version: 66.07
glider: 543
mission: 6
dive: 228
start: 1 16 113 12 35 9
data:
$ID,543
$MISSION,6
$DIVE,228
$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,-8484.4932
$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,55
$R_STBD_OVSHOOT,23
$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
$GPS1,160113,122434,-4207.795,900.931,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-56.1
$GPS2,160113,123411,-4207.776,900.903,16,0.9,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,-0.235
$KALMAN_X,-150918.1,-198.2,-158.2,232157.4,-1521.2
$KALMAN_Y,57579.1,231.3,-118.6,-16455.0,3213.0
$MHEAD_RNG_PITCHd_Wd,190.7,41177,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-144.4,0.0,0.0,0,64,0.00,0.00,-41.70,0.000,2,0.000,0.000,43,3350,2450,0,0,0,0,0,0
$GC,68,-0.49,-146.1,3.1,-3.9,5,104,5.90,1.00,-21.42,0.000,4,0.233,0.085,1464,3953,3070,0,0,0,0,0,0
$GC,314,-0.49,-146.1,30.5,-12.4,41,320,0.00,0.85,0.00,0.000,6,0.000,0.035,1464,3397,3073,0,0,0,0,0,0
$GC,562,-0.49,-146.1,60.9,-10.9,82,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3396,3074,0,0,0,0,0,0
$GC,920,-0.49,-146.1,99.5,-10.0,143,925,0.00,2.15,0.00,0.000,4,0.000,0.031,1464,1955,3074,0,0,0,0,0,0
$GC,961,-0.49,-146.1,103.4,-8.7,146,966,0.00,2.35,0.00,0.000,6,0.000,0.057,1454,3378,3075,0,0,0,0,0,0
$GC,1289,-0.49,-146.1,137.6,-10.7,167,1294,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3948,3076,0,0,0,0,0,0
$GC,1483,-0.49,-146.1,160.7,-11.6,178,1487,0.00,0.85,0.00,0.000,6,0.000,0.035,1449,3379,3076,0,0,0,0,0,0
$GC,1816,-0.49,-146.1,198.5,-11.6,199,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3379,3076,0,0,0,0,0,0
$GC,2129,-0.49,-146.1,234.8,-11.9,219,2134,0.00,0.93,0.00,0.000,4,0.000,0.057,1445,3958,3076,0,0,0,0,0,0
$GC,2320,-0.49,-146.1,258.7,-12.5,229,2324,0.08,0.88,0.00,0.000,6,0.138,0.034,1469,3377,3076,0,0,0,0,0,0
$GC,2655,-0.49,-146.1,290.6,-9.2,245,2660,0.00,0.93,0.00,0.000,4,0.000,0.059,1467,3955,3076,0,0,0,0,0,0
$GC,2785,-0.49,-146.1,303.8,-9.1,250,2796,0.00,0.88,0.00,0.000,6,0.000,0.034,1466,3372,3076,0,0,0,0,0,0
$GC,3103,-0.49,-146.1,333.3,-9.4,266,3107,0.00,0.93,0.00,0.000,4,0.000,0.058,1462,3952,3076,0,0,0,0,0,0
$GC,3191,-0.49,-146.1,342.3,-10.4,269,3198,0.00,0.85,0.00,0.000,6,0.000,0.034,1462,3389,3076,0,0,0,0,0,0
$GC,3510,-0.49,-146.1,373.7,-10.1,285,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3389,3076,0,0,0,0,0,0
$GC,3837,-0.49,-146.1,406.0,-9.9,300,3841,0.00,0.90,0.00,0.000,4,0.000,0.058,1458,3953,3076,0,0,0,0,0,0
$GC,3959,-0.49,-146.1,418.7,-10.7,303,3963,0.00,0.88,0.00,0.000,6,0.000,0.035,1458,3370,3076,0,0,0,0,0,0
$GC,4280,-0.49,-146.1,452.2,-10.7,314,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3370,3076,0,0,0,0,0,0
$GC,4585,-0.49,-146.1,484.5,-10.5,324,4590,0.00,0.93,0.00,0.000,4,0.000,0.059,1454,3950,3075,0,0,0,0,0,0
$GC,4714,-0.49,-146.1,499.3,-11.2,327,4721,0.00,0.85,0.00,0.000,6,0.000,0.035,1454,3385,3075,0,0,0,0,0,0
$GC,5028,-0.49,-146.1,531.7,-10.1,338,5031,0.00,0.90,0.00,0.000,4,0.000,0.060,1450,3948,3074,0,0,0,0,0,0
$GC,5145,-0.49,-146.1,544.4,-10.8,341,5151,0.00,0.85,0.00,0.000,6,0.000,0.035,1450,3385,3074,0,0,0,0,0,0
$GC,5471,-0.49,-146.1,575.8,-9.7,352,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3385,3074,0,0,0,0,0,0
$GC,5777,-0.49,-146.1,605.4,-9.8,362,5780,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3947,3074,0,0,0,0,0,0
