version: 66.07
glider: 543
mission: 6
dive: 259
start: 1 23 113 4 47 57
data:
$ID,543
$MISSION,6
$DIVE,259
$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,-8570.3438
$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,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
$GPS1,230113,043729,-4238.077,851.533,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-57.7
$GPS2,230113,044659,-4238.084,851.537,14,1.3,14,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.123
$KALMAN_X,-96424.8,-150.5,-420.6,165110.6,5321.3
$KALMAN_Y,126179.2,-32.9,-170.0,-140871.5,2849.1
$MHEAD_RNG_PITCHd_Wd,264.9,45591,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.47,-146.1,0.0,0.0,0,65,0.00,0.00,-40.97,0.000,2,0.000,0.000,52,3411,2498,0,0,0,0,0,0
$GC,69,-0.47,-146.1,3.1,-4.4,5,98,5.75,0.93,-19.48,0.000,4,0.224,0.096,1464,3951,3071,0,0,0,0,0,0
$GC,257,-0.47,-146.1,24.8,-13.3,32,268,0.00,0.82,0.00,0.000,6,0.000,0.036,1464,3418,3074,0,0,0,0,0,0
$GC,346,-0.47,-146.1,36.5,-13.4,45,353,0.00,2.22,0.00,0.000,4,0.000,0.031,1464,1981,3074,0,0,0,0,0,0
$GC,424,-0.47,-146.1,46.1,-11.6,57,431,0.00,2.35,0.00,0.000,6,0.000,0.059,1454,3389,3075,0,0,0,0,0,0
$GC,665,-0.47,-146.1,77.4,-12.6,98,672,0.00,2.12,0.00,0.000,4,0.000,0.031,1454,1975,3075,0,0,0,0,0,0
$GC,710,-0.47,-146.1,82.1,-11.2,105,719,0.08,2.38,0.00,0.000,6,0.122,0.059,1469,3404,3075,0,0,0,0,0,0
$GC,1060,-0.47,-146.1,113.3,-8.4,147,1065,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3952,3076,0,0,0,0,0,0
$GC,1118,-0.47,-146.1,118.9,-9.4,150,1122,0.00,0.85,0.00,0.000,6,0.000,0.035,1466,3393,3076,0,0,0,0,0,0
$GC,1446,-0.47,-146.1,148.9,-9.9,171,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3393,3076,0,0,0,0,0,0
$GC,1759,-0.47,-146.1,178.4,-9.4,191,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3393,3077,0,0,0,0,0,0
$GC,2071,-0.47,-146.1,210.0,-10.0,211,2075,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3953,3077,0,0,0,0,0,0
$GC,2156,-0.47,-146.1,219.6,-11.0,216,2160,0.00,0.82,0.00,0.000,6,0.000,0.036,1462,3409,3077,0,0,0,0,0,0
$GC,2477,-0.47,-146.1,253.7,-10.9,236,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3407,3077,0,0,0,0,0,0
$GC,2788,-0.47,-146.1,284.4,-9.5,251,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3407,3077,0,0,0,0,0,0
$GC,3096,-0.47,-146.1,311.7,-8.8,266,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3407,3077,0,0,0,0,0,0
$GC,3406,-0.47,-146.1,338.5,-8.6,281,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3407,3077,0,0,0,0,0,0
$GC,3715,-0.47,-146.1,366.3,-9.4,296,3719,0.00,2.15,0.00,0.000,4,0.000,0.029,1462,1969,3077,0,0,0,0,0,0
$GC,3770,-0.47,-146.1,371.4,-8.6,298,3774,0.00,2.33,0.00,0.000,6,0.000,0.054,1452,3405,3077,0,0,0,0,0,0
$GC,4096,-0.47,-146.1,403.9,-10.2,313,4100,0.00,0.88,0.00,0.000,4,0.000,0.059,1448,3954,3077,0,0,0,0,0,0
$GC,4168,-0.47,-146.1,411.0,-10.2,315,4172,0.00,0.85,0.00,0.000,6,0.000,0.035,1447,3393,3077,0,0,0,0,0,0
$GC,4510,-0.47,-146.1,443.3,-8.9,326,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3393,3077,0,0,0,0,0,0
$GC,4817,-0.47,-146.1,469.6,-8.5,336,4821,0.00,0.90,0.00,0.000,4,0.000,0.059,1443,3951,3076,0,0,0,0,0,0
$GC,4893,-0.47,-146.1,476.3,-9.6,338,4897,0.08,0.85,0.00,0.000,6,0.129,0.036,1469,3395,3077,0,0,0,0,0,0
$GC,5228,-0.47,-146.1,500.4,-7.4,349,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,5535,-0.47,-146.1,525.9,-8.8,359,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3075,0,0,0,0,0,0
