version: 66.07
glider: 543
mission: 6
dive: 235
start: 1 17 113 23 43 22
data:
$ID,543
$MISSION,6
$DIVE,235
$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,-8503.6953
$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,50
$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
$GPS1,170113,233258,-4218.992,909.907,39,1.0,39,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-60.6
$GPS2,170113,234224,-4219.012,910.009,17,0.9,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,-0.243
$KALMAN_X,-151863.5,104.9,-108.0,245180.2,706.0
$KALMAN_Y,74049.3,-759.2,-282.1,-52570.3,6023.5
$MHEAD_RNG_PITCHd_Wd,210.8,24512,-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,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.50,0.000,2,0.000,0.000,49,3414,2536,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.0,-2.9,5,95,5.68,0.90,-16.30,0.000,4,0.218,0.097,1465,3941,3070,0,0,0,0,0,0
$GC,144,-0.47,-146.1,10.9,-13.0,15,153,0.00,0.80,0.00,0.000,6,0.000,0.037,1465,3422,3073,0,0,0,0,0,0
$GC,234,-0.47,-146.1,24.0,-13.7,28,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3422,3074,0,0,0,0,0,0
$GC,322,-0.47,-146.1,35.7,-12.8,41,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3422,3074,0,0,0,0,0,0
$GC,571,-0.47,-146.1,65.1,-11.3,82,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3422,3075,0,0,0,0,0,0
$GC,927,-0.47,-146.1,101.5,-10.1,141,931,0.00,0.82,0.00,0.000,4,0.000,0.058,1462,3935,3075,0,0,0,0,0,0
$GC,1037,-0.47,-146.1,113.5,-10.7,147,1041,0.00,0.82,0.00,0.000,6,0.000,0.036,1462,3392,3075,0,0,0,0,0,0
$GC,1369,-0.47,-146.1,148.8,-10.3,168,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3392,3076,0,0,0,0,0,0
$GC,1681,-0.47,-146.1,181.9,-11.0,188,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3392,3077,0,0,0,0,0,0
$GC,1993,-0.47,-146.1,215.0,-10.6,208,1997,0.00,0.88,0.00,0.000,4,0.000,0.058,1458,3938,3077,0,0,0,0,0,0
$GC,2085,-0.47,-146.1,224.6,-10.5,213,2089,0.00,0.82,0.00,0.000,6,0.000,0.035,1458,3394,3077,0,0,0,0,0,0
$GC,2423,-0.47,-146.1,257.8,-9.3,233,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3077,0,0,0,0,0,0
$GC,2731,-0.47,-146.1,286.6,-9.2,248,2735,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3942,3077,0,0,0,0,0,0
$GC,2818,-0.47,-146.1,295.9,-10.8,251,2825,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3396,3077,0,0,0,0,0,0
$GC,3137,-0.47,-146.1,327.2,-9.7,267,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3396,3077,0,0,0,0,0,0
$GC,3445,-0.47,-146.1,358.0,-9.8,282,3448,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3943,3077,0,0,0,0,0,0
$GC,3505,-0.47,-146.1,364.1,-10.3,284,3509,0.00,0.82,0.00,0.000,6,0.000,0.035,1449,3396,3077,0,0,0,0,0,0
$GC,3828,-0.47,-146.1,396.3,-10.2,300,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3077,0,0,0,0,0,0
$GC,4143,-0.47,-146.1,429.7,-10.5,311,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3077,0,0,0,0,0,0
$GC,4451,-0.47,-146.1,461.4,-10.3,321,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3077,0,0,0,0,0,0
$GC,4756,-0.47,-146.1,492.7,-10.0,331,4761,0.00,0.88,0.00,0.000,4,0.000,0.060,1445,3941,3076,0,0,0,0,0,0
$GC,4852,-0.47,-146.1,503.1,-10.0,333,4860,0.08,0.82,0.00,0.000,6,0.134,0.036,1470,3397,3076,0,0,0,0,0,0
$GC,5166,-0.47,-146.1,527.9,-7.9,344,5171,0.00,0.88,0.00,0.000,4,0.000,0.060,1468,3941,3075,0,0,0,0,0,0
