version: 66.07
glider: 543
mission: 6
dive: 243
start: 1 19 113 16 51 28
data:
$ID,543
$MISSION,6
$DIVE,243
$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,-8525.8301
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,190113,164104,-4229.337,907.968,36,1.0,36,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-49.0
$GPS2,190113,165030,-4229.248,908.063,17,1.3,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.117
$KALMAN_X,-139628.2,4.5,100.0,230184.6,3742.4
$KALMAN_Y,94904.6,-448.6,-313.1,-92662.3,6692.2
$MHEAD_RNG_PITCHd_Wd,266.4,11097,-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,-41.40,0.000,2,0.000,0.000,45,3403,2502,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.0,-2.9,5,104,5.75,0.90,-18.10,0.000,4,0.221,0.097,1468,3939,3072,0,0,0,0,0,0
$GC,191,-0.47,-146.1,15.6,-12.2,22,201,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3409,3073,0,0,0,0,0,0
$GC,286,-0.47,-146.1,27.1,-12.3,35,294,0.00,2.20,0.00,0.000,4,0.000,0.031,1468,1979,3073,0,0,0,0,0,0
$GC,330,-0.47,-146.1,32.2,-10.6,41,337,0.00,2.33,0.00,0.000,6,0.000,0.057,1458,3396,3074,0,0,0,0,0,0
$GC,579,-0.47,-146.1,61.2,-10.7,82,585,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3396,3074,0,0,0,0,0,0
$GC,934,-0.47,-146.1,100.6,-10.9,143,937,0.00,0.90,0.00,0.000,4,0.000,0.057,1454,3956,3075,0,0,0,0,0,0
$GC,1044,-0.47,-146.1,113.3,-11.1,149,1047,0.00,0.85,0.00,0.000,6,0.000,0.035,1454,3399,3076,0,0,0,0,0,0
$GC,1369,-0.47,-146.1,149.2,-11.0,170,1373,0.00,2.12,0.00,0.000,4,0.000,0.030,1454,1976,3076,0,0,0,0,0,0
$GC,1401,-0.47,-146.1,152.6,-9.8,172,1407,0.08,2.35,0.00,0.000,6,0.125,0.057,1469,3404,3076,0,0,0,0,0,0
$GC,1731,-0.47,-146.1,182.8,-8.9,193,1737,0.00,0.88,0.00,0.000,4,0.000,0.057,1466,3955,3076,0,0,0,0,0,0
$GC,1807,-0.47,-146.1,190.1,-9.9,197,1810,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3395,3076,0,0,0,0,0,0
$GC,2139,-0.47,-146.1,222.9,-10.0,218,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3395,3076,0,0,0,0,0,0
$GC,2460,-0.47,-146.1,254.5,-9.8,238,2463,0.00,0.88,0.00,0.000,4,0.000,0.057,1462,3945,3077,0,0,0,0,0,0
$GC,2515,-0.47,-146.1,260.5,-10.6,240,2518,0.00,0.82,0.00,0.000,6,0.000,0.035,1462,3401,3077,0,0,0,0,0,0
$GC,2838,-0.47,-146.1,292.4,-9.7,256,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3401,3077,0,0,0,0,0,0
$GC,3148,-0.47,-146.1,322.7,-10.0,271,3153,0.00,0.88,0.00,0.000,4,0.000,0.058,1458,3949,3077,0,0,0,0,0,0
$GC,3280,-0.47,-146.1,337.3,-11.1,276,3290,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3405,3077,0,0,0,0,0,0
$GC,3597,-0.47,-146.1,370.7,-10.5,292,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3405,3077,0,0,0,0,0,0
$GC,3915,-0.47,-146.1,403.1,-10.0,307,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3405,3077,0,0,0,0,0,0
$GC,4223,-0.47,-146.1,433.7,-9.9,317,4226,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3951,3076,0,0,0,0,0,0
$GC,4278,-0.47,-146.1,439.8,-10.7,318,4281,0.00,0.85,0.00,0.000,6,0.000,0.035,1454,3390,3076,0,0,0,0,0,0
$GC,4596,-0.47,-146.1,471.4,-9.9,329,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3390,3076,0,0,0,0,0,0
$GC,4903,-0.47,-146.1,500.8,-9.5,339,4906,0.00,0.88,0.00,0.000,4,0.000,0.058,1450,3938,3077,0,0,0,0,0,0
$GC,4976,-0.47,-146.1,508.4,-10.1,341,4980,0.00,0.82,0.00,0.000,6,0.000,0.037,1450,3398,3076,0,0,0,0,0,0
$GC,5313,-0.47,-146.1,541.9,-10.0,352,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3397,3075,0,0,0,0,0,0
