version: 66.07
glider: 543
mission: 6
dive: 233
start: 1 17 113 13 31 57
data:
$ID,543
$MISSION,6
$DIVE,233
$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,230
$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,-8498.2217
$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,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,29
$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
$GPS1,170113,132104,-4215.250,908.062,37,0.8,37,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-58.4
$GPS2,170113,133059,-4215.137,908.096,17,1.1,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,-0.241
$KALMAN_X,-153124.6,199.1,-48.0,243676.8,-808.0
$KALMAN_Y,69787.6,-255.6,-400.3,-41526.2,5895.9
$MHEAD_RNG_PITCHd_Wd,196.8,29663,-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,21,-0.47,-146.1,0.0,0.0,0,71,0.00,0.00,-48.83,0.000,2,0.000,0.000,50,3397,2649,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-3.8,6,102,5.78,0.90,-12.43,0.000,4,0.225,0.090,1468,3938,3070,0,0,0,0,0,0
$GC,222,-0.47,-146.1,20.3,-12.6,27,230,0.00,0.80,0.00,0.000,6,0.000,0.036,1468,3421,3073,0,0,0,0,0,0
$GC,309,-0.47,-146.1,31.8,-12.4,40,320,0.00,2.22,0.00,0.000,4,0.000,0.031,1468,1971,3073,0,0,0,0,0,0
$GC,368,-0.47,-146.1,38.3,-10.3,48,377,0.00,2.35,0.00,0.000,6,0.000,0.056,1458,3392,3073,0,0,0,0,0,0
$GC,616,-0.47,-146.1,67.7,-11.1,89,622,0.00,0.90,0.00,0.000,4,0.000,0.057,1453,3954,3074,0,0,0,0,0,0
$GC,775,-0.47,-146.1,86.7,-12.3,116,782,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3396,3074,0,0,0,0,0,0
$GC,1105,-0.47,-146.1,123.7,-11.7,151,1108,0.00,0.88,0.00,0.000,4,0.000,0.057,1449,3946,3076,0,0,0,0,0,0
$GC,1212,-0.47,-146.1,136.9,-12.0,157,1217,0.08,0.82,0.00,0.000,6,0.141,0.035,1473,3404,3076,0,0,0,0,0,0
$GC,1545,-0.47,-146.1,169.7,-9.3,178,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3404,3076,0,0,0,0,0,0
$GC,1856,-0.47,-146.1,200.3,-10.0,198,1860,0.00,0.88,0.00,0.000,4,0.000,0.058,1471,3951,3076,0,0,0,0,0,0
$GC,1949,-0.47,-146.1,209.7,-10.3,203,1953,0.00,0.82,0.00,0.000,6,0.000,0.036,1471,3405,3077,0,0,0,0,0,0
$GC,2282,-0.47,-146.1,244.9,-10.6,224,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3405,3077,0,0,0,0,0,0
$GC,2591,-0.47,-146.1,277.0,-10.1,240,2595,0.00,0.88,0.00,0.000,4,0.000,0.058,1467,3953,3076,0,0,0,0,0,0
$GC,2666,-0.47,-146.1,285.4,-10.7,243,2672,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3392,3076,0,0,0,0,0,0
$GC,2996,-0.47,-146.1,319.4,-10.3,259,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3392,3076,0,0,0,0,0,0
$GC,3305,-0.47,-146.1,347.9,-8.7,274,3309,0.00,0.90,0.00,0.000,4,0.000,0.058,1462,3956,3076,0,0,0,0,0,0
$GC,3385,-0.47,-146.1,355.4,-9.2,277,3390,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3396,3076,0,0,0,0,0,0
$GC,3709,-0.47,-146.1,383.8,-8.7,293,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3396,3076,0,0,0,0,0,0
$GC,4036,-0.47,-146.1,412.4,-8.9,307,4042,0.00,0.88,0.00,0.000,4,0.000,0.057,1459,3945,3076,0,0,0,0,0,0
$GC,4155,-0.47,-146.1,423.9,-9.2,310,4158,0.00,0.82,0.00,0.000,6,0.000,0.035,1459,3399,3076,0,0,0,0,0,0
$GC,4479,-0.47,-146.1,453.2,-8.9,321,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3399,3076,0,0,0,0,0,0
$GC,4786,-0.47,-146.1,481.2,-9.1,331,4789,0.00,0.88,0.00,0.000,4,0.000,0.059,1454,3949,3075,0,0,0,0,0,0
$GC,4897,-0.47,-146.1,492.2,-9.7,334,4903,0.00,0.82,0.00,0.000,6,0.000,0.036,1455,3405,3075,0,0,0,0,0,0