$GC,5250,-0.47,-146.1,535.5,-8.9,346,5254,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3397,3075,0,0,0,0,0,0
$GC,5576,-0.47,-146.1,563.0,-8.4,357,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3075,0,0,0,0,0,0
$GC,5881,-0.47,-146.1,589.3,-8.5,367,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3074,0,0,0,0,0,0
$GC,6188,-0.47,-146.1,616.0,-8.8,377,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3396,3074,0,0,0,0,0,0
$GC,6493,-0.47,-146.1,643.0,-9.0,387,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3073,0,0,0,0,0,0
$GC,6800,-0.47,-146.1,670.1,-8.7,397,6803,0.00,0.88,0.00,0.000,4,0.000,0.061,1464,3936,3072,0,0,0,0,0,0
$GC,6861,-0.47,-146.1,675.8,-9.1,398,6869,0.00,0.82,0.00,0.000,6,0.000,0.036,1464,3398,3071,0,0,0,0,0,0
$GC,7175,-0.47,-146.1,703.3,-8.8,409,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3071,0,0,0,0,0,0
$GC,7481,-0.47,-146.1,729.1,-8.2,419,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3071,0,0,0,0,0,0
$GC,7789,-0.47,-146.1,754.1,-8.1,429,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3070,0,0,0,0,0,0
$GC,8094,-0.47,-146.1,778.1,-7.8,439,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3069,0,0,0,0,0,0
$GC,8400,-0.47,-146.1,801.6,-7.9,449,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3398,3069,0,0,0,0,0,0
$GC,8707,-0.47,-146.1,826.3,-8.0,459,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3068,0,0,0,0,0,0
$GC,9012,-0.47,-146.1,851.2,-8.1,469,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3397,3068,0,0,0,0,0,0
$GC,9318,-0.47,-146.1,877.1,-8.8,479,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3398,3067,0,0,0,0,0,0
$GC,9626,-0.47,-146.1,902.7,-8.2,489,9630,0.00,0.88,0.00,0.000,4,0.000,0.062,1460,3932,3066,0,0,0,0,0,0
$GC,9720,-0.47,-146.1,911.2,-9.0,491,9727,0.00,0.82,0.00,0.000,6,0.000,0.038,1460,3399,3066,0,0,0,0,0,0
$GC,10035,-0.47,-146.1,936.1,-7.9,502,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3399,3065,0,0,0,0,0,0
$GC,10340,-0.47,-146.1,959.1,-7.6,512,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3399,3065,0,0,0,0,0,0
$GC,10646,-0.47,-146.1,983.2,-7.8,522,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3399,3065,0,0,0,0,0,0
$STATE,10857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10857,begin apogee
$GC,10864,-0.13,0.0,1000.0,7.9,529,11018,0.40,0.00,150.48,1.229,6,0.126,0.000,1581,3282,2473,0,0,0,0,0,0
$STATE,11019,end apogee,CONTROL_FINISHED_OK
$STATE,11019,begin climb
$GC,11023,0.47,146.1,1003.3,0.0,534,11182,0.57,2.42,150.07,1.186,4,0.086,0.030,1786,1864,1869,0,0,0,0,0,0
$GC,11248,0.47,146.1,979.5,12.2,540,11255,0.00,2.45,0.00,0.000,6,0.000,0.050,1786,3272,1858,0,0,0,0,0,0
$GC,11563,0.47,146.1,932.5,15.0,551,11566,0.00,1.12,0.00,0.000,4,0.000,0.057,1786,3950,1851,0,0,0,0,0,0
$GC,11669,0.47,146.1,914.1,18.8,554,11672,0.00,1.05,0.00,0.000,6,0.000,0.034,1791,3270,1850,0,0,0,0,0,0
$GC,12004,0.47,146.1,860.6,16.2,565,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3269,1849,0,0,0,0,0,0
$GC,12311,0.47,146.1,810.5,16.2,575,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3270,1848,0,0,0,0,0,0
$GC,12618,0.47,146.1,761.2,16.0,585,12622,0.00,1.10,0.00,0.000,4,0.000,0.058,1791,3944,1847,0,0,0,0,0,0
