version: 66.07
glider: 543
mission: 6
dive: 236
start: 1 18 113 4 52 15
data:
$ID,543
$MISSION,6
$DIVE,236
$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,-8506.3994
$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,52
$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
$GPS1,180113,044135,-4220.996,910.109,39,1.0,39,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-62.5
$GPS2,180113,045117,-4220.954,910.204,19,1.0,19,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.005,-0.244
$KALMAN_X,-151366.2,196.1,157.9,244598.9,16.2
$KALMAN_Y,75777.5,-372.8,-453.2,-58107.0,5737.7
$MHEAD_RNG_PITCHd_Wd,206.3,21790,-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,-41.45,0.000,2,0.000,0.000,47,3411,2524,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.3,-3.8,5,95,5.68,0.90,-17.42,0.000,4,0.216,0.095,1468,3940,3070,0,0,0,0,0,0
$GC,209,-0.47,-146.1,18.2,-14.1,25,218,0.00,0.80,0.00,0.000,6,0.000,0.037,1468,3423,3073,0,0,0,0,0,0
$GC,298,-0.47,-146.1,29.7,-12.5,38,307,0.00,2.22,0.00,0.000,4,0.000,0.031,1468,1978,3074,0,0,0,0,0,0
$GC,338,-0.47,-146.1,34.6,-11.1,44,348,0.00,2.35,0.00,0.000,6,0.000,0.058,1457,3390,3074,0,0,0,0,0,0
$GC,593,-0.47,-146.1,67.3,-13.8,85,597,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3951,3074,0,0,0,0,0,0
$GC,789,-0.47,-146.1,92.4,-12.0,118,796,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3393,3075,0,0,0,0,0,0
$GC,1125,-0.47,-146.1,129.6,-10.8,145,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3393,3075,0,0,0,0,0,0
$GC,1434,-0.47,-146.1,165.3,-11.7,165,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3393,3075,0,0,0,0,0,0
$GC,1744,-0.47,-146.1,202.3,-11.4,185,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3393,3076,0,0,0,0,0,0
$GC,2059,-0.47,-146.1,236.0,-10.6,205,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3393,3077,0,0,0,0,0,0
$GC,2384,-0.47,-146.1,270.1,-10.0,223,2389,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3953,3076,0,0,0,0,0,0
$GC,2442,-0.47,-146.1,277.0,-11.1,225,2446,0.00,0.85,0.00,0.000,6,0.000,0.035,1449,3391,3076,0,0,0,0,0,0
$GC,2765,-0.47,-146.1,311.3,-11.0,241,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3391,3076,0,0,0,0,0,0
$GC,3074,-0.47,-146.1,344.9,-11.0,256,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3391,3076,0,0,0,0,0,0
$GC,3384,-0.47,-146.1,379.1,-11.0,271,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3391,3076,0,0,0,0,0,0
$GC,3711,-0.47,-146.1,413.9,-10.4,285,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3391,3076,0,0,0,0,0,0
$GC,4017,-0.47,-146.1,444.9,-10.1,295,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3391,3076,0,0,0,0,0,0
$GC,4325,-0.47,-146.1,476.0,-10.3,305,4328,0.00,0.90,0.00,0.000,4,0.000,0.059,1445,3952,3076,0,0,0,0,0,0
$GC,4447,-0.47,-146.1,489.9,-11.4,308,4453,0.08,0.82,0.00,0.000,6,0.138,0.035,1469,3408,3076,0,0,0,0,0,0
$GC,4767,-0.47,-146.1,518.0,-8.7,319,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3408,3076,0,0,0,0,0,0
$GC,5074,-0.47,-146.1,545.3,-8.9,329,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3408,3075,0,0,0,0,0,0
