version: 66.07
glider: 543
mission: 6
dive: 230
start: 1 16 113 22 44 48
data:
$ID,543
$MISSION,6
$DIVE,230
$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,-8490.0117
$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,36
$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
$GPS1,160113,223422,-4210.936,902.637,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-55.7
$GPS2,160113,224350,-4210.975,902.670,19,0.8,20,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.127,-0.208
$KALMAN_X,-153612.5,479.2,52.2,236370.7,-2833.0
$KALMAN_Y,63490.6,-892.0,-410.5,-26869.9,7005.6
$MHEAD_RNG_PITCHd_Wd,173.8,35422,-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,-49.00,0.000,2,0.000,0.000,45,3386,2650,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.3,-3.3,6,104,5.80,0.93,-12.43,0.000,4,0.224,0.086,1470,3944,3071,0,0,0,0,0,0
$GC,386,-0.49,-146.1,42.4,-12.7,54,397,0.00,0.88,0.00,0.000,6,0.000,0.036,1470,3374,3073,0,0,0,0,0,0
$GC,637,-0.49,-146.1,72.6,-12.1,95,642,0.00,0.93,0.00,0.000,4,0.000,0.059,1466,3948,3074,0,0,0,0,0,0
$GC,842,-0.49,-146.1,96.8,-10.7,130,850,0.00,0.88,0.00,0.000,6,0.000,0.036,1466,3373,3074,0,0,0,0,0,0
$GC,1170,-0.49,-146.1,131.6,-11.4,153,1176,0.00,0.90,0.00,0.000,4,0.000,0.059,1462,3935,3075,0,0,0,0,0,0
$GC,1296,-0.49,-146.1,146.6,-11.6,160,1300,0.00,0.85,0.00,0.000,6,0.000,0.036,1462,3376,3076,0,0,0,0,0,0
$GC,1629,-0.49,-146.1,180.7,-9.8,181,1632,0.00,0.90,0.00,0.000,4,0.000,0.058,1458,3938,3076,0,0,0,0,0,0
$GC,1897,-0.49,-146.1,207.9,-10.3,196,1901,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3373,3077,0,0,0,0,0,0
$GC,2225,-0.49,-146.1,240.2,-10.3,217,2230,0.00,0.90,0.00,0.000,4,0.000,0.058,1454,3938,3077,0,0,0,0,0,0
$GC,2488,-0.49,-146.1,269.7,-11.6,230,2492,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3371,3077,0,0,0,0,0,0
$GC,2811,-0.49,-146.1,305.5,-11.4,246,2814,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3937,3077,0,0,0,0,0,0
$GC,2985,-0.49,-146.1,327.2,-12.2,253,2989,0.00,0.82,0.00,0.000,6,0.000,0.035,1449,3390,3077,0,0,0,0,0,0
$GC,3309,-0.49,-146.1,364.6,-11.4,269,3314,0.00,0.88,0.00,0.000,4,0.000,0.059,1445,3938,3077,0,0,0,0,0,0
$GC,3428,-0.49,-146.1,379.4,-11.8,274,3432,0.08,0.85,0.00,0.000,6,0.139,0.035,1470,3380,3077,0,0,0,0,0,0
$GC,3765,-0.49,-146.1,408.0,-8.2,289,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3380,3077,0,0,0,0,0,0
$GC,4071,-0.49,-146.1,432.8,-8.1,299,4075,0.00,0.93,0.00,0.000,4,0.000,0.060,1467,3942,3076,0,0,0,0,0,0
$GC,4143,-0.49,-146.1,438.6,-8.4,301,4147,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3378,3076,0,0,0,0,0,0
$GC,4484,-0.49,-146.1,465.6,-7.9,312,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3378,3076,0,0,0,0,0,0
$GC,4792,-0.49,-146.1,490.4,-8.0,322,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3378,3075,0,0,0,0,0,0
$GC,5097,-0.49,-146.1,515.2,-8.1,332,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3378,3075,0,0,0,0,0,0
$GC,5402,-0.49,-146.1,540.9,-8.7,342,5406,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3937,3074,0,0,0,0,0,0
$GC,5481,-0.49,-146.1,548.5,-9.2,344,5485,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3377,3074,0,0,0,0,0,0
