version: 66.07
glider: 543
mission: 6
dive: 253
start: 1 21 113 21 6 13
data:
$ID,543
$MISSION,6
$DIVE,253
$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,-8553.5049
$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,51
$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
$GPS1,210113,204753,-4231.448,857.526,36,0.9,36,-25.2
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-44.2
$GPS2,210113,210513,-4231.393,857.870,18,1.0,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.243,-0.015
$KALMAN_X,-111171.5,-461.3,-418.7,188823.1,5276.5
$KALMAN_Y,118625.7,-366.9,-377.1,-120378.4,6036.0
$MHEAD_RNG_PITCHd_Wd,291.7,51773,-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,-146.1,0.0,0.0,0,71,0.00,0.00,-48.88,0.000,2,0.000,0.000,53,3406,2728,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-4.4,6,95,5.80,0.93,-9.32,0.000,4,0.226,0.098,1468,3944,3072,0,0,0,0,0,0
$GC,198,-0.47,-146.1,20.6,-13.4,23,207,0.00,0.82,0.00,0.000,6,0.000,0.036,1468,3413,3076,0,0,0,0,0,0
$GC,283,-0.47,-146.1,30.8,-12.7,36,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3412,3076,0,0,0,0,0,0
$GC,538,-0.47,-146.1,59.9,-12.0,77,544,0.00,2.17,0.00,0.000,4,0.000,0.031,1468,1981,3077,0,0,0,0,0,0
$GC,614,-0.47,-146.1,67.9,-9.1,90,625,0.00,2.33,0.00,0.000,6,0.000,0.056,1458,3391,3077,0,0,0,0,0,0
$GC,983,-0.47,-146.1,105.0,-10.4,147,984,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3391,3077,0,0,0,0,0,0
$GC,1295,-0.47,-146.1,138.0,-10.9,167,1301,0.00,0.90,0.00,0.000,4,0.000,0.057,1453,3950,3078,0,0,0,0,0,0
$GC,1324,-0.47,-146.1,141.5,-10.7,168,1334,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3394,3078,0,0,0,0,0,0
$GC,1647,-0.47,-146.1,176.0,-11.1,189,1651,0.00,2.12,0.00,0.000,4,0.000,0.030,1454,1979,3078,0,0,0,0,0,0
$GC,1692,-0.47,-146.1,181.0,-9.6,192,1698,0.08,2.33,0.00,0.000,6,0.125,0.057,1469,3395,3078,0,0,0,0,0,0
$GC,2031,-0.47,-146.1,214.1,-10.2,213,2035,0.00,0.88,0.00,0.000,4,0.000,0.057,1466,3949,3078,0,0,0,0,0,0
$GC,2107,-0.47,-146.1,223.1,-10.7,217,2110,0.00,0.82,0.00,0.000,6,0.000,0.034,1466,3402,3078,0,0,0,0,0,0
$GC,2430,-0.47,-146.1,255.4,-10.0,237,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3402,3078,0,0,0,0,0,0
$GC,2737,-0.47,-146.1,284.2,-9.0,252,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3402,3078,0,0,0,0,0,0
$GC,3047,-0.47,-146.1,312.7,-9.1,267,3052,0.00,0.88,0.00,0.000,4,0.000,0.057,1462,3952,3078,0,0,0,0,0,0
$GC,3105,-0.47,-146.1,318.9,-9.8,269,3109,0.00,0.85,0.00,0.000,6,0.000,0.034,1462,3387,3078,0,0,0,0,0,0
$GC,3429,-0.47,-146.1,349.5,-9.5,285,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3387,3078,0,0,0,0,0,0
$GC,3738,-0.47,-146.1,379.6,-9.6,300,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3387,3078,0,0,0,0,0,0
$GC,4055,-0.47,-146.1,409.6,-9.2,314,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3387,3078,0,0,0,0,0,0
$GC,4362,-0.47,-146.1,436.3,-8.7,324,4365,0.00,0.90,0.00,0.000,4,0.000,0.057,1458,3952,3077,0,0,0,0,0,0
$GC,4457,-0.47,-146.1,445.1,-9.1,326,4464,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3406,3077,0,0,0,0,0,0
$GC,4770,-0.47,-146.1,472.4,-9.0,337,4774,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3951,3077,0,0,0,0,0,0
$GC,4819,-0.47,-146.1,477.2,-9.1,338,4823,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3392,3077,0,0,0,0,0,0
$GC,5144,-0.47,-146.1,507.2,-9.2,349,5148,0.00,0.90,0.00,0.000,4,0.000,0.057,1450,3956,3076,0,0,0,0,0,0
