version: 66.07
glider: 543
mission: 6
dive: 229
start: 1 16 113 17 35 45
data:
$ID,543
$MISSION,6
$DIVE,229
$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,-8487.2266
$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,18
$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
$GPS1,160113,172504,-4209.675,901.306,34,0.8,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-57.9
$GPS2,160113,173447,-4209.600,901.375,15,1.8,15,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.123,-0.210
$KALMAN_X,-152475.5,202.8,258.7,233542.1,-2950.3
$KALMAN_Y,60733.8,-805.6,-64.7,-22007.5,5112.5
$MHEAD_RNG_PITCHd_Wd,174.8,37827,-14.7,-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,-145.9,0.0,0.0,0,71,0.00,0.00,-49.03,0.000,2,0.000,0.000,47,3357,2654,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.4,-3.6,6,104,5.72,0.98,-12.43,0.000,4,0.221,0.086,1465,3948,3070,0,0,0,0,0,0
$GC,328,-0.49,-146.1,33.8,-12.6,44,337,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3395,3073,0,0,0,0,0,0
$GC,585,-0.49,-146.1,65.2,-11.6,85,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3395,3073,0,0,0,0,0,0
$GC,941,-0.49,-146.1,105.2,-9.9,141,947,0.00,0.90,0.00,0.000,4,0.000,0.058,1461,3958,3074,0,0,0,0,0,0
$GC,1052,-0.49,-146.1,116.9,-11.1,147,1056,0.00,0.88,0.00,0.000,6,0.000,0.036,1461,3378,3074,0,0,0,0,0,0
$GC,1382,-0.49,-146.1,152.0,-10.5,168,1386,0.00,0.93,0.00,0.000,4,0.000,0.058,1457,3958,3075,0,0,0,0,0,0
$GC,1484,-0.49,-146.1,163.8,-11.6,174,1488,0.00,0.88,0.00,0.000,6,0.000,0.035,1457,3378,3075,0,0,0,0,0,0
$GC,1819,-0.49,-146.1,201.2,-11.3,195,1823,0.00,0.93,0.00,0.000,4,0.000,0.058,1453,3958,3076,0,0,0,0,0,0
$GC,1966,-0.49,-146.1,218.7,-11.8,203,1969,0.00,0.88,0.00,0.000,6,0.000,0.035,1453,3377,3075,0,0,0,0,0,0
$GC,2296,-0.49,-146.1,253.3,-9.9,224,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3377,3076,0,0,0,0,0,0
$GC,2607,-0.49,-146.1,284.2,-10.1,239,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3377,3075,0,0,0,0,0,0
$GC,2915,-0.49,-146.1,316.3,-10.3,254,2919,0.00,0.93,0.00,0.000,4,0.000,0.057,1448,3958,3075,0,0,0,0,0,0
$GC,3091,-0.49,-146.1,335.6,-10.9,261,3094,0.00,0.88,0.00,0.000,6,0.000,0.035,1448,3377,3076,0,0,0,0,0,0
$GC,3414,-0.49,-146.1,367.7,-9.6,277,3420,0.00,0.93,0.00,0.000,4,0.000,0.057,1444,3958,3075,0,0,0,0,0,0
$GC,3465,-0.49,-146.1,372.8,-10.6,279,3470,0.08,0.88,0.00,0.000,6,0.140,0.035,1469,3378,3075,0,0,0,0,0,0
$GC,3800,-0.49,-146.1,400.9,-8.6,295,3806,0.00,0.93,0.00,0.000,4,0.000,0.059,1466,3955,3076,0,0,0,0,0,0
$GC,3879,-0.49,-146.1,408.8,-10.3,297,3883,0.00,0.88,0.00,0.000,6,0.000,0.035,1466,3374,3075,0,0,0,0,0,0
$GC,4209,-0.49,-146.1,437.8,-8.8,308,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3373,3074,0,0,0,0,0,0
$GC,4515,-0.49,-146.1,465.2,-8.9,318,4518,0.00,0.93,0.00,0.000,4,0.000,0.060,1462,3953,3074,0,0,0,0,0,0
$GC,4655,-0.49,-146.1,478.6,-9.3,322,4658,0.00,0.88,0.00,0.000,6,0.000,0.035,1462,3372,3074,0,0,0,0,0,0
$GC,4990,-0.49,-146.1,508.2,-8.8,333,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3372,3073,0,0,0,0,0,0
$GC,5296,-0.49,-146.1,536.9,-9.4,343,5300,0.00,0.93,0.00,0.000,4,0.000,0.060,1458,3951,3073,0,0,0,0,0,0
