version: 66.07
glider: 543
mission: 6
dive: 262
start: 1 23 113 20 58 6
data:
$ID,543
$MISSION,6
$DIVE,262
$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,-8578.834
$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,42
$R_STBD_OVSHOOT,22
$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
$GPS1,230113,203553,-4239.538,846.052,38,0.9,38,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-54.3
$GPS2,230113,205705,-4239.444,846.206,22,1.0,22,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,-0.176
$KALMAN_X,-88649.9,-394.2,-517.4,150400.4,5627.7
$KALMAN_Y,132066.0,-77.7,-6.6,-149400.0,3456.8
$MHEAD_RNG_PITCHd_Wd,248.7,39828,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-51.55,0.000,2,0.000,0.000,46,3403,2760,0,0,0,0,0,0
$GC,78,-0.47,-146.1,3.3,-3.4,6,99,5.80,0.90,-8.27,0.000,4,0.226,0.087,1465,3945,3072,0,0,0,0,0,0
$GC,236,-0.47,-146.1,25.0,-13.5,28,245,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3401,3075,0,0,0,0,0,0
$GC,321,-0.47,-146.1,36.7,-12.3,41,328,0.00,2.20,0.00,0.000,4,0.000,0.032,1464,1988,3075,0,0,0,0,0,0
$GC,388,-0.47,-146.1,44.4,-10.8,51,396,0.00,2.35,0.00,0.000,6,0.000,0.058,1454,3398,3076,0,0,0,0,0,0
$GC,631,-0.47,-146.1,75.6,-12.1,92,637,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3076,0,0,0,0,0,0
$GC,985,-0.47,-146.1,115.9,-10.8,137,990,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3946,3076,0,0,0,0,0,0
$GC,1095,-0.47,-146.1,128.4,-11.5,143,1099,0.00,0.82,0.00,0.000,6,0.000,0.036,1450,3403,3076,0,0,0,0,0,0
$GC,1426,-0.47,-146.1,166.6,-11.4,164,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3402,3076,0,0,0,0,0,0
$GC,1739,-0.47,-146.1,201.4,-11.3,184,1742,0.00,0.88,0.00,0.000,4,0.000,0.059,1446,3948,3076,0,0,0,0,0,0
$GC,1846,-0.47,-146.1,214.2,-12.0,190,1850,0.00,0.82,0.00,0.000,6,0.000,0.035,1446,3401,3076,0,0,0,0,0,0
$GC,2181,-0.47,-146.1,250.6,-10.3,211,2185,0.10,0.90,0.00,0.000,4,0.168,0.060,1468,3952,3076,0,0,0,0,0,0
$GC,2233,-0.47,-146.1,255.9,-8.2,213,2236,0.00,0.85,0.00,0.000,6,0.000,0.035,1468,3391,3076,0,0,0,0,0,0
$GC,2562,-0.47,-146.1,280.1,-7.4,229,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3391,3076,0,0,0,0,0,0
$GC,2871,-0.47,-146.1,303.4,-7.7,244,2874,0.00,0.90,0.00,0.000,4,0.000,0.060,1464,3953,3077,0,0,0,0,0,0
$GC,2951,-0.47,-146.1,310.6,-9.4,247,2956,0.00,0.82,0.00,0.000,6,0.000,0.035,1465,3405,3076,0,0,0,0,0,0
$GC,3275,-0.47,-146.1,338.7,-9.1,263,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3404,3076,0,0,0,0,0,0
$GC,3584,-0.47,-146.1,366.6,-9.0,278,3587,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3949,3076,0,0,0,0,0,0
$GC,3658,-0.47,-146.1,374.1,-9.5,281,3664,0.00,0.82,0.00,0.000,6,0.000,0.036,1461,3406,3076,0,0,0,0,0,0
$GC,3997,-0.47,-146.1,403.6,-8.4,297,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3406,3076,0,0,0,0,0,0
$GC,4304,-0.47,-146.1,428.5,-8.2,307,4308,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3950,3076,0,0,0,0,0,0
$GC,4372,-0.47,-146.1,434.5,-8.2,309,4378,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3404,3076,0,0,0,0,0,0
$GC,4716,-0.47,-146.1,464.4,-9.0,320,4719,0.00,0.88,0.00,0.000,4,0.000,0.061,1452,3950,3076,0,0,0,0,0,0
$GC,4771,-0.47,-146.1,470.1,-9.4,321,4774,0.00,0.82,0.00,0.000,6,0.000,0.036,1452,3405,3076,0,0,0,0,0,0
$GC,5090,-0.47,-146.1,500.2,-9.6,332,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3405,3075,0,0,0,0,0,0