$GC,5811,-0.49,-146.1,575.6,-7.3,355,5814,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3939,3073,0,0,0,0,0,0
$GC,5888,-0.49,-146.1,583.6,-10.3,357,5892,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3377,3073,0,0,0,0,0,0
$GC,6218,-0.49,-146.1,615.7,-9.7,368,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3377,3072,0,0,0,0,0,0
$GC,6525,-0.49,-146.1,645.3,-9.7,378,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3377,3071,0,0,0,0,0,0
$GC,6830,-0.49,-146.1,675.3,-9.9,388,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3377,3071,0,0,0,0,0,0
$GC,7136,-0.49,-146.1,704.4,-9.2,398,7140,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3935,3070,0,0,0,0,0,0
$GC,7211,-0.49,-146.1,711.7,-9.3,400,7214,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3378,3069,0,0,0,0,0,0
$GC,7547,-0.49,-146.1,742.4,-9.0,411,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3379,3069,0,0,0,0,0,0
$GC,7854,-0.49,-146.1,770.3,-9.3,421,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3379,3068,0,0,0,0,0,0
$GC,8159,-0.49,-146.1,800.4,-9.8,431,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3378,3068,0,0,0,0,0,0
$GC,8465,-0.49,-146.1,830.3,-9.7,441,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3379,3067,0,0,0,0,0,0
$GC,8773,-0.49,-146.1,859.5,-9.2,451,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3378,3066,0,0,0,0,0,0
$GC,9077,-0.49,-146.1,886.6,-8.7,461,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3379,3066,0,0,0,0,0,0
$GC,9384,-0.49,-146.1,913.7,-9.0,471,9387,0.00,0.93,0.00,0.000,4,0.000,0.062,1450,3948,3066,0,0,0,0,0,0
$GC,9501,-0.49,-146.1,925.4,-9.7,474,9507,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3372,3065,0,0,0,0,0,0
$GC,9827,-0.49,-146.1,955.6,-9.4,485,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3372,3065,0,0,0,0,0,0
$GC,10133,-0.49,-146.1,984.6,-9.5,495,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3372,3064,0,0,0,0,0,0
$STATE,10315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10315,begin apogee
$GC,10323,-0.14,0.0,1001.9,9.4,501,10474,0.45,0.00,148.60,1.226,6,0.131,0.000,1586,3277,2473,0,0,0,0,0,0
$STATE,10476,end apogee,CONTROL_FINISHED_OK
$STATE,10476,begin climb
$GC,10479,0.49,146.1,1006.1,0.0,506,10634,0.62,0.00,152.07,1.199,6,0.078,0.000,1792,3277,1877,0,0,0,0,0,0
$GC,10925,0.49,146.1,945.5,15.7,521,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3277,1855,0,0,0,0,0,0
$GC,11233,0.49,146.1,896.2,16.1,531,11236,0.00,1.10,0.00,0.000,4,0.000,0.058,1792,3939,1852,0,0,0,0,0,0
$GC,11293,0.49,146.1,885.1,17.9,532,11300,0.00,1.05,0.00,0.000,6,0.000,0.034,1797,3257,1852,0,0,0,0,0,0
$GC,11607,0.49,146.1,833.0,16.6,543,11610,0.00,1.12,0.00,0.000,4,0.000,0.058,1798,3943,1851,0,0,0,0,0,0
$GC,11651,0.49,146.1,824.9,17.7,544,11654,0.00,1.02,0.00,0.000,6,0.000,0.034,1802,3268,1851,0,0,0,0,0,0
$GC,11981,0.49,146.1,769.6,16.5,555,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3268,1850,0,0,0,0,0,0
$GC,12287,0.49,146.1,720.0,15.9,565,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3269,1849,0,0,0,0,0,0
$GC,12594,0.49,146.1,672.7,15.4,575,12598,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3943,1848,0,0,0,0,0,0