$GC,5423,-0.49,-146.1,550.4,-10.7,346,5427,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3388,3073,0,0,0,0,0,0
$GC,5743,-0.49,-146.1,582.7,-9.9,357,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3072,0,0,0,0,0,0
$GC,6047,-0.49,-146.1,612.1,-9.4,367,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3388,3072,0,0,0,0,0,0
$GC,6354,-0.49,-146.1,639.0,-8.8,377,6357,0.00,0.90,0.00,0.000,4,0.000,0.060,1453,3950,3071,0,0,0,0,0,0
$GC,6415,-0.49,-146.1,645.0,-9.2,378,6422,0.00,0.88,0.00,0.000,6,0.000,0.037,1453,3371,3070,0,0,0,0,0,0
$GC,6728,-0.49,-146.1,671.1,-8.2,389,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3371,3070,0,0,0,0,0,0
$GC,7035,-0.49,-146.1,696.8,-8.4,399,7038,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3947,3069,0,0,0,0,0,0
$GC,7165,-0.49,-146.1,709.2,-9.8,402,7172,0.00,0.88,0.00,0.000,6,0.000,0.036,1449,3371,3069,0,0,0,0,0,0
$GC,7478,-0.49,-146.1,738.5,-9.6,413,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3371,3068,0,0,0,0,0,0
$GC,7785,-0.49,-146.1,769.5,-10.0,423,7788,0.00,0.93,0.00,0.000,4,0.000,0.060,1445,3949,3067,0,0,0,0,0,0
$GC,7868,-0.49,-146.1,779.0,-11.4,425,7872,0.08,0.85,0.00,0.000,6,0.140,0.037,1470,3392,3067,0,0,0,0,0,0
$GC,8193,-0.49,-146.1,807.1,-8.3,436,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3067,0,0,0,0,0,0
$GC,8500,-0.49,-146.1,831.4,-7.9,446,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3066,0,0,0,0,0,0
$GC,8805,-0.49,-146.1,855.1,-7.6,456,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3065,0,0,0,0,0,0
$GC,9111,-0.49,-146.1,878.5,-7.5,466,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3392,3064,0,0,0,0,0,0
$GC,9419,-0.49,-146.1,901.9,-7.7,476,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3064,0,0,0,0,0,0
$GC,9724,-0.49,-146.1,924.6,-7.2,486,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3064,0,0,0,0,0,0
$GC,10030,-0.49,-146.1,947.0,-7.4,496,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3063,0,0,0,0,0,0
$GC,10338,-0.49,-146.1,969.5,-7.2,506,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3062,0,0,0,0,0,0
$GC,10642,-0.49,-146.1,990.8,-7.0,516,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3392,3062,0,0,0,0,0,0
$STATE,10793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10794,begin apogee
$GC,10800,-0.14,0.0,1001.6,7.0,521,10948,0.38,0.00,139.18,1.801,6,0.126,0.000,1586,3263,2474,0,0,0,0,1,0
$STATE,10949,end apogee,CONTROL_FINISHED_OK
$STATE,10949,begin climb
$GC,10952,0.49,146.1,1005.1,0.0,526,11111,0.60,0.00,148.77,1.760,6,0.076,0.000,1785,3263,1877,0,0,0,0,1,0
$GC,11416,0.49,146.1,944.3,14.5,541,11420,0.00,2.25,0.00,0.000,4,0.000,0.031,1796,1844,1867,0,0,0,0,0,0
$GC,11465,0.49,146.1,937.6,11.8,542,11470,0.00,2.40,0.00,0.000,6,0.000,0.051,1796,3280,1866,0,0,0,0,0,0
$GC,11779,0.49,146.1,889.7,15.5,552,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3280,1864,0,0,0,0,0,0
$GC,12086,0.49,146.1,841.3,15.9,562,12090,0.00,2.22,0.00,0.000,4,0.000,0.032,1807,1847,1863,0,0,0,0,0,0
$GC,12119,0.49,146.1,836.2,13.5,563,12123,0.00,2.33,0.00,0.000,6,0.000,0.052,1807,3270,1862,0,0,0,0,0,0
$GC,12448,0.49,146.1,782.0,16.7,574,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3270,1861,0,0,0,0,0,0
$GC,12756,0.49,146.1,731.4,16.3,584,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3270,1861,0,0,0,0,0,0
