version: 66.07
glider: 543
mission: 6
dive: 263
start: 1 24 113 2 10 52
data:
$ID,543
$MISSION,6
$DIVE,263
$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,-8581.6621
$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,37
$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
$GPS1,240113,020029,-4240.519,844.630,38,1.0,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-56.2
$GPS2,240113,020954,-4240.537,844.731,14,0.8,15,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.167,-0.178
$KALMAN_X,-87018.1,-548.5,-183.9,146578.6,4674.0
$KALMAN_Y,134324.4,18.3,-220.0,-153559.1,3881.2
$MHEAD_RNG_PITCHd_Wd,248.2,39001,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-48.72,0.000,2,0.000,0.000,53,3426,2671,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-3.9,6,102,5.85,0.00,-11.18,0.000,6,0.230,0.000,1470,3425,3070,0,0,0,0,0,0
$GC,182,-0.47,-146.1,18.9,-15.4,21,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3426,3073,0,0,0,0,0,0
$GC,269,-0.47,-146.1,30.1,-12.1,34,278,0.00,2.22,0.00,0.000,4,0.000,0.032,1470,1999,3074,0,0,0,0,0,0
$GC,308,-0.47,-146.1,35.4,-12.6,40,319,0.00,2.30,0.00,0.000,6,0.000,0.057,1461,3381,3074,0,0,0,0,0,0
$GC,564,-0.47,-146.1,66.4,-13.1,81,570,0.00,0.93,0.00,0.000,4,0.000,0.060,1456,3953,3074,0,0,0,0,0,0
$GC,823,-0.47,-146.1,97.4,-11.3,126,831,0.00,0.82,0.00,0.000,6,0.000,0.037,1456,3413,3074,0,0,0,0,0,0
$GC,1150,-0.47,-146.1,133.4,-11.2,149,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3413,3075,0,0,0,0,0,0
$GC,1462,-0.47,-146.1,168.3,-11.2,169,1467,0.00,0.88,0.00,0.000,4,0.000,0.060,1452,3955,3075,0,0,0,0,0,0
$GC,1544,-0.47,-146.1,178.3,-12.0,173,1552,0.00,0.85,0.00,0.000,6,0.000,0.035,1452,3398,3076,0,0,0,0,0,0
$GC,1864,-0.47,-146.1,215.0,-11.5,194,1868,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3957,3076,0,0,0,0,0,0
$GC,1918,-0.47,-146.1,221.7,-12.1,197,1924,0.00,0.85,0.00,0.000,6,0.000,0.036,1448,3400,3076,0,0,0,0,0,0
$GC,2246,-0.47,-146.1,257.3,-10.7,217,2251,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3946,3076,0,0,0,0,0,0
$GC,2333,-0.47,-146.1,267.9,-11.4,220,2343,0.08,0.82,0.00,0.000,6,0.134,0.036,1469,3405,3076,0,0,0,0,0,0
$GC,2651,-0.47,-146.1,295.6,-8.4,236,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3076,0,0,0,0,0,0
$GC,2961,-0.47,-146.1,322.8,-8.8,251,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3076,0,0,0,0,0,0
$GC,3270,-0.47,-146.1,349.2,-8.4,266,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3076,0,0,0,0,0,0
$GC,3580,-0.47,-146.1,376.2,-9.0,281,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3076,0,0,0,0,0,0
$GC,3907,-0.47,-146.1,405.6,-9.1,296,3911,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3951,3076,0,0,0,0,0,0
$GC,3957,-0.47,-146.1,410.6,-9.6,297,3963,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3390,3076,0,0,0,0,0,0
$GC,4283,-0.47,-146.1,439.2,-8.6,308,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3391,3076,0,0,0,0,0,0
$GC,4590,-0.47,-146.1,464.9,-8.2,318,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3390,3076,0,0,0,0,0,0
$GC,4896,-0.47,-146.1,490.5,-8.4,328,4900,0.00,0.90,0.00,0.000,4,0.000,0.059,1462,3952,3075,0,0,0,0,0,0
$GC,5002,-0.47,-146.1,500.7,-9.0,331,5006,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3408,3075,0,0,0,0,0,0
$GC,5338,-0.47,-146.1,530.3,-9.0,342,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3408,3074,0,0,0,0,0,0
