version: 66.07
glider: 543
mission: 6
dive: 239
start: 1 18 113 20 15 6
data:
$ID,543
$MISSION,6
$DIVE,239
$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,-8514.7227
$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
$GPS1,180113,200155,-4225.558,909.578,38,1.7,38,-25.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-63.2
$GPS2,180113,201405,-4225.423,909.770,18,1.2,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.090,-0.227
$KALMAN_X,-147283.7,-120.4,-0.8,240400.5,2100.1
$KALMAN_Y,83410.1,-403.2,-24.3,-74426.6,5406.0
$MHEAD_RNG_PITCHd_Wd,226.8,15805,-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,-146.1,0.0,0.0,0,63,0.00,0.00,-41.00,0.000,2,0.000,0.000,58,3405,2515,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.2,-3.7,5,103,5.62,0.90,-18.27,0.000,4,0.218,0.096,1466,3943,3072,0,0,0,0,0,0
$GC,208,-0.47,-146.1,17.3,-13.2,24,216,0.00,0.80,0.00,0.000,6,0.000,0.036,1466,3426,3074,0,0,0,0,0,0
$GC,298,-0.47,-146.1,29.1,-11.8,37,306,0.00,2.22,0.00,0.000,4,0.000,0.031,1466,1977,3074,0,0,0,0,0,0
$GC,333,-0.47,-146.1,34.1,-12.9,42,344,0.00,2.35,0.00,0.000,6,0.000,0.059,1456,3392,3075,0,0,0,0,0,0
$GC,586,-0.47,-146.1,66.5,-12.7,83,593,0.00,0.90,0.00,0.000,4,0.000,0.058,1452,3953,3075,0,0,0,0,0,0
$GC,724,-0.47,-146.1,84.9,-13.2,106,732,0.00,0.85,0.00,0.000,6,0.000,0.035,1452,3396,3075,0,0,0,0,0,0
$GC,1068,-0.47,-146.1,127.7,-12.6,141,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3396,3076,0,0,0,0,0,0
$GC,1380,-0.47,-146.1,166.0,-12.4,161,1386,0.00,0.90,0.00,0.000,4,0.000,0.057,1447,3957,3076,0,0,0,0,0,0
$GC,1527,-0.47,-146.1,185.0,-13.1,169,1531,0.00,0.85,0.00,0.000,6,0.000,0.036,1447,3398,3076,0,0,0,0,0,0
$GC,1858,-0.47,-146.1,227.3,-12.9,190,1862,0.00,0.88,0.00,0.000,4,0.000,0.058,1443,3949,3077,0,0,0,0,0,0
$GC,1918,-0.47,-146.1,235.6,-13.3,193,1922,0.08,0.82,0.00,0.000,6,0.140,0.035,1468,3405,3077,0,0,0,0,0,0
$GC,2243,-0.47,-146.1,268.3,-9.5,211,2248,0.00,0.88,0.00,0.000,4,0.000,0.058,1465,3955,3077,0,0,0,0,0,0
$GC,2346,-0.47,-146.1,279.0,-9.8,215,2352,0.00,0.82,0.00,0.000,6,0.000,0.035,1465,3408,3077,0,0,0,0,0,0
$GC,2671,-0.47,-146.1,309.1,-9.0,231,2677,0.00,0.88,0.00,0.000,4,0.000,0.059,1461,3953,3077,0,0,0,0,0,0
$GC,2735,-0.47,-146.1,315.5,-9.7,233,2742,0.00,0.85,0.00,0.000,6,0.000,0.035,1461,3390,3077,0,0,0,0,0,0
$GC,3054,-0.47,-146.1,344.2,-9.1,249,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3390,3076,0,0,0,0,0,0
$GC,3362,-0.47,-146.1,370.6,-8.5,264,3366,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3955,3076,0,0,0,0,0,0
$GC,3414,-0.47,-146.1,375.6,-8.8,266,3419,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3395,3076,0,0,0,0,0,0
$GC,3731,-0.47,-146.1,403.8,-9.0,281,3735,0.00,0.90,0.00,0.000,4,0.000,0.058,1453,3957,3076,0,0,0,0,0,0
$GC,3862,-0.47,-146.1,416.7,-9.8,284,3869,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3399,3076,0,0,0,0,0,0
$GC,4175,-0.47,-146.1,445.6,-9.2,295,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3399,3076,0,0,0,0,0,0
$GC,4482,-0.47,-146.1,476.0,-10.4,305,4485,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3958,3076,0,0,0,0,0,0
$GC,4565,-0.47,-146.1,485.6,-11.0,307,4569,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3402,3076,0,0,0,0,0,0
$GC,4889,-0.47,-146.1,520.9,-11.0,318,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3402,3076,0,0,0,0,0,0
