version: 66.07
glider: 543
mission: 6
dive: 225
start: 1 15 113 21 2 55
data:
$ID,543
$MISSION,6
$DIVE,225
$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,-8477.1768
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,150113,205306,-4202.496,901.114,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-58.0
$GPS2,150113,210154,-4202.510,901.101,18,1.1,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,-0.242
$KALMAN_X,-146542.3,30.6,148.4,227511.0,-555.8
$KALMAN_Y,52001.3,-1175.2,-485.9,666.5,5718.6
$MHEAD_RNG_PITCHd_Wd,199.6,50934,-14.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.49,-144.5,0.0,0.0,0,70,0.00,0.00,-48.88,0.000,2,0.000,0.000,53,3400,2639,0,0,0,0,0,0
$GC,75,-0.49,-146.1,3.3,-3.4,6,104,5.82,0.90,-12.90,0.000,4,0.230,0.090,1465,3942,3070,0,0,0,0,0,0
$GC,294,-0.49,-146.1,29.4,-12.7,38,304,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3391,3072,0,0,0,0,0,0
$GC,382,-0.49,-146.1,40.3,-12.8,51,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3390,3072,0,0,0,0,0,0
$GC,627,-0.49,-146.1,69.5,-10.7,92,634,0.00,0.88,0.00,0.000,4,0.000,0.059,1461,3931,3073,0,0,0,0,0,0
$GC,766,-0.49,-146.1,86.5,-12.6,115,771,0.00,0.85,0.00,0.000,6,0.000,0.036,1461,3372,3073,0,0,0,0,0,0
$GC,1097,-0.49,-146.1,124.8,-10.6,148,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3372,3074,0,0,0,0,0,0
$GC,1408,-0.49,-146.1,157.5,-10.3,168,1411,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3935,3076,0,0,0,0,0,0
$GC,1489,-0.49,-146.1,166.4,-10.9,172,1499,0.00,0.82,0.00,0.000,6,0.000,0.035,1457,3387,3075,0,0,0,0,0,0
$GC,1813,-0.49,-146.1,198.8,-10.2,193,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3387,3076,0,0,0,0,0,0
$GC,2125,-0.49,-146.1,230.7,-10.3,213,2129,0.00,0.88,0.00,0.000,4,0.000,0.059,1453,3935,3076,0,0,0,0,0,0
$GC,2251,-0.49,-146.1,245.3,-11.1,220,2257,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3370,3076,0,0,0,0,0,0
$GC,2582,-0.49,-146.1,279.9,-10.5,237,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3370,3076,0,0,0,0,0,0
$GC,2890,-0.49,-146.1,314.4,-11.5,252,2894,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3933,3076,0,0,0,0,0,0
$GC,2965,-0.49,-146.1,323.7,-11.3,255,2970,0.00,0.82,0.00,0.000,6,0.000,0.036,1448,3386,3076,0,0,0,0,0,0
$GC,3295,-0.49,-146.1,360.1,-11.2,271,3301,0.00,0.88,0.00,0.000,4,0.000,0.059,1444,3934,3076,0,0,0,0,0,0
$GC,3469,-0.49,-146.1,381.2,-11.9,278,3475,0.08,0.85,0.00,0.000,6,0.140,0.035,1469,3372,3076,0,0,0,0,0,0
$GC,3814,-0.49,-146.1,412.4,-9.0,293,3817,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3935,3076,0,0,0,0,0,0
$GC,3910,-0.49,-146.1,421.7,-9.1,295,3917,0.00,0.85,0.00,0.000,6,0.000,0.035,1466,3372,3076,0,0,0,0,0,0
$GC,4224,-0.49,-146.1,448.3,-8.4,306,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3372,3076,0,0,0,0,0,0
$GC,4530,-0.49,-146.1,473.9,-8.5,316,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3372,3077,0,0,0,0,0,0
$GC,4837,-0.49,-146.1,499.9,-8.4,326,4841,0.00,0.90,0.00,0.000,4,0.000,0.060,1461,3933,3076,0,0,0,0,0,0
$GC,4917,-0.49,-146.1,507.1,-8.7,328,4921,0.00,0.82,0.00,0.000,6,0.000,0.036,1462,3386,3076,0,0,0,0,0,0
$GC,5248,-0.49,-146.1,535.2,-8.3,339,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3386,3075,0,0,0,0,0,0