$GC,12678,0.47,146.1,750.4,17.4,586,12685,0.00,1.00,0.00,0.000,6,0.000,0.034,1796,3284,1847,0,0,0,0,0,0
$GC,12992,0.47,146.1,700.3,15.7,597,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3283,1847,0,0,0,0,0,0
$GC,13299,0.47,146.1,652.2,15.6,607,13303,0.00,1.08,0.00,0.000,4,0.000,0.057,1796,3948,1846,0,0,0,0,0,0
$GC,13374,0.47,146.1,639.6,17.1,609,13378,0.00,1.00,0.00,0.000,6,0.000,0.033,1801,3281,1846,0,0,0,0,0,0
$GC,13709,0.47,146.1,584.6,16.5,620,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3281,1846,0,0,0,0,0,0
$GC,14017,0.47,146.1,535.6,15.7,630,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3280,1846,0,0,0,0,0,0
$GC,14326,0.47,146.1,487.4,15.5,640,14330,0.00,1.08,0.00,0.000,4,0.000,0.057,1801,3951,1846,0,0,0,0,0,0
$GC,14409,0.47,146.1,472.3,17.6,642,14415,0.00,1.00,0.00,0.000,6,0.000,0.032,1806,3280,1845,0,0,0,0,0,0
$GC,14735,0.47,146.1,418.4,16.9,653,14740,0.00,1.08,0.00,0.000,4,0.000,0.057,1806,3950,1845,0,0,0,0,0,0
$GC,14804,0.47,146.1,405.3,19.5,655,14808,0.10,1.00,0.00,0.000,6,0.172,0.031,1783,3279,1845,0,0,0,0,0,0
$GC,15129,0.47,146.1,356.3,14.7,670,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1845,0,0,0,0,0,0
$GC,15439,0.47,146.1,311.4,14.1,685,15440,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1845,0,0,0,0,0,0
$GC,15747,0.47,146.1,269.5,13.6,700,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1845,0,0,0,0,0,0
$GC,16068,0.47,146.1,226.5,13.2,718,16071,0.00,1.08,0.00,0.000,4,0.000,0.055,1783,3947,1845,0,0,0,0,0,0
$GC,16178,0.47,146.1,209.7,14.9,724,16190,0.00,1.00,0.00,0.000,6,0.000,0.031,1786,3274,1845,0,0,0,0,0,0
$GC,16502,0.47,146.1,165.8,13.3,745,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3274,1845,0,0,0,0,0,0
$GC,16812,0.47,146.1,124.7,13.0,765,16816,0.00,1.10,0.00,0.000,4,0.000,0.054,1786,3956,1845,0,0,0,0,0,0
$GC,16890,0.47,146.1,112.4,16.2,769,16897,0.00,1.00,0.00,0.000,6,0.000,0.031,1791,3281,1845,0,0,0,0,0,0
$GC,17230,0.47,146.1,64.7,13.7,818,17236,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3280,1845,0,0,0,0,0,0
$GC,17606,0.47,146.1,18.0,13.6,879,17616,0.00,1.08,0.00,0.000,4,0.000,0.054,1791,3958,1845,0,0,0,0,0,0
$GC,17639,0.47,146.1,13.6,13.0,883,17649,0.00,1.00,0.00,0.000,6,0.000,0.031,1796,3279,1845,0,0,0,0,0,0
$STATE,17722,end climb,SURFACE_DEPTH_REACHED
$STATE,17722,begin surface coast
$FINISH,1.2,1.013070
$STATE,17749,end surface coast,CONTROL_FINISHED_OK
$STATE,17749,begin surface
$SM_CCo,17765,41.85,0.685,1,0,1533,230.09
$SM_GC,2.29,0.00,0.00,41.85,0.000,0.000,0.685,47,3411,1533,-4.94,0.31,230.09
$IRIDIUM_FIX,-4201.18,906.22,170113,181805
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.7,40.552
$10V_AH,10.0,25.340
$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,11.475,37.225,300.550,41.850,0.000,25.479,22.610,338.095,0.000,0.000,19.392,2201.498,12261.439,415.511,2544.326,952.243,33.370,1359.047,0.000,2453.678,0.000,1.012,0.000
$DEVICE_MAMPS,218.025,97.155,1228.590,685.440,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.547,1994.340,903.484,405.403,0.000,0.000,0.000,0.000,0.000,0.000
$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,67169,899
$CAP_FILE_SIZE,125605,0
$CFSIZE,259252224,243687424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180113,044135,-4220.996,910.109,39,1.0,39,-25.2