version: 66.07
glider: 543
mission: 6
dive: 242
start: 1 19 113 11 45 33
data:
$ID,543
$MISSION,6
$DIVE,242
$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,-8523.0908
$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,47
$R_STBD_OVSHOOT,17
$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
$GPS1,190113,113404,-4229.836,909.323,27,1.2,27,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-53.8
$GPS2,190113,114435,-4229.792,909.528,18,0.9,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.224,-0.097
$KALMAN_X,-142614.2,-226.0,-69.6,235579.7,2996.4
$KALMAN_Y,91961.7,-603.0,-329.4,-90556.8,6514.1
$MHEAD_RNG_PITCHd_Wd,271.8,13016,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.47,-146.1,0.0,0.0,0,67,0.00,0.00,-42.05,0.000,2,0.000,0.000,55,3402,2527,0,0,0,0,0,0
$GC,71,-0.47,-146.1,3.1,-4.1,5,107,5.68,0.93,-18.08,0.000,4,0.221,0.095,1464,3957,3072,0,0,0,0,0,0
$GC,221,-0.47,-146.1,20.4,-14.6,26,230,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3412,3074,0,0,0,0,0,0
$GC,309,-0.47,-146.1,32.8,-14.4,39,317,0.00,2.20,0.00,0.000,4,0.000,0.031,1464,1987,3075,0,0,0,0,0,0
$GC,353,-0.47,-146.1,38.0,-10.7,46,364,0.00,2.35,0.00,0.000,6,0.000,0.059,1454,3398,3075,0,0,0,0,0,0
$GC,605,-0.47,-146.1,70.7,-12.4,87,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3399,3075,0,0,0,0,0,0
$GC,954,-0.47,-146.1,110.9,-11.7,136,957,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3960,3076,0,0,0,0,0,0
$GC,1101,-0.47,-146.1,129.0,-12.5,144,1107,0.00,0.88,0.00,0.000,6,0.000,0.035,1449,3387,3076,0,0,0,0,0,0
$GC,1428,-0.47,-146.1,167.3,-12.1,165,1432,0.00,2.10,0.00,0.000,4,0.000,0.030,1449,1982,3076,0,0,0,0,0,0
$GC,1475,-0.47,-146.1,172.5,-9.9,168,1480,0.12,2.33,0.00,0.000,6,0.150,0.056,1472,3414,3077,0,0,0,0,0,0
$GC,1806,-0.47,-146.1,204.6,-9.8,189,1810,0.00,0.85,0.00,0.000,4,0.000,0.058,1469,3951,3077,0,0,0,0,0,0
$GC,1867,-0.47,-146.1,211.3,-9.8,192,1878,0.00,0.82,0.00,0.000,6,0.000,0.035,1469,3406,3077,0,0,0,0,0,0
$GC,2189,-0.47,-146.1,241.3,-9.3,213,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3077,0,0,0,0,0,0
$GC,2502,-0.47,-146.1,269.7,-9.0,230,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3077,0,0,0,0,0,0
$GC,2814,-0.47,-146.1,297.5,-8.9,245,2819,0.00,0.88,0.00,0.000,4,0.000,0.058,1465,3954,3077,0,0,0,0,0,0
$GC,2911,-0.47,-146.1,307.7,-10.4,249,2917,0.00,0.85,0.00,0.000,6,0.000,0.035,1465,3393,3077,0,0,0,0,0,0
$GC,3243,-0.47,-146.1,338.0,-9.1,265,3248,0.00,2.12,0.00,0.000,4,0.000,0.029,1465,1976,3077,0,0,0,0,0,0
$GC,3271,-0.47,-146.1,341.1,-8.7,266,3275,0.00,2.30,0.00,0.000,6,0.000,0.054,1454,3402,3077,0,0,0,0,0,0
$GC,3594,-0.47,-146.1,372.7,-10.2,282,3597,0.00,0.85,0.00,0.000,4,0.000,0.057,1450,3942,3077,0,0,0,0,0,0
$GC,3714,-0.47,-146.1,385.5,-10.1,287,3718,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3396,3077,0,0,0,0,0,0
$GC,4030,-0.47,-146.1,417.3,-10.1,300,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3397,3077,0,0,0,0,0,0
$GC,4339,-0.47,-146.1,448.8,-10.5,310,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3077,0,0,0,0,0,0
$GC,4642,-0.47,-146.1,481.5,-10.7,320,4646,0.00,0.88,0.00,0.000,4,0.000,0.057,1446,3946,3077,0,0,0,0,0,0
$GC,4755,-0.47,-146.1,494.7,-11.8,323,4758,0.00,0.82,0.00,0.000,6,0.000,0.036,1446,3401,3077,0,0,0,0,0,0
$GC,5086,-0.47,-146.1,531.6,-11.1,334,5090,0.10,0.90,0.00,0.000,4,0.168,0.060,1469,3949,3075,0,0,0,0,0,0