$GC,5553,-0.49,-146.1,561.1,-8.3,349,5558,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3928,3074,0,0,0,0,0,0
$GC,5632,-0.49,-146.1,568.5,-8.8,351,5636,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3385,3074,0,0,0,0,0,0
$GC,5962,-0.49,-146.1,599.1,-9.6,362,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3385,3074,0,0,0,0,0,0
$GC,6268,-0.49,-146.1,628.8,-9.6,372,6271,0.00,0.90,0.00,0.000,4,0.000,0.061,1454,3944,3073,0,0,0,0,0,0
$GC,6351,-0.49,-146.1,637.7,-10.3,374,6355,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3383,3073,0,0,0,0,0,0
$GC,6676,-0.49,-146.1,669.9,-10.0,385,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3383,3072,0,0,0,0,0,0
$GC,6983,-0.49,-146.1,700.1,-9.8,395,6987,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3943,3071,0,0,0,0,0,0
$GC,7058,-0.49,-146.1,707.9,-10.8,397,7062,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3384,3071,0,0,0,0,0,0
$GC,7394,-0.49,-146.1,741.4,-9.9,408,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3383,3070,0,0,0,0,0,0
$GC,7702,-0.49,-146.1,771.8,-10.2,418,7705,0.00,0.90,0.00,0.000,4,0.000,0.062,1445,3940,3070,0,0,0,0,0,0
$GC,7791,-0.49,-146.1,781.4,-11.0,420,7795,0.08,0.85,0.00,0.000,6,0.139,0.037,1470,3382,3070,0,0,0,0,0,0
$GC,8110,-0.49,-146.1,807.1,-7.8,431,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3382,3069,0,0,0,0,0,0
$GC,8416,-0.49,-146.1,830.4,-7.6,441,8421,0.00,0.90,0.00,0.000,4,0.000,0.063,1467,3938,3068,0,0,0,0,0,0
$GC,8506,-0.49,-146.1,838.5,-9.0,443,8512,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3378,3068,0,0,0,0,0,0
$GC,8829,-0.49,-146.1,866.4,-8.9,454,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3378,3068,0,0,0,0,0,0
$GC,9132,-0.49,-146.1,894.2,-9.2,464,9135,0.00,0.90,0.00,0.000,4,0.000,0.062,1463,3934,3067,0,0,0,0,0,0
$GC,9220,-0.49,-146.1,903.1,-10.7,466,9224,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3378,3067,0,0,0,0,0,0
$GC,9539,-0.49,-146.1,931.9,-9.2,477,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3378,3067,0,0,0,0,0,0
$GC,9845,-0.49,-146.1,959.3,-8.9,487,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3378,3066,0,0,0,0,0,0
$GC,10153,-0.49,-146.1,986.7,-9.0,497,10157,0.00,0.90,0.00,0.000,4,0.000,0.063,1459,3932,3065,0,0,0,0,0,0
$GC,10270,-0.49,-146.1,998.6,-9.6,500,10276,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3375,3065,0,0,0,0,0,0
$STATE,10287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10287,begin apogee
$GC,10294,-0.14,0.0,1000.1,9.8,501,10447,0.43,0.00,144.88,1.457,6,0.130,0.000,1587,3277,2474,0,0,0,0,1,0
$STATE,10448,end apogee,CONTROL_FINISHED_OK
$STATE,10448,begin climb
$GC,10451,0.49,146.1,1005.5,0.0,506,10613,0.60,2.50,148.75,1.753,4,0.079,0.031,1799,1851,1878,0,0,0,0,1,0
$GC,10659,0.49,146.1,985.7,10.6,512,10664,0.00,2.50,0.00,0.000,6,0.000,0.051,1799,3259,1874,0,0,0,0,0,0
$GC,10986,0.49,146.1,936.8,15.5,523,10990,0.00,2.22,0.00,0.000,4,0.000,0.033,1810,1852,1868,0,0,0,0,0,0
$GC,11021,0.49,146.1,931.7,13.8,524,11025,0.00,2.38,0.00,0.000,6,0.000,0.052,1809,3281,1866,0,0,0,0,0,0
$GC,11350,0.49,146.1,878.4,16.5,535,11354,0.00,2.22,0.00,0.000,4,0.000,0.034,1820,1853,1865,0,0,0,0,0,0
$GC,11395,0.49,146.1,871.6,13.2,536,11399,0.00,2.30,0.00,0.000,6,0.000,0.052,1820,3274,1864,0,0,0,0,0,0
