version: 66.07
glider: 543
mission: 6
dive: 240
start: 1 19 113 1 25 45
data:
$ID,543
$MISSION,6
$DIVE,240
$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,-8517.4941
$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,26
$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
$GPS1,190113,011504,-4226.763,909.204,34,1.3,34,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-54.6
$GPS2,190113,012447,-4226.753,909.353,18,1.2,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,-0.240
$KALMAN_X,-145701.5,-60.8,-92.3,238283.2,2609.3
$KALMAN_Y,86516.8,-274.3,-446.5,-79698.4,6502.9
$MHEAD_RNG_PITCHd_Wd,215.4,14116,-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,21,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.28,0.000,2,0.000,0.000,47,3403,2519,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-4.0,5,104,5.70,0.90,-18.92,0.000,4,0.219,0.089,1466,3947,3071,0,0,0,0,0,0
$GC,391,-0.47,-146.1,39.9,-12.1,54,399,0.00,0.82,0.00,0.000,6,0.000,0.036,1466,3413,3073,0,0,0,0,0,0
$GC,639,-0.47,-146.1,68.1,-10.1,95,643,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3413,3074,0,0,0,0,0,0
$GC,988,-0.47,-146.1,105.3,-10.8,150,989,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3414,3075,0,0,0,0,0,0
$GC,1301,-0.47,-146.1,139.0,-10.7,170,1304,0.00,0.85,0.00,0.000,4,0.000,0.059,1462,3941,3075,0,0,0,0,0,0
$GC,1393,-0.47,-146.1,148.9,-10.9,175,1397,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3399,3076,0,0,0,0,0,0
$GC,1724,-0.47,-146.1,184.3,-10.9,196,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3399,3076,0,0,0,0,0,0
$GC,2037,-0.47,-146.1,218.8,-10.9,216,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3399,3076,0,0,0,0,0,0
$GC,2354,-0.47,-146.1,253.4,-11.1,236,2358,0.00,0.88,0.00,0.000,4,0.000,0.057,1458,3946,3076,0,0,0,0,0,0
$GC,2459,-0.47,-146.1,265.6,-11.1,240,2470,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3403,3076,0,0,0,0,0,0
$GC,2777,-0.47,-146.1,298.4,-10.3,256,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3402,3076,0,0,0,0,0,0
$GC,3087,-0.47,-146.1,329.6,-10.2,271,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3402,3076,0,0,0,0,0,0
$GC,3396,-0.47,-146.1,362.5,-10.5,286,3400,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3949,3076,0,0,0,0,0,0
$GC,3490,-0.47,-146.1,372.8,-10.8,290,3493,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3387,3076,0,0,0,0,0,0
$GC,3822,-0.47,-146.1,408.1,-10.6,305,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3387,3076,0,0,0,0,0,0
$GC,4130,-0.47,-146.1,439.4,-10.2,315,4134,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3952,3076,0,0,0,0,0,0
$GC,4218,-0.47,-146.1,449.3,-11.0,317,4222,0.00,0.82,0.00,0.000,6,0.000,0.036,1450,3408,3075,0,0,0,0,0,0
$GC,4538,-0.47,-146.1,482.7,-10.5,328,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3408,3075,0,0,0,0,0,0
$GC,4844,-0.47,-146.1,514.9,-10.7,338,4849,0.00,0.85,0.00,0.000,4,0.000,0.059,1446,3939,3075,0,0,0,0,0,0
$GC,4906,-0.47,-146.1,522.4,-11.6,339,4913,0.08,0.82,0.00,0.000,6,0.138,0.037,1470,3398,3075,0,0,0,0,0,0
$GC,5220,-0.47,-146.1,551.1,-8.9,350,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3398,3075,0,0,0,0,0,0
$GC,5525,-0.47,-146.1,578.4,-9.0,360,5531,0.00,0.88,0.00,0.000,4,0.000,0.060,1468,3942,3074,0,0,0,0,0,0
