version: 66.07
glider: 543
mission: 6
dive: 234
start: 1 17 113 18 36 33
data:
$ID,543
$MISSION,6
$DIVE,234
$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,-8500.9678
$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,24
$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
$GPS1,170113,182534,-4217.248,909.121,34,0.8,34,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-55.7
$GPS2,170113,183535,-4217.210,909.145,16,1.2,16,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,-0.241
$KALMAN_X,-152653.3,0.9,360.5,244424.6,-848.1
$KALMAN_Y,71833.1,-680.3,-353.4,-47021.9,5776.6
$MHEAD_RNG_PITCHd_Wd,196.9,26776,-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,18,begin dive
$GC,21,-0.47,-146.1,0.0,0.0,0,71,0.00,0.00,-48.35,0.000,2,0.000,0.000,49,3406,2728,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.3,-3.6,6,95,5.72,0.93,-9.77,0.000,4,0.222,0.094,1465,3950,3071,0,0,0,0,0,0
$GC,214,-0.47,-146.1,20.9,-12.8,26,223,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3418,3074,0,0,0,0,0,0
$GC,303,-0.47,-146.1,32.6,-12.9,39,310,0.00,2.17,0.00,0.000,4,0.000,0.031,1465,1969,3074,0,0,0,0,0,0
$GC,352,-0.47,-146.1,38.9,-11.7,46,361,0.00,2.38,0.00,0.000,6,0.000,0.058,1454,3398,3075,0,0,0,0,0,0
$GC,600,-0.47,-146.1,70.0,-12.0,87,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3075,0,0,0,0,0,0
$GC,955,-0.47,-146.1,109.5,-12.0,139,961,0.00,2.15,0.00,0.000,4,0.000,0.029,1454,1979,3076,0,0,0,0,0,0
$GC,1010,-0.47,-146.1,115.6,-10.7,142,1015,0.12,2.30,0.00,0.000,6,0.147,0.055,1477,3412,3077,0,0,0,0,0,0
$GC,1341,-0.47,-146.1,145.6,-8.6,163,1345,0.00,0.85,0.00,0.000,4,0.000,0.058,1474,3949,3077,0,0,0,0,0,0
$GC,1427,-0.47,-146.1,154.4,-9.6,168,1431,0.00,0.82,0.00,0.000,6,0.000,0.035,1474,3399,3078,0,0,0,0,0,0
$GC,1760,-0.47,-146.1,184.1,-8.7,189,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3399,3078,0,0,0,0,0,0
$GC,2072,-0.47,-146.1,210.5,-8.5,209,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3399,3077,0,0,0,0,0,0
$GC,2385,-0.47,-146.1,239.3,-10.0,229,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3399,3078,0,0,0,0,0,0
$GC,2695,-0.47,-146.1,269.8,-10.0,246,2698,0.00,0.88,0.00,0.000,4,0.000,0.058,1470,3949,3078,0,0,0,0,0,0
$GC,2802,-0.47,-146.1,281.1,-10.1,250,2813,0.00,0.82,0.00,0.000,6,0.000,0.035,1470,3400,3077,0,0,0,0,0,0
$GC,3120,-0.47,-146.1,311.6,-9.6,266,3123,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3951,3078,0,0,0,0,0,0
$GC,3195,-0.47,-146.1,319.6,-9.7,269,3200,0.00,0.82,0.00,0.000,6,0.000,0.035,1466,3400,3077,0,0,0,0,0,0
$GC,3525,-0.47,-146.1,351.0,-9.6,285,3531,0.00,0.88,0.00,0.000,4,0.000,0.059,1462,3952,3077,0,0,0,0,0,0
$GC,3597,-0.47,-146.1,358.6,-10.4,288,3602,0.00,0.82,0.00,0.000,6,0.000,0.035,1462,3401,3077,0,0,0,0,0,0
$GC,3932,-0.47,-146.1,392.1,-9.3,304,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3401,3077,0,0,0,0,0,0
$GC,4248,-0.47,-146.1,420.1,-8.7,316,4252,0.00,0.88,0.00,0.000,4,0.000,0.059,1458,3950,3077,0,0,0,0,0,0
$GC,4406,-0.47,-146.1,434.6,-9.2,320,4411,0.00,0.82,0.00,0.000,6,0.000,0.035,1458,3403,3077,0,0,0,0,0,0
$GC,4726,-0.47,-146.1,462.7,-8.7,331,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3403,3076,0,0,0,0,0,0
$GC,5032,-0.47,-146.1,489.0,-8.7,341,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3403,3076,0,0,0,0,0,0
