version: 66.07
glider: 543
mission: 6
dive: 238
start: 1 18 113 15 4 59
data:
$ID,543
$MISSION,6
$DIVE,238
$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,-8511.9814
$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,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
$GPS1,180113,145307,-4224.391,910.164,30,0.9,30,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.3
$GPS2,180113,150401,-4224.362,910.264,19,0.9,19,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,-0.228
$KALMAN_X,-148696.2,-66.1,-38.4,242469.4,1679.4
$KALMAN_Y,80277.5,-334.2,-343.3,-69076.1,5160.9
$MHEAD_RNG_PITCHd_Wd,226.1,17476,-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,-41.35,0.000,2,0.000,0.000,49,3417,2529,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.6,5,95,5.68,0.90,-17.38,0.000,4,0.219,0.096,1465,3942,3071,0,0,0,0,0,0
$GC,233,-0.47,-146.1,22.3,-13.6,29,244,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3412,3074,0,0,0,0,0,0
$GC,321,-0.47,-146.1,33.1,-11.7,42,329,0.00,2.20,0.00,0.000,4,0.000,0.031,1465,1980,3074,0,0,0,0,0,0
$GC,371,-0.47,-146.1,38.2,-10.4,49,379,0.00,2.35,0.00,0.000,6,0.000,0.058,1455,3391,3075,0,0,0,0,0,0
$GC,617,-0.47,-146.1,67.0,-11.2,90,626,0.00,0.90,0.00,0.000,4,0.000,0.057,1450,3953,3075,0,0,0,0,0,0
$GC,735,-0.47,-146.1,81.2,-12.5,109,740,0.00,0.85,0.00,0.000,6,0.000,0.036,1451,3397,3075,0,0,0,0,0,0
$GC,1074,-0.47,-146.1,120.3,-11.7,149,1078,0.00,0.90,0.00,0.000,4,0.000,0.057,1446,3958,3076,0,0,0,0,0,0
$GC,1173,-0.47,-146.1,133.0,-11.6,154,1181,0.00,0.85,0.00,0.000,6,0.000,0.035,1446,3401,3076,0,0,0,0,0,0
$GC,1497,-0.47,-146.1,168.4,-11.0,175,1501,0.10,0.90,0.00,0.000,4,0.171,0.060,1469,3951,3076,0,0,0,0,0,0
$GC,1558,-0.47,-146.1,175.3,-9.6,178,1568,0.00,0.85,0.00,0.000,6,0.000,0.035,1469,3391,3076,0,0,0,0,0,0
$GC,1879,-0.47,-146.1,205.0,-9.5,199,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3391,3077,0,0,0,0,0,0
$GC,2192,-0.47,-146.1,235.6,-9.9,219,2198,0.00,0.90,0.00,0.000,4,0.000,0.057,1464,3954,3077,0,0,0,0,0,0
$GC,2291,-0.47,-146.1,246.8,-10.9,224,2299,0.00,0.85,0.00,0.000,6,0.000,0.035,1464,3391,3077,0,0,0,0,0,0
$GC,2620,-0.47,-146.1,281.8,-11.1,241,2626,0.00,0.90,0.00,0.000,4,0.000,0.057,1460,3955,3077,0,0,0,0,0,0
$GC,2704,-0.47,-146.1,291.6,-11.7,244,2708,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3395,3077,0,0,0,0,0,0
$GC,3027,-0.47,-146.1,327.4,-10.8,260,3031,0.00,0.88,0.00,0.000,4,0.000,0.058,1456,3946,3077,0,0,0,0,0,0
$GC,3103,-0.47,-146.1,336.4,-10.8,263,3109,0.00,0.82,0.00,0.000,6,0.000,0.037,1456,3402,3077,0,0,0,0,0,0
$GC,3433,-0.47,-146.1,370.8,-9.9,279,3439,0.00,0.88,0.00,0.000,4,0.000,0.058,1452,3953,3077,0,0,0,0,0,0
$GC,3537,-0.47,-146.1,381.9,-10.1,283,3542,0.00,0.85,0.00,0.000,6,0.000,0.036,1452,3390,3077,0,0,0,0,0,0
$GC,3858,-0.47,-146.1,412.0,-9.3,297,3864,0.00,0.90,0.00,0.000,4,0.000,0.057,1448,3956,3076,0,0,0,0,0,0
$GC,3928,-0.47,-146.1,418.6,-9.8,299,3931,0.00,0.85,0.00,0.000,6,0.000,0.036,1448,3392,3077,0,0,0,0,0,0
$GC,4269,-0.47,-146.1,451.0,-9.7,310,4274,0.00,0.90,0.00,0.000,4,0.000,0.057,1444,3958,3076,0,0,0,0,0,0
$GC,4325,-0.47,-146.1,457.2,-10.8,311,4330,0.08,0.85,0.00,0.000,6,0.132,0.036,1469,3397,3076,0,0,0,0,0,0
$GC,4645,-0.47,-146.1,483.0,-8.1,322,4649,0.00,0.88,0.00,0.000,4,0.000,0.059,1466,3946,3076,0,0,0,0,0,0
$GC,4734,-0.47,-146.1,491.4,-9.8,324,4738,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3403,3076,0,0,0,0,0,0