$GC,5397,-0.47,-146.1,530.0,-9.8,342,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3405,3074,0,0,0,0,0,0
$GC,5702,-0.47,-146.1,560.8,-10.2,352,5708,0.00,0.88,0.00,0.000,4,0.000,0.061,1448,3946,3074,0,0,0,0,0,0
$GC,5781,-0.47,-146.1,569.6,-11.4,354,5784,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3392,3074,0,0,0,0,0,0
$GC,6111,-0.47,-146.1,602.9,-9.9,365,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3391,3073,0,0,0,0,0,0
$GC,6417,-0.47,-146.1,632.4,-9.6,375,6420,0.00,0.90,0.00,0.000,4,0.000,0.061,1444,3952,3073,0,0,0,0,0,0
$GC,6477,-0.47,-146.1,638.8,-10.4,376,6486,0.08,0.85,0.00,0.000,6,0.130,0.037,1469,3396,3072,0,0,0,0,0,0
$GC,6791,-0.47,-146.1,663.1,-7.8,387,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3072,0,0,0,0,0,0
$GC,7097,-0.47,-146.1,688.2,-8.3,397,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3070,0,0,0,0,0,0
$GC,7405,-0.47,-146.1,713.6,-8.1,407,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3070,0,0,0,0,0,0
$GC,7710,-0.47,-146.1,737.7,-7.8,417,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3070,0,0,0,0,0,0
$GC,8016,-0.47,-146.1,761.2,-7.8,427,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3070,0,0,0,0,0,0
$GC,8323,-0.47,-146.1,785.2,-7.8,437,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3069,0,0,0,0,0,0
$GC,8629,-0.47,-146.1,807.8,-7.2,447,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3068,0,0,0,0,0,0
$GC,8936,-0.47,-146.1,830.4,-7.3,457,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3396,3068,0,0,0,0,0,0
$GC,9242,-0.47,-146.1,853.8,-7.8,467,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3068,0,0,0,0,0,0
$GC,9547,-0.47,-146.1,878.2,-7.9,477,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3067,0,0,0,0,0,0
$GC,9853,-0.47,-146.1,902.3,-7.9,487,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3396,3067,0,0,0,0,0,0
$GC,10161,-0.47,-146.1,925.8,-7.7,497,10164,0.00,0.90,0.00,0.000,4,0.000,0.063,1467,3946,3066,0,0,0,0,0,0
$GC,10229,-0.47,-146.1,931.4,-8.4,499,10234,0.00,0.85,0.00,0.000,6,0.000,0.039,1467,3394,3066,0,0,0,0,0,0
$GC,10572,-0.47,-146.1,957.1,-7.3,510,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3394,3066,0,0,0,0,0,0
$GC,10877,-0.47,-146.1,979.5,-7.6,520,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3394,3065,0,0,0,0,0,0
$STATE,11180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11181,begin apogee
$GC,11188,-0.13,0.0,1002.0,7.2,530,11341,0.38,0.00,149.60,1.219,6,0.122,0.000,1582,3281,2473,0,0,0,0,0,0
$STATE,11342,end apogee,CONTROL_FINISHED_OK
$STATE,11342,begin climb
$GC,11345,0.47,146.1,1005.1,0.0,535,11505,0.57,2.50,151.93,1.199,4,0.084,0.031,1786,1859,1871,0,0,0,0,0,0
$GC,11545,0.47,146.1,983.8,11.9,541,11549,0.00,2.53,0.00,0.000,6,0.000,0.050,1786,3287,1862,0,0,0,0,0,0
$GC,11874,0.47,146.1,932.8,15.8,552,11880,0.00,1.10,0.00,0.000,4,0.000,0.058,1786,3948,1855,0,0,0,0,0,0
$GC,11937,0.47,146.1,921.6,19.0,553,11944,0.00,1.05,0.00,0.000,6,0.000,0.033,1791,3273,1854,0,0,0,0,0,0
$GC,12251,0.47,146.1,872.4,15.7,564,12255,0.00,1.12,0.00,0.000,4,0.000,0.059,1791,3954,1853,0,0,0,0,0,0
$GC,12306,0.47,146.1,862.5,17.6,565,12309,0.00,1.02,0.00,0.000,6,0.000,0.034,1796,3286,1852,0,0,0,0,0,0
$GC,12625,0.47,146.1,810.4,16.5,576,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1851,0,0,0,0,0,0