$GC,5130,-0.47,-146.1,536.4,-10.1,335,5133,0.00,0.82,0.00,0.000,6,0.000,0.037,1469,3405,3076,0,0,0,0,0,0
$GC,5460,-0.47,-146.1,565.9,-8.8,346,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3405,3075,0,0,0,0,0,0
$GC,5766,-0.47,-146.1,592.9,-8.7,356,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3405,3075,0,0,0,0,0,0
$GC,6074,-0.47,-146.1,619.2,-8.6,366,6077,0.00,0.88,0.00,0.000,4,0.000,0.060,1465,3947,3074,0,0,0,0,0,0
$GC,6112,-0.47,-146.1,623.0,-9.0,367,6116,0.00,0.85,0.00,0.000,6,0.000,0.037,1465,3392,3074,0,0,0,0,0,0
$GC,6447,-0.47,-146.1,652.6,-8.8,378,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3392,3073,0,0,0,0,0,0
$GC,6754,-0.47,-146.1,679.0,-8.4,388,6757,0.00,0.90,0.00,0.000,4,0.000,0.060,1461,3950,3072,0,0,0,0,0,0
$GC,6803,-0.47,-146.1,683.6,-9.5,389,6807,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3395,3072,0,0,0,0,0,0
$GC,7128,-0.47,-146.1,710.1,-8.1,400,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3395,3072,0,0,0,0,0,0
$GC,7434,-0.47,-146.1,734.4,-7.8,410,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3395,3071,0,0,0,0,0,0
$GC,7741,-0.47,-146.1,758.6,-7.9,420,7745,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3952,3070,0,0,0,0,0,0
$GC,7835,-0.47,-146.1,766.8,-8.6,422,7842,0.00,0.85,0.00,0.000,6,0.000,0.038,1457,3398,3070,0,0,0,0,0,0
$GC,8149,-0.47,-146.1,793.1,-8.7,433,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3398,3069,0,0,0,0,0,0
$GC,8455,-0.47,-146.1,819.9,-8.9,443,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3398,3069,0,0,0,0,0,0
$GC,8761,-0.47,-146.1,846.7,-8.7,453,8764,0.00,0.88,0.00,0.000,4,0.000,0.061,1452,3940,3068,0,0,0,0,0,0
$GC,8835,-0.47,-146.1,853.6,-9.0,455,8839,0.00,0.82,0.00,0.000,6,0.000,0.039,1453,3404,3068,0,0,0,0,0,0
$GC,9170,-0.47,-146.1,882.9,-8.9,466,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3404,3068,0,0,0,0,0,0
$GC,9478,-0.47,-146.1,909.5,-8.5,476,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3404,3067,0,0,0,0,0,0
$GC,9783,-0.47,-146.1,934.7,-8.1,486,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3404,3066,0,0,0,0,0,0
$GC,10089,-0.47,-146.1,958.7,-7.7,496,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3066,0,0,0,0,0,0
$GC,10397,-0.47,-146.1,982.4,-7.8,506,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3404,3066,0,0,0,0,0,0
$STATE,10637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10637,begin apogee
$GC,10645,-0.13,0.0,1001.0,7.6,514,10793,0.43,0.00,140.30,1.803,6,0.129,0.000,1581,3271,2473,0,0,0,0,1,0
$STATE,10795,end apogee,CONTROL_FINISHED_OK
$STATE,10795,begin climb
$GC,10797,0.47,146.1,1004.1,0.0,519,10959,0.57,2.47,149.07,1.760,4,0.081,0.033,1780,1868,1879,0,0,0,0,1,0
$GC,11021,0.47,146.1,981.1,12.3,525,11028,0.00,2.47,0.00,0.000,6,0.000,0.051,1781,3282,1873,0,0,0,0,0,0
$GC,11336,0.47,146.1,933.2,15.5,536,11339,0.00,1.10,0.00,0.000,4,0.000,0.057,1781,3944,1867,0,0,0,0,0,0
$GC,11391,0.47,146.1,923.6,16.6,537,11395,0.00,1.05,0.00,0.000,6,0.000,0.034,1787,3268,1866,0,0,0,0,0,0
$GC,11709,0.47,146.1,874.5,15.1,548,11713,0.00,2.15,0.00,0.000,4,0.000,0.033,1797,1865,1864,0,0,0,0,0,0
$GC,11739,0.47,146.1,870.4,12.4,549,11743,0.00,2.33,0.00,0.000,6,0.000,0.052,1797,3287,1863,0,0,0,0,0,0
$GC,12075,0.47,146.1,818.0,15.7,560,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3288,1863,0,0,0,0,0,0
$GC,12380,0.47,146.1,768.9,16.0,570,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3287,1862,0,0,0,0,0,0