$GC,5620,-0.47,-146.1,571.0,-9.4,362,5623,0.00,0.88,0.00,0.000,4,0.000,0.059,1446,3944,3075,0,0,0,0,0,0
$GC,5708,-0.47,-146.1,580.6,-11.0,364,5712,0.00,0.82,0.00,0.000,6,0.000,0.037,1446,3402,3075,0,0,0,0,0,0
$GC,6029,-0.47,-146.1,611.4,-9.6,375,6031,0.10,0.00,0.00,0.000,6,0.171,0.000,1471,3401,3075,0,0,0,0,0,0
$GC,6334,-0.47,-146.1,634.9,-7.5,385,6339,0.00,0.88,0.00,0.000,4,0.000,0.060,1469,3947,3073,0,0,0,0,0,0
$GC,6396,-0.47,-146.1,640.2,-8.1,386,6403,0.00,0.85,0.00,0.000,6,0.000,0.037,1469,3389,3073,0,0,0,0,0,0
$GC,6711,-0.47,-146.1,663.4,-7.4,397,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3389,3073,0,0,0,0,0,0
$GC,7016,-0.47,-146.1,686.8,-7.8,407,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3389,3072,0,0,0,0,0,0
$GC,7322,-0.47,-146.1,711.5,-8.2,417,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3389,3072,0,0,0,0,0,0
$GC,7630,-0.47,-146.1,737.9,-8.7,427,7633,0.00,0.90,0.00,0.000,4,0.000,0.060,1465,3947,3071,0,0,0,0,0,0
$GC,7685,-0.47,-146.1,743.3,-9.8,428,7688,0.00,0.82,0.00,0.000,6,0.000,0.038,1465,3406,3071,0,0,0,0,0,0
$GC,8003,-0.47,-146.1,770.8,-8.7,439,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3406,3070,0,0,0,0,0,0
$GC,8310,-0.47,-146.1,796.3,-8.2,449,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3406,3069,0,0,0,0,0,0
$GC,8617,-0.47,-146.1,819.2,-7.1,459,8621,0.00,0.88,0.00,0.000,4,0.000,0.061,1461,3947,3069,0,0,0,0,0,0
$GC,8667,-0.47,-146.1,823.5,-7.8,460,8671,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3393,3069,0,0,0,0,0,0
$GC,8992,-0.47,-146.1,847.1,-7.4,471,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3068,0,0,0,0,0,0
$GC,9298,-0.47,-146.1,870.5,-7.5,481,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3068,0,0,0,0,0,0
$GC,9605,-0.47,-146.1,893.1,-7.3,491,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3067,0,0,0,0,0,0
$GC,9914,-0.47,-146.1,915.4,-7.2,501,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3394,3066,0,0,0,0,0,0
$GC,10217,-0.47,-146.1,937.1,-7.1,511,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3394,3066,0,0,0,0,0,0
$GC,10523,-0.47,-146.1,959.3,-7.3,521,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3066,0,0,0,0,0,0
$GC,10830,-0.47,-146.1,983.2,-8.0,531,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3065,0,0,0,0,0,0
$STATE,11041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11041,begin apogee
$GC,11049,-0.13,0.0,1000.1,7.8,538,11201,0.40,0.00,149.62,1.230,6,0.127,0.000,1582,3280,2473,0,0,0,0,0,0
$STATE,11203,end apogee,CONTROL_FINISHED_OK
$STATE,11203,begin climb
$GC,11205,0.47,146.1,1003.8,0.0,543,11366,0.57,2.50,151.62,1.206,4,0.083,0.031,1786,1857,1870,0,0,0,0,0,0
$GC,11410,0.47,146.1,982.6,11.7,549,11416,0.00,2.53,0.00,0.000,6,0.000,0.050,1786,3277,1860,0,0,0,0,0,0
$GC,11743,0.47,146.1,931.7,16.1,560,11746,0.00,1.12,0.00,0.000,4,0.000,0.058,1786,3950,1854,0,0,0,0,0,0
$GC,11811,0.47,146.1,919.5,17.8,562,11816,0.00,1.05,0.00,0.000,6,0.000,0.032,1791,3272,1853,0,0,0,0,0,0
$GC,12154,0.47,146.1,862.5,16.5,573,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3272,1851,0,0,0,0,0,0
$GC,12460,0.47,146.1,810.7,16.8,583,12465,0.00,1.12,0.00,0.000,4,0.000,0.058,1791,3955,1850,0,0,0,0,0,0
$GC,12512,0.47,146.1,801.2,18.9,584,12516,0.00,1.02,0.00,0.000,6,0.000,0.034,1796,3284,1850,0,0,0,0,0,0