$GC,12700,0.49,146.1,654.4,17.4,578,12703,0.00,1.02,0.00,0.000,6,0.000,0.032,1808,3260,1848,0,0,0,0,0,0
$GC,13035,0.49,146.1,602.3,15.4,589,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3261,1847,0,0,0,0,0,0
$GC,13341,0.49,146.1,554.3,16.0,599,13345,0.00,1.10,0.00,0.000,4,0.000,0.057,1808,3936,1847,0,0,0,0,0,0
$GC,13467,0.49,146.1,532.2,16.8,602,13471,0.00,1.00,0.00,0.000,6,0.000,0.031,1813,3265,1847,0,0,0,0,0,0
$GC,13789,0.49,146.1,478.9,16.6,613,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3266,1847,0,0,0,0,0,0
$GC,14093,0.49,146.1,425.3,18.0,623,14096,0.00,1.10,0.00,0.000,4,0.000,0.057,1813,3944,1847,0,0,0,0,0,0
$GC,14206,0.49,146.1,403.4,19.8,626,14210,0.00,1.00,0.00,0.000,6,0.000,0.031,1818,3273,1847,0,0,0,0,0,0
$GC,14540,0.49,146.1,342.9,17.5,642,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3273,1847,0,0,0,0,0,0
$GC,14850,0.49,146.1,289.8,17.1,657,14856,0.00,1.08,0.00,0.000,4,0.000,0.057,1818,3940,1847,0,0,0,0,0,0
$GC,14926,0.49,146.1,275.2,18.2,660,14932,0.10,1.00,0.00,0.000,6,0.173,0.031,1795,3266,1847,0,0,0,0,0,0
$GC,15255,0.49,146.1,227.7,14.1,678,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3266,1846,0,0,0,0,0,0
$GC,15565,0.49,146.1,183.7,14.0,698,15569,0.00,1.10,0.00,0.000,4,0.000,0.055,1794,3948,1847,0,0,0,0,0,0
$GC,15629,0.49,146.1,173.5,14.9,701,15636,0.00,1.00,0.00,0.000,6,0.000,0.031,1798,3273,1847,0,0,0,0,0,0
$GC,15950,0.49,146.1,129.0,14.2,722,15951,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1847,0,0,0,0,0,0
$GC,16272,0.49,146.1,83.7,14.2,754,16278,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1846,0,0,0,0,0,0
$GC,16638,0.49,146.1,33.8,13.0,815,16646,0.00,2.15,0.00,0.000,4,0.000,0.030,1809,1854,1847,0,0,0,0,0,0
$GC,16699,0.49,146.1,27.2,11.0,824,16710,0.00,2.28,0.00,0.000,6,0.000,0.047,1809,3268,1846,0,0,0,0,0,0
$GC,16789,0.49,146.1,15.3,13.8,837,16799,0.00,1.08,0.00,0.000,4,0.000,0.054,1809,3946,1847,0,0,0,0,0,0
$GC,16874,0.49,146.1,3.4,13.5,849,16883,0.00,1.00,0.00,0.000,6,0.000,0.031,1814,3268,1846,0,0,0,0,0,0
$STATE,16889,end climb,SURFACE_DEPTH_REACHED
$STATE,16890,begin surface coast
$FINISH,1.2,1.022400
$STATE,16924,end surface coast,CONTROL_FINISHED_OK
$STATE,16924,begin surface
$SM_CCo,16940,49.90,0.686,1,0,1452,250.20
$SM_GC,1.83,0.00,0.00,49.90,0.000,0.000,0.686,54,3394,1452,-4.94,0.40,250.20
$IRIDIUM_FIX,-4152.48,859.11,160113,171731
$TT8_MAMPS,0.025466
$HUMID,55.23
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.7,39.798
$10V_AH,10.0,24.724
$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,11.650,42.750,300.675,49.900,0.000,37.426,24.859,323.762,0.000,0.000,23.432,2142.895,11473.785,438.803,2586.658,918.506,33.377,1380.818,0.000,2441.289,0.000,1.014,0.000
$DEVICE_MAMPS,224.145,86.445,1225.530,686.205,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.964,1897.586,861.810,388.190,0.000,0.000,0.000,0.000,0.000,0.000
$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,63729,856
$CAP_FILE_SIZE,124266,0
$CFSIZE,259252224,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,170113,032923,-4212.715,904.640,37,0.8,37,-25.2