$GC,5230,-0.47,-146.1,523.4,-9.5,345,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3404,3075,0,0,0,0,0,0
$GC,5535,-0.47,-146.1,554.4,-10.3,355,5538,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3949,3074,0,0,0,0,0,0
$GC,5662,-0.47,-146.1,568.9,-11.0,358,5669,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3390,3074,0,0,0,0,0,0
$GC,5976,-0.47,-146.1,600.9,-10.1,369,5980,0.00,0.90,0.00,0.000,4,0.000,0.059,1446,3952,3073,0,0,0,0,0,0
$GC,6052,-0.47,-146.1,609.0,-10.7,371,6056,0.08,0.85,0.00,0.000,6,0.135,0.037,1471,3395,3073,0,0,0,0,0,0
$GC,6387,-0.47,-146.1,637.3,-8.4,382,6391,0.00,0.88,0.00,0.000,4,0.000,0.060,1468,3941,3073,0,0,0,0,0,0
$GC,6465,-0.47,-146.1,644.4,-9.1,384,6469,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3404,3073,0,0,0,0,0,0
$GC,6794,-0.47,-146.1,673.2,-8.9,395,6798,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3948,3072,0,0,0,0,0,0
$GC,6889,-0.47,-146.1,682.5,-9.7,397,6896,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3388,3071,0,0,0,0,0,0
$GC,7203,-0.47,-146.1,709.8,-8.6,408,7207,0.00,0.90,0.00,0.000,4,0.000,0.060,1460,3947,3070,0,0,0,0,0,0
$GC,7298,-0.47,-146.1,718.6,-9.2,410,7304,0.00,0.82,0.00,0.000,6,0.000,0.037,1460,3406,3070,0,0,0,0,0,0
$GC,7611,-0.47,-146.1,744.9,-8.3,421,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3406,3070,0,0,0,0,0,0
$GC,7919,-0.47,-146.1,769.5,-8.0,431,7922,0.00,0.88,0.00,0.000,4,0.000,0.060,1456,3949,3069,0,0,0,0,0,0
$GC,8041,-0.47,-146.1,780.5,-8.7,434,8046,0.00,0.85,0.00,0.000,6,0.000,0.037,1456,3395,3069,0,0,0,0,0,0
$GC,8361,-0.47,-146.1,806.7,-8.5,445,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3395,3068,0,0,0,0,0,0
$GC,8667,-0.47,-146.1,833.1,-8.8,455,8670,0.00,0.90,0.00,0.000,4,0.000,0.060,1452,3953,3068,0,0,0,0,0,0
$GC,8773,-0.47,-146.1,843.7,-9.1,458,8778,0.00,0.85,0.00,0.000,6,0.000,0.037,1452,3399,3068,0,0,0,0,0,0
$GC,9111,-0.47,-146.1,875.9,-9.8,469,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3399,3067,0,0,0,0,0,0
$GC,9415,-0.47,-146.1,904.8,-9.3,479,9421,0.00,0.88,0.00,0.000,4,0.000,0.060,1448,3943,3066,0,0,0,0,0,0
$GC,9511,-0.47,-146.1,914.4,-9.6,481,9519,0.00,0.82,0.00,0.000,6,0.000,0.037,1448,3402,3065,0,0,0,0,0,0
$GC,9825,-0.47,-146.1,943.4,-9.3,492,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3402,3065,0,0,0,0,0,0
$GC,10131,-0.47,-146.1,973.1,-9.9,502,10135,0.00,0.88,0.00,0.000,4,0.000,0.061,1444,3947,3064,0,0,0,0,0,0
$GC,10214,-0.47,-146.1,982.0,-10.4,504,10218,0.08,0.85,0.00,0.000,6,0.137,0.038,1469,3393,3064,0,0,0,0,0,0
$STATE,10443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10443,begin apogee
$GC,10450,-0.13,0.0,1002.2,8.5,512,10599,0.38,0.00,140.65,1.797,6,0.125,0.000,1586,3278,2473,0,0,0,0,1,0
$STATE,10600,end apogee,CONTROL_FINISHED_OK
$STATE,10601,begin climb
$GC,10603,0.47,146.1,1007.7,0.0,517,10766,0.57,2.47,149.07,1.754,4,0.079,0.031,1785,1873,1877,0,0,0,0,1,0
$GC,10811,0.47,146.1,990.2,10.2,523,10817,0.00,2.50,0.00,0.000,6,0.000,0.052,1785,3278,1873,0,0,0,0,0,0
$GC,11138,0.47,146.1,946.9,13.8,534,11142,0.00,1.12,0.00,0.000,4,0.000,0.058,1786,3953,1866,0,0,0,0,0,0
$GC,11211,0.47,146.1,935.3,15.3,536,11215,0.00,1.05,0.00,0.000,6,0.000,0.033,1791,3272,1865,0,0,0,0,0,0
$GC,11546,0.47,146.1,886.1,15.0,547,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3272,1864,0,0,0,0,0,0
$GC,11853,0.47,146.1,838.3,15.7,557,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3273,1862,0,0,0,0,0,0