$GC,12932,0.47,146.1,760.6,16.3,586,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1850,0,0,0,0,0,0
$GC,13237,0.47,146.1,710.7,16.4,596,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1849,0,0,0,0,0,0
$GC,13543,0.47,146.1,660.7,16.0,606,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1849,0,0,0,0,0,0
$GC,13850,0.47,146.1,612.0,15.8,616,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1849,0,0,0,0,0,0
$GC,14156,0.47,146.1,563.1,16.0,626,14157,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1848,0,0,0,0,0,0
$GC,14462,0.47,146.1,514.7,16.0,636,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1848,0,0,0,0,0,0
$GC,14769,0.47,146.1,466.9,15.6,646,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1848,0,0,0,0,0,0
$GC,15074,0.47,146.1,419.5,15.3,656,15080,0.00,2.20,0.00,0.000,4,0.000,0.031,1807,1857,1848,0,0,0,0,0,0
$GC,15110,0.47,146.1,414.6,12.7,657,15114,0.00,2.30,0.00,0.000,6,0.000,0.050,1807,3285,1847,0,0,0,0,0,0
$GC,15439,0.47,146.1,361.7,16.3,671,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3285,1847,0,0,0,0,0,0
$GC,15748,0.47,146.1,310.1,17.0,686,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3285,1847,0,0,0,0,0,0
$GC,16058,0.47,146.1,258.9,16.5,701,16064,0.00,1.05,0.00,0.000,4,0.000,0.055,1807,3942,1847,0,0,0,0,0,0
$GC,16122,0.47,146.1,247.0,16.7,703,16129,0.10,1.00,0.00,0.000,6,0.171,0.031,1784,3269,1847,0,0,0,0,0,0
$GC,16443,0.47,146.1,203.4,13.4,724,16447,0.00,2.10,0.00,0.000,4,0.000,0.031,1792,1863,1847,0,0,0,0,0,0
$GC,16491,0.47,146.1,197.9,10.1,727,16495,0.00,2.28,0.00,0.000,6,0.000,0.050,1792,3280,1847,0,0,0,0,0,0
$GC,16816,0.47,146.1,153.6,14.1,748,16820,0.00,1.05,0.00,0.000,4,0.000,0.056,1792,3943,1847,0,0,0,0,0,0
$GC,16889,0.47,146.1,142.3,15.6,752,16893,0.00,0.98,0.00,0.000,6,0.000,0.031,1797,3282,1847,0,0,0,0,0,0
$GC,17216,0.47,146.1,96.5,14.2,775,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3282,1847,0,0,0,0,0,0
$GC,17570,0.47,146.1,48.7,12.5,836,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3283,1847,0,0,0,0,0,0
$GC,17835,0.47,146.1,16.5,13.2,877,17843,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3282,1847,0,0,0,0,0,0
$GC,17923,0.47,155.8,7.7,8.0,890,17932,0.00,1.05,0.00,0.000,4,0.000,0.054,1797,3947,1847,0,0,0,0,0,0
$GC,17954,0.47,155.8,3.5,12.0,894,17965,0.00,1.00,1.17,0.167,6,0.000,0.033,1803,3273,1837,0,0,0,0,0,0
$STATE,17974,end climb,SURFACE_DEPTH_REACHED
$STATE,17974,begin surface coast
$FINISH,1.2,1.015411
$STATE,18001,end surface coast,CONTROL_FINISHED_OK
$STATE,18001,begin surface
$SM_CCo,18017,40.03,0.684,1,0,1531,230.09
$SM_GC,2.19,0.00,0.00,40.03,0.000,0.000,0.684,53,3426,1531,-4.92,0.74,230.09
$IRIDIUM_FIX,-4221.55,845.88,230113,202034
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.6,44.772
$10V_AH,10.0,28.731
$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,11.825,48.200,302.700,40.025,0.000,105.426,233.032,544.097,0.000,0.000,24.571,2217.700,12724.178,406.949,3019.350,966.558,33.371,1354.904,0.000,2387.411,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,87.210,1218.645,683.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.074,1965.500,890.319,392.620,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,64019,900
$CAP_FILE_SIZE,133832,0
$CFSIZE,259252224,241799168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,240113,020029,-4240.519,844.630,38,1.0,38,-25.1