$GC,5381,-0.47,-146.1,572.9,-9.1,339,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3408,3075,0,0,0,0,0,0
$GC,5686,-0.47,-146.1,599.3,-8.4,349,5691,0.00,2.17,0.00,0.000,4,0.000,0.031,1469,1976,3074,0,0,0,0,0,0
$GC,5726,-0.47,-146.1,602.7,-7.7,350,5732,0.00,2.33,0.00,0.000,6,0.000,0.054,1460,3401,3074,0,0,0,0,0,0
$GC,6064,-0.47,-146.1,632.5,-8.8,361,6067,0.00,0.88,0.00,0.000,4,0.000,0.060,1456,3951,3073,0,0,0,0,0,0
$GC,6174,-0.47,-146.1,643.1,-9.2,364,6178,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3404,3073,0,0,0,0,0,0
$GC,6505,-0.47,-146.1,671.5,-8.5,375,6510,0.00,0.88,0.00,0.000,4,0.000,0.061,1452,3948,3072,0,0,0,0,0,0
$GC,6561,-0.47,-146.1,677.0,-9.4,376,6565,0.00,0.82,0.00,0.000,6,0.000,0.036,1452,3403,3072,0,0,0,0,0,0
$GC,6882,-0.47,-146.1,703.7,-8.3,387,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3071,0,0,0,0,0,0
$GC,7187,-0.47,-146.1,729.0,-8.2,397,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3071,0,0,0,0,0,0
$GC,7493,-0.47,-146.1,755.1,-8.6,407,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3071,0,0,0,0,0,0
$GC,7800,-0.47,-146.1,782.8,-9.3,417,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3070,0,0,0,0,0,0
$GC,8106,-0.47,-146.1,811.3,-9.5,427,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3069,0,0,0,0,0,0
$GC,8411,-0.47,-146.1,841.7,-9.9,437,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3069,0,0,0,0,0,0
$GC,8719,-0.47,-146.1,871.9,-9.8,447,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3069,0,0,0,0,0,0
$GC,9027,-0.47,-146.1,901.3,-9.4,457,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3068,0,0,0,0,0,0
$GC,9330,-0.47,-146.1,928.7,-8.8,467,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3403,3067,0,0,0,0,0,0
$GC,9636,-0.47,-146.1,955.5,-8.7,477,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3066,0,0,0,0,0,0
$GC,9944,-0.47,-146.1,981.2,-8.5,487,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3066,0,0,0,0,0,0
$STATE,10185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10185,begin apogee
$GC,10192,-0.13,0.0,1001.4,8.2,495,10341,0.43,0.00,140.27,1.799,6,0.128,0.000,1581,3272,2473,0,0,0,0,1,0
$STATE,10342,end apogee,CONTROL_FINISHED_OK
$STATE,10342,begin climb
$GC,10345,0.47,146.1,1004.6,0.0,500,10506,0.57,2.50,148.98,1.753,4,0.082,0.031,1781,1866,1877,0,0,0,0,1,0
$GC,10552,0.47,146.1,983.5,12.9,506,10557,0.00,2.53,0.00,0.000,6,0.000,0.050,1781,3280,1874,0,0,0,0,0,0
$GC,10884,0.47,146.1,933.1,15.7,517,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3279,1867,0,0,0,0,0,0
$GC,11189,0.47,146.1,884.6,16.0,527,11195,0.00,1.10,0.00,0.000,4,0.000,0.058,1782,3953,1864,0,0,0,0,0,0
$GC,11242,0.47,146.1,875.7,18.2,528,11245,0.00,1.05,0.00,0.000,6,0.000,0.034,1786,3267,1864,0,0,0,0,0,0
$GC,11567,0.47,146.1,822.0,16.7,539,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3267,1863,0,0,0,0,0,0
$GC,11873,0.47,146.1,771.4,16.7,549,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3266,1862,0,0,0,0,0,0
$GC,12178,0.47,146.1,722.7,15.6,559,12182,0.00,1.12,0.00,0.000,4,0.000,0.058,1786,3955,1861,0,0,0,0,0,0
