version: 66.07
glider: 543
mission: 6
dive: 247
start: 1 20 113 13 32 39
data:
$ID,543
$MISSION,6
$DIVE,247
$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,-8536.877
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,200113,132135,-4230.380,904.373,29,1.0,29,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-64.6
$GPS2,200113,133141,-4230.420,904.400,18,1.2,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.227,-0.089
$KALMAN_X,-127139.5,-251.0,-520.4,213589.4,7161.3
$KALMAN_Y,104059.7,-479.1,-448.4,-103816.4,5949.0
$MHEAD_RNG_PITCHd_Wd,273.7,6058,-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,-41.20,0.000,2,0.000,0.000,47,3416,2513,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.4,5,104,5.78,2.25,-18.38,0.000,4,0.223,0.046,1471,1983,3071,0,0,0,0,0,0
$GC,152,-0.47,-146.1,9.1,-9.2,16,161,0.00,2.33,0.00,0.000,6,0.000,0.054,1462,3384,3073,0,0,0,0,0,0
$GC,241,-0.47,-146.1,20.2,-13.5,29,250,0.00,0.93,0.00,0.000,4,0.000,0.058,1458,3952,3073,0,0,0,0,0,0
$GC,341,-0.47,-146.1,34.3,-14.0,43,348,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3415,3073,0,0,0,0,0,0
$GC,589,-0.47,-146.1,66.3,-11.5,84,601,0.00,0.85,0.00,0.000,4,0.000,0.057,1454,3943,3074,0,0,0,0,0,0
$GC,691,-0.47,-146.1,79.0,-12.5,100,699,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3403,3075,0,0,0,0,0,0
$GC,1036,-0.47,-146.1,117.4,-11.1,142,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3075,0,0,0,0,0,0
$GC,1348,-0.47,-146.1,151.5,-11.0,162,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3075,0,0,0,0,0,0
$GC,1661,-0.47,-146.1,183.3,-9.7,182,1665,0.00,2.12,0.00,0.000,4,0.000,0.030,1454,1976,3076,0,0,0,0,0,0
$GC,1693,-0.47,-146.1,186.6,-9.2,184,1699,0.08,2.33,0.00,0.000,6,0.125,0.054,1469,3395,3076,0,0,0,0,0,0
$GC,2025,-0.47,-146.1,213.1,-8.7,205,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,2334,-0.47,-146.1,241.4,-9.5,225,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,2654,-0.47,-146.1,272.6,-9.5,242,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,2964,-0.47,-146.1,302.0,-9.4,257,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,3273,-0.47,-146.1,330.9,-9.2,272,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,3582,-0.47,-146.1,358.7,-8.8,287,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,3891,-0.47,-146.1,386.4,-9.2,302,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,4208,-0.47,-146.1,414.8,-8.9,315,4212,0.00,2.12,0.00,0.000,4,0.000,0.030,1469,1975,3076,0,0,0,0,0,0
$GC,4281,-0.47,-146.1,420.7,-7.1,317,4285,0.00,2.30,0.00,0.000,6,0.000,0.050,1460,3407,3075,0,0,0,0,0,0
$GC,4605,-0.47,-146.1,449.3,-8.7,328,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3075,0,0,0,0,0,0
$GC,4913,-0.47,-146.1,475.6,-8.4,338,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3075,0,0,0,0,0,0
$GC,5218,-0.47,-146.1,500.3,-7.9,348,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3075,0,0,0,0,0,0
$GC,5524,-0.47,-146.1,524.6,-8.0,358,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3075,0,0,0,0,0,0
$GC,5831,-0.47,-146.1,550.2,-8.6,368,5835,0.00,2.15,0.00,0.000,4,0.000,0.030,1460,1976,3074,0,0,0,0,0,0
$GC,5870,-0.47,-146.1,553.5,-7.4,369,5874,0.00,2.30,0.00,0.000,6,0.000,0.052,1449,3399,3074,0,0,0,0,0,0