$GC,11713,0.49,146.1,816.9,17.8,547,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3274,1863,0,0,0,0,0,0
$GC,12019,0.49,146.1,761.5,18.2,557,12023,0.00,2.20,0.00,0.000,4,0.000,0.033,1831,1847,1863,0,0,0,0,0,0
$GC,12069,0.49,146.1,753.5,13.2,558,12074,0.15,2.30,0.00,0.000,6,0.169,0.052,1794,3282,1862,0,0,0,0,0,0
$GC,12382,0.49,146.1,706.2,15.2,568,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3282,1861,0,0,0,0,0,0
$GC,12689,0.49,146.1,660.0,15.0,578,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3282,1861,0,0,0,0,0,0
$GC,12995,0.49,146.1,613.4,15.1,588,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3282,1860,0,0,0,0,0,0
$GC,13301,0.49,146.1,567.9,14.5,598,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3282,1860,0,0,0,0,0,0
$GC,13608,0.49,146.1,524.0,13.9,608,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3282,1859,0,0,0,0,0,0
$GC,13913,0.49,146.1,482.9,13.4,618,13914,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3282,1859,0,0,0,0,0,0
$GC,14220,0.49,146.1,442.0,13.2,628,14224,0.00,2.17,0.00,0.000,4,0.000,0.030,1803,1833,1859,0,0,0,0,0,0
$GC,14252,0.49,146.1,437.8,11.3,629,14256,0.00,2.30,0.00,0.000,6,0.000,0.049,1803,3270,1858,0,0,0,0,0,0
$GC,14572,0.49,146.1,392.5,14.8,640,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,14883,0.49,146.1,345.3,15.6,655,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1857,0,0,0,0,0,0
$GC,15192,0.49,146.1,297.9,15.1,670,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,15502,0.49,146.1,254.8,13.6,685,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,15824,0.49,146.1,210.6,13.9,705,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,16137,0.49,146.1,167.0,13.8,725,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,16449,0.49,146.1,122.7,14.7,745,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3270,1858,0,0,0,0,0,0
$GC,16775,0.49,146.1,74.3,14.4,783,16781,0.00,1.08,0.00,0.000,4,0.000,0.053,1803,3953,1858,0,0,0,0,0,0
$GC,16963,0.49,146.1,45.0,14.5,814,16972,0.00,1.05,0.00,0.000,6,0.000,0.030,1808,3242,1858,0,0,0,0,0,0
$GC,17226,0.49,146.1,9.7,14.2,855,17236,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3242,1857,0,0,0,0,0,0
$STATE,17282,end climb,SURFACE_DEPTH_REACHED
$STATE,17282,begin surface coast
$FINISH,1.2,1.013204
$STATE,17310,end surface coast,CONTROL_FINISHED_OK
$STATE,17310,begin surface
$SM_CCo,17326,49.00,0.705,1,0,1449,250.20
$SM_GC,2.00,0.00,0.00,49.00,0.000,0.000,0.705,47,3388,1449,-4.96,0.23,250.20
$IRIDIUM_FIX,-4149.58,901.52,150113,171712
$TT8_MAMPS,0.025466
$HUMID,55.47
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,39.047
$10V_AH,10.1,24.084
$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,11.825,51.625,293.625,49.000,0.000,26.883,50.551,279.758,0.000,0.000,22.576,2164.429,11895.613,409.709,2530.562,914.012,33.361,1367.881,0.000,2389.495,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,90.270,1752.615,704.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.967,1916.838,870.625,386.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,63629,867
$CAP_FILE_SIZE,126211,0
$CFSIZE,259252224,244396032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,160113,015358,-4204.362,859.972,39,1.1,39,-25.1