$GC,5054,-0.47,-146.1,519.5,-9.1,335,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3403,3076,0,0,0,0,0,0
$GC,5360,-0.47,-146.1,547.2,-9.3,345,5365,0.00,0.88,0.00,0.000,4,0.000,0.059,1462,3949,3075,0,0,0,0,0,0
$GC,5444,-0.47,-146.1,555.8,-9.3,347,5448,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3391,3075,0,0,0,0,0,0
$GC,5769,-0.47,-146.1,584.8,-8.6,358,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3391,3075,0,0,0,0,0,0
$GC,6076,-0.47,-146.1,610.0,-8.0,368,6079,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3952,3074,0,0,0,0,0,0
$GC,6201,-0.47,-146.1,620.8,-8.7,371,6205,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3395,3074,0,0,0,0,0,0
$GC,6522,-0.47,-146.1,647.5,-8.3,382,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3395,3073,0,0,0,0,0,0
$GC,6827,-0.47,-146.1,673.7,-8.6,392,6830,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3956,3072,0,0,0,0,0,0
$GC,6915,-0.47,-146.1,682.2,-9.7,394,6919,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3399,3072,0,0,0,0,0,0
$GC,7233,-0.47,-146.1,711.0,-9.1,405,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3399,3072,0,0,0,0,0,0
$GC,7540,-0.47,-146.1,738.7,-9.1,415,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3399,3071,0,0,0,0,0,0
$GC,7846,-0.47,-146.1,765.1,-8.5,425,7851,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3943,3071,0,0,0,0,0,0
$GC,7925,-0.47,-146.1,772.4,-8.6,427,7928,0.00,0.82,0.00,0.000,6,0.000,0.037,1450,3404,3071,0,0,0,0,0,0
$GC,8256,-0.47,-146.1,799.6,-8.1,438,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3404,3070,0,0,0,0,0,0
$GC,8561,-0.47,-146.1,825.4,-8.6,448,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3404,3069,0,0,0,0,0,0
$GC,8868,-0.47,-146.1,852.4,-8.9,458,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3404,3068,0,0,0,0,0,0
$GC,9174,-0.47,-146.1,881.5,-9.7,468,9179,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3956,3068,0,0,0,0,0,0
$GC,9270,-0.47,-146.1,892.1,-10.8,470,9278,0.08,0.85,0.00,0.000,6,0.132,0.038,1471,3406,3068,0,0,0,0,0,0
$GC,9583,-0.47,-146.1,919.0,-8.6,481,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3406,3068,0,0,0,0,0,0
$GC,9890,-0.47,-146.1,943.6,-7.9,491,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3406,3067,0,0,0,0,0,0
$GC,10197,-0.47,-146.1,966.4,-7.2,501,10201,0.00,0.88,0.00,0.000,4,0.000,0.062,1468,3945,3066,0,0,0,0,0,0
$GC,10273,-0.47,-146.1,972.4,-7.5,503,10276,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3394,3066,0,0,0,0,0,0
$GC,10609,-0.47,-146.1,997.0,-7.3,514,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3394,3066,0,0,0,0,0,0
$STATE,10668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10668,begin apogee
$GC,10675,-0.13,0.0,1001.5,7.4,516,10824,0.38,0.00,140.98,1.788,6,0.122,0.000,1583,3280,2473,0,0,0,0,1,0
$STATE,10825,end apogee,CONTROL_FINISHED_OK
$STATE,10825,begin climb
$GC,10828,0.47,146.1,1005.1,0.0,521,10990,0.57,2.47,148.75,1.751,4,0.080,0.031,1784,1875,1879,0,0,0,0,1,0
$GC,11058,0.47,146.1,982.0,12.2,528,11062,0.00,2.47,0.00,0.000,6,0.000,0.051,1784,3287,1873,0,0,0,0,0,0
$GC,11394,0.47,146.1,930.4,15.6,539,11397,0.00,1.10,0.00,0.000,4,0.000,0.057,1784,3951,1867,0,0,0,0,0,0
$GC,11529,0.47,146.1,907.3,17.3,543,11533,0.00,1.05,0.00,0.000,6,0.000,0.033,1789,3265,1866,0,0,0,0,0,0
$GC,11871,0.47,146.1,853.7,15.5,554,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3265,1864,0,0,0,0,0,0
$GC,12177,0.47,146.1,805.9,15.6,564,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3266,1863,0,0,0,0,0,0