$GC,12688,0.47,146.1,720.6,15.4,580,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3288,1861,0,0,0,0,0,0
$GC,12993,0.47,146.1,673.9,15.1,590,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3288,1861,0,0,0,0,0,0
$GC,13299,0.47,146.1,627.7,15.0,600,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3288,1860,0,0,0,0,0,0
$GC,13606,0.47,146.1,581.0,15.2,610,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3288,1859,0,0,0,0,0,0
$GC,13912,0.47,146.1,535.2,15.0,620,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3287,1859,0,0,0,0,0,0
$GC,14218,0.47,146.1,490.0,14.7,630,14222,0.00,1.08,0.00,0.000,4,0.000,0.056,1797,3958,1859,0,0,0,0,0,0
$GC,14262,0.47,146.1,483.1,14.9,631,14266,0.00,1.02,0.00,0.000,6,0.000,0.033,1802,3273,1859,0,0,0,0,0,0
$GC,14591,0.47,146.1,434.6,14.7,642,14595,0.00,2.12,0.00,0.000,4,0.000,0.030,1813,1865,1858,0,0,0,0,0,0
$GC,14636,0.47,146.1,428.7,11.7,643,14641,0.12,2.28,0.00,0.000,6,0.177,0.049,1783,3282,1857,0,0,0,0,0,0
$GC,14967,0.47,146.1,385.1,13.5,656,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3282,1857,0,0,0,0,0,0
$GC,15277,0.47,146.1,342.5,14.1,671,15279,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3282,1857,0,0,0,0,0,0
$GC,15586,0.47,146.1,299.5,14.3,686,15589,0.00,1.05,0.00,0.000,4,0.000,0.055,1783,3942,1857,0,0,0,0,0,0
$GC,15669,0.47,146.1,286.4,15.4,689,15673,0.00,1.00,0.00,0.000,6,0.000,0.032,1787,3270,1857,0,0,0,0,0,0
$GC,15993,0.47,146.1,238.3,15.0,706,15997,0.00,2.12,0.00,0.000,4,0.000,0.030,1797,1856,1857,0,0,0,0,0,0
$GC,16034,0.47,146.1,232.4,11.9,708,16044,0.00,2.30,0.00,0.000,6,0.000,0.049,1797,3280,1856,0,0,0,0,0,0
$GC,16358,0.47,146.1,184.6,15.2,729,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3279,1856,0,0,0,0,0,0
$GC,16670,0.47,146.1,137.2,15.4,749,16673,0.00,1.08,0.00,0.000,4,0.000,0.054,1797,3953,1856,0,0,0,0,0,0
$GC,16743,0.47,146.1,125.3,16.2,753,16747,0.00,1.00,0.00,0.000,6,0.000,0.031,1802,3275,1856,0,0,0,0,0,0
$GC,17077,0.47,146.1,71.3,15.8,794,17084,0.00,1.08,0.00,0.000,4,0.000,0.053,1802,3948,1856,0,0,0,0,0,0
$GC,17146,0.47,146.1,59.2,17.0,806,17155,0.00,0.98,0.00,0.000,6,0.000,0.031,1807,3282,1856,0,0,0,0,0,0
$GC,17405,0.47,146.1,22.6,13.4,847,17415,0.00,2.12,0.00,0.000,4,0.000,0.028,1819,1868,1856,0,0,0,0,0,0
$GC,17469,0.47,146.1,14.7,11.4,856,17480,0.10,2.28,0.00,0.000,6,0.136,0.047,1786,3283,1856,0,0,0,0,0,0
$GC,17560,0.47,146.1,3.1,14.1,869,17568,0.00,1.08,0.00,0.000,4,0.000,0.059,1786,3953,1856,0,0,0,0,0,0
$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,1.1,1.026181
$STATE,17590,end surface coast,CONTROL_FINISHED_OK
$STATE,17590,begin surface
$SM_CCo,17607,40.78,0.707,1,0,1533,230.09
$SM_GC,1.94,0.00,0.00,40.78,0.000,0.000,0.707,46,3403,1533,-4.94,0.08,230.09
$IRIDIUM_FIX,-4215.72,908.07,190113,060603
$TT8_MAMPS,0.026215
$HUMID,55.15
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.2,41.664
$10V_AH,10.0,26.209
$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,11.650,67.525,289.375,40.775,0.000,44.242,47.313,350.124,0.000,0.000,20.905,2176.323,12144.244,416.078,2580.631,962.913,33.369,1384.103,0.000,2385.383,0.000,1.012,0.000
$DEVICE_MAMPS,221.085,94.860,1803.105,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.111,1939.822,869.579,364.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,64020,873
$CAP_FILE_SIZE,131651,0
$CFSIZE,259252224,243195904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,190113,164104,-4229.337,907.968,36,1.0,36,-25.2