$GC,5209,-0.47,-146.1,513.3,-9.3,350,5215,0.00,0.85,0.00,0.000,6,0.000,0.036,1450,3396,3076,0,0,0,0,0,0
$GC,5522,-0.47,-146.1,541.2,-8.7,361,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3075,0,0,0,0,0,0
$GC,5829,-0.47,-146.1,567.6,-8.7,371,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3075,0,0,0,0,0,0
$GC,6136,-0.47,-146.1,594.9,-9.1,381,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3074,0,0,0,0,0,0
$GC,6441,-0.47,-146.1,623.3,-9.3,391,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3073,0,0,0,0,0,0
$GC,6747,-0.47,-146.1,652.1,-9.4,401,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3396,3073,0,0,0,0,0,0
$GC,7054,-0.47,-146.1,680.7,-9.2,411,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3071,0,0,0,0,0,0
$GC,7359,-0.47,-146.1,709.5,-9.6,421,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3071,0,0,0,0,0,0
$GC,7666,-0.47,-146.1,739.6,-9.9,431,7670,0.00,2.15,0.00,0.000,4,0.000,0.031,1449,1975,3070,0,0,0,0,0,0
$GC,7704,-0.47,-146.1,743.4,-8.6,432,7709,0.12,2.33,0.00,0.000,6,0.148,0.054,1472,3404,3070,0,0,0,0,0,0
$GC,8029,-0.47,-146.1,769.8,-8.2,443,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3404,3069,0,0,0,0,0,0
$GC,8336,-0.47,-146.1,794.2,-7.8,453,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3404,3069,0,0,0,0,0,0
$GC,8643,-0.47,-146.1,817.2,-7.4,463,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3403,3068,0,0,0,0,0,0
$GC,8948,-0.47,-146.1,839.7,-7.3,473,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3404,3068,0,0,0,0,0,0
$GC,9254,-0.47,-146.1,862.1,-7.1,483,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3404,3067,0,0,0,0,0,0
$GC,9562,-0.47,-146.1,884.7,-7.7,493,9566,0.00,2.17,0.00,0.000,4,0.000,0.032,1472,1974,3066,0,0,0,0,0,0
$GC,9595,-0.47,-146.1,887.4,-7.0,494,9599,0.00,2.33,0.00,0.000,6,0.000,0.054,1463,3401,3066,0,0,0,0,0,0
$GC,9925,-0.47,-146.1,914.4,-8.3,505,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3401,3066,0,0,0,0,0,0
$GC,10232,-0.47,-146.1,939.6,-8.1,515,10236,0.00,0.88,0.00,0.000,4,0.000,0.061,1459,3947,3065,0,0,0,0,0,0
$GC,10268,-0.47,-146.1,942.7,-8.6,516,10271,0.00,0.82,0.00,0.000,6,0.000,0.038,1460,3408,3065,0,0,0,0,0,0
$GC,10609,-0.47,-146.1,969.6,-7.8,527,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3408,3065,0,0,0,0,0,0
$GC,10915,-0.47,-146.1,992.9,-7.5,537,10919,0.00,2.17,0.00,0.000,4,0.000,0.031,1459,1966,3064,0,0,0,0,0,0
$GC,10960,-0.47,-146.1,996.4,-7.3,538,10964,0.00,2.35,0.00,0.000,6,0.000,0.054,1448,3404,3064,0,0,0,0,0,0
$STATE,11030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11030,begin apogee
$GC,11037,-0.13,0.0,1002.0,7.9,541,11189,0.45,0.00,148.55,1.226,6,0.129,0.000,1584,3277,2473,0,0,0,0,0,0
$STATE,11190,end apogee,CONTROL_FINISHED_OK
$STATE,11191,begin climb
$GC,11194,0.47,146.1,1005.2,0.0,546,11353,0.55,2.40,150.05,1.209,4,0.082,0.030,1784,1867,1871,0,0,0,0,0,0
$GC,11389,0.47,146.1,985.1,11.5,552,11394,0.00,2.50,0.00,0.000,6,0.000,0.050,1784,3283,1862,0,0,0,0,0,0
$GC,11725,0.47,146.1,933.7,15.4,563,11730,0.00,1.10,0.00,0.000,4,0.000,0.058,1784,3947,1855,0,0,0,0,0,0
$GC,11798,0.47,146.1,921.0,17.3,565,11802,0.00,1.05,0.00,0.000,6,0.000,0.033,1789,3266,1854,0,0,0,0,0,0
$GC,12134,0.47,146.1,867.7,15.9,576,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3266,1853,0,0,0,0,0,0
$GC,12440,0.47,146.1,819.4,15.5,586,12444,0.00,1.12,0.00,0.000,4,0.000,0.058,1789,3950,1852,0,0,0,0,0,0
$GC,12491,0.47,146.1,810.6,17.8,587,12494,0.00,1.02,0.00,0.000,6,0.000,0.034,1794,3277,1852,0,0,0,0,0,0
