version: 66.07
glider: 543
mission: 6
dive: 252
start: 1 21 113 15 49 33
data:
$ID,543
$MISSION,6
$DIVE,252
$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,-8550.7441
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,210113,153758,-4230.221,858.587,37,0.9,37,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-53.0
$GPS2,210113,154835,-4230.196,858.763,18,1.0,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.115,-0.215
$KALMAN_X,-113384.4,425.9,-378.9,191311.4,5860.6
$KALMAN_Y,115932.6,-746.3,-98.3,-115363.6,5135.9
$MHEAD_RNG_PITCHd_Wd,233.4,52930,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.47,-146.1,0.0,0.0,0,68,0.00,0.00,-41.78,0.000,2,0.000,0.000,54,3414,2536,0,0,0,0,0,0
$GC,72,-0.47,-146.1,3.0,-3.7,5,99,5.80,0.90,-17.30,0.000,4,0.226,0.095,1468,3945,3070,0,0,0,0,0,0
$GC,256,-0.47,-146.1,24.0,-11.5,31,265,0.00,0.85,0.00,0.000,6,0.000,0.037,1469,3393,3074,0,0,0,0,0,0
$GC,339,-0.47,-146.1,34.3,-11.8,44,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3393,3075,0,0,0,0,0,0
$GC,591,-0.47,-146.1,61.1,-10.2,85,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3393,3075,0,0,0,0,0,0
$GC,944,-0.47,-146.1,97.1,-10.6,146,951,0.00,0.88,0.00,0.000,4,0.000,0.057,1465,3937,3076,0,0,0,0,0,0
$GC,1083,-0.47,-146.1,111.8,-11.1,157,1090,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3399,3076,0,0,0,0,0,0
$GC,1403,-0.47,-146.1,145.7,-10.6,178,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3399,3077,0,0,0,0,0,0
$GC,1715,-0.47,-146.1,177.4,-9.6,198,1719,0.00,0.85,0.00,0.000,4,0.000,0.057,1461,3932,3077,0,0,0,0,0,0
$GC,1844,-0.47,-146.1,189.7,-9.3,205,1847,0.00,0.80,0.00,0.000,6,0.000,0.037,1461,3406,3077,0,0,0,0,0,0
$GC,2175,-0.47,-146.1,220.4,-9.1,226,2178,0.00,0.85,0.00,0.000,4,0.000,0.058,1457,3937,3077,0,0,0,0,0,0
$GC,2264,-0.47,-146.1,228.6,-9.6,231,2268,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3394,3077,0,0,0,0,0,0
$GC,2583,-0.47,-146.1,259.3,-9.7,250,2587,0.00,0.88,0.00,0.000,4,0.000,0.057,1453,3941,3077,0,0,0,0,0,0
$GC,2676,-0.47,-146.1,268.8,-10.2,254,2681,0.00,0.82,0.00,0.000,6,0.000,0.036,1453,3398,3077,0,0,0,0,0,0
$GC,3011,-0.47,-146.1,303.4,-10.6,270,3015,0.00,0.85,0.00,0.000,4,0.000,0.057,1449,3929,3077,0,0,0,0,0,0
$GC,3083,-0.47,-146.1,311.4,-12.2,273,3087,0.00,0.80,0.00,0.000,6,0.000,0.036,1449,3401,3077,0,0,0,0,0,0
$GC,3418,-0.47,-146.1,348.0,-10.6,289,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3401,3077,0,0,0,0,0,0
$GC,3727,-0.47,-146.1,381.0,-10.7,304,3731,0.00,0.85,0.00,0.000,4,0.000,0.057,1445,3933,3077,0,0,0,0,0,0
$GC,3866,-0.47,-146.1,396.8,-11.4,310,3871,0.08,0.80,0.00,0.000,6,0.135,0.037,1469,3406,3077,0,0,0,0,0,0
$GC,4186,-0.47,-146.1,424.5,-8.5,321,4189,0.00,0.85,0.00,0.000,4,0.000,0.058,1467,3936,3076,0,0,0,0,0,0
$GC,4241,-0.47,-146.1,429.8,-9.8,322,4245,0.00,0.82,0.00,0.000,6,0.000,0.036,1467,3392,3077,0,0,0,0,0,0
$GC,4560,-0.47,-146.1,459.0,-9.3,333,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3392,3077,0,0,0,0,0,0
$GC,4866,-0.47,-146.1,488.4,-9.7,343,4870,0.00,0.88,0.00,0.000,4,0.000,0.057,1463,3940,3075,0,0,0,0,0,0
$GC,4928,-0.47,-146.1,494.9,-10.1,344,4935,0.00,0.82,0.00,0.000,6,0.000,0.037,1463,3397,3075,0,0,0,0,0,0
$GC,5245,-0.47,-146.1,525.7,-9.9,355,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3397,3075,0,0,0,0,0,0
