210,0.51,146.1,981.2,14.2,498,10215,0.00,2.53,0.00,0.000,6,0.000,0.051,1805,3272,1864,0,0,0,0,0,0
$GC,10525,0.51,146.1,927.4,17.2,508,10528,0.00,1.12,0.00,0.000,4,0.000,0.057,1805,3950,1856,0,0,0,0,0,0
$GC,10662,0.51,146.1,901.5,19.5,512,10666,0.00,1.08,0.00,0.000,6,0.000,0.033,1810,3252,1854,0,0,0,0,0,0
$GC,11003,0.51,146.1,840.2,18.0,523,11006,0.00,1.15,0.00,0.000,4,0.000,0.057,1810,3955,1853,0,0,0,0,0,0
$GC,11080,0.51,146.1,825.0,19.6,525,11084,0.00,1.05,0.00,0.000,6,0.000,0.032,1816,3265,1852,0,0,0,0,0,0
$GC,11409,0.51,146.1,766.6,17.5,536,11413,0.00,1.12,0.00,0.000,4,0.000,0.057,1816,3953,1851,0,0,0,0,0,0
$GC,11527,0.51,146.1,743.4,19.6,539,11530,0.00,1.02,0.00,0.000,6,0.000,0.033,1821,3273,1851,0,0,0,0,0,0
$GC,11852,0.51,146.1,682.1,19.0,550,11856,0.00,1.10,0.00,0.000,4,0.000,0.057,1821,3953,1850,0,0,0,0,0,0
$GC,11940,0.51,146.1,663.7,19.4,552,11944,0.00,1.02,0.00,0.000,6,0.000,0.031,1826,3269,1850,0,0,0,0,0,0
$GC,12261,0.51,146.1,602.8,19.1,563,12264,0.00,1.10,0.00,0.000,4,0.000,0.056,1825,3951,1849,0,0,0,0,0,0
$GC,12363,0.51,146.1,581.6,21.4,566,12367,0.10,1.02,0.00,0.000,6,0.174,0.031,1802,3260,1849,0,0,0,0,0,0
$GC,12704,0.51,146.1,524.8,16.4,577,12709,0.00,1.12,0.00,0.000,4,0.000,0.056,1802,3955,1848,0,0,0,0,0,0
$GC,12794,0.51,146.1,509.1,16.7,579,12799,0.00,1.02,0.00,0.000,6,0.000,0.031,1806,3263,1848,0,0,0,0,0,0
$GC,13113,0.51,146.1,458.3,15.7,590,13119,0.00,1.12,0.00,0.000,4,0.000,0.055,1806,3962,1848,0,0,0,0,0,0
$GC,13226,0.51,146.1,438.6,17.1,593,13230,0.00,1.02,0.00,0.000,6,0.000,0.031,1811,3273,1848,0,0,0,0,0,0
$GC,13550,0.51,146.1,386.7,16.0,605,13553,0.00,1.10,0.00,0.000,4,0.000,0.055,1811,3958,1847,0,0,0,0,0,0
$GC,13644,0.51,146.1,370.6,18.2,609,13648,0.00,1.02,0.00,0.000,6,0.000,0.031,1817,3268,1848,0,0,0,0,0,0
$GC,13980,0.51,146.1,315.1,16.4,625,13985,0.00,1.10,0.00,0.000,4,0.000,0.054,1817,3953,1847,0,0,0,0,0,0
$GC,14063,0.51,146.1,300.5,17.8,628,14067,0.00,1.02,0.00,0.000,6,0.000,0.031,1822,3258,1847,0,0,0,0,0,0
$GC,14382,0.51,146.1,246.6,17.2,644,14385,0.00,1.12,0.00,0.000,4,0.000,0.054,1822,3962,1848,0,0,0,0,0,0
$GC,14475,0.51,146.1,229.8,18.7,649,14478,0.00,1.02,0.00,0.000,6,0.000,0.030,1827,3266,1847,0,0,0,0,0,0
$GC,14805,0.51,146.1,169.2,18.0,670,14809,0.00,1.10,0.00,0.000,4,0.000,0.054,1827,3955,1847,0,0,0,0,0,0
$GC,14877,0.51,146.1,154.9,19.3,674,14881,0.10,1.00,0.00,0.000,6,0.174,0.030,1803,3273,1847,0,0,0,0,0,0
$GC,15207,0.51,146.1,104.5,15.0,695,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3272,1847,0,0,0,0,0,0
$GC,15545,0.51,146.1,55.1,12.7,749,15552,0.00,2.12,0.00,0.000,4,0.000,0.028,1812,1846,1848,0,0,0,0,0,0
$GC,15597,0.51,146.1,48.5,11.7,757,15605,0.00,2.28,0.00,0.000,6,0.000,0.047,1812,3284,1847,0,0,0,0,0,0
$GC,15855,0.51,146.1,13.1,15.7,798,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3284,1847,0,0,0,0,0,0
$STATE,15923,end climb,SURFACE_DEPTH_REACHED
$STATE,15923,begin surface coast
$FINISH,1.0,1.026340
$STATE,15951,end surface coast,CONTROL_FINISHED_OK
$STATE,15951,begin surface
$SM_CCo,15967,48.75,0.692,1,0,1453,250.20
$SM_GC,1.85,0.00,0.00,48.75,0.000,0.000,0.692,50,3401,1453,-4.95,0.59,250.20
$IRIDIUM_FIX,-4146.69,846.75,120113,222237
$TT8_MAMPS,0.025466
$HUMID,55.86
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.8,37.040
$10V_AH,10.1,22.350
$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,11.625,54.750,295.975,48.750,0.000,26.176,46.792,256.621,0.000,0.000,21.804,2042.961,10781.687,401.320,2437.405,855.604,33.364,1330.555,0.000,2318.082,0.000,2.874,0.000
$DEVICE_MAMPS,221.850,89.505,1224.765,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.955,1771.053,823.236,363.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,60367,812
$CAP_FILE_SIZE,122128,0
$CFSIZE,259252224,245411840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,130113,064434,-4203.062,901.064,33,0.8,33,-25.1