$GC,5643,-0.47,-146.1,559.2,-9.5,352,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3408,3074,0,0,0,0,0,0
$GC,5951,-0.47,-146.1,588.5,-9.7,362,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3408,3074,0,0,0,0,0,0
$GC,6256,-0.47,-146.1,618.6,-9.8,372,6262,0.00,0.88,0.00,0.000,4,0.000,0.060,1459,3948,3073,0,0,0,0,0,0
$GC,6309,-0.47,-146.1,624.0,-10.3,373,6312,0.00,0.85,0.00,0.000,6,0.000,0.038,1458,3398,3073,0,0,0,0,0,0
$GC,6634,-0.47,-146.1,655.2,-9.4,384,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3398,3072,0,0,0,0,0,0
$GC,6939,-0.47,-146.1,682.0,-8.5,394,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3398,3071,0,0,0,0,0,0
$GC,7246,-0.47,-146.1,707.0,-8.2,404,7249,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3952,3071,0,0,0,0,0,0
$GC,7357,-0.47,-146.1,717.3,-9.7,407,7362,0.00,0.85,0.00,0.000,6,0.000,0.039,1454,3398,3071,0,0,0,0,0,0
$GC,7690,-0.47,-146.1,745.6,-8.4,418,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3070,0,0,0,0,0,0
$GC,7994,-0.47,-146.1,770.6,-8.2,428,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3070,0,0,0,0,0,0
$GC,8301,-0.47,-146.1,795.0,-8.0,438,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3069,0,0,0,0,0,0
$GC,8608,-0.47,-146.1,820.2,-8.3,448,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3068,0,0,0,0,0,0
$GC,8913,-0.47,-146.1,845.3,-8.0,458,8919,0.00,0.90,0.00,0.000,4,0.000,0.061,1450,3950,3068,0,0,0,0,0,0
$GC,8969,-0.47,-146.1,850.4,-8.4,459,8973,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3402,3068,0,0,0,0,0,0
$GC,9291,-0.47,-146.1,876.6,-8.2,470,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3401,3068,0,0,0,0,0,0
$GC,9595,-0.47,-146.1,901.6,-8.2,480,9601,0.00,0.90,0.00,0.000,4,0.000,0.061,1446,3953,3067,0,0,0,0,0,0
$GC,9680,-0.47,-146.1,909.5,-9.2,482,9684,0.08,0.85,0.00,0.000,6,0.132,0.039,1471,3402,3067,0,0,0,0,0,0
$GC,10004,-0.47,-146.1,931.4,-6.7,493,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3402,3067,0,0,0,0,0,0
$GC,10310,-0.47,-146.1,951.8,-6.7,503,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3402,3066,0,0,0,0,0,0
$GC,10618,-0.47,-146.1,972.4,-6.6,513,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3402,3066,0,0,0,0,0,0
$GC,10923,-0.47,-146.1,992.0,-6.3,523,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3402,3066,0,0,0,0,0,0
$STATE,11074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11074,begin apogee
$GC,11081,-0.13,0.0,1001.4,6.2,528,11230,0.35,0.00,141.38,1.802,6,0.125,0.000,1580,3273,2473,0,0,0,0,1,0
$STATE,11232,end apogee,CONTROL_FINISHED_OK
$STATE,11232,begin climb
$GC,11235,0.47,146.1,1003.8,0.0,533,11398,0.60,2.42,150.30,1.756,4,0.082,0.031,1782,1867,1876,0,0,0,0,1,0
$GC,11451,0.47,146.1,981.4,11.8,539,11459,0.00,2.53,0.00,0.000,6,0.000,0.051,1783,3282,1871,0,0,0,0,0,0
$GC,11765,0.47,146.1,936.2,14.4,550,11771,0.00,1.12,0.00,0.000,4,0.000,0.058,1782,3957,1865,0,0,0,0,0,0
$GC,11835,0.47,146.1,925.0,17.1,552,11839,0.00,1.05,0.00,0.000,6,0.000,0.033,1788,3274,1864,0,0,0,0,0,0
$GC,12176,0.47,146.1,873.8,15.2,563,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3274,1862,0,0,0,0,0,0
$GC,12482,0.47,146.1,826.0,15.6,573,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3274,1861,0,0,0,0,0,0
$GC,12789,0.47,146.1,779.5,14.9,583,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3274,1860,0,0,0,0,0,0
