version: 66.07
glider: 543
mission: 6
dive: 248
start: 1 20 113 18 51 58
data:
$ID,543
$MISSION,6
$DIVE,248
$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,-8539.6172
$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,25
$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
$GPS1,200113,184058,-4230.361,902.555,37,0.9,37,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-65.2
$GPS2,200113,185059,-4230.378,902.713,18,1.3,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.131,-0.206
$KALMAN_X,-124590.6,-200.8,-243.7,208417.0,5599.9
$KALMAN_Y,105764.0,-353.3,-310.0,-105709.7,4903.8
$MHEAD_RNG_PITCHd_Wd,237.7,58326,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.47,-146.1,0.0,0.0,0,66,0.00,0.00,-41.78,0.000,2,0.000,0.000,47,3410,2524,0,0,0,0,0,0
$GC,70,-0.47,-146.1,3.1,-3.8,5,106,5.80,0.90,-18.45,0.000,4,0.225,0.098,1468,3946,3071,0,0,0,0,0,0
$GC,357,-0.47,-146.1,37.7,-13.0,48,366,0.00,0.82,0.00,0.000,6,0.000,0.036,1467,3412,3074,0,0,0,0,0,0
$GC,605,-0.47,-146.1,68.2,-12.7,89,611,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3950,3074,0,0,0,0,0,0
$GC,700,-0.47,-146.1,80.4,-13.2,105,709,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3393,3074,0,0,0,0,0,0
$GC,1050,-0.47,-146.1,120.1,-11.1,145,1054,0.00,0.90,0.00,0.000,4,0.000,0.060,1460,3948,3075,0,0,0,0,0,0
$GC,1124,-0.47,-146.1,128.3,-11.6,149,1128,0.00,0.82,0.00,0.000,6,0.000,0.036,1460,3408,3075,0,0,0,0,0,0
$GC,1454,-0.47,-146.1,163.8,-10.5,170,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3406,3076,0,0,0,0,0,0
$GC,1768,-0.47,-146.1,196.3,-10.1,190,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3406,3076,0,0,0,0,0,0
$GC,2080,-0.47,-146.1,226.6,-9.2,210,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3406,3076,0,0,0,0,0,0
$GC,2408,-0.47,-146.1,256.3,-9.2,230,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3406,3076,0,0,0,0,0,0
$GC,2718,-0.47,-146.1,285.1,-9.3,245,2724,0.00,0.88,0.00,0.000,4,0.000,0.060,1456,3949,3076,0,0,0,0,0,0
$GC,2793,-0.47,-146.1,293.1,-9.7,248,2799,0.00,0.85,0.00,0.000,6,0.000,0.035,1456,3390,3076,0,0,0,0,0,0
$GC,3124,-0.47,-146.1,325.0,-9.7,264,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3389,3076,0,0,0,0,0,0
$GC,3433,-0.47,-146.1,355.6,-10.0,279,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3389,3077,0,0,0,0,0,0
$GC,3742,-0.47,-146.1,385.5,-9.5,294,3745,0.00,0.90,0.00,0.000,4,0.000,0.060,1452,3949,3076,0,0,0,0,0,0
$GC,3844,-0.47,-146.1,396.4,-10.5,298,3848,0.00,0.82,0.00,0.000,6,0.000,0.036,1452,3407,3076,0,0,0,0,0,0
$GC,4173,-0.47,-146.1,429.9,-10.6,310,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3404,3076,0,0,0,0,0,0
$GC,4480,-0.47,-146.1,462.1,-10.1,320,4484,0.00,2.15,0.00,0.000,4,0.000,0.031,1451,1971,3076,0,0,0,0,0,0
$GC,4519,-0.47,-146.1,466.0,-8.7,321,4524,0.12,2.30,0.00,0.000,6,0.148,0.055,1474,3395,3076,0,0,0,0,0,0
$GC,4845,-0.47,-146.1,490.7,-7.6,332,4848,0.00,0.88,0.00,0.000,4,0.000,0.060,1471,3946,3076,0,0,0,0,0,0
$GC,4901,-0.47,-146.1,495.2,-8.1,333,4904,0.00,0.82,0.00,0.000,6,0.000,0.036,1471,3400,3076,0,0,0,0,0,0
$GC,5220,-0.47,-146.1,519.8,-7.9,344,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3400,3075,0,0,0,0,0,0
$GC,5526,-0.47,-146.1,544.8,-8.4,354,5530,0.00,2.15,0.00,0.000,4,0.000,0.031,1471,1980,3075,0,0,0,0,0,0