$GC,5339,-0.47,-146.1,516.8,-9.1,351,5342,0.00,0.88,0.00,0.000,4,0.000,0.060,1454,3950,3075,0,0,0,0,0,0
$GC,5461,-0.47,-146.1,528.9,-9.7,354,5467,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3403,3075,0,0,0,0,0,0
$GC,5781,-0.47,-146.1,558.3,-9.2,365,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3074,0,0,0,0,0,0
$GC,6087,-0.47,-146.1,585.5,-8.7,375,6090,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3949,3074,0,0,0,0,0,0
$GC,6165,-0.47,-146.1,593.1,-9.8,377,6168,0.00,0.82,0.00,0.000,6,0.000,0.037,1450,3403,3074,0,0,0,0,0,0
$GC,6494,-0.47,-146.1,622.8,-9.3,388,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3403,3073,0,0,0,0,0,0
$GC,6802,-0.47,-146.1,651.7,-9.4,398,6805,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3949,3072,0,0,0,0,0,0
$GC,6924,-0.47,-146.1,664.6,-9.8,401,6930,0.08,0.82,0.00,0.000,6,0.136,0.037,1470,3405,3072,0,0,0,0,0,0
$GC,7244,-0.47,-146.1,691.7,-8.6,412,7250,0.00,0.88,0.00,0.000,4,0.000,0.060,1468,3950,3071,0,0,0,0,0,0
$GC,7314,-0.47,-146.1,698.3,-9.6,414,7318,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3405,3071,0,0,0,0,0,0
$GC,7656,-0.47,-146.1,730.0,-9.1,425,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3070,0,0,0,0,0,0
$GC,7963,-0.47,-146.1,755.7,-8.2,435,7966,0.00,0.88,0.00,0.000,4,0.000,0.061,1464,3949,3070,0,0,0,0,0,0
$GC,8065,-0.47,-146.1,764.7,-8.7,438,8069,0.00,0.82,0.00,0.000,6,0.000,0.037,1464,3406,3070,0,0,0,0,0,0
$GC,8407,-0.47,-146.1,792.7,-8.2,449,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3406,3069,0,0,0,0,0,0
$GC,8713,-0.47,-146.1,818.6,-8.6,459,8717,0.00,0.88,0.00,0.000,4,0.000,0.061,1460,3948,3068,0,0,0,0,0,0
$GC,8808,-0.47,-146.1,827.4,-9.3,461,8815,0.00,0.82,0.00,0.000,6,0.000,0.037,1460,3407,3068,0,0,0,0,0,0
$GC,9121,-0.47,-146.1,854.7,-8.7,472,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3067,0,0,0,0,0,0
$GC,9429,-0.47,-146.1,879.8,-8.2,482,9432,0.00,0.88,0.00,0.000,4,0.000,0.062,1456,3949,3066,0,0,0,0,0,0
$GC,9512,-0.47,-146.1,887.1,-8.9,484,9515,0.00,0.85,0.00,0.000,6,0.000,0.038,1456,3394,3066,0,0,0,0,0,0
$GC,9837,-0.47,-146.1,914.4,-8.6,495,9841,0.00,0.90,0.00,0.000,4,0.000,0.062,1452,3951,3066,0,0,0,0,0,0
$GC,9916,-0.47,-146.1,922.0,-10.2,497,9920,0.00,0.85,0.00,0.000,6,0.000,0.037,1452,3394,3066,0,0,0,0,0,0
$GC,10247,-0.47,-146.1,953.1,-9.6,508,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3394,3065,0,0,0,0,0,0
$GC,10552,-0.47,-146.1,981.1,-8.9,518,10557,0.00,0.90,0.00,0.000,4,0.000,0.062,1448,3954,3064,0,0,0,0,0,0
$GC,10665,-0.47,-146.1,991.8,-9.0,521,10668,0.00,0.85,0.00,0.000,6,0.000,0.038,1448,3397,3064,0,0,0,0,0,0
$STATE,10777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10778,begin apogee
$GC,10784,-0.13,0.0,1001.4,8.4,525,10937,0.45,0.00,149.00,1.239,6,0.128,0.000,1585,3282,2473,0,0,0,0,0,0
$STATE,10938,end apogee,CONTROL_FINISHED_OK
$STATE,10938,begin climb
$GC,10941,0.47,146.1,1003.6,0.0,530,11101,0.55,2.42,150.50,1.201,4,0.082,0.030,1785,1857,1870,0,0,0,0,0,0
$GC,11141,0.47,146.1,981.4,12.3,536,11145,0.00,2.50,0.00,0.000,6,0.000,0.050,1784,3280,1861,0,0,0,0,0,0
$GC,11471,0.47,146.1,931.6,15.4,547,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3280,1854,0,0,0,0,0,0
$GC,11776,0.47,146.1,885.8,14.9,557,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3280,1852,0,0,0,0,0,0