$GC,5841,-0.47,-146.1,553.7,-9.2,369,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3075,0,0,0,0,0,0
$GC,6147,-0.47,-146.1,581.5,-9.0,379,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3075,0,0,0,0,0,0
$GC,6454,-0.47,-146.1,607.3,-8.0,389,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3074,0,0,0,0,0,0
$GC,6760,-0.47,-146.1,630.4,-7.4,399,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3073,0,0,0,0,0,0
$GC,7066,-0.47,-146.1,652.4,-7.1,409,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3394,3072,0,0,0,0,0,0
$GC,7373,-0.47,-146.1,674.9,-7.4,419,7377,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3952,3072,0,0,0,0,0,0
$GC,7416,-0.47,-146.1,678.7,-8.5,420,7420,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3413,3072,0,0,0,0,0,0
$GC,7747,-0.47,-146.1,705.2,-8.3,431,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3413,3071,0,0,0,0,0,0
$GC,8053,-0.47,-146.1,731.5,-8.7,441,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3412,3071,0,0,0,0,0,0
$GC,8361,-0.47,-146.1,760.0,-9.6,451,8365,0.00,2.17,0.00,0.000,4,0.000,0.031,1466,1968,3070,0,0,0,0,0,0
$GC,8400,-0.47,-146.1,763.9,-9.2,452,8404,0.00,2.33,0.00,0.000,6,0.000,0.054,1456,3404,3070,0,0,0,0,0,0
$GC,8724,-0.47,-146.1,797.5,-10.3,463,8727,0.00,0.88,0.00,0.000,4,0.000,0.060,1452,3950,3069,0,0,0,0,0,0
$GC,8807,-0.47,-146.1,806.9,-11.4,465,8811,0.00,0.85,0.00,0.000,6,0.000,0.037,1452,3393,3070,0,0,0,0,0,0
$GC,9132,-0.47,-146.1,840.0,-9.8,476,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3394,3069,0,0,0,0,0,0
$GC,9438,-0.47,-146.1,868.0,-9.1,486,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3393,3068,0,0,0,0,0,0
$GC,9746,-0.47,-146.1,895.3,-8.9,496,9749,0.00,0.90,0.00,0.000,4,0.000,0.061,1447,3948,3068,0,0,0,0,0,0
$GC,9825,-0.47,-146.1,902.8,-9.0,498,9829,0.00,0.85,0.00,0.000,6,0.000,0.038,1448,3397,3068,0,0,0,0,0,0
$GC,10155,-0.47,-146.1,932.7,-9.2,509,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3396,3068,0,0,0,0,0,0
$GC,10461,-0.47,-146.1,960.6,-9.0,519,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3397,3067,0,0,0,0,0,0
$GC,10768,-0.47,-146.1,987.1,-8.5,529,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3397,3066,0,0,0,0,0,0
$STATE,10918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10918,begin apogee
$GC,10925,-0.13,0.0,1000.2,8.7,534,11075,0.45,0.00,141.95,1.792,6,0.129,0.000,1583,3283,2473,0,0,0,0,1,0
$STATE,11076,end apogee,CONTROL_FINISHED_OK
$STATE,11076,begin climb
$GC,11080,0.47,146.1,1003.8,0.0,539,11242,0.57,2.47,149.60,1.749,4,0.080,0.032,1782,1856,1878,0,0,0,0,1,0
$GC,11305,0.47,146.1,981.8,11.6,546,11309,0.00,2.50,0.00,0.000,6,0.000,0.050,1782,3280,1873,0,0,0,0,0,0
$GC,11640,0.47,146.1,933.8,14.5,557,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1866,0,0,0,0,0,0
$GC,11946,0.47,146.1,891.1,14.1,567,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1865,0,0,0,0,0,0
$GC,12254,0.47,146.1,846.9,14.8,577,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1863,0,0,0,0,0,0
$GC,12559,0.47,146.1,801.9,14.8,587,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1862,0,0,0,0,0,0
$GC,12865,0.47,146.1,755.5,15.1,597,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1861,0,0,0,0,0,0
$GC,13172,0.47,146.1,711.0,14.2,607,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1861,0,0,0,0,0,0
$GC,13478,0.47,146.1,668.9,13.3,617,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1861,0,0,0,0,0,0