$GC,12484,0.47,146.1,757.1,16.2,574,12488,0.00,1.12,0.00,0.000,4,0.000,0.058,1790,3951,1862,0,0,0,0,0,0
$GC,12539,0.47,146.1,747.0,17.0,575,12543,0.00,1.02,0.00,0.000,6,0.000,0.033,1794,3278,1862,0,0,0,0,0,0
$GC,12858,0.47,146.1,694.3,16.4,586,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3278,1861,0,0,0,0,0,0
$GC,13165,0.47,146.1,645.8,15.6,596,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3278,1861,0,0,0,0,0,0
$GC,13472,0.47,146.1,598.9,15.1,606,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3278,1860,0,0,0,0,0,0
$GC,13777,0.47,146.1,554.7,14.1,616,13783,0.00,1.10,0.00,0.000,4,0.000,0.058,1794,3953,1860,0,0,0,0,0,0
$GC,13847,0.47,146.1,544.0,15.9,618,13850,0.00,1.02,0.00,0.000,6,0.000,0.032,1799,3271,1860,0,0,0,0,0,0
$GC,14188,0.47,146.1,494.9,14.6,629,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1859,0,0,0,0,0,0
$GC,14494,0.47,146.1,449.3,14.9,639,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1859,0,0,0,0,0,0
$GC,14801,0.47,146.1,403.2,15.0,649,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1859,0,0,0,0,0,0
$GC,15121,0.47,146.1,356.2,15.2,664,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3271,1859,0,0,0,0,0,0
$GC,15430,0.47,146.1,310.0,15.0,679,15432,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1859,0,0,0,0,0,0
$GC,15739,0.47,146.1,262.1,15.3,694,15743,0.00,1.10,0.00,0.000,4,0.000,0.055,1799,3950,1859,0,0,0,0,0,0
$GC,15787,0.47,146.1,254.1,16.0,696,15792,0.00,1.00,0.00,0.000,6,0.000,0.031,1805,3278,1859,0,0,0,0,0,0
$GC,16115,0.47,146.1,202.8,15.8,716,16116,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3279,1859,0,0,0,0,0,0
$GC,16428,0.47,146.1,154.1,15.1,736,16431,0.00,1.08,0.00,0.000,4,0.000,0.054,1804,3951,1859,0,0,0,0,0,0
$GC,16503,0.47,146.1,141.3,17.0,740,16510,0.08,1.00,0.00,0.000,6,0.168,0.031,1787,3273,1859,0,0,0,0,0,0
$GC,16833,0.47,146.1,98.6,12.6,761,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3274,1859,0,0,0,0,0,0
$GC,17186,0.47,146.1,55.0,10.7,822,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3274,1859,0,0,0,0,0,0
$GC,17440,0.47,146.1,26.8,11.2,863,17450,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3274,1859,0,0,0,0,0,0
$GC,17530,0.47,146.1,15.9,12.0,876,17541,0.00,2.12,0.00,0.000,4,0.000,0.029,1796,1871,1859,0,0,0,0,0,0
$GC,17587,0.47,146.1,9.5,9.5,884,17598,0.00,2.28,0.00,0.000,6,0.000,0.046,1796,3290,1859,0,0,0,0,0,0
$STATE,17644,end climb,SURFACE_DEPTH_REACHED
$STATE,17645,begin surface coast
$FINISH,1.2,1.024474
$STATE,17673,end surface coast,CONTROL_FINISHED_OK
$STATE,17673,begin surface
$SM_CCo,17689,40.92,0.707,1,0,1534,230.09
$SM_GC,2.24,0.00,0.00,40.92,0.000,0.000,0.707,59,3405,1534,-4.90,0.14,230.09
$IRIDIUM_FIX,-4206.99,910.02,180113,090918
$TT8_MAMPS,0.025466
$HUMID,55.15
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.2,41.039
$10V_AH,10.0,25.703
$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,11.575,54.325,289.725,40.925,0.000,28.305,43.340,401.776,0.000,0.000,22.182,2244.837,11999.005,409.764,2769.105,965.058,33.368,1444.629,0.000,2507.085,0.000,1.012,0.000
$DEVICE_MAMPS,218.790,96.390,1787.805,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.701,1932.493,901.003,409.311,0.000,0.000,0.000,0.000,0.000,0.000
$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,67097,896
$CAP_FILE_SIZE,135322,0
$CFSIZE,259252224,243474432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,180113,200155,-4225.558,909.578,38,1.7,38,-25.2