$GC,13061,0.49,146.1,681.9,16.2,594,13066,0.00,2.20,0.00,0.000,4,0.000,0.032,1818,1847,1860,0,0,0,0,0,0
$GC,13113,0.49,146.1,674.3,12.0,595,13117,0.00,2.33,0.00,0.000,6,0.000,0.051,1818,3281,1859,0,0,0,0,0,0
$GC,13433,0.49,146.1,621.1,16.9,606,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3281,1859,0,0,0,0,0,0
$GC,13738,0.49,146.1,567.8,17.3,616,13743,0.00,2.20,0.00,0.000,4,0.000,0.031,1829,1854,1858,0,0,0,0,0,0
$GC,13790,0.49,146.1,559.9,14.5,617,13795,0.12,2.30,0.00,0.000,6,0.175,0.050,1798,3281,1858,0,0,0,0,0,0
$GC,14111,0.49,146.1,512.3,14.8,628,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3281,1858,0,0,0,0,0,0
$GC,14416,0.49,146.1,467.2,14.8,638,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3281,1858,0,0,0,0,0,0
$GC,14722,0.49,146.1,422.9,14.3,648,14726,0.00,2.15,0.00,0.000,4,0.000,0.030,1808,1846,1857,0,0,0,0,0,0
$GC,14755,0.49,146.1,418.6,12.0,649,14759,0.00,2.28,0.00,0.000,6,0.000,0.049,1808,3277,1857,0,0,0,0,0,0
$GC,15088,0.49,146.1,369.7,14.9,663,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3277,1856,0,0,0,0,0,0
$GC,15397,0.49,146.1,324.5,14.6,678,15398,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3277,1857,0,0,0,0,0,0
$GC,15707,0.49,146.1,278.2,15.2,693,15713,0.00,2.20,0.00,0.000,4,0.000,0.030,1819,1843,1857,0,0,0,0,0,0
$GC,15741,0.49,146.1,272.8,13.1,694,15745,0.00,2.28,0.00,0.000,6,0.000,0.049,1819,3273,1856,0,0,0,0,0,0
$GC,16064,0.49,146.1,222.3,15.9,712,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3273,1856,0,0,0,0,0,0
$GC,16377,0.49,146.1,174.0,15.4,732,16381,0.00,2.17,0.00,0.000,4,0.000,0.030,1830,1838,1856,0,0,0,0,0,0
$GC,16428,0.49,146.1,167.3,13.0,735,16433,0.15,2.28,0.00,0.000,6,0.162,0.050,1791,3271,1856,0,0,0,0,0,0
$GC,16756,0.49,146.1,123.4,13.2,756,16757,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1856,0,0,0,0,0,0
$GC,17077,0.49,146.1,80.7,12.8,792,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1856,0,0,0,0,0,0
$GC,17440,0.49,146.1,37.7,11.6,853,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1856,0,0,0,0,0,0
$GC,17701,0.49,146.1,8.5,11.2,894,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1856,0,0,0,0,0,0
$STATE,17744,end climb,SURFACE_DEPTH_REACHED
$STATE,17744,begin surface coast
$FINISH,1.2,1.025523
$STATE,17770,end surface coast,CONTROL_FINISHED_OK
$STATE,17770,begin surface
$SM_CCo,17786,48.67,0.709,1,0,1452,250.20
$SM_GC,2.10,0.00,0.00,48.67,0.000,0.000,0.709,46,3386,1452,-4.97,0.17,250.20
$IRIDIUM_FIX,-4149.58,901.98,160113,121206
$TT8_MAMPS,0.025466
$HUMID,56.02
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.2,39.664
$10V_AH,10.1,24.603
$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,11.725,53.450,287.950,48.675,0.000,27.527,44.296,332.277,0.000,0.000,17.727,2237.008,12219.660,399.092,2631.573,932.078,33.366,1362.489,0.000,2471.167,0.000,1.013,0.000
$DEVICE_MAMPS,221.085,86.445,1800.810,709.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.128,1968.213,911.073,406.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,63900,904
$CAP_FILE_SIZE,127740,0
$CFSIZE,259252224,244105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,160113,223422,-4210.936,902.637,35,0.9,35,-25.1