$GC,5547,-0.47,-146.1,553.8,-8.9,365,5551,0.00,0.85,0.00,0.000,4,0.000,0.058,1459,3927,3074,0,0,0,0,0,0
$GC,5714,-0.47,-146.1,569.0,-9.2,369,5721,0.00,0.80,0.00,0.000,6,0.000,0.037,1459,3404,3074,0,0,0,0,0,0
$GC,6028,-0.47,-146.1,597.0,-8.7,380,6033,0.00,0.85,0.00,0.000,4,0.000,0.059,1456,3933,3074,0,0,0,0,0,0
$GC,6101,-0.47,-146.1,603.9,-9.7,382,6105,0.00,0.82,0.00,0.000,6,0.000,0.037,1455,3392,3073,0,0,0,0,0,0
$GC,6437,-0.47,-146.1,633.3,-8.8,393,6442,0.00,0.88,0.00,0.000,4,0.000,0.059,1451,3936,3072,0,0,0,0,0,0
$GC,6499,-0.47,-146.1,639.6,-9.7,394,6505,0.00,0.82,0.00,0.000,6,0.000,0.037,1451,3396,3072,0,0,0,0,0,0
$GC,6813,-0.47,-146.1,668.7,-9.3,405,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3397,3071,0,0,0,0,0,0
$GC,7118,-0.47,-146.1,696.6,-9.1,415,7124,0.00,0.88,0.00,0.000,4,0.000,0.059,1447,3940,3071,0,0,0,0,0,0
$GC,7231,-0.47,-146.1,708.2,-10.0,418,7235,0.00,0.82,0.00,0.000,6,0.000,0.037,1447,3399,3070,0,0,0,0,0,0
$GC,7561,-0.47,-146.1,740.0,-9.7,429,7564,0.00,0.88,0.00,0.000,4,0.000,0.059,1443,3942,3070,0,0,0,0,0,0
$GC,7622,-0.47,-146.1,746.6,-10.2,430,7631,0.08,0.82,0.00,0.000,6,0.136,0.037,1468,3405,3070,0,0,0,0,0,0
$GC,7936,-0.47,-146.1,772.1,-8.2,441,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3069,0,0,0,0,0,0
$GC,8242,-0.47,-146.1,797.3,-8.2,451,8246,0.00,0.85,0.00,0.000,4,0.000,0.060,1466,3929,3068,0,0,0,0,0,0
$GC,8297,-0.47,-146.1,802.3,-8.9,452,8303,0.00,0.82,0.00,0.000,6,0.000,0.038,1466,3393,3068,0,0,0,0,0,0
$GC,8617,-0.47,-146.1,827.4,-7.8,463,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3393,3067,0,0,0,0,0,0
$GC,8924,-0.47,-146.1,850.4,-7.6,473,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3393,3066,0,0,0,0,0,0
$GC,9231,-0.47,-146.1,874.1,-7.8,483,9234,0.00,0.88,0.00,0.000,4,0.000,0.061,1462,3932,3066,0,0,0,0,0,0
$GC,9333,-0.47,-146.1,883.0,-7.7,486,9336,0.00,0.82,0.00,0.000,6,0.000,0.038,1462,3394,3066,0,0,0,0,0,0
$GC,9674,-0.47,-146.1,912.3,-8.5,497,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3394,3065,0,0,0,0,0,0
$GC,9980,-0.47,-146.1,938.0,-8.4,507,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3393,3065,0,0,0,0,0,0
$GC,10288,-0.47,-146.1,962.8,-7.9,517,10291,0.00,0.88,0.00,0.000,4,0.000,0.062,1458,3934,3064,0,0,0,0,0,0
$GC,10382,-0.47,-146.1,971.3,-9.1,519,10389,0.00,0.82,0.00,0.000,6,0.000,0.039,1458,3397,3064,0,0,0,0,0,0
$GC,10696,-0.47,-146.1,996.8,-8.0,530,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3397,3063,0,0,0,0,0,0
$STATE,10754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10754,begin apogee
$GC,10761,-0.13,0.0,1001.9,8.0,532,10910,0.40,0.00,140.77,1.792,6,0.129,0.000,1579,3285,2473,0,0,0,0,1,0
$STATE,10911,end apogee,CONTROL_FINISHED_OK
$STATE,10911,begin climb
$GC,10914,0.47,146.1,1005.4,0.0,537,11076,0.60,2.47,149.00,1.748,4,0.081,0.031,1785,1860,1878,0,0,0,0,1,0
$GC,11138,0.47,146.1,982.2,12.4,543,11145,0.00,2.47,0.00,0.000,6,0.000,0.051,1786,3274,1873,0,0,0,0,0,0
$GC,11453,0.47,146.1,933.0,15.8,554,11456,0.00,1.12,0.00,0.000,4,0.000,0.057,1786,3949,1866,0,0,0,0,0,0
$GC,11497,0.47,146.1,925.1,17.4,555,11500,0.00,1.05,0.00,0.000,6,0.000,0.033,1791,3272,1866,0,0,0,0,0,0
$GC,11827,0.47,146.1,871.9,16.2,566,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1864,0,0,0,0,0,0
$GC,12133,0.47,146.1,822.5,16.1,576,12136,0.00,1.10,0.00,0.000,4,0.000,0.058,1791,3943,1863,0,0,0,0,0,0