$GC,5894,-0.49,-146.1,617.8,-10.5,365,5900,0.08,0.85,0.00,0.000,6,0.138,0.036,1470,3386,3073,0,0,0,0,0,0
$GC,6220,-0.49,-146.1,645.1,-8.4,376,6226,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3949,3072,0,0,0,0,0,0
$GC,6299,-0.49,-146.1,652.4,-8.8,378,6303,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3386,3072,0,0,0,0,0,0
$GC,6630,-0.49,-146.1,681.1,-8.9,389,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3070,0,0,0,0,0,0
$GC,6936,-0.49,-146.1,707.5,-8.6,399,6939,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3947,3070,0,0,0,0,0,0
$GC,7019,-0.49,-146.1,715.5,-9.5,401,7023,0.00,0.88,0.00,0.000,6,0.000,0.036,1463,3370,3070,0,0,0,0,0,0
$GC,7344,-0.49,-146.1,744.3,-8.9,412,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3369,3070,0,0,0,0,0,0
$GC,7651,-0.49,-146.1,770.8,-8.6,422,7655,0.00,0.95,0.00,0.000,4,0.000,0.061,1459,3958,3069,0,0,0,0,0,0
$GC,7757,-0.49,-146.1,780.7,-9.1,425,7761,0.00,0.88,0.00,0.000,6,0.000,0.037,1459,3381,3069,0,0,0,0,0,0
$GC,8094,-0.49,-146.1,809.0,-8.3,436,8099,0.00,0.93,0.00,0.000,4,0.000,0.061,1455,3954,3068,0,0,0,0,0,0
$GC,8156,-0.49,-146.1,814.6,-9.2,437,8162,0.00,0.88,0.00,0.000,6,0.000,0.036,1455,3380,3068,0,0,0,0,0,0
$GC,8471,-0.49,-146.1,840.2,-7.8,448,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3379,3068,0,0,0,0,0,0
$GC,8776,-0.49,-146.1,864.1,-7.9,458,8781,0.00,0.93,0.00,0.000,4,0.000,0.061,1450,3950,3067,0,0,0,0,0,0
$GC,8905,-0.49,-146.1,875.6,-9.2,461,8912,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3378,3067,0,0,0,0,0,0
$GC,9219,-0.49,-146.1,901.2,-7.9,472,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3378,3066,0,0,0,0,0,0
$GC,9526,-0.49,-146.1,926.6,-8.2,482,9530,0.00,0.93,0.00,0.000,4,0.000,0.061,1446,3951,3065,0,0,0,0,0,0
$GC,9628,-0.49,-146.1,935.6,-8.7,485,9632,0.00,0.88,0.00,0.000,6,0.000,0.037,1446,3375,3065,0,0,0,0,0,0
$GC,9970,-0.49,-146.1,964.5,-8.6,496,9976,0.10,0.95,0.00,0.000,4,0.166,0.063,1469,3951,3065,0,0,0,0,0,0
$GC,10157,-0.49,-146.1,978.0,-6.8,501,10162,0.00,0.88,0.00,0.000,6,0.000,0.037,1468,3378,3064,0,0,0,0,0,0
$GC,10482,-0.49,-146.1,998.5,-6.1,512,10488,0.00,0.93,0.00,0.000,4,0.000,0.063,1465,3951,3064,0,0,0,0,0,0
$STATE,10502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10503,begin apogee
$GC,10510,-0.14,0.0,1000.2,6.6,512,10663,0.38,0.00,149.57,1.235,6,0.129,0.000,1583,3272,2473,0,0,0,0,0,0
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10667,0.49,146.1,1001.8,0.0,517,10827,0.60,2.47,151.40,1.195,4,0.082,0.031,1797,1855,1870,0,0,0,0,0,0
$GC,10894,0.49,146.1,973.7,13.6,523,10901,0.00,2.47,0.00,0.000,6,0.000,0.051,1797,3277,1859,0,0,0,0,0,0
$GC,11208,0.49,146.1,919.1,17.4,534,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3277,1853,0,0,0,0,0,0
$GC,11513,0.49,146.1,867.0,16.9,544,11519,0.00,2.25,0.00,0.000,4,0.000,0.034,1808,1854,1851,0,0,0,0,0,0
$GC,11566,0.49,146.1,859.3,13.6,545,11570,0.00,2.35,0.00,0.000,6,0.000,0.054,1808,3282,1850,0,0,0,0,0,0
$GC,11885,0.49,146.1,805.7,16.8,556,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3282,1848,0,0,0,0,0,0
$GC,12191,0.49,146.1,754.1,16.8,566,12196,0.00,2.22,0.00,0.000,4,0.000,0.034,1819,1855,1848,0,0,0,0,0,0
$GC,12247,0.49,146.1,745.6,13.1,567,12251,0.00,2.30,0.00,0.000,6,0.000,0.053,1819,3270,1847,0,0,0,0,0,0
