version: 66.07
glider: 543
mission: 6
dive: 249
start: 1 21 113 0 3 45
data:
$ID,543
$MISSION,6
$DIVE,249
$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,-8542.3838
$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,52
$R_STBD_OVSHOOT,28
$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
$GPS1,200113,235257,-4231.508,901.954,42,0.9,42,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.3
$GPS2,210113,000247,-4231.483,902.094,17,0.9,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,-0.208
$KALMAN_X,-121841.9,-687.1,-430.9,205493.1,6406.8
$KALMAN_Y,108268.6,-276.4,-152.2,-110505.6,4831.3
$MHEAD_RNG_PITCHd_Wd,236.6,57542,-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,-146.1,0.0,0.0,0,71,0.00,0.00,-48.58,0.000,2,0.000,0.000,47,3409,2702,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-3.9,6,104,5.80,2.22,-10.52,0.000,4,0.225,0.046,1468,1991,3073,0,0,0,0,0,0
$GC,379,-0.47,-146.1,33.4,-9.7,52,390,0.00,2.30,0.00,0.000,6,0.000,0.054,1459,3386,3075,0,0,0,0,0,0
$GC,636,-0.47,-146.1,64.4,-12.2,93,644,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3386,3075,0,0,0,0,0,0
$GC,1002,-0.47,-146.1,103.4,-9.9,152,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3385,3076,0,0,0,0,0,0
$GC,1315,-0.47,-146.1,135.3,-10.2,172,1319,0.00,0.90,0.00,0.000,4,0.000,0.058,1454,3951,3077,0,0,0,0,0,0
$GC,1431,-0.47,-146.1,148.9,-11.2,178,1439,0.00,0.82,0.00,0.000,6,0.000,0.035,1455,3409,3077,0,0,0,0,0,0
$GC,1755,-0.47,-146.1,185.0,-11.6,199,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3409,3078,0,0,0,0,0,0
$GC,2067,-0.47,-146.1,220.6,-11.1,219,2071,0.00,0.88,0.00,0.000,4,0.000,0.057,1450,3958,3078,0,0,0,0,0,0
$GC,2182,-0.47,-146.1,234.8,-11.9,225,2188,0.00,0.85,0.00,0.000,6,0.000,0.036,1450,3396,3078,0,0,0,0,0,0
$GC,2517,-0.47,-146.1,271.6,-11.1,244,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3077,0,0,0,0,0,0
$GC,2826,-0.47,-146.1,304.4,-10.3,259,2832,0.00,0.90,0.00,0.000,4,0.000,0.057,1446,3959,3078,0,0,0,0,0,0
$GC,2901,-0.47,-146.1,313.0,-10.8,262,2907,0.00,0.85,0.00,0.000,6,0.000,0.036,1446,3398,3078,0,0,0,0,0,0
$GC,3231,-0.47,-146.1,345.7,-9.9,278,3235,0.10,0.93,0.00,0.000,4,0.170,0.059,1469,3961,3078,0,0,0,0,0,0
$GC,3338,-0.47,-146.1,355.7,-8.9,282,3349,0.00,0.85,0.00,0.000,6,0.000,0.036,1469,3398,3078,0,0,0,0,0,0
$GC,3657,-0.47,-146.1,380.5,-8.1,298,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3398,3078,0,0,0,0,0,0
$GC,3963,-0.47,-146.1,406.4,-8.5,312,3967,0.00,0.90,0.00,0.000,4,0.000,0.058,1465,3961,3077,0,0,0,0,0,0
$GC,4028,-0.47,-146.1,412.6,-10.1,313,4035,0.00,0.85,0.00,0.000,6,0.000,0.035,1465,3402,3077,0,0,0,0,0,0
$GC,4341,-0.47,-146.1,442.4,-9.5,324,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3402,3077,0,0,0,0,0,0
$GC,4647,-0.47,-146.1,472.6,-9.9,334,4651,0.00,0.88,0.00,0.000,4,0.000,0.059,1461,3951,3077,0,0,0,0,0,0
$GC,4725,-0.47,-146.1,481.2,-10.5,336,4729,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3391,3077,0,0,0,0,0,0
$GC,5056,-0.47,-146.1,514.7,-10.1,347,5060,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3955,3077,0,0,0,0,0,0
$GC,5162,-0.47,-146.1,526.6,-10.3,350,5165,0.00,0.85,0.00,0.000,6,0.000,0.036,1456,3396,3076,0,0,0,0,0,0