$GC,12177,0.47,146.1,814.5,18.5,577,12181,0.00,1.02,0.00,0.000,6,0.000,0.034,1796,3272,1863,0,0,0,0,0,0
$GC,12507,0.47,146.1,760.2,16.4,588,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1862,0,0,0,0,0,0
$GC,12813,0.47,146.1,709.9,16.3,598,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1861,0,0,0,0,0,0
$GC,13120,0.47,146.1,661.1,16.0,608,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1860,0,0,0,0,0,0
$GC,13426,0.47,146.1,612.2,15.9,618,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1860,0,0,0,0,0,0
$GC,13732,0.47,146.1,564.2,15.4,628,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1860,0,0,0,0,0,0
$GC,14039,0.47,146.1,518.3,14.9,638,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3271,1859,0,0,0,0,0,0
$GC,14344,0.47,146.1,473.3,14.6,648,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3272,1859,0,0,0,0,0,0
$GC,14650,0.47,146.1,428.6,14.5,658,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3272,1858,0,0,0,0,0,0
$GC,14968,0.47,146.1,380.7,14.8,670,14972,0.00,2.15,0.00,0.000,4,0.000,0.030,1806,1855,1859,0,0,0,0,0,0
$GC,15002,0.47,146.1,375.6,13.1,671,15009,0.00,2.30,0.00,0.000,6,0.000,0.049,1806,3288,1857,0,0,0,0,0,0
$GC,15321,0.47,146.1,326.1,15.9,687,15326,0.00,1.05,0.00,0.000,4,0.000,0.055,1807,3946,1857,0,0,0,0,0,0
$GC,15392,0.47,146.1,314.0,17.2,690,15398,0.10,1.00,0.00,0.000,6,0.174,0.032,1783,3272,1857,0,0,0,0,0,0
$GC,15728,0.47,146.1,270.5,12.7,706,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3272,1857,0,0,0,0,0,0
$GC,16048,0.47,146.1,230.1,12.6,724,16052,0.00,2.12,0.00,0.000,4,0.000,0.030,1792,1860,1857,0,0,0,0,0,0
$GC,16089,0.47,146.1,225.3,11.1,726,16097,0.00,2.30,0.00,0.000,6,0.000,0.048,1792,3279,1856,0,0,0,0,0,0
$GC,16412,0.47,146.1,180.5,14.4,747,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3279,1856,0,0,0,0,0,0
$GC,16724,0.47,146.1,134.3,14.9,767,16726,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3279,1856,0,0,0,0,0,0
$GC,17043,0.47,146.1,87.2,14.0,797,17047,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3279,1856,0,0,0,0,0,0
$GC,17409,0.47,146.1,39.7,12.5,858,17417,0.00,2.15,0.00,0.000,4,0.000,0.029,1803,1871,1856,0,0,0,0,0,0
$GC,17482,0.47,146.1,31.3,11.5,869,17490,0.00,2.28,0.00,0.000,6,0.000,0.049,1803,3278,1856,0,0,0,0,0,0
$STATE,17726,end climb,SURFACE_DEPTH_REACHED
$STATE,17727,begin surface coast
$FINISH,1.3,1.026118
$STATE,17760,end surface coast,CONTROL_FINISHED_OK
$STATE,17760,begin surface
$SM_CCo,17776,40.58,0.692,1,0,1532,230.09
$SM_GC,2.00,0.00,0.00,40.58,0.000,0.000,0.692,54,3406,1532,-4.92,0.17,230.09
$IRIDIUM_FIX,-4218.64,902.76,210113,101036
$TT8_MAMPS,0.025466
$HUMID,55.90
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.2,43.182
$10V_AH,10.0,27.461
$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,11.800,53.600,289.775,40.575,0.000,26.266,48.177,370.852,0.000,0.000,20.972,2271.396,12021.704,415.398,2764.488,980.355,33.371,1422.625,0.000,2557.531,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,94.860,1791.630,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.437,1991.365,929.105,425.903,0.000,0.000,0.000,0.000,0.000,0.000
$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,66970,912
$CAP_FILE_SIZE,134421,0
$CFSIZE,259252224,242491392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210113,204753,-4231.448,857.526,36,0.9,36,-25.2