version: 66.07
glider: 543
mission: 6
dive: 260
start: 1 23 113 10 3 57
data:
$ID,543
$MISSION,6
$DIVE,260
$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,-8573.2197
$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,26
$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
$GPS1,230113,095328,-4238.783,849.516,35,1.1,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-59.8
$GPS2,230113,100259,-4238.834,849.651,16,1.1,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.224,-0.096
$KALMAN_X,-94283.8,-255.4,-149.7,160229.0,4433.4
$KALMAN_Y,127664.0,-108.7,-107.1,-143732.0,2686.3
$MHEAD_RNG_PITCHd_Wd,271.9,43667,-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,-146.1,0.0,0.0,0,64,0.00,0.00,-41.33,0.000,2,0.000,0.000,48,3406,2499,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-3.4,5,104,5.88,0.90,-18.50,0.000,4,0.230,0.090,1468,3948,3071,0,0,0,0,0,0
$GC,159,-0.47,-146.1,11.6,-12.8,17,169,0.00,0.82,0.00,0.000,6,0.000,0.036,1468,3415,3073,0,0,0,0,0,0
$GC,250,-0.47,-146.1,23.4,-12.8,30,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3415,3073,0,0,0,0,0,0
$GC,338,-0.47,-146.1,34.7,-12.8,43,345,0.00,2.17,0.00,0.000,4,0.000,0.031,1468,1981,3074,0,0,0,0,0,0
$GC,385,-0.47,-146.1,40.3,-11.1,50,394,0.00,2.35,0.00,0.000,6,0.000,0.057,1457,3393,3073,0,0,0,0,0,0
$GC,633,-0.47,-146.1,67.6,-11.0,91,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3393,3074,0,0,0,0,0,0
$GC,985,-0.47,-146.1,103.5,-10.6,148,989,0.00,0.90,0.00,0.000,4,0.000,0.058,1453,3955,3075,0,0,0,0,0,0
$GC,1144,-0.47,-146.1,120.8,-11.3,157,1148,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3397,3075,0,0,0,0,0,0
$GC,1476,-0.47,-146.1,158.8,-11.2,178,1479,0.00,2.12,0.00,0.000,4,0.000,0.030,1453,1976,3076,0,0,0,0,0,0
$GC,1527,-0.47,-146.1,163.9,-9.9,181,1532,0.12,2.33,0.00,0.000,6,0.145,0.055,1475,3405,3076,0,0,0,0,0,0
$GC,1854,-0.47,-146.1,192.5,-8.5,202,1858,0.00,0.88,0.00,0.000,4,0.000,0.059,1473,3958,3076,0,0,0,0,0,0
$GC,1932,-0.47,-146.1,199.9,-9.2,206,1942,0.00,0.85,0.00,0.000,6,0.000,0.035,1473,3395,3076,0,0,0,0,0,0
$GC,2254,-0.47,-146.1,227.2,-8.3,227,2259,0.00,0.90,0.00,0.000,4,0.000,0.058,1469,3957,3077,0,0,0,0,0,0
$GC,2329,-0.47,-146.1,233.9,-9.0,231,2333,0.00,0.85,0.00,0.000,6,0.000,0.035,1469,3395,3077,0,0,0,0,0,0
$GC,2665,-0.47,-146.1,263.0,-8.2,250,2669,0.00,2.12,0.00,0.000,4,0.000,0.030,1469,1977,3077,0,0,0,0,0,0
$GC,2695,-0.47,-146.1,265.7,-8.4,251,2699,0.00,2.33,0.00,0.000,6,0.000,0.056,1458,3407,3077,0,0,0,0,0,0
$GC,3013,-0.47,-146.1,294.5,-9.3,266,3016,0.00,0.85,0.00,0.000,4,0.000,0.058,1454,3946,3077,0,0,0,0,0,0
$GC,3093,-0.47,-146.1,302.9,-10.1,269,3098,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3398,3077,0,0,0,0,0,0
$GC,3418,-0.47,-146.1,332.0,-9.0,285,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3077,0,0,0,0,0,0
$GC,3726,-0.47,-146.1,358.4,-8.0,300,3730,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3946,3076,0,0,0,0,0,0
$GC,3761,-0.47,-146.1,361.8,-9.2,301,3765,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3398,3076,0,0,0,0,0,0
$GC,4086,-0.47,-146.1,391.5,-9.9,317,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3398,3076,0,0,0,0,0,0
$GC,4401,-0.47,-146.1,424.2,-10.5,329,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3398,3076,0,0,0,0,0,0
$GC,4707,-0.47,-146.1,457.4,-11.1,339,4711,0.00,0.88,0.00,0.000,4,0.000,0.058,1446,3946,3076,0,0,0,0,0,0
$GC,4757,-0.47,-146.1,463.3,-11.2,340,4760,0.00,0.82,0.00,0.000,6,0.000,0.036,1446,3400,3076,0,0,0,0,0,0