$GC,13784,0.47,146.1,629.1,12.8,627,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1860,0,0,0,0,0,0
$GC,14091,0.47,146.1,588.6,13.4,637,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1859,0,0,0,0,0,0
$GC,14396,0.47,146.1,547.8,13.4,647,14398,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1859,0,0,0,0,0,0
$GC,14702,0.47,146.1,505.5,13.9,657,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3280,1859,0,0,0,0,0,0
$GC,15010,0.47,146.1,462.4,14.6,667,15013,0.00,1.08,0.00,0.000,4,0.000,0.056,1782,3949,1859,0,0,0,0,0,0
$GC,15085,0.47,146.1,450.7,16.9,669,15088,0.00,1.02,0.00,0.000,6,0.000,0.033,1787,3266,1858,0,0,0,0,0,0
$GC,15420,0.47,146.1,400.5,14.8,680,15424,0.00,2.10,0.00,0.000,4,0.000,0.030,1798,1856,1858,0,0,0,0,0,0
$GC,15449,0.47,146.1,396.4,13.8,681,15453,0.00,2.30,0.00,0.000,6,0.000,0.048,1798,3286,1857,0,0,0,0,0,0
$GC,15767,0.47,146.1,347.2,15.7,696,15770,0.00,1.05,0.00,0.000,4,0.000,0.055,1798,3946,1857,0,0,0,0,0,0
$GC,15818,0.47,146.1,338.1,17.7,698,15824,0.00,1.00,0.00,0.000,6,0.000,0.033,1803,3275,1857,0,0,0,0,0,0
$GC,16148,0.47,146.1,286.7,15.4,714,16151,0.00,1.08,0.00,0.000,4,0.000,0.054,1804,3946,1857,0,0,0,0,0,0
$GC,16200,0.47,146.1,277.6,17.5,716,16205,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3274,1857,0,0,0,0,0,0
$GC,16524,0.47,146.1,225.4,16.5,734,16525,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1857,0,0,0,0,0,0
$GC,16837,0.47,146.1,174.1,16.7,754,16838,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3275,1856,0,0,0,0,0,0
$GC,17149,0.47,146.1,123.5,15.9,774,17153,0.00,2.12,0.00,0.000,4,0.000,0.030,1819,1861,1857,0,0,0,0,0,0
$GC,17172,0.47,146.1,119.5,16.8,775,17180,0.15,2.28,0.00,0.000,6,0.163,0.047,1781,3289,1857,0,0,0,0,0,0
$GC,17510,0.47,146.1,75.0,13.4,816,17519,0.00,1.05,0.00,0.000,4,0.000,0.054,1781,3948,1857,0,0,0,0,0,0
$GC,17556,0.47,146.1,69.1,13.5,823,17561,0.00,1.00,0.00,0.000,6,0.000,0.032,1784,3274,1857,0,0,0,0,0,0
$GC,17922,0.47,146.1,27.5,9.6,884,17933,0.00,1.08,0.00,0.000,4,0.000,0.054,1784,3944,1857,0,0,0,0,0,0
$GC,17977,0.47,146.1,21.9,10.9,891,17985,0.00,0.98,0.00,0.000,6,0.000,0.032,1789,3283,1857,0,0,0,0,0,0
$GC,18066,0.47,146.1,12.2,10.6,904,18075,0.00,2.15,0.00,0.000,4,0.000,0.029,1800,1868,1857,0,0,0,0,0,0
$GC,18105,0.47,146.1,8.5,10.3,909,18116,0.00,2.28,0.00,0.000,6,0.000,0.048,1800,3276,1857,0,0,0,0,0,0
$STATE,18157,end climb,SURFACE_DEPTH_REACHED
$STATE,18158,begin surface coast
$FINISH,1.1,1.024573
$STATE,18191,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18207,40.78,0.714,1,0,1533,230.09
$SM_GC,2.27,0.00,0.00,40.78,0.000,0.000,0.714,49,3406,1533,-4.94,0.17,230.09
$IRIDIUM_FIX,-4221.55,845.88,220113,232342
$TT8_MAMPS,0.025466
$HUMID,55.23
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.1,44.303
$10V_AH,10.0,28.350
$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,11.550,60.800,291.550,40.775,0.000,23.070,23.983,343.533,0.000,0.000,16.631,2260.674,12651.845,405.233,2531.515,970.973,33.374,1344.527,0.000,2409.502,0.000,1.011,0.000
$DEVICE_MAMPS,224.145,95.625,1792.395,713.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.266,2041.104,924.232,419.759,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,66994,921
$CAP_FILE_SIZE,129424,0
$CFSIZE,259252224,242003968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,230113,095328,-4238.783,849.516,35,1.1,35,-25.1