$GC,12838,0.47,146.1,745.1,17.1,595,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3284,1849,0,0,0,0,0,0
$GC,13143,0.47,146.1,694.6,16.7,605,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3284,1848,0,0,0,0,0,0
$GC,13449,0.47,146.1,646.1,15.7,615,13452,0.00,1.10,0.00,0.000,4,0.000,0.058,1796,3958,1849,0,0,0,0,0,0
$GC,13510,0.47,146.1,635.2,17.6,616,13518,0.00,1.02,0.00,0.000,6,0.000,0.032,1801,3275,1848,0,0,0,0,0,0
$GC,13823,0.47,146.1,584.2,16.1,627,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1847,0,0,0,0,0,0
$GC,14129,0.47,146.1,535.9,15.8,637,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1847,0,0,0,0,0,0
$GC,14437,0.47,146.1,490.1,14.6,647,14440,0.00,1.10,0.00,0.000,4,0.000,0.057,1801,3952,1847,0,0,0,0,0,0
$GC,14486,0.47,146.1,482.1,14.7,648,14489,0.00,1.02,0.00,0.000,6,0.000,0.033,1806,3271,1847,0,0,0,0,0,0
$GC,14811,0.47,146.1,434.1,14.7,659,14814,0.00,1.10,0.00,0.000,4,0.000,0.057,1806,3950,1847,0,0,0,0,0,0
$GC,14880,0.47,146.1,423.0,16.8,661,14885,0.10,1.00,0.00,0.000,6,0.171,0.031,1783,3278,1847,0,0,0,0,0,0
$GC,15213,0.47,146.1,377.4,13.6,674,15214,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3277,1847,0,0,0,0,0,0
$GC,15524,0.47,146.1,333.9,14.3,689,15529,0.00,1.10,0.00,0.000,4,0.000,0.055,1784,3958,1847,0,0,0,0,0,0
$GC,15576,0.47,146.1,325.1,15.6,691,15580,0.00,1.02,0.00,0.000,6,0.000,0.032,1786,3273,1847,0,0,0,0,0,0
$GC,15906,0.47,146.1,278.1,14.4,707,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3273,1847,0,0,0,0,0,0
$GC,16221,0.47,146.1,233.8,14.1,724,16223,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1846,0,0,0,0,0,0
$GC,16532,0.47,146.1,188.8,14.6,744,16536,0.00,1.10,0.00,0.000,4,0.000,0.054,1786,3958,1847,0,0,0,0,0,0
$GC,16604,0.47,146.1,177.6,16.8,748,16608,0.00,1.00,0.00,0.000,6,0.000,0.031,1791,3281,1847,0,0,0,0,0,0
$GC,16939,0.47,146.1,128.7,14.5,769,16943,0.00,2.10,0.00,0.000,4,0.000,0.029,1802,1868,1847,0,0,0,0,0,0
$GC,16971,0.47,146.1,123.7,12.3,771,16977,0.00,2.30,0.00,0.000,6,0.000,0.047,1802,3291,1846,0,0,0,0,0,0
$GC,17310,0.47,146.1,75.9,13.8,811,17315,0.00,1.05,0.00,0.000,4,0.000,0.054,1802,3957,1846,0,0,0,0,0,0
$GC,17363,0.47,146.1,67.7,15.6,820,17370,0.00,1.00,0.00,0.000,6,0.000,0.030,1807,3274,1846,0,0,0,0,0,0
$GC,17740,0.47,146.1,16.2,14.3,881,17748,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3275,1846,0,0,0,0,0,0
$STATE,17826,end climb,SURFACE_DEPTH_REACHED
$STATE,17826,begin surface coast
$FINISH,1.1,1.014899
$STATE,17852,end surface coast,CONTROL_FINISHED_OK
$STATE,17852,begin surface
$SM_CCo,17868,40.78,0.686,1,0,1534,230.09
$SM_GC,2.07,0.00,0.00,40.78,0.000,0.000,0.686,49,3414,1534,-4.94,0.42,230.09
$IRIDIUM_FIX,-4215.72,902.76,190113,111100
$TT8_MAMPS,0.025466
$HUMID,55.74
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.7,41.797
$10V_AH,10.1,26.332
$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,11.750,54.650,301.250,40.775,0.000,27.716,21.825,333.648,0.000,0.000,20.210,2230.806,12328.636,404.329,2559.432,954.281,33.371,1372.196,0.000,2425.946,0.000,1.015,0.000
$DEVICE_MAMPS,221.085,97.155,1230.120,686.205,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.761,1966.378,886.136,388.160,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,63741,898
$CAP_FILE_SIZE,131301,0
$CFSIZE,259252224,243126272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190113,215123,-4229.238,906.444,38,0.8,38,-25.2