version: 66.07
glider: 543
mission: 6
dive: 232
start: 1 17 113 8 33 3
data:
$ID,543
$MISSION,6
$DIVE,232
$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,-8495.5166
$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,53
$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
$GPS1,170113,082222,-4213.541,907.583,39,0.8,39,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-56.7
$GPS2,170113,083205,-4213.483,907.681,16,1.0,16,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.050,-0.239
$KALMAN_X,-153097.5,357.7,306.1,242554.1,-1647.7
$KALMAN_Y,66722.9,-88.8,-13.7,-35946.8,4435.2
$MHEAD_RNG_PITCHd_Wd,193.3,32338,-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,-146.1,0.0,0.0,0,71,0.00,0.00,-48.90,0.000,2,0.000,0.000,56,3394,2642,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.4,-3.6,6,104,5.70,0.90,-12.48,0.000,4,0.222,0.087,1467,3935,3071,0,0,0,0,0,0
$GC,294,-0.49,-146.1,30.4,-12.9,38,305,0.00,0.82,0.00,0.000,6,0.000,0.036,1467,3399,3073,0,0,0,0,0,0
$GC,554,-0.49,-146.1,61.6,-12.6,79,559,0.00,2.17,0.00,0.000,4,0.000,0.031,1467,1965,3074,0,0,0,0,0,0
$GC,633,-0.49,-146.1,71.1,-10.5,92,640,0.00,2.30,0.00,0.000,6,0.000,0.057,1457,3371,3074,0,0,0,0,0,0
$GC,982,-0.49,-146.1,110.6,-10.9,142,985,0.00,0.93,0.00,0.000,4,0.000,0.058,1453,3950,3075,0,0,0,0,0,0
$GC,1163,-0.49,-146.1,132.4,-11.9,152,1168,0.00,0.88,0.00,0.000,6,0.000,0.034,1453,3368,3075,0,0,0,0,0,0
$GC,1496,-0.49,-146.1,170.6,-11.1,173,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3368,3076,0,0,0,0,0,0
$GC,1809,-0.49,-146.1,205.1,-10.5,193,1814,0.00,0.93,0.00,0.000,4,0.000,0.057,1448,3949,3076,0,0,0,0,0,0
$GC,1902,-0.49,-146.1,216.0,-10.9,198,1906,0.00,0.85,0.00,0.000,6,0.000,0.035,1448,3387,3076,0,0,0,0,0,0
$GC,2231,-0.49,-146.1,250.6,-11.1,219,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3386,3076,0,0,0,0,0,0
$GC,2538,-0.49,-146.1,284.7,-10.9,234,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3386,3076,0,0,0,0,0,0
$GC,2848,-0.49,-146.1,319.3,-11.4,249,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3386,3076,0,0,0,0,0,0
$GC,3157,-0.49,-146.1,355.4,-11.9,264,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3386,3076,0,0,0,0,0,0
$GC,3467,-0.49,-146.1,391.3,-11.7,279,3472,0.00,2.15,0.00,0.000,4,0.000,0.031,1448,1966,3076,0,0,0,0,0,0
$GC,3506,-0.49,-146.1,396.3,-10.6,280,3515,0.10,2.30,0.00,0.000,6,0.119,0.054,1471,3377,3076,0,0,0,0,0,0
$GC,3830,-0.49,-146.1,425.4,-9.0,292,3834,0.00,0.90,0.00,0.000,4,0.000,0.058,1468,3946,3076,0,0,0,0,0,0
$GC,3914,-0.49,-146.1,433.5,-9.3,294,3917,0.00,0.85,0.00,0.000,6,0.000,0.036,1468,3379,3077,0,0,0,0,0,0
$GC,4239,-0.49,-146.1,461.3,-8.2,305,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3076,0,0,0,0,0,0
$GC,4545,-0.49,-146.1,485.5,-7.9,315,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3076,0,0,0,0,0,0
$GC,4852,-0.49,-146.1,508.7,-7.7,325,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3075,0,0,0,0,0,0
$GC,5157,-0.49,-146.1,532.9,-7.9,335,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3075,0,0,0,0,0,0
$GC,5464,-0.49,-146.1,557.3,-7.9,345,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3074,0,0,0,0,0,0