$GC,5497,-0.47,-146.1,560.2,-9.9,361,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3395,3076,0,0,0,0,0,0
$GC,5804,-0.47,-146.1,589.4,-9.3,371,5807,0.00,0.90,0.00,0.000,4,0.000,0.059,1452,3956,3075,0,0,0,0,0,0
$GC,5915,-0.47,-146.1,600.8,-9.8,374,5921,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3398,3075,0,0,0,0,0,0
$GC,6246,-0.47,-146.1,632.0,-9.5,385,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3398,3074,0,0,0,0,0,0
$GC,6552,-0.47,-146.1,660.4,-9.4,395,6556,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3958,3074,0,0,0,0,0,0
$GC,6663,-0.47,-146.1,671.7,-10.5,398,6669,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3402,3074,0,0,0,0,0,0
$GC,6995,-0.47,-146.1,704.0,-10.0,409,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3402,3072,0,0,0,0,0,0
$GC,7300,-0.47,-146.1,736.5,-10.8,419,7304,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3959,3072,0,0,0,0,0,0
$GC,7412,-0.47,-146.1,750.1,-13.0,422,7418,0.08,0.85,0.00,0.000,6,0.135,0.037,1469,3405,3072,0,0,0,0,0,0
$GC,7746,-0.47,-146.1,781.7,-9.4,433,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3405,3071,0,0,0,0,0,0
$GC,8050,-0.47,-146.1,809.4,-8.9,443,8054,0.00,0.88,0.00,0.000,4,0.000,0.060,1467,3949,3071,0,0,0,0,0,0
$GC,8105,-0.47,-146.1,814.5,-9.8,444,8111,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3392,3070,0,0,0,0,0,0
$GC,8425,-0.47,-146.1,842.1,-8.6,455,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3392,3070,0,0,0,0,0,0
$GC,8731,-0.47,-146.1,867.3,-8.4,465,8735,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3952,3069,0,0,0,0,0,0
$GC,8802,-0.47,-146.1,873.3,-9.2,467,8806,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3393,3069,0,0,0,0,0,0
$GC,9144,-0.47,-146.1,901.1,-7.9,478,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3393,3069,0,0,0,0,0,0
$GC,9451,-0.47,-146.1,924.8,-7.6,488,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3393,3068,0,0,0,0,0,0
$GC,9756,-0.47,-146.1,947.8,-7.5,498,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3394,3067,0,0,0,0,0,0
$GC,10063,-0.47,-146.1,972.1,-8.2,508,10067,0.00,0.90,0.00,0.000,4,0.000,0.062,1458,3951,3067,0,0,0,0,0,0
$GC,10238,-0.47,-146.1,987.2,-9.2,513,10241,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3396,3067,0,0,0,0,0,0
$STATE,10418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10418,begin apogee
$GC,10426,-0.13,0.0,1001.7,8.0,519,10575,0.40,0.00,140.82,1.799,6,0.129,0.000,1579,3283,2473,0,0,0,0,1,0
$STATE,10576,end apogee,CONTROL_FINISHED_OK
$STATE,10576,begin climb
$GC,10579,0.47,146.1,1005.2,0.0,524,10741,0.60,2.47,149.30,1.751,4,0.082,0.031,1785,1857,1878,0,0,0,0,1,0
$GC,10781,0.47,146.1,985.1,11.3,530,10785,0.00,2.53,0.00,0.000,6,0.000,0.050,1786,3286,1874,0,0,0,0,0,0
$GC,11105,0.47,146.1,938.2,15.0,541,11109,0.00,1.10,0.00,0.000,4,0.000,0.057,1785,3947,1867,0,0,0,0,0,0
$GC,11207,0.47,146.1,921.3,17.4,544,11213,0.00,1.05,0.00,0.000,6,0.000,0.032,1791,3261,1866,0,0,0,0,0,0
$GC,11551,0.47,146.1,868.0,15.5,555,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3262,1864,0,0,0,0,0,0
$GC,11856,0.47,146.1,819.9,15.4,565,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3262,1863,0,0,0,0,0,0