$GC,12084,0.47,146.1,839.7,15.2,567,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3279,1851,0,0,0,0,0,0
$GC,12389,0.47,146.1,792.0,15.6,577,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3279,1850,0,0,0,0,0,0
$GC,12695,0.47,146.1,742.5,16.3,587,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3279,1849,0,0,0,0,0,0
$GC,13003,0.47,146.1,693.2,16.0,597,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3280,1848,0,0,0,0,0,0
$GC,13308,0.47,146.1,645.8,15.2,607,13313,0.00,2.20,0.00,0.000,4,0.000,0.032,1795,1853,1848,0,0,0,0,0,0
$GC,13356,0.47,146.1,639.6,12.4,608,13360,0.00,2.30,0.00,0.000,6,0.000,0.052,1795,3286,1847,0,0,0,0,0,0
$GC,13681,0.47,146.1,589.7,15.4,619,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,13986,0.47,146.1,543.4,15.1,629,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,14293,0.47,146.1,498.7,14.4,639,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,14600,0.47,146.1,454.2,15.1,649,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,14905,0.47,146.1,405.1,16.0,659,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,15216,0.47,146.1,357.9,15.2,673,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,15524,0.47,146.1,311.0,15.6,688,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3286,1847,0,0,0,0,0,0
$GC,15834,0.47,146.1,262.3,15.7,703,15840,0.00,1.05,0.00,0.000,4,0.000,0.057,1795,3944,1847,0,0,0,0,0,0
$GC,15874,0.47,146.1,255.1,16.6,704,15882,0.00,1.00,0.00,0.000,6,0.000,0.032,1800,3269,1847,0,0,0,0,0,0
$GC,16207,0.47,146.1,203.3,15.2,725,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3269,1846,0,0,0,0,0,0
$GC,16520,0.47,146.1,155.1,15.8,745,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3269,1846,0,0,0,0,0,0
$GC,16830,0.47,146.1,105.0,15.8,765,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3269,1847,0,0,0,0,0,0
$GC,17176,0.47,146.1,52.7,14.4,819,17183,0.00,2.10,0.00,0.000,4,0.000,0.030,1811,1868,1846,0,0,0,0,0,0
$GC,17219,0.47,146.1,47.5,13.0,825,17226,0.12,2.28,0.00,0.000,6,0.160,0.049,1780,3288,1846,0,0,0,0,0,0
$GC,17481,0.47,146.1,18.4,11.4,866,17490,0.00,1.05,0.00,0.000,4,0.000,0.054,1780,3945,1846,0,0,0,0,0,0
$GC,17538,0.47,146.1,11.3,13.0,874,17547,0.00,0.98,0.00,0.000,6,0.000,0.032,1783,3285,1846,0,0,0,0,0,0
$STATE,17615,end climb,SURFACE_DEPTH_REACHED
$STATE,17615,begin surface coast
$FINISH,1.4,1.026167
$STATE,17641,end surface coast,CONTROL_FINISHED_OK
$STATE,17641,begin surface
$SM_CCo,17657,41.22,0.682,1,0,1533,230.09
$SM_GC,2.27,0.00,0.00,41.22,0.000,0.000,0.682,49,3414,1533,-4.94,0.40,230.09
$IRIDIUM_FIX,-4201.18,906.22,170113,131341
$TT8_MAMPS,0.025466
$HUMID,55.55
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.7,40.420
$10V_AH,10.1,25.216
$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,11.625,52.875,299.500,41.225,0.000,28.257,47.807,344.862,0.000,0.000,19.091,2219.286,12065.222,402.658,2648.248,965.583,33.375,1385.467,0.000,2502.426,0.000,1.014,0.000
$DEVICE_MAMPS,221.850,94.095,1239.300,682.380,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.540,1978.503,903.772,395.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,63966,889
$CAP_FILE_SIZE,129456,0
$CFSIZE,259252224,243757056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170113,233258,-4218.992,909.907,39,1.0,39,-25.2