$GC,12815,0.47,146.1,760.2,15.0,598,12818,0.00,1.10,0.00,0.000,4,0.000,0.058,1794,3953,1851,0,0,0,0,0,0
$GC,12853,0.47,146.1,753.7,16.4,599,12856,0.00,1.02,0.00,0.000,6,0.000,0.032,1799,3274,1851,0,0,0,0,0,0
$GC,13188,0.47,146.1,701.8,15.3,610,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3275,1850,0,0,0,0,0,0
$GC,13494,0.47,146.1,654.3,15.7,620,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3275,1849,0,0,0,0,0,0
$GC,13802,0.47,146.1,607.2,15.4,630,13805,0.00,1.10,0.00,0.000,4,0.000,0.057,1799,3952,1849,0,0,0,0,0,0
$GC,13857,0.47,146.1,597.4,17.1,631,13861,0.00,1.00,0.00,0.000,6,0.000,0.031,1804,3280,1848,0,0,0,0,0,0
$GC,14175,0.47,146.1,546.1,16.1,642,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3280,1848,0,0,0,0,0,0
$GC,14482,0.47,146.1,498.3,15.4,652,14485,0.00,1.08,0.00,0.000,4,0.000,0.056,1804,3947,1848,0,0,0,0,0,0
$GC,14537,0.47,146.1,488.8,16.8,653,14541,0.08,1.00,0.00,0.000,6,0.180,0.033,1788,3275,1848,0,0,0,0,0,0
$GC,14856,0.47,146.1,446.0,13.2,664,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3274,1848,0,0,0,0,0,0
$GC,15162,0.47,146.1,405.9,13.1,674,15165,0.00,1.10,0.00,0.000,4,0.000,0.055,1788,3958,1848,0,0,0,0,0,0
$GC,15196,0.47,146.1,401.0,14.5,675,15200,0.00,1.00,0.00,0.000,6,0.000,0.032,1791,3284,1847,0,0,0,0,0,0
$GC,15522,0.47,146.1,354.9,14.3,690,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3284,1848,0,0,0,0,0,0
$GC,15831,0.47,146.1,309.8,14.9,705,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3284,1847,0,0,0,0,0,0
$GC,16140,0.47,146.1,262.0,16.0,720,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3283,1847,0,0,0,0,0,0
$GC,16458,0.47,146.1,212.9,15.2,739,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3284,1847,0,0,0,0,0,0
$GC,16770,0.47,146.1,167.0,14.5,759,16776,0.00,1.08,0.00,0.000,4,0.000,0.054,1791,3953,1847,0,0,0,0,0,0
$GC,16793,0.47,146.1,162.9,14.1,760,16797,0.00,1.00,0.00,0.000,6,0.000,0.031,1796,3279,1847,0,0,0,0,0,0
$GC,17121,0.47,146.1,113.0,14.7,781,17122,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3278,1848,0,0,0,0,0,0
$GC,17455,0.47,146.1,62.8,15.4,829,17460,0.00,1.08,0.00,0.000,4,0.000,0.054,1796,3949,1848,0,0,0,0,0,0
$GC,17565,0.47,146.1,45.4,17.5,847,17572,0.00,1.00,0.00,0.000,6,0.000,0.031,1801,3272,1848,0,0,0,0,0,0
$GC,17825,0.47,146.1,14.8,9.4,888,17835,0.00,2.12,0.00,0.000,4,0.000,0.029,1813,1874,1847,0,0,0,0,0,0
$STATE,17949,end climb,SURFACE_DEPTH_REACHED
$STATE,17949,begin surface coast
$FINISH,1.3,1.026155
$STATE,17959,end surface coast,CONTROL_FINISHED_OK
$STATE,17959,begin surface
$SM_CCo,17977,40.78,0.679,1,0,1534,230.09
$SM_GC,1.76,0.00,0.00,40.78,0.000,0.000,0.679,50,3410,1534,-4.93,0.25,230.09
$IRIDIUM_FIX,-4212.81,853.20,210113,202034
$TT8_MAMPS,0.025466
$HUMID,55.19
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.7,43.330
$10V_AH,10.0,27.588
$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,11.725,62.850,298.600,40.775,0.000,89.963,147.480,475.714,0.000,0.000,21.343,2238.272,12595.100,405.354,2856.636,966.246,33.366,1344.022,0.000,2396.468,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,97.920,1226.295,678.555,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.265,1987.181,904.742,399.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353880
$DATA_FILE_SIZE,66918,907
$CAP_FILE_SIZE,133280,0
$CFSIZE,259252224,242421760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220113,020759,-4230.796,856.583,40,1.1,40,-25.1