$GC,13095,0.47,146.1,733.2,15.0,593,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3274,1860,0,0,0,0,0,0
$GC,13401,0.47,146.1,686.3,15.3,603,13404,0.00,1.10,0.00,0.000,4,0.000,0.059,1788,3950,1859,0,0,0,0,0,0
$GC,13474,0.47,146.1,673.8,16.9,605,13478,0.00,1.02,0.00,0.000,6,0.000,0.033,1793,3270,1859,0,0,0,0,0,0
$GC,13811,0.47,146.1,619.5,16.0,616,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3270,1858,0,0,0,0,0,0
$GC,14118,0.47,146.1,572.8,15.2,626,14121,0.00,2.15,0.00,0.000,4,0.000,0.032,1804,1858,1858,0,0,0,0,0,0
$GC,14150,0.47,146.1,567.9,13.4,627,14154,0.00,2.30,0.00,0.000,6,0.000,0.050,1804,3284,1856,0,0,0,0,0,0
$GC,14480,0.47,146.1,516.5,15.6,638,14484,0.00,1.08,0.00,0.000,4,0.000,0.057,1804,3952,1856,0,0,0,0,0,0
$GC,14535,0.47,146.1,507.0,17.3,639,14539,0.00,1.00,0.00,0.000,6,0.000,0.032,1809,3278,1856,0,0,0,0,0,0
$GC,14854,0.47,146.1,457.0,15.6,650,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3277,1856,0,0,0,0,0,0
$GC,15161,0.47,146.1,410.5,15.0,660,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3277,1856,0,0,0,0,0,0
$GC,15480,0.47,146.1,361.5,15.9,674,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3277,1856,0,0,0,0,0,0
$GC,15790,0.47,146.1,313.0,15.7,689,15796,0.00,2.15,0.00,0.000,4,0.000,0.031,1820,1876,1856,0,0,0,0,0,0
$GC,15843,0.47,146.1,305.2,13.2,691,15848,0.15,2.28,0.00,0.000,6,0.164,0.050,1782,3287,1855,0,0,0,0,0,0
$GC,16167,0.47,146.1,262.5,13.6,707,16173,0.00,1.05,0.00,0.000,4,0.000,0.056,1782,3945,1855,0,0,0,0,0,0
$GC,16238,0.47,146.1,252.0,14.5,710,16242,0.00,0.98,0.00,0.000,6,0.000,0.031,1785,3283,1855,0,0,0,0,0,0
$GC,16560,0.47,146.1,208.5,13.2,730,16564,0.00,2.10,0.00,0.000,4,0.000,0.030,1796,1871,1854,0,0,0,0,0,0
$GC,16607,0.47,146.1,203.0,11.0,733,16611,0.00,2.28,0.00,0.000,6,0.000,0.050,1796,3285,1854,0,0,0,0,0,0
$GC,16933,0.47,146.1,157.3,14.2,754,16934,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3286,1855,0,0,0,0,0,0
$GC,17245,0.47,146.1,112.1,14.8,774,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3285,1854,0,0,0,0,0,0
$GC,17575,0.47,146.1,65.6,13.6,822,17585,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3285,1855,0,0,0,0,0,0
$GC,17952,0.47,146.1,17.7,12.6,883,17962,0.00,2.15,0.00,0.000,4,0.000,0.029,1806,1875,1855,0,0,0,0,0,0
$GC,17998,0.47,146.1,12.8,10.4,889,18009,0.00,2.28,0.00,0.000,6,0.000,0.049,1806,3280,1855,0,0,0,0,0,0
$STATE,18081,end climb,SURFACE_DEPTH_REACHED
$STATE,18081,begin surface coast
$FINISH,1.2,1.026224
$STATE,18108,end surface coast,CONTROL_FINISHED_OK
$STATE,18108,begin surface
$SM_CCo,18124,40.70,0.721,1,0,1532,230.09
$SM_GC,2.02,0.00,0.00,40.70,0.000,0.000,0.721,65,3413,1532,-4.88,0.34,230.09
$IRIDIUM_FIX,-4227.40,849.22,230113,202025
$TT8_MAMPS,0.025466
$HUMID,55.74
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.1,44.948
$10V_AH,10.0,28.854
$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,11.625,53.300,291.675,40.700,0.000,26.569,20.182,336.668,0.000,0.000,17.846,2230.813,12619.771,405.977,2521.682,953.382,33.370,1377.230,0.000,2413.241,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,81.090,1801.575,720.630,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.762,1970.349,889.277,387.155,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,66891,905
$CAP_FILE_SIZE,128922,0
$CFSIZE,259252224,241729536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,240113,071504,-4241.196,843.112,39,0.9,39,-25.1