$GC,6194,-0.47,-146.1,583.4,-9.5,380,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3074,0,0,0,0,0,0
$GC,6502,-0.47,-146.1,611.7,-9.2,390,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3073,0,0,0,0,0,0
$GC,6810,-0.47,-146.1,638.9,-9.0,400,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3072,0,0,0,0,0,0
$GC,7113,-0.47,-146.1,667.5,-9.6,410,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3072,0,0,0,0,0,0
$GC,7419,-0.47,-146.1,697.2,-9.7,420,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3399,3071,0,0,0,0,0,0
$GC,7727,-0.47,-146.1,726.4,-9.6,430,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3070,0,0,0,0,0,0
$GC,8031,-0.47,-146.1,754.9,-9.2,440,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3070,0,0,0,0,0,0
$GC,8338,-0.47,-146.1,782.3,-8.7,450,8341,0.00,2.15,0.00,0.000,4,0.000,0.031,1450,1978,3069,0,0,0,0,0,0
$GC,8376,-0.47,-146.1,785.6,-7.9,451,8381,0.12,2.33,0.00,0.000,6,0.151,0.055,1471,3403,3069,0,0,0,0,0,0
$GC,8701,-0.47,-146.1,807.4,-6.7,462,8705,0.00,0.88,0.00,0.000,4,0.000,0.062,1469,3948,3069,0,0,0,0,0,0
$GC,8746,-0.47,-146.1,810.5,-6.5,463,8750,0.00,0.82,0.00,0.000,6,0.000,0.037,1469,3406,3069,0,0,0,0,0,0
$GC,9076,-0.47,-146.1,832.8,-6.7,474,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3068,0,0,0,0,0,0
$GC,9382,-0.47,-146.1,853.6,-6.7,484,9386,0.00,2.15,0.00,0.000,4,0.000,0.032,1469,1979,3067,0,0,0,0,0,0
$GC,9416,-0.47,-146.1,856.1,-6.1,485,9420,0.00,2.33,0.00,0.000,6,0.000,0.054,1458,3409,3067,0,0,0,0,0,0
$GC,9746,-0.47,-146.1,881.2,-8.1,496,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3408,3066,0,0,0,0,0,0
$GC,10052,-0.47,-146.1,905.2,-7.7,506,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3408,3066,0,0,0,0,0,0
$GC,10359,-0.47,-146.1,928.7,-7.6,516,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3409,3066,0,0,0,0,0,0
$GC,10665,-0.47,-146.1,952.3,-7.7,526,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3408,3065,0,0,0,0,0,0
$GC,10971,-0.47,-146.1,976.1,-7.8,536,10975,0.00,2.17,0.00,0.000,4,0.000,0.032,1458,1973,3065,0,0,0,0,0,0
$GC,11009,-0.47,-146.1,979.3,-8.0,537,11013,0.00,2.33,0.00,0.000,6,0.000,0.055,1448,3400,3065,0,0,0,0,0,0
$STATE,11272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11272,begin apogee
$GC,11279,-0.13,0.0,1002.3,9.1,546,11428,0.45,0.00,140.27,1.802,6,0.131,0.000,1582,3274,2474,0,0,0,0,1,0
$STATE,11429,end apogee,CONTROL_FINISHED_OK
$STATE,11429,begin climb
$GC,11432,0.47,146.1,1006.5,0.0,551,11594,0.57,2.45,149.30,1.759,4,0.082,0.032,1782,1868,1878,0,0,0,0,1,0
$GC,11640,0.47,146.1,986.9,10.3,557,11645,0.00,2.50,0.00,0.000,6,0.000,0.051,1782,3270,1874,0,0,0,0,0,0
$GC,11965,0.47,146.1,940.2,14.6,568,11971,0.00,1.12,0.00,0.000,4,0.000,0.057,1782,3949,1867,0,0,0,0,0,0
$GC,12044,0.47,146.1,927.2,16.9,570,12048,0.00,1.05,0.00,0.000,6,0.000,0.032,1787,3270,1866,0,0,0,0,0,0
$GC,12374,0.47,146.1,875.8,15.6,581,12379,0.00,1.12,0.00,0.000,4,0.000,0.058,1787,3951,1864,0,0,0,0,0,0
$GC,12444,0.47,146.1,863.8,19.0,583,12447,0.00,1.02,0.00,0.000,6,0.000,0.034,1792,3281,1864,0,0,0,0,0,0
$GC,12785,0.47,146.1,808.9,16.1,594,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3282,1863,0,0,0,0,0,0
$GC,13091,0.47,146.1,759.8,16.2,604,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3282,1862,0,0,0,0,0,0