$GC,5081,-0.47,-146.1,498.7,-11.0,351,5083,0.10,0.00,0.00,0.000,6,0.164,0.000,1472,3400,3075,0,0,0,0,0,0
$GC,5387,-0.47,-146.1,525.2,-8.5,361,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3075,0,0,0,0,0,0
$GC,5695,-0.47,-146.1,549.5,-7.8,371,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3074,0,0,0,0,0,0
$GC,6001,-0.47,-146.1,572.5,-7.5,381,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3074,0,0,0,0,0,0
$GC,6306,-0.47,-146.1,595.5,-7.5,391,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3073,0,0,0,0,0,0
$GC,6614,-0.47,-146.1,618.9,-7.7,401,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3400,3072,0,0,0,0,0,0
$GC,6919,-0.47,-146.1,641.3,-7.3,411,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3072,0,0,0,0,0,0
$GC,7225,-0.47,-146.1,664.3,-7.6,421,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3071,0,0,0,0,0,0
$GC,7532,-0.47,-146.1,687.5,-7.6,431,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3400,3071,0,0,0,0,0,0
$GC,7838,-0.47,-146.1,709.7,-7.2,441,7843,0.00,2.20,0.00,0.000,4,0.000,0.032,1472,1978,3070,0,0,0,0,0,0
$GC,7878,-0.47,-146.1,712.7,-6.4,442,7883,0.00,2.35,0.00,0.000,6,0.000,0.054,1463,3406,3070,0,0,0,0,0,0
$GC,8216,-0.47,-146.1,738.6,-8.0,453,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3070,0,0,0,0,0,0
$GC,8521,-0.47,-146.1,763.5,-8.1,463,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,8827,-0.47,-146.1,788.5,-8.0,473,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,9135,-0.47,-146.1,813.3,-8.2,483,9138,0.00,0.88,0.00,0.000,4,0.000,0.060,1459,3951,3068,0,0,0,0,0,0
$GC,9203,-0.47,-146.1,819.3,-8.9,485,9209,0.00,0.85,0.00,0.000,6,0.000,0.038,1459,3395,3068,0,0,0,0,0,0
$GC,9547,-0.47,-146.1,848.0,-8.4,496,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3395,3068,0,0,0,0,0,0
$GC,9852,-0.47,-146.1,874.2,-8.6,506,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3395,3067,0,0,0,0,0,0
$GC,10158,-0.47,-146.1,901.3,-9.0,516,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3395,3066,0,0,0,0,0,0
$GC,10465,-0.47,-146.1,929.2,-9.2,526,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3395,3066,0,0,0,0,0,0
$GC,10770,-0.47,-146.1,956.4,-8.9,536,10776,0.00,0.90,0.00,0.000,4,0.000,0.061,1455,3950,3066,0,0,0,0,0,0
$GC,10840,-0.47,-146.1,962.7,-9.6,538,10844,0.00,0.85,0.00,0.000,6,0.000,0.039,1455,3397,3066,0,0,0,0,0,0
$GC,11181,-0.47,-146.1,992.7,-8.7,549,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3397,3065,0,0,0,0,0,0
$STATE,11270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11270,begin apogee
$GC,11277,-0.13,0.0,1000.5,8.5,552,11429,0.43,0.00,149.07,1.240,6,0.126,0.000,1583,3283,2473,0,0,0,0,0,0
$STATE,11431,end apogee,CONTROL_FINISHED_OK
$STATE,11431,begin climb
$GC,11434,0.47,146.1,1003.8,0.0,557,11594,0.57,2.50,151.00,1.211,4,0.082,0.032,1788,1860,1871,0,0,0,0,0,0
$GC,11639,0.47,146.1,982.3,12.8,563,11645,0.00,2.53,0.00,0.000,6,0.000,0.050,1788,3279,1862,0,0,0,0,0,0
$GC,11972,0.47,146.1,932.4,15.3,574,11975,0.00,1.12,0.00,0.000,4,0.000,0.057,1788,3954,1855,0,0,0,0,0,0
$GC,12077,0.47,146.1,914.1,16.3,577,12081,0.00,1.05,0.00,0.000,6,0.000,0.034,1793,3272,1854,0,0,0,0,0,0
$GC,12413,0.47,146.1,860.8,15.7,588,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3272,1852,0,0,0,0,0,0
$GC,12719,0.47,146.1,814.0,15.1,598,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3272,1852,0,0,0,0,0,0
