version: 66.07
glider: 543
mission: 6
dive: 294
start: 1 31 113 2 57 5
data:
$ID,543
$MISSION,6
$DIVE,294
$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,-8671.4307
$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,53
$R_STBD_OVSHOOT,24
$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
$GPS1,310113,024604,-4201.304,816.213,33,0.9,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-51.0
$GPS2,310113,025607,-4201.410,816.301,16,0.9,17,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.026,0.201
$KALMAN_X,508.9,-67.4,-205.0,19770.8,4410.5
$KALMAN_Y,147575.1,316.9,-93.2,-94776.5,-2228.0
$MHEAD_RNG_PITCHd_Wd,32.2,5722,-18.6,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.54,-96.9,0.0,0.0,0,67,0.00,0.00,-41.78,0.000,2,0.000,0.000,46,3400,2570,0,0,0,0,0,0
$GC,71,-0.57,-146.1,3.3,-4.2,5,98,5.75,0.93,-15.15,0.000,4,0.229,0.093,1434,3948,3071,0,0,0,0,0,0
$GC,160,-0.57,-146.1,14.1,-16.1,17,170,0.00,0.82,0.00,0.000,6,0.000,0.036,1435,3413,3073,0,0,0,0,0,0
$GC,249,-0.57,-146.1,27.9,-14.5,30,260,0.00,2.20,0.00,0.000,4,0.000,0.029,1434,1980,3074,0,0,0,0,0,0
$GC,281,-0.57,-146.1,31.9,-14.3,33,287,0.00,2.35,0.00,0.000,6,0.000,0.060,1424,3399,3074,0,0,0,0,0,0
$GC,530,-0.57,-146.1,69.7,-15.0,74,536,0.00,0.88,0.00,0.000,4,0.000,0.058,1419,3946,3074,0,0,0,0,0,0
$GC,568,-0.57,-146.1,75.8,-16.1,80,575,0.00,0.85,0.00,0.000,6,0.000,0.034,1419,3387,3075,0,0,0,0,0,0
$GC,922,-0.57,-146.1,124.6,-13.8,121,926,0.00,2.10,0.00,0.000,4,0.000,0.028,1419,1973,3076,0,0,0,0,0,0
$GC,971,-0.57,-146.1,131.3,-11.1,124,976,0.12,2.35,0.00,0.000,6,0.167,0.058,1440,3405,3076,0,0,0,0,0,0
$GC,1293,-0.57,-146.1,167.7,-11.6,144,1296,0.00,0.88,0.00,0.000,4,0.000,0.057,1437,3958,3077,0,0,0,0,0,0
$GC,1348,-0.57,-146.1,174.7,-11.9,147,1353,0.00,0.85,0.00,0.000,6,0.000,0.034,1437,3396,3077,0,0,0,0,0,0
$GC,1673,-0.57,-146.1,212.3,-11.6,168,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3396,3077,0,0,0,0,0,0
$GC,1986,-0.57,-146.1,247.7,-11.1,188,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3396,3077,0,0,0,0,0,0
$GC,2307,-0.57,-146.1,283.2,-11.2,204,2311,0.00,2.10,0.00,0.000,4,0.000,0.029,1437,1979,3077,0,0,0,0,0,0
$GC,2337,-0.57,-146.1,286.8,-10.7,205,2341,0.00,2.33,0.00,0.000,6,0.000,0.055,1427,3412,3077,0,0,0,0,0,0
$GC,2654,-0.57,-146.1,323.6,-11.9,220,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3412,3077,0,0,0,0,0,0
$GC,2965,-0.57,-146.1,358.3,-11.3,235,2970,0.00,2.17,0.00,0.000,4,0.000,0.029,1427,1977,3077,0,0,0,0,0,0
$GC,2993,-0.57,-146.1,361.9,-10.3,236,2997,0.00,2.33,0.00,0.000,6,0.000,0.055,1416,3407,3077,0,0,0,0,0,0
$GC,3316,-0.57,-146.1,399.1,-12.1,252,3320,0.00,2.12,0.00,0.000,4,0.000,0.028,1416,1975,3077,0,0,0,0,0,0
$GC,3346,-0.57,-146.1,402.9,-11.3,254,3351,0.15,2.33,0.00,0.000,6,0.163,0.056,1444,3404,3077,0,0,0,0,0,0
$GC,3682,-0.57,-146.1,437.6,-10.3,265,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3404,3076,0,0,0,0,0,0
$GC,3989,-0.57,-146.1,467.9,-9.6,275,3993,0.00,2.15,0.00,0.000,4,0.000,0.029,1444,1972,3076,0,0,0,0,0,0
$GC,4021,-0.57,-146.1,471.1,-8.5,276,4026,0.00,2.33,0.00,0.000,6,0.000,0.054,1435,3406,3076,0,0,0,0,0,0
$GC,4351,-0.57,-146.1,504.9,-10.5,287,4355,0.00,0.85,0.00,0.000,4,0.000,0.057,1431,3944,3075,0,0,0,0,0,0