$GC,5771,-0.49,-146.1,582.4,-8.3,355,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3074,0,0,0,0,0,0
$GC,6076,-0.49,-146.1,608.8,-8.7,365,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3379,3073,0,0,0,0,0,0
$GC,6382,-0.49,-146.1,634.8,-8.5,375,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3378,3072,0,0,0,0,0,0
$GC,6689,-0.49,-146.1,661.5,-8.8,385,6693,0.00,2.12,0.00,0.000,4,0.000,0.031,1468,1955,3071,0,0,0,0,0,0
$GC,6756,-0.49,-146.1,667.1,-7.2,387,6761,0.00,2.33,0.00,0.000,6,0.000,0.054,1458,3375,3071,0,0,0,0,0,0
$GC,7093,-0.49,-146.1,696.3,-8.6,398,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3375,3070,0,0,0,0,0,0
$GC,7399,-0.49,-146.1,721.0,-7.8,408,7404,0.00,0.93,0.00,0.000,4,0.000,0.060,1454,3953,3070,0,0,0,0,0,0
$GC,7495,-0.49,-146.1,729.3,-8.6,410,7503,0.00,0.88,0.00,0.000,6,0.000,0.036,1454,3376,3070,0,0,0,0,0,0
$GC,7809,-0.49,-146.1,753.3,-7.6,421,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3375,3069,0,0,0,0,0,0
$GC,8115,-0.49,-146.1,776.2,-7.6,431,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3375,3069,0,0,0,0,0,0
$GC,8422,-0.49,-146.1,799.7,-7.6,441,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3375,3068,0,0,0,0,0,0
$GC,8727,-0.49,-146.1,824.4,-8.2,451,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3375,3068,0,0,0,0,0,0
$GC,9034,-0.49,-146.1,849.3,-7.9,461,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3376,3067,0,0,0,0,0,0
$GC,9341,-0.49,-146.1,873.1,-7.7,471,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3377,3066,0,0,0,0,0,0
$GC,9646,-0.49,-146.1,896.8,-7.9,481,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3377,3065,0,0,0,0,0,0
$GC,9952,-0.49,-146.1,921.4,-8.0,491,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3376,3065,0,0,0,0,0,0
$GC,10259,-0.49,-146.1,946.8,-8.4,501,10263,0.00,0.93,0.00,0.000,4,0.000,0.062,1449,3944,3064,0,0,0,0,0,0
$GC,10353,-0.49,-146.1,955.3,-8.5,503,10360,0.00,0.88,0.00,0.000,6,0.000,0.038,1449,3376,3064,0,0,0,0,0,0
$GC,10668,-0.49,-146.1,983.3,-9.3,514,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3376,3063,0,0,0,0,0,0
$STATE,10847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10847,begin apogee
$GC,10854,-0.14,0.0,1000.6,9.4,520,11007,0.45,0.00,149.35,1.227,6,0.129,0.000,1586,3276,2473,0,0,0,0,0,0
$STATE,11008,end apogee,CONTROL_FINISHED_OK
$STATE,11008,begin climb
$GC,11011,0.49,146.1,1004.4,0.0,525,11170,0.60,0.00,152.05,1.200,6,0.079,0.000,1791,3276,1871,0,0,0,0,0,0
$GC,11472,0.49,146.1,938.4,16.6,540,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3276,1854,0,0,0,0,0,0
$GC,11780,0.49,146.1,890.2,15.2,550,11784,0.00,1.12,0.00,0.000,4,0.000,0.059,1791,3949,1852,0,0,0,0,0,0
$GC,11938,0.49,146.1,863.0,16.1,554,11941,0.00,1.08,0.00,0.000,6,0.000,0.034,1796,3253,1851,0,0,0,0,0,0
$GC,12256,0.49,146.1,811.2,16.3,565,12260,0.00,1.15,0.00,0.000,4,0.000,0.058,1796,3951,1850,0,0,0,0,0,0
$GC,12326,0.49,146.1,799.2,17.8,567,12330,0.00,1.05,0.00,0.000,6,0.000,0.034,1801,3262,1849,0,0,0,0,0,0
$GC,12668,0.49,146.1,742.8,15.9,578,12671,0.00,1.12,0.00,0.000,4,0.000,0.058,1801,3950,1849,0,0,0,0,0,0