$GC,5197,-0.47,-146.1,554.4,-10.8,328,5200,0.00,0.88,0.00,0.000,4,0.000,0.059,1445,3947,3075,0,0,0,0,0,0
$GC,5333,-0.47,-146.1,569.9,-11.1,332,5337,0.08,0.82,0.00,0.000,6,0.138,0.036,1469,3404,3075,0,0,0,0,0,0
$GC,5675,-0.47,-146.1,599.5,-8.3,343,5678,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3950,3075,0,0,0,0,0,0
$GC,5744,-0.47,-146.1,605.8,-8.7,345,5748,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3407,3075,0,0,0,0,0,0
$GC,6085,-0.47,-146.1,635.4,-8.7,356,6089,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3950,3074,0,0,0,0,0,0
$GC,6163,-0.47,-146.1,642.8,-8.9,358,6167,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3393,3074,0,0,0,0,0,0
$GC,6493,-0.47,-146.1,672.4,-8.9,369,6496,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3953,3073,0,0,0,0,0,0
$GC,6602,-0.47,-146.1,682.8,-10.0,372,6605,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3397,3073,0,0,0,0,0,0
$GC,6937,-0.47,-146.1,714.0,-9.3,383,6941,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3955,3072,0,0,0,0,0,0
$GC,7055,-0.47,-146.1,726.0,-10.1,386,7060,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3402,3072,0,0,0,0,0,0
$GC,7381,-0.47,-146.1,756.8,-9.3,397,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3401,3072,0,0,0,0,0,0
$GC,7686,-0.47,-146.1,785.2,-9.1,407,7690,0.00,2.15,0.00,0.000,4,0.000,0.031,1454,1971,3070,0,0,0,0,0,0
$GC,7792,-0.47,-146.1,794.2,-8.0,410,7797,0.12,2.33,0.00,0.000,6,0.151,0.054,1476,3408,3070,0,0,0,0,0,0
$GC,8118,-0.47,-146.1,815.8,-6.7,421,8122,0.00,2.17,0.00,0.000,4,0.000,0.031,1476,1963,3070,0,0,0,0,0,0
$GC,8265,-0.47,-146.1,824.8,-5.7,425,8271,0.00,2.35,0.00,0.000,6,0.000,0.054,1467,3400,3069,0,0,0,0,0,0
$GC,8591,-0.47,-146.1,845.9,-6.5,436,8597,0.00,2.20,0.00,0.000,4,0.000,0.031,1467,1967,3069,0,0,0,0,0,0
$GC,8751,-0.47,-146.1,855.7,-6.2,440,8755,0.00,2.33,0.00,0.000,6,0.000,0.054,1456,3406,3069,0,0,0,0,0,0
$GC,9066,-0.47,-146.1,878.6,-7.8,450,9070,0.00,2.15,0.00,0.000,4,0.000,0.031,1457,1976,3068,0,0,0,0,0,0
$GC,9236,-0.47,-146.1,891.2,-7.3,455,9241,0.12,2.33,0.00,0.000,6,0.152,0.054,1477,3408,3068,0,0,0,0,0,0
$GC,9567,-0.47,-146.1,912.2,-6.4,466,9571,0.00,2.15,0.00,0.000,4,0.000,0.031,1478,1966,3067,0,0,0,0,0,0
$GC,9673,-0.47,-146.1,918.9,-5.8,469,9678,0.00,2.35,0.00,0.000,6,0.000,0.055,1469,3397,3067,0,0,0,0,0,0
$GC,10006,-0.47,-146.1,941.4,-6.8,480,10010,0.00,2.15,0.00,0.000,4,0.000,0.031,1469,1970,3067,0,0,0,0,0,0
$GC,10085,-0.47,-146.1,946.8,-6.8,482,10090,0.00,2.33,0.00,0.000,6,0.000,0.054,1458,3401,3066,0,0,0,0,0,0
$GC,10405,-0.47,-146.1,969.6,-7.2,493,10409,0.00,2.12,0.00,0.000,4,0.000,0.031,1458,1973,3066,0,0,0,0,0,0
$GC,10531,-0.47,-146.1,978.0,-6.9,496,10540,0.00,2.35,0.00,0.000,6,0.000,0.055,1447,3402,3065,0,0,0,0,0,0
$STATE,10811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10811,begin apogee
$GC,10818,-0.13,0.0,1000.5,8.2,506,10971,0.45,0.00,149.85,1.235,6,0.132,0.000,1582,3277,2473,0,0,0,0,0,0
$STATE,10973,end apogee,CONTROL_FINISHED_OK
$STATE,10973,begin climb
$GC,10976,0.47,146.1,1003.5,0.0,511,11135,0.57,1.25,151.48,1.204,4,0.084,0.057,1777,3947,1872,0,0,0,0,0,0
$GC,11310,0.47,146.1,961.2,16.2,521,11314,0.00,1.08,0.00,0.000,6,0.000,0.032,1782,3271,1858,0,0,0,0,0,0
$GC,11646,0.47,146.1,910.9,15.4,532,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3271,1853,0,0,0,0,0,0
$GC,11952,0.47,146.1,864.3,15.1,542,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3271,1852,0,0,0,0,0,0