$GC,4510,-0.57,-146.1,522.8,-11.9,291,4515,0.00,0.82,0.00,0.000,6,0.000,0.034,1431,3395,3075,0,0,0,0,0,0
$GC,4829,-0.57,-146.1,555.6,-9.9,302,4835,0.00,0.88,0.00,0.000,4,0.000,0.058,1427,3943,3074,0,0,0,0,0,0
$GC,4891,-0.57,-146.1,562.1,-10.7,303,4898,0.00,0.82,0.00,0.000,6,0.000,0.034,1427,3395,3074,0,0,0,0,0,0
$GC,5206,-0.57,-146.1,593.1,-10.1,314,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3395,3074,0,0,0,0,0,0
$GC,5511,-0.57,-146.1,625.3,-10.5,324,5516,0.00,2.15,0.00,0.000,4,0.000,0.030,1427,1981,3073,0,0,0,0,0,0
$GC,5559,-0.57,-146.1,630.2,-9.3,325,5563,0.00,2.30,0.00,0.000,6,0.000,0.054,1416,3400,3073,0,0,0,0,0,0
$GC,5884,-0.57,-146.1,667.3,-11.6,336,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3400,3072,0,0,0,0,0,0
$GC,6189,-0.57,-146.1,703.0,-11.7,346,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3400,3071,0,0,0,0,0,0
$GC,6497,-0.57,-146.1,737.7,-11.1,356,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3400,3070,0,0,0,0,0,0
$GC,6803,-0.57,-146.1,769.9,-10.4,366,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3400,3070,0,0,0,0,0,0
$GC,7108,-0.57,-146.1,799.8,-9.7,376,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3400,3069,0,0,0,0,0,0
$GC,7414,-0.57,-146.1,833.6,-11.5,386,7418,0.00,0.90,0.00,0.000,4,0.000,0.060,1412,3946,3068,0,0,0,0,0,0
$GC,7469,-0.57,-146.1,841.0,-13.7,387,7473,0.08,0.82,0.00,0.000,6,0.155,0.036,1435,3407,3068,0,0,0,0,0,0
$GC,7788,-0.57,-146.1,874.2,-10.2,398,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,1435,3407,3068,0,0,0,0,0,0
$GC,8094,-0.57,-146.1,905.4,-10.1,408,8098,0.00,2.17,0.00,0.000,4,0.000,0.031,1435,1972,3066,0,0,0,0,0,0
$GC,8123,-0.57,-146.1,908.1,-9.7,409,8127,0.00,2.33,0.00,0.000,6,0.000,0.054,1426,3401,3066,0,0,0,0,0,0
$GC,8458,-0.57,-146.1,943.8,-10.6,420,8462,0.00,0.88,0.00,0.000,4,0.000,0.060,1422,3947,3065,0,0,0,0,0,0
$GC,8571,-0.57,-146.1,957.0,-10.8,423,8575,0.00,0.85,0.00,0.000,6,0.000,0.036,1422,3388,3065,0,0,0,0,0,0
$GC,8903,-0.57,-146.1,992.7,-10.6,434,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,1422,3387,3064,0,0,0,0,0,0
$STATE,8992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8992,begin apogee
$GC,8999,-0.13,0.0,1002.4,10.6,437,9149,0.55,0.00,141.40,1.804,6,0.138,0.000,1584,3271,2473,0,0,0,0,1,0
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9150,begin climb
$GC,9153,0.57,146.1,1006.2,0.0,442,9318,0.68,2.47,150.30,1.751,4,0.077,0.031,1813,1868,1879,0,0,0,0,1,0
$GC,9352,0.57,146.1,983.1,13.6,448,9357,0.00,2.47,0.00,0.000,6,0.000,0.049,1813,3281,1875,0,0,0,0,0,0
$GC,9677,0.57,146.1,927.8,17.3,459,9680,0.00,1.10,0.00,0.000,4,0.000,0.056,1813,3950,1868,0,0,0,0,0,0
$GC,9741,0.57,146.1,916.5,18.1,460,9747,0.00,1.05,0.00,0.000,6,0.000,0.031,1819,3262,1867,0,0,0,0,0,0
$GC,10054,0.57,146.1,861.8,17.2,471,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3262,1865,0,0,0,0,0,0
$GC,10360,0.57,146.1,808.7,17.4,481,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3262,1864,0,0,0,0,0,0
$GC,10668,0.57,146.1,756.3,17.4,491,10671,0.00,1.12,0.00,0.000,4,0.000,0.057,1819,3955,1863,0,0,0,0,0,0
$GC,10703,0.57,146.1,749.5,19.2,492,10707,0.00,1.00,0.00,0.000,6,0.000,0.032,1824,3283,1863,0,0,0,0,0,0