$GC,12160,0.47,146.1,789.5,15.7,567,12163,0.00,1.12,0.00,0.000,4,0.000,0.059,1791,3958,1862,0,0,0,0,0,0
$GC,12214,0.47,146.1,779.7,17.3,568,12218,0.00,1.02,0.00,0.000,6,0.000,0.034,1795,3282,1862,0,0,0,0,0,0
$GC,12534,0.47,146.1,729.2,15.8,579,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3281,1861,0,0,0,0,0,0
$GC,12839,0.47,146.1,682.1,15.1,589,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3281,1860,0,0,0,0,0,0
$GC,13147,0.47,146.1,636.5,14.9,599,13150,0.00,1.10,0.00,0.000,4,0.000,0.058,1796,3958,1859,0,0,0,0,0,0
$GC,13230,0.47,146.1,622.3,16.4,601,13233,0.00,1.02,0.00,0.000,6,0.000,0.032,1801,3275,1859,0,0,0,0,0,0
$GC,13555,0.47,146.1,570.8,16.1,612,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1859,0,0,0,0,0,0
$GC,13860,0.47,146.1,520.5,16.4,622,13862,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1859,0,0,0,0,0,0
$GC,14167,0.47,146.1,471.3,15.6,632,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1858,0,0,0,0,0,0
$GC,14474,0.47,146.1,424.2,15.2,642,14478,0.00,1.10,0.00,0.000,4,0.000,0.057,1801,3955,1858,0,0,0,0,0,0
$GC,14553,0.47,146.1,410.8,17.0,644,14556,0.00,1.02,0.00,0.000,6,0.000,0.031,1806,3269,1858,0,0,0,0,0,0
$GC,14887,0.47,146.1,358.2,16.0,659,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1857,0,0,0,0,0,0
$GC,15196,0.47,146.1,308.4,16.5,674,15197,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1857,0,0,0,0,0,0
$GC,15506,0.47,146.1,260.4,15.6,689,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1857,0,0,0,0,0,0
$GC,15821,0.47,146.1,210.8,15.9,708,15825,0.00,1.10,0.00,0.000,4,0.000,0.056,1806,3950,1857,0,0,0,0,0,0
$GC,15878,0.47,146.1,201.6,17.2,711,15882,0.10,1.00,0.00,0.000,6,0.170,0.031,1782,3273,1857,0,0,0,0,0,0
$GC,16212,0.47,146.1,156.5,13.1,732,16213,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3274,1857,0,0,0,0,0,0
$GC,16522,0.47,146.1,115.0,13.2,752,16526,0.00,2.10,0.00,0.000,4,0.000,0.028,1791,1885,1857,0,0,0,0,0,0
$GC,16569,0.47,146.1,109.5,10.0,754,16577,0.00,2.28,0.00,0.000,6,0.000,0.048,1791,3284,1857,0,0,0,0,0,0
$GC,16919,0.47,146.1,63.9,13.1,805,16924,0.00,2.12,0.00,0.000,4,0.000,0.028,1802,1864,1857,0,0,0,0,0,0
$GC,16962,0.47,146.1,58.7,9.9,812,16972,0.05,2.28,0.00,0.000,6,0.144,0.048,1785,3278,1857,0,0,0,0,0,0
$GC,17217,0.47,146.1,30.9,10.9,853,17224,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1857,0,0,0,0,0,0
$STATE,17447,end climb,SURFACE_DEPTH_REACHED
$STATE,17448,begin surface coast
$FINISH,1.3,1.026204
$STATE,17479,end surface coast,CONTROL_FINISHED_OK
$STATE,17479,begin surface
$SM_CCo,17495,40.53,0.697,1,0,1531,230.09
$SM_GC,2.18,0.00,0.00,40.53,0.000,0.000,0.697,49,3406,1531,-4.94,0.17,230.09
$IRIDIUM_FIX,-4155.38,908.63,170113,030347
$TT8_MAMPS,0.026215
$HUMID,55.11
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.2,40.285
$10V_AH,10.1,25.091
$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,11.550,58.600,289.725,40.525,0.000,31.181,51.864,333.666,0.000,0.000,19.856,2244.426,11763.140,409.728,2738.846,977.670,33.371,1436.943,0.000,2587.657,0.000,1.014,0.000
$DEVICE_MAMPS,224.910,89.505,1796.985,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.340,1964.783,917.425,417.948,0.000,0.000,0.000,0.000,0.000,0.000
$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,63800,893
$CAP_FILE_SIZE,135169,0
$CFSIZE,259252224,243818496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170113,182534,-4217.248,909.121,34,0.8,34,-25.2