$GC,12260,0.47,146.1,819.1,14.5,552,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3272,1851,0,0,0,0,0,0
$GC,12565,0.47,146.1,773.0,15.2,562,12570,0.00,1.10,0.00,0.000,4,0.000,0.058,1782,3945,1849,0,0,0,0,0,0
$GC,12655,0.47,146.1,757.3,16.9,564,12661,0.00,1.02,0.00,0.000,6,0.000,0.034,1787,3270,1849,0,0,0,0,0,0
$GC,12975,0.47,146.1,706.3,15.8,575,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1849,0,0,0,0,0,0
$GC,13281,0.47,146.1,659.2,15.2,585,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1848,0,0,0,0,0,0
$GC,13589,0.47,146.1,614.2,14.7,595,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1848,0,0,0,0,0,0
$GC,13893,0.47,146.1,569.5,14.8,605,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1848,0,0,0,0,0,0
$GC,14200,0.47,146.1,522.8,15.3,615,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1847,0,0,0,0,0,0
$GC,14507,0.47,146.1,474.7,15.6,625,14508,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1848,0,0,0,0,0,0
$GC,14812,0.47,146.1,427.1,15.4,635,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1847,0,0,0,0,0,0
$GC,15123,0.47,146.1,380.1,15.3,647,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1847,0,0,0,0,0,0
$GC,15430,0.47,146.1,335.7,14.2,662,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3270,1847,0,0,0,0,0,0
$GC,15741,0.47,146.1,291.4,14.9,677,15747,0.00,1.10,0.00,0.000,4,0.000,0.057,1787,3950,1847,0,0,0,0,0,0
$GC,15812,0.47,146.1,279.5,16.3,680,15816,0.00,1.00,0.00,0.000,6,0.000,0.032,1792,3280,1847,0,0,0,0,0,0
$GC,16134,0.47,146.1,231.6,14.8,697,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3280,1847,0,0,0,0,0,0
$GC,16446,0.47,146.1,187.5,13.6,717,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3280,1847,0,0,0,0,0,0
$GC,16758,0.47,146.1,146.6,12.9,737,16764,0.00,2.15,0.00,0.000,4,0.000,0.030,1802,1868,1847,0,0,0,0,0,0
$GC,16805,0.47,146.1,141.0,8.9,739,16812,0.00,2.28,0.00,0.000,6,0.000,0.047,1803,3294,1847,0,0,0,0,0,0
$GC,17125,0.47,146.1,97.8,13.7,760,17131,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3294,1847,0,0,0,0,0,0
$GC,17489,0.47,146.1,48.3,13.1,821,17497,0.00,1.02,0.00,0.000,4,0.000,0.054,1802,3942,1847,0,0,0,0,0,0
$GC,17602,0.47,146.1,32.5,13.4,839,17608,0.00,0.98,0.00,0.000,6,0.000,0.031,1808,3280,1847,0,0,0,0,0,0
$STATE,17832,end climb,SURFACE_DEPTH_REACHED
$STATE,17832,begin surface coast
$FINISH,1.2,1.014820
$STATE,17858,end surface coast,CONTROL_FINISHED_OK
$STATE,17858,begin surface
$SM_CCo,17874,41.53,0.695,1,0,1531,230.09
$SM_GC,2.30,0.00,0.00,41.53,0.000,0.000,0.695,48,3403,1531,-4.94,0.08,230.09
$IRIDIUM_FIX,-4209.90,910.48,180113,141433
$TT8_MAMPS,0.025466
$HUMID,55.78
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.7,41.176
$10V_AH,10.0,25.831
$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,11.750,73.575,301.325,41.525,0.000,109.827,43.244,337.489,0.000,0.000,20.454,2252.687,12109.892,417.790,2890.314,980.271,33.368,1498.566,0.000,2645.071,0.000,1.013,0.000
$DEVICE_MAMPS,218.025,95.625,1234.710,694.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.210,1954.028,870.270,389.246,0.000,0.000,0.000,0.000,0.000,0.000
$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,63757,878
$CAP_FILE_SIZE,140945,0
$CFSIZE,259252224,243404800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190113,011504,-4226.763,909.204,34,1.3,34,-25.2