$GC,12562,0.49,146.1,692.1,17.1,577,12566,0.00,2.17,0.00,0.000,4,0.000,0.032,1830,1854,1847,0,0,0,0,0,0
$GC,12601,0.49,146.1,685.3,15.6,578,12606,0.12,2.30,0.00,0.000,6,0.170,0.052,1799,3274,1847,0,0,0,0,0,0
$GC,12926,0.49,146.1,635.6,15.4,589,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3274,1847,0,0,0,0,0,0
$GC,13233,0.49,146.1,589.5,14.9,599,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3274,1847,0,0,0,0,0,0
$GC,13538,0.49,146.1,547.0,13.6,609,13544,0.00,2.20,0.00,0.000,4,0.000,0.031,1809,1841,1846,0,0,0,0,0,0
$GC,13591,0.49,146.1,540.5,10.8,610,13595,0.00,2.30,0.00,0.000,6,0.000,0.050,1808,3273,1846,0,0,0,0,0,0
$GC,13910,0.49,146.1,493.2,15.3,621,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3273,1846,0,0,0,0,0,0
$GC,14215,0.49,146.1,446.2,15.2,631,14221,0.00,2.17,0.00,0.000,4,0.000,0.031,1820,1851,1846,0,0,0,0,0,0
$GC,14268,0.49,146.1,438.8,12.8,632,14273,0.00,2.28,0.00,0.000,6,0.000,0.050,1820,3269,1846,0,0,0,0,0,0
$GC,14587,0.49,146.1,385.0,17.0,644,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3269,1845,0,0,0,0,0,0
$GC,14898,0.49,146.1,333.5,16.3,659,14904,0.00,2.17,0.00,0.000,4,0.000,0.031,1831,1851,1845,0,0,0,0,0,0
$GC,14938,0.49,146.1,327.4,13.4,660,14947,0.10,2.30,0.00,0.000,6,0.142,0.050,1800,3270,1845,0,0,0,0,0,0
$GC,15256,0.49,146.1,284.4,13.4,676,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3270,1845,0,0,0,0,0,0
$GC,15571,0.49,146.1,242.0,13.5,692,15575,0.00,2.15,0.00,0.000,4,0.000,0.031,1809,1842,1845,0,0,0,0,0,0
$GC,15623,0.49,146.1,235.8,11.6,695,15627,0.00,2.30,0.00,0.000,6,0.000,0.050,1809,3278,1845,0,0,0,0,0,0
$GC,15948,0.49,146.1,186.5,15.4,716,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3278,1845,0,0,0,0,0,0
$GC,16261,0.49,146.1,138.5,15.2,736,16264,0.00,2.15,0.00,0.000,4,0.000,0.030,1820,1847,1845,0,0,0,0,0,0
$GC,16300,0.49,146.1,132.9,12.7,738,16309,0.00,2.30,0.00,0.000,6,0.000,0.050,1820,3268,1845,0,0,0,0,0,0
$GC,16631,0.49,146.1,81.8,15.2,771,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1845,0,0,0,0,0,0
$GC,16991,0.49,146.1,30.4,13.1,832,17001,0.00,2.17,0.00,0.000,4,0.000,0.030,1831,1841,1845,0,0,0,0,0,0
$GC,17069,0.49,146.1,21.5,11.6,843,17080,0.10,2.30,0.00,0.000,6,0.135,0.050,1799,3267,1845,0,0,0,0,0,0
$GC,17165,0.49,146.1,10.1,12.3,856,17173,0.00,1.10,0.00,0.000,4,0.000,0.054,1799,3958,1845,0,0,0,0,0,0
$STATE,17220,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,1.2,1.026097
$STATE,17245,end surface coast,CONTROL_FINISHED_OK
$STATE,17246,begin surface
$SM_CCo,17262,49.70,0.708,1,0,1450,250.20
$SM_GC,1.94,0.00,0.00,49.70,0.000,0.000,0.708,47,3357,1450,-4.96,-0.65,250.20
$IRIDIUM_FIX,-4149.58,901.52,160113,070744
$TT8_MAMPS,0.025466
$HUMID,55.07
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.7,39.487
$10V_AH,10.0,24.479
$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,12.150,82.425,300.975,49.700,0.000,33.522,41.058,323.567,0.000,0.000,18.786,2205.579,11534.326,434.051,2752.316,966.405,33.357,1506.961,0.000,2591.093,0.000,1.015,0.000
$DEVICE_MAMPS,232.560,84.915,1234.710,708.390,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.791,1911.956,881.302,390.583,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,63827,868
$CAP_FILE_SIZE,138139,0
$CFSIZE,259252224,244166656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,160113,172504,-4209.675,901.306,34,0.8,34,-25.1