$GC,13399,0.47,146.1,712.9,15.2,614,13402,0.00,1.10,0.00,0.000,4,0.000,0.058,1793,3958,1862,0,0,0,0,0,0
$GC,13487,0.47,146.1,697.8,18.2,616,13491,0.00,1.02,0.00,0.000,6,0.000,0.033,1798,3276,1861,0,0,0,0,0,0
$GC,13807,0.47,146.1,648.9,15.4,627,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3276,1861,0,0,0,0,0,0
$GC,14112,0.47,146.1,601.3,15.6,637,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3277,1860,0,0,0,0,0,0
$GC,14418,0.47,146.1,554.4,15.4,647,14421,0.00,1.10,0.00,0.000,4,0.000,0.057,1798,3958,1860,0,0,0,0,0,0
$GC,14495,0.47,146.1,541.4,17.6,649,14499,0.00,1.02,0.00,0.000,6,0.000,0.031,1803,3271,1860,0,0,0,0,0,0
$GC,14826,0.47,146.1,490.4,15.2,660,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3271,1859,0,0,0,0,0,0
$GC,15132,0.47,146.1,445.1,14.8,670,15133,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3271,1859,0,0,0,0,0,0
$GC,15438,0.47,146.1,400.5,14.5,680,15442,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3951,1859,0,0,0,0,0,0
$GC,15493,0.47,146.1,391.4,15.5,682,15499,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3280,1859,0,0,0,0,0,0
$GC,15818,0.47,146.1,342.7,15.3,698,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3280,1859,0,0,0,0,0,0
$GC,16127,0.47,146.1,294.3,15.5,713,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3280,1859,0,0,0,0,0,0
$GC,16447,0.47,146.1,244.6,15.6,729,16452,0.00,1.08,0.00,0.000,4,0.000,0.056,1808,3953,1859,0,0,0,0,0,0
$GC,16494,0.47,146.1,236.2,17.5,731,16501,0.10,1.00,0.00,0.000,6,0.179,0.031,1785,3278,1859,0,0,0,0,0,0
$GC,16816,0.47,146.1,193.7,12.7,752,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1858,0,0,0,0,0,0
$GC,17126,0.47,146.1,152.9,13.0,772,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1858,0,0,0,0,0,0
$GC,17439,0.47,146.1,113.1,12.5,792,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1858,0,0,0,0,0,0
$GC,17769,0.47,146.1,71.1,12.1,838,17775,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1858,0,0,0,0,0,0
$GC,18141,0.47,146.1,26.7,11.0,899,18151,0.00,1.08,0.00,0.000,4,0.000,0.055,1785,3948,1858,0,0,0,0,0,0
$GC,18301,0.47,146.1,6.8,12.6,923,18309,0.00,0.98,0.00,0.000,6,0.000,0.031,1788,3287,1858,0,0,0,0,0,0
$STATE,18329,end climb,SURFACE_DEPTH_REACHED
$STATE,18329,begin surface coast
$FINISH,1.2,1.026167
$STATE,18357,end surface coast,CONTROL_FINISHED_OK
$STATE,18357,begin surface
$SM_CCo,18373,40.65,0.702,1,0,1533,230.09
$SM_GC,2.27,0.00,0.00,40.65,0.000,0.000,0.702,47,3410,1533,-4.94,0.28,230.09
$IRIDIUM_FIX,-4215.72,908.53,200113,080831
$TT8_MAMPS,0.025466
$HUMID,55.55
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.2,42.422
$10V_AH,10.0,26.827
$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,11.650,56.600,289.575,40.650,0.000,24.480,53.570,345.948,0.000,0.000,21.118,2268.600,12827.205,401.049,2565.933,959.451,33.368,1328.054,0.000,2384.250,0.000,1.013,0.000
$DEVICE_MAMPS,223.380,82.620,1802.340,702.270,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.292,2043.846,932.353,408.527,0.000,0.000,0.000,0.000,0.000,0.000
$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,67236,931
$CAP_FILE_SIZE,127263,0
$CFSIZE,259252224,242851840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,200113,184058,-4230.361,902.555,37,0.9,37,-25.2