$GC,13027,0.47,146.1,765.3,16.1,608,13030,0.00,1.12,0.00,0.000,4,0.000,0.058,1793,3958,1851,0,0,0,0,0,0
$GC,13121,0.47,146.1,748.1,17.1,610,13128,0.00,1.02,0.00,0.000,6,0.000,0.034,1798,3281,1851,0,0,0,0,0,0
$GC,13435,0.47,146.1,697.0,16.2,621,13436,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3281,1850,0,0,0,0,0,0
$GC,13741,0.47,146.1,649.1,15.7,631,13746,0.00,1.10,0.00,0.000,4,0.000,0.057,1798,3954,1849,0,0,0,0,0,0
$GC,13769,0.47,146.1,644.2,16.5,631,13776,0.00,1.02,0.00,0.000,6,0.000,0.032,1803,3275,1849,0,0,0,0,0,0
$GC,14083,0.47,146.1,594.0,15.8,642,14086,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3953,1849,0,0,0,0,0,0
$GC,14118,0.47,146.1,588.3,16.6,643,14121,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3284,1849,0,0,0,0,0,0
$GC,14459,0.47,146.1,533.2,16.1,654,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3283,1849,0,0,0,0,0,0
$GC,14765,0.47,146.1,481.6,16.8,664,14768,0.00,1.08,0.00,0.000,4,0.000,0.056,1809,3951,1848,0,0,0,0,0,0
$GC,14838,0.47,146.1,468.1,18.0,666,14843,0.10,1.00,0.00,0.000,6,0.174,0.032,1785,3277,1848,0,0,0,0,0,0
$GC,15174,0.47,146.1,418.3,14.8,677,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3277,1847,0,0,0,0,0,0
$GC,15492,0.47,146.1,370.8,14.9,690,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1847,0,0,0,0,0,0
$GC,15803,0.47,146.1,326.9,14.0,705,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1848,0,0,0,0,0,0
$GC,16112,0.47,146.1,284.7,13.1,720,16115,0.00,1.10,0.00,0.000,4,0.000,0.055,1785,3956,1847,0,0,0,0,0,0
$GC,16185,0.47,146.1,273.2,16.1,723,16191,0.00,1.00,0.00,0.000,6,0.000,0.031,1789,3283,1847,0,0,0,0,0,0
$GC,16509,0.47,146.1,226.2,15.6,741,16510,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3283,1847,0,0,0,0,0,0
$GC,16821,0.47,146.1,180.2,14.9,761,16822,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3283,1847,0,0,0,0,0,0
$GC,17134,0.47,146.1,135.4,14.6,781,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3283,1847,0,0,0,0,0,0
$GC,17450,0.47,146.1,91.3,13.7,807,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3283,1848,0,0,0,0,0,0
$GC,17807,0.47,146.1,43.0,12.8,868,17818,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3283,1848,0,0,0,0,0,0
$GC,18075,0.47,146.1,10.7,10.9,909,18085,0.00,2.15,0.00,0.000,4,0.000,0.030,1799,1869,1848,0,0,0,0,0,0
$GC,18140,0.47,146.1,4.2,10.1,918,18149,0.00,2.28,0.00,0.000,6,0.000,0.049,1799,3276,1848,0,0,0,0,0,0
$STATE,18155,end climb,SURFACE_DEPTH_REACHED
$STATE,18156,begin surface coast
$FINISH,1.1,1.016414
$STATE,18189,end surface coast,CONTROL_FINISHED_OK
$STATE,18189,begin surface
$SM_CCo,18205,40.95,0.698,1,0,1532,230.09
$SM_GC,2.09,0.00,0.00,40.95,0.000,0.000,0.698,56,3407,1532,-4.91,0.17,230.09
$IRIDIUM_FIX,-4221.55,845.88,230113,040459
$TT8_MAMPS,0.025466
$HUMID,55.15
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.6,44.438
$10V_AH,10.0,28.477
$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,11.825,56.000,300.075,40.950,0.000,25.677,20.998,345.498,0.000,0.000,18.516,2275.353,12538.646,409.636,2613.654,982.340,33.373,1398.144,0.000,2502.329,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,89.505,1240.065,698.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.883,2046.657,941.977,427.508,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,67060,925
$CAP_FILE_SIZE,132119,0
$CFSIZE,259252224,241930240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230113,150928,-4239.150,847.993,37,0.9,37,-25.1