$GC,12162,0.47,146.1,773.3,14.9,575,12166,0.00,1.12,0.00,0.000,4,0.000,0.059,1791,3952,1862,0,0,0,0,0,0
$GC,12200,0.47,146.1,766.8,16.8,576,12204,0.00,1.00,0.00,0.000,6,0.000,0.033,1796,3286,1861,0,0,0,0,0,0
$GC,12536,0.47,146.1,715.7,15.2,587,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1861,0,0,0,0,0,0
$GC,12842,0.47,146.1,670.5,14.8,597,12845,0.00,1.08,0.00,0.000,4,0.000,0.058,1796,3950,1860,0,0,0,0,0,0
$GC,12897,0.47,146.1,661.0,16.0,598,12901,0.00,1.00,0.00,0.000,6,0.000,0.031,1800,3281,1860,0,0,0,0,0,0
$GC,13216,0.47,146.1,611.7,15.4,609,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1860,0,0,0,0,0,0
$GC,13522,0.47,146.1,564.0,15.9,619,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1859,0,0,0,0,0,0
$GC,13830,0.47,146.1,514.9,16.2,629,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3279,1859,0,0,0,0,0,0
$GC,14135,0.47,146.1,464.3,16.2,639,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1859,0,0,0,0,0,0
$GC,14441,0.47,146.1,415.7,15.4,649,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1859,0,0,0,0,0,0
$GC,14749,0.47,146.1,371.0,14.3,662,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3280,1858,0,0,0,0,0,0
$GC,15060,0.47,146.1,327.0,14.3,677,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1858,0,0,0,0,0,0
$GC,15369,0.47,146.1,280.7,15.1,692,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1858,0,0,0,0,0,0
$GC,15685,0.47,146.1,231.8,15.2,709,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1858,0,0,0,0,0,0
$GC,16000,0.47,146.1,184.0,15.3,729,16001,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3279,1858,0,0,0,0,0,0
$GC,16310,0.47,146.1,135.7,15.3,749,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3279,1858,0,0,0,0,0,0
$GC,16631,0.47,146.1,88.1,14.6,777,16639,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3279,1858,0,0,0,0,0,0
$GC,16997,0.47,146.1,40.3,12.9,838,17007,0.00,2.15,0.00,0.000,4,0.000,0.028,1811,1863,1858,0,0,0,0,0,0
$GC,17050,0.47,146.1,34.1,11.8,845,17058,0.10,2.30,0.00,0.000,6,0.144,0.047,1781,3289,1858,0,0,0,0,0,0
$GC,17317,0.48,169.6,9.1,7.4,886,17338,0.00,0.00,12.25,0.673,6,0.000,0.000,1781,3289,1780,0,0,0,0,0,0
$STATE,17389,end climb,SURFACE_DEPTH_REACHED
$STATE,17389,begin surface coast
$FINISH,1.2,1.014463
$STATE,17431,end surface coast,CONTROL_FINISHED_OK
$STATE,17431,begin surface
$SM_CCo,17447,32.53,0.687,1,0,1534,230.09
$SM_GC,1.91,0.00,0.00,32.53,0.000,0.000,0.687,53,3398,1534,-4.92,-0.06,230.09
$IRIDIUM_FIX,-4212.81,905.19,200113,181837
$TT8_MAMPS,0.024717
$HUMID,56.14
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.2,42.732
$10V_AH,10.1,27.079
$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,11.625,43.325,302.375,32.525,0.000,25.480,46.099,335.870,0.000,0.000,20.053,2230.754,11787.319,390.011,2711.253,953.043,33.370,1386.064,0.000,2547.762,0.000,1.013,0.000
$DEVICE_MAMPS,224.910,89.505,1799.280,686.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.864,2010.476,968.816,452.720,0.000,0.000,0.000,0.000,0.000,0.000
$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,67046,902
$CAP_FILE_SIZE,126685,0
$CFSIZE,259252224,242716672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210113,045633,-4232.386,900.879,41,1.4,41,-25.2