$GC,5564,-0.47,-146.1,548.0,-7.2,355,5569,0.00,2.30,0.00,0.000,6,0.000,0.054,1460,3403,3075,0,0,0,0,0,0
$GC,5889,-0.47,-146.1,577.2,-9.2,366,5892,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3953,3074,0,0,0,0,0,0
$GC,5966,-0.47,-146.1,584.8,-9.3,368,5970,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3407,3074,0,0,0,0,0,0
$GC,6296,-0.47,-146.1,613.2,-8.5,379,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3073,0,0,0,0,0,0
$GC,6604,-0.47,-146.1,637.5,-7.9,389,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3072,0,0,0,0,0,0
$GC,6909,-0.47,-146.1,663.1,-8.4,399,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3072,0,0,0,0,0,0
$GC,7215,-0.47,-146.1,688.3,-8.1,409,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3071,0,0,0,0,0,0
$GC,7523,-0.47,-146.1,713.5,-8.5,419,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3071,0,0,0,0,0,0
$GC,7827,-0.47,-146.1,740.2,-8.8,429,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3070,0,0,0,0,0,0
$GC,8134,-0.47,-146.1,767.1,-8.7,439,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3070,0,0,0,0,0,0
$GC,8441,-0.47,-146.1,793.4,-8.5,449,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3069,0,0,0,0,0,0
$GC,8746,-0.47,-146.1,820.7,-8.9,459,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3069,0,0,0,0,0,0
$GC,9052,-0.47,-146.1,847.6,-8.6,469,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3068,0,0,0,0,0,0
$GC,9360,-0.47,-146.1,872.8,-8.2,479,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3068,0,0,0,0,0,0
$GC,9665,-0.47,-146.1,899.1,-8.5,489,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3067,0,0,0,0,0,0
$GC,9971,-0.47,-146.1,925.3,-8.6,499,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3066,0,0,0,0,0,0
$GC,10279,-0.47,-146.1,951.3,-8.7,509,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3406,3066,0,0,0,0,0,0
$GC,10584,-0.47,-146.1,976.9,-8.2,519,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3065,0,0,0,0,0,0
$STATE,10887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10887,begin apogee
$GC,10894,-0.13,0.0,1001.7,8.1,529,11046,0.43,0.00,148.77,1.231,6,0.130,0.000,1584,3275,2473,0,0,0,0,0,0
$STATE,11048,end apogee,CONTROL_FINISHED_OK
$STATE,11048,begin climb
$GC,11051,0.47,146.1,1005.2,0.0,534,11210,0.55,2.42,150.20,1.205,4,0.083,0.031,1783,1862,1872,0,0,0,0,0,0
$GC,11256,0.47,146.1,984.5,10.7,540,11261,0.00,2.50,0.00,0.000,6,0.000,0.050,1783,3272,1863,0,0,0,0,0,0
$GC,11589,0.47,146.1,937.1,14.4,551,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3272,1856,0,0,0,0,0,0
$GC,11893,0.47,146.1,895.3,14.3,561,11898,0.00,1.12,0.00,0.000,4,0.000,0.060,1783,3953,1855,0,0,0,0,0,0
$GC,11972,0.47,146.1,882.7,15.9,563,11976,0.00,1.02,0.00,0.000,6,0.000,0.034,1788,3279,1854,0,0,0,0,0,0
$GC,12302,0.47,146.1,832.2,15.5,574,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3279,1853,0,0,0,0,0,0
$GC,12608,0.47,146.1,783.9,15.7,584,12611,0.00,1.10,0.00,0.000,4,0.000,0.060,1788,3951,1853,0,0,0,0,0,0
$GC,12719,0.47,146.1,764.9,15.9,587,12725,0.00,1.02,0.00,0.000,6,0.000,0.034,1793,3273,1852,0,0,0,0,0,0
$GC,13052,0.47,146.1,713.5,15.3,598,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3273,1852,0,0,0,0,0,0
$GC,13356,0.47,146.1,667.0,15.0,608,13362,0.00,1.10,0.00,0.000,4,0.000,0.060,1794,3947,1851,0,0,0,0,0,0