$GC,12228,0.47,146.1,713.9,18.1,560,12232,0.00,1.02,0.00,0.000,6,0.000,0.033,1791,3274,1861,0,0,0,0,0,0
$GC,12553,0.47,146.1,662.5,15.7,571,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3274,1860,0,0,0,0,0,0
$GC,12859,0.47,146.1,615.7,15.2,581,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3274,1860,0,0,0,0,0,0
$GC,13166,0.47,146.1,569.9,14.9,591,13170,0.00,1.10,0.00,0.000,4,0.000,0.057,1791,3953,1859,0,0,0,0,0,0
$GC,13222,0.47,146.1,560.6,15.1,592,13225,0.00,1.00,0.00,0.000,6,0.000,0.031,1796,3282,1860,0,0,0,0,0,0
$GC,13541,0.47,146.1,512.7,14.9,603,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3282,1859,0,0,0,0,0,0
$GC,13847,0.47,146.1,466.4,15.2,613,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3282,1859,0,0,0,0,0,0
$GC,14154,0.47,146.1,419.6,15.3,623,14158,0.00,1.08,0.00,0.000,4,0.000,0.057,1796,3948,1858,0,0,0,0,0,0
$GC,14229,0.47,146.1,407.3,16.8,625,14233,0.00,1.00,0.00,0.000,6,0.000,0.031,1801,3276,1858,0,0,0,0,0,0
$GC,14559,0.47,146.1,357.3,14.5,640,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3276,1858,0,0,0,0,0,0
$GC,14869,0.47,146.1,310.6,15.1,655,14875,0.00,1.10,0.00,0.000,4,0.000,0.056,1802,3958,1858,0,0,0,0,0,0
$GC,14920,0.47,146.1,302.6,16.7,657,14923,0.00,1.00,0.00,0.000,6,0.000,0.031,1806,3283,1858,0,0,0,0,0,0
$GC,15255,0.47,146.1,248.9,16.0,673,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3283,1858,0,0,0,0,0,0
$GC,15568,0.47,146.1,200.1,15.3,693,15569,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3282,1858,0,0,0,0,0,0
$GC,15880,0.47,146.1,152.8,14.8,713,15881,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3282,1858,0,0,0,0,0,0
$GC,16193,0.47,146.1,105.5,15.4,733,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3282,1858,0,0,0,0,0,0
$GC,16536,0.47,146.1,54.0,13.7,787,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3282,1858,0,0,0,0,0,0
$GC,16793,0.47,146.1,18.8,13.0,828,16804,0.00,1.08,0.00,0.000,4,0.000,0.055,1807,3952,1857,0,0,0,0,0,0
$GC,16872,0.47,146.1,7.5,14.7,839,16883,0.10,1.00,0.00,0.000,6,0.167,0.030,1783,3272,1858,0,0,0,0,0,0
$STATE,16903,end climb,SURFACE_DEPTH_REACHED
$STATE,16903,begin surface coast
$FINISH,1.2,1.026174
$STATE,16935,end surface coast,CONTROL_FINISHED_OK
$STATE,16935,begin surface
$SM_CCo,16951,40.65,0.697,1,0,1533,230.09
$SM_GC,2.44,0.00,0.00,40.65,0.000,0.000,0.697,48,3414,1533,-4.94,0.40,230.09
$IRIDIUM_FIX,-4206.99,910.02,170113,232324
$TT8_MAMPS,0.025466
$HUMID,55.55
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.2,40.727
$10V_AH,10.1,25.455
$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,11.400,37.475,289.250,40.650,0.000,27.810,27.596,344.663,0.000,0.000,21.765,2070.200,11891.225,381.132,2350.692,883.850,33.369,1235.625,0.000,2181.277,0.000,1.013,0.000
$DEVICE_MAMPS,216.495,94.860,1798.515,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.501,1869.903,836.770,371.725,0.000,0.000,0.000,0.000,0.000,0.000
$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,60279,847
$CAP_FILE_SIZE,114351,0
$CFSIZE,259252224,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180113,093652,-4222.689,910.870,38,1.0,38,-25.2