$GC,12770,0.49,146.1,724.5,18.5,581,12775,0.00,1.02,0.00,0.000,6,0.000,0.034,1807,3273,1848,0,0,0,0,0,0
$GC,13113,0.49,146.1,665.0,17.2,592,13117,0.00,1.10,0.00,0.000,4,0.000,0.058,1807,3950,1848,0,0,0,0,0,0
$GC,13201,0.49,146.1,647.9,19.0,594,13205,0.00,1.02,0.00,0.000,6,0.000,0.033,1812,3268,1847,0,0,0,0,0,0
$GC,13522,0.49,146.1,593.7,16.9,605,13525,0.00,1.10,0.00,0.000,4,0.000,0.057,1812,3945,1847,0,0,0,0,0,0
$GC,13590,0.49,146.1,580.8,19.5,607,13596,0.00,1.02,0.00,0.000,6,0.000,0.032,1817,3260,1847,0,0,0,0,0,0
$GC,13934,0.49,146.1,519.9,17.9,618,13937,0.00,1.12,0.00,0.000,4,0.000,0.057,1817,3953,1847,0,0,0,0,0,0
$GC,14013,0.49,146.1,504.0,20.3,620,14017,0.00,1.02,0.00,0.000,6,0.000,0.032,1822,3272,1847,0,0,0,0,0,0
$GC,14344,0.49,146.1,441.5,18.8,631,14347,0.00,1.10,0.00,0.000,4,0.000,0.056,1822,3953,1846,0,0,0,0,0,0
$GC,14455,0.49,146.1,418.4,19.6,634,14459,0.10,1.02,0.00,0.000,6,0.174,0.032,1799,3268,1846,0,0,0,0,0,0
$GC,14777,0.49,146.1,366.7,15.4,648,14780,0.00,1.10,0.00,0.000,4,0.000,0.055,1798,3950,1847,0,0,0,0,0,0
$GC,14842,0.49,146.1,355.9,16.5,650,14850,0.00,1.02,0.00,0.000,6,0.000,0.032,1802,3266,1846,0,0,0,0,0,0
$GC,15159,0.49,146.1,308.1,14.4,666,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3266,1846,0,0,0,0,0,0
$GC,15469,0.49,146.1,263.7,14.3,681,15475,0.00,1.10,0.00,0.000,4,0.000,0.054,1802,3952,1846,0,0,0,0,0,0
$GC,15613,0.49,146.1,240.2,15.8,688,15617,0.00,1.02,0.00,0.000,6,0.000,0.031,1807,3266,1846,0,0,0,0,0,0
$GC,15942,0.49,146.1,190.4,15.2,709,15946,0.00,1.10,0.00,0.000,4,0.000,0.054,1807,3954,1846,0,0,0,0,0,0
$GC,16018,0.49,146.1,176.8,16.6,713,16021,0.00,1.02,0.00,0.000,6,0.000,0.031,1813,3263,1846,0,0,0,0,0,0
$GC,16342,0.49,146.1,124.8,16.4,734,16348,0.00,1.10,0.00,0.000,4,0.000,0.053,1813,3950,1846,0,0,0,0,0,0
$GC,16423,0.49,146.1,110.0,20.4,738,16434,0.00,1.00,0.00,0.000,6,0.000,0.031,1818,3273,1846,0,0,0,0,0,0
$GC,16779,0.49,146.1,52.4,13.3,791,16787,0.00,1.08,0.00,0.000,4,0.000,0.053,1818,3953,1846,0,0,0,0,0,0
$GC,16921,0.49,146.1,31.3,15.7,813,16927,0.00,1.02,0.00,0.000,6,0.000,0.031,1823,3256,1846,0,0,0,0,0,0
$STATE,17110,end climb,SURFACE_DEPTH_REACHED
$STATE,17110,begin surface coast
$FINISH,1.2,1.025761
$STATE,17130,end surface coast,CONTROL_FINISHED_OK
$STATE,17130,begin surface
$SM_CCo,17146,50.10,0.700,1,0,1450,250.20
$SM_GC,1.95,0.00,0.00,50.10,0.000,0.000,0.700,50,3397,1450,-4.95,0.48,250.20
$IRIDIUM_FIX,-4155.38,908.63,170113,030347
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.7,40.110
$10V_AH,10.1,24.964
$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,11.525,50.025,301.400,50.100,0.000,27.867,43.522,328.218,0.000,0.000,19.050,2116.854,11810.564,418.709,2543.933,893.108,33.368,1364.065,0.000,2381.812,0.000,1.014,0.000
$DEVICE_MAMPS,221.850,87.210,1227.060,699.975,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.976,1866.398,824.684,371.569,0.000,0.000,0.000,0.000,0.000,0.000
$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,60410,845
$CAP_FILE_SIZE,125428,0
$CFSIZE,259252224,243904512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170113,132104,-4215.250,908.062,37,0.8,37,-25.2