$GC,5643,-0.47,-146.1,589.5,-9.4,363,5647,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3402,3074,0,0,0,0,0,0
$GC,5968,-0.47,-146.1,617.3,-8.6,374,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3073,0,0,0,0,0,0
$GC,6276,-0.47,-146.1,642.7,-8.2,384,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3073,0,0,0,0,0,0
$GC,6581,-0.47,-146.1,667.2,-8.1,394,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3402,3071,0,0,0,0,0,0
$GC,6887,-0.47,-146.1,689.9,-7.3,404,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3402,3071,0,0,0,0,0,0
$GC,7194,-0.47,-146.1,711.4,-7.0,414,7198,0.00,0.88,0.00,0.000,4,0.000,0.061,1464,3942,3071,0,0,0,0,0,0
$GC,7263,-0.47,-146.1,716.7,-7.5,416,7269,0.00,0.82,0.00,0.000,6,0.000,0.038,1464,3403,3070,0,0,0,0,0,0
$GC,7607,-0.47,-146.1,742.5,-7.7,427,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3403,3070,0,0,0,0,0,0
$GC,7912,-0.47,-146.1,767.5,-8.3,437,7917,0.00,0.88,0.00,0.000,4,0.000,0.061,1460,3944,3069,0,0,0,0,0,0
$GC,8008,-0.47,-146.1,776.4,-9.1,439,8016,0.00,0.85,0.00,0.000,6,0.000,0.038,1460,3388,3069,0,0,0,0,0,0
$GC,8321,-0.47,-146.1,804.9,-9.4,450,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3068,0,0,0,0,0,0
$GC,8627,-0.47,-146.1,833.7,-9.5,460,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3068,0,0,0,0,0,0
$GC,8935,-0.47,-146.1,862.0,-9.2,470,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3067,0,0,0,0,0,0
$GC,9240,-0.47,-146.1,889.8,-9.0,480,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3067,0,0,0,0,0,0
$GC,9546,-0.47,-146.1,917.1,-8.7,490,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3066,0,0,0,0,0,0
$GC,9854,-0.47,-146.1,942.7,-8.1,500,9857,0.00,0.90,0.00,0.000,4,0.000,0.062,1456,3940,3065,0,0,0,0,0,0
$GC,9923,-0.47,-146.1,948.4,-8.4,502,9928,0.00,0.82,0.00,0.000,6,0.000,0.039,1456,3404,3065,0,0,0,0,0,0
$GC,10267,-0.47,-146.1,973.6,-7.0,513,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3404,3064,0,0,0,0,0,0
$GC,10572,-0.47,-146.1,995.2,-7.1,523,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3405,3064,0,0,0,0,0,0
$STATE,10660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10661,begin apogee
$GC,10668,-0.13,0.0,1001.8,7.2,526,10817,0.43,0.00,141.10,1.802,6,0.127,0.000,1585,3272,2473,0,0,0,0,1,0
$STATE,10819,end apogee,CONTROL_FINISHED_OK
$STATE,10819,begin climb
$GC,10821,0.47,146.1,1004.0,0.0,531,10984,0.57,2.45,149.45,1.755,4,0.079,0.031,1784,1865,1878,0,0,0,0,1,0
$GC,11045,0.47,146.1,980.8,11.6,537,11052,0.00,2.47,0.00,0.000,6,0.000,0.050,1784,3279,1872,0,0,0,0,0,0
$GC,11360,0.47,146.1,934.3,14.7,548,11363,0.00,1.10,0.00,0.000,4,0.000,0.059,1784,3943,1866,0,0,0,0,0,0
$GC,11455,0.47,146.1,919.0,16.3,550,11461,0.00,1.02,0.00,0.000,6,0.000,0.033,1789,3279,1865,0,0,0,0,0,0
$GC,11768,0.47,146.1,871.4,15.1,561,11771,0.00,1.10,0.00,0.000,4,0.000,0.058,1790,3949,1864,0,0,0,0,0,0
$GC,11829,0.47,146.1,860.9,17.1,562,11835,0.00,1.02,0.00,0.000,6,0.000,0.033,1794,3276,1864,0,0,0,0,0,0
$GC,12142,0.47,146.1,810.8,15.8,573,12146,0.00,1.10,0.00,0.000,4,0.000,0.059,1794,3950,1862,0,0,0,0,0,0
$GC,12198,0.47,146.1,801.0,17.3,574,12202,0.00,1.02,0.00,0.000,6,0.000,0.033,1799,3274,1862,0,0,0,0,0,0
$GC,12516,0.47,146.1,750.8,15.8,585,12520,0.00,1.10,0.00,0.000,4,0.000,0.058,1799,3950,1861,0,0,0,0,0,0