$GC,11045,0.57,146.1,688.0,17.9,503,11048,0.00,1.08,0.00,0.000,4,0.000,0.056,1824,3951,1861,0,0,0,0,0,0
$GC,11089,0.57,146.1,679.2,19.2,504,11092,0.00,1.00,0.00,0.000,6,0.000,0.031,1829,3279,1861,0,0,0,0,0,0
$GC,11419,0.57,146.1,619.7,18.2,515,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3279,1860,0,0,0,0,0,0
$GC,11725,0.57,146.1,566.1,17.8,525,11729,0.00,2.12,0.00,0.000,4,0.000,0.031,1840,1864,1861,0,0,0,0,0,0
$GC,11794,0.57,146.1,555.6,15.0,527,11799,0.00,2.28,0.00,0.000,6,0.000,0.050,1840,3289,1859,0,0,0,0,0,0
$GC,12124,0.57,146.1,495.7,18.0,538,12128,0.00,1.05,0.00,0.000,4,0.000,0.054,1840,3947,1858,0,0,0,0,0,0
$GC,12263,0.57,146.1,468.7,18.8,542,12267,0.10,1.00,0.00,0.000,6,0.190,0.031,1817,3270,1858,0,0,0,0,0,0
$GC,12599,0.57,146.1,416.0,15.4,553,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3270,1858,0,0,0,0,0,0
$GC,12908,0.57,146.1,367.9,15.2,566,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3270,1857,0,0,0,0,0,0
$GC,13218,0.57,146.1,319.7,15.7,581,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3271,1857,0,0,0,0,0,0
$GC,13526,0.57,146.1,272.4,15.2,596,13530,0.00,1.10,0.00,0.000,4,0.000,0.054,1817,3953,1857,0,0,0,0,0,0
$GC,13556,0.57,146.1,267.4,16.6,597,13559,0.00,1.00,0.00,0.000,6,0.000,0.030,1820,3276,1858,0,0,0,0,0,0
$GC,13881,0.57,146.1,217.8,15.4,616,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3275,1857,0,0,0,0,0,0
$GC,14193,0.57,146.1,167.3,16.2,636,14196,0.00,1.08,0.00,0.000,4,0.000,0.053,1820,3948,1857,0,0,0,0,0,0
$GC,14220,0.57,146.1,162.4,18.5,637,14228,0.00,1.00,0.00,0.000,6,0.000,0.030,1826,3271,1858,0,0,0,0,0,0
$GC,14541,0.57,146.1,109.5,16.1,658,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3271,1857,0,0,0,0,0,0
$GC,14880,0.57,146.1,58.9,15.0,710,14889,0.00,2.12,0.00,0.000,4,0.000,0.029,1836,1872,1858,0,0,0,0,0,0
$GC,14916,0.57,146.1,54.5,12.8,715,14922,0.00,2.22,0.00,0.000,6,0.000,0.047,1837,3281,1857,0,0,0,0,0,0
$GC,15172,0.57,146.1,17.6,14.7,756,15182,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3280,1857,0,0,0,0,0,0
$GC,15263,0.57,146.1,4.6,13.1,769,15273,0.00,1.05,0.00,0.000,4,0.000,0.054,1836,3949,1857,0,0,0,0,0,0
$STATE,15283,end climb,SURFACE_DEPTH_REACHED
$STATE,15283,begin surface coast
$FINISH,1.3,1.025549
$STATE,15308,end surface coast,CONTROL_FINISHED_OK
$STATE,15309,begin surface
$SM_CCo,15325,39.95,0.705,1,0,1532,230.09
$SM_GC,2.17,0.00,0.00,39.95,0.000,0.000,0.705,48,3396,1532,-4.94,-0.11,230.09
$IRIDIUM_FIX,-4146.69,811.50,300113,212130
$TT8_MAMPS,0.025466
$HUMID,56.30
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.1,49.839
$10V_AH,9.9,32.923
$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,12.200,76.125,291.700,39.950,0.000,25.909,21.196,360.717,0.000,0.000,20.299,1939.622,10405.862,413.138,2328.446,879.688,33.366,1290.095,0.000,2144.700,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,92.565,1803.870,704.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.749,1703.242,783.159,347.184,0.000,0.000,0.000,0.000,0.000,0.000
$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,57170,775
$CAP_FILE_SIZE,120325,0
$CFSIZE,259252224,239382528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,310113,071434,-4159