$GC,13419,0.47,146.1,656.7,15.5,609,13426,0.00,1.00,0.00,0.000,6,0.000,0.034,1798,3281,1851,0,0,0,0,0,0
$GC,13733,0.47,146.1,610.0,14.8,620,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3281,1851,0,0,0,0,0,0
$GC,14038,0.47,146.1,564.3,14.9,630,14044,0.00,1.08,0.00,0.000,4,0.000,0.057,1798,3947,1850,0,0,0,0,0,0
$GC,14117,0.47,146.1,551.0,16.7,632,14121,0.00,1.00,0.00,0.000,6,0.000,0.033,1803,3279,1850,0,0,0,0,0,0
$GC,14448,0.47,146.1,497.7,16.3,643,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3278,1850,0,0,0,0,0,0
$GC,14754,0.47,146.1,448.4,15.9,653,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3278,1849,0,0,0,0,0,0
$GC,15061,0.47,146.1,400.0,15.7,663,15065,0.00,1.08,0.00,0.000,4,0.000,0.057,1803,3949,1849,0,0,0,0,0,0
$GC,15117,0.47,146.1,389.9,17.5,665,15121,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3277,1850,0,0,0,0,0,0
$GC,15441,0.47,146.1,337.1,16.3,681,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3276,1849,0,0,0,0,0,0
$GC,15750,0.47,146.1,288.1,15.8,696,15751,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3276,1849,0,0,0,0,0,0
$GC,16065,0.47,146.1,240.6,14.9,712,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3276,1849,0,0,0,0,0,0
$GC,16377,0.47,146.1,193.6,14.8,732,16378,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3276,1849,0,0,0,0,0,0
$GC,16690,0.47,146.1,146.3,14.9,752,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3277,1849,0,0,0,0,0,0
$GC,17002,0.47,146.1,100.5,14.3,772,17006,0.00,2.12,0.00,0.000,4,0.000,0.029,1819,1864,1849,0,0,0,0,0,0
$GC,17039,0.47,146.1,95.6,13.6,777,17046,0.12,2.30,0.00,0.000,6,0.137,0.047,1781,3289,1849,0,0,0,0,0,0
$GC,17396,0.47,146.1,57.0,11.6,838,17406,0.00,2.17,0.00,0.000,4,0.000,0.029,1790,1862,1849,0,0,0,0,0,0
$GC,17441,0.47,146.1,52.7,9.1,844,17450,0.00,2.30,0.00,0.000,6,0.000,0.049,1790,3285,1848,0,0,0,0,0,0
$GC,17698,0.47,146.1,24.0,11.2,885,17708,0.00,1.05,0.00,0.000,4,0.000,0.054,1790,3944,1849,0,0,0,0,0,0
$GC,17751,0.47,146.1,17.6,12.8,892,17760,0.00,0.98,0.00,0.000,6,0.000,0.031,1795,3281,1849,0,0,0,0,0,0
$GC,17843,0.47,146.1,6.4,12.3,905,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3281,1849,0,0,0,0,0,0
$STATE,17878,end climb,SURFACE_DEPTH_REACHED
$STATE,17878,begin surface coast
$FINISH,1.1,1.001784
$STATE,17912,end surface coast,CONTROL_FINISHED_OK
$STATE,17912,begin surface
$SM_CCo,17928,40.95,0.683,1,0,1532,230.09
$SM_GC,2.09,0.00,0.00,40.95,0.000,0.000,0.683,47,3409,1532,-4.94,0.25,230.09
$IRIDIUM_FIX,-4215.72,902.76,200113,131312
$TT8_MAMPS,0.026215
$HUMID,55.31
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.7,42.556
$10V_AH,10.1,26.951
$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,11.675,47.675,298.975,40.950,0.000,31.658,22.338,355.597,0.000,0.000,21.292,2226.692,12437.303,396.590,2549.082,963.465,33.371,1329.485,0.000,2395.027,0.000,1.012,0.000
$DEVICE_MAMPS,224.910,97.920,1230.885,683.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.523,2003.836,926.172,428.813,0.000,0.000,0.000,0.000,0.000,0.000
$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,67080,915
$CAP_FILE_SIZE,125063,0
$CFSIZE,259252224,242782208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200113,235257,-4231.508,901.954,42,0.9,42,-25.2