$GC,12586,0.47,146.1,739.0,17.7,587,12590,0.00,1.02,0.00,0.000,6,0.000,0.033,1805,3272,1861,0,0,0,0,0,0
$GC,12928,0.47,146.1,681.9,16.6,598,12931,0.00,1.10,0.00,0.000,4,0.000,0.057,1805,3950,1860,0,0,0,0,0,0
$GC,12983,0.47,146.1,671.7,17.4,599,12989,0.08,1.02,0.00,0.000,6,0.179,0.033,1789,3269,1860,0,0,0,0,0,0
$GC,13304,0.47,146.1,623.8,14.8,610,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3269,1860,0,0,0,0,0,0
$GC,13610,0.47,146.1,577.9,15.2,620,13613,0.00,1.10,0.00,0.000,4,0.000,0.057,1789,3949,1859,0,0,0,0,0,0
$GC,13736,0.47,146.1,557.1,16.5,623,13740,0.00,1.00,0.00,0.000,6,0.000,0.034,1792,3280,1859,0,0,0,0,0,0
$GC,14056,0.47,146.1,507.1,15.5,634,14060,0.00,1.08,0.00,0.000,4,0.000,0.056,1792,3948,1858,0,0,0,0,0,0
$GC,14124,0.47,146.1,495.3,17.7,636,14128,0.00,1.00,0.00,0.000,6,0.000,0.033,1797,3276,1858,0,0,0,0,0,0
$GC,14466,0.47,146.1,442.9,15.1,647,14471,0.00,1.08,0.00,0.000,4,0.000,0.055,1797,3947,1858,0,0,0,0,0,0
$GC,14562,0.47,146.1,426.8,16.5,649,14569,0.00,1.00,0.00,0.000,6,0.000,0.032,1802,3275,1858,0,0,0,0,0,0
$GC,14877,0.47,146.1,377.9,15.7,662,14878,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3275,1858,0,0,0,0,0,0
$GC,15187,0.47,146.1,329.2,15.6,677,15193,0.00,1.08,0.00,0.000,4,0.000,0.054,1802,3947,1857,0,0,0,0,0,0
$GC,15238,0.47,146.1,321.3,16.4,679,15242,0.00,1.00,0.00,0.000,6,0.000,0.032,1807,3273,1857,0,0,0,0,0,0
$GC,15574,0.47,146.1,268.9,15.4,695,15575,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3273,1857,0,0,0,0,0,0
$GC,15886,0.47,146.1,221.7,14.7,713,15890,0.00,1.10,0.00,0.000,4,0.000,0.054,1807,3958,1857,0,0,0,0,0,0
$GC,15974,0.47,146.1,207.0,16.6,718,15978,0.10,1.00,0.00,0.000,6,0.172,0.031,1784,3279,1857,0,0,0,0,0,0
$GC,16310,0.47,146.1,164.6,12.3,739,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3280,1857,0,0,0,0,0,0
$GC,16617,0.47,146.1,126.1,12.2,759,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3279,1857,0,0,0,0,0,0
$GC,16943,0.47,146.1,86.2,12.2,791,16946,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3280,1857,0,0,0,0,0,0
$GC,17295,0.47,146.1,43.1,10.4,852,17305,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3280,1857,0,0,0,0,0,0
$GC,17556,0.47,146.1,15.2,12.9,893,17566,0.00,1.05,0.00,0.000,4,0.000,0.052,1784,3948,1857,0,0,0,0,0,0
$STATE,17646,end climb,SURFACE_DEPTH_REACHED
$STATE,17646,begin surface coast
$FINISH,1.1,1.026139
$STATE,17674,end surface coast,CONTROL_FINISHED_OK
$STATE,17674,begin surface
$SM_CCo,17691,40.67,0.697,1,0,1533,230.09
$SM_GC,2.21,0.00,0.00,40.67,0.000,0.000,0.697,50,3396,1533,-4.93,-0.11,230.09
$IRIDIUM_FIX,-4209.90,904.27,180113,202045
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.2,41.352
$10V_AH,10.0,25.958
$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,11.550,45.100,290.550,40.675,0.000,28.144,41.263,331.704,0.000,0.000,21.097,2254.532,12001.752,403.715,2696.763,958.525,33.372,1404.956,0.000,2533.415,0.000,1.014,0.000
$DEVICE_MAMPS,218.790,88.740,1801.575,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.434,1984.341,927.673,432.512,0.000,0.000,0.000,0.000,0.000,0.000
$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,67101,910
$CAP_FILE_SIZE,130822,0
$CFSIZE,259252224,243339264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,190113,062235,-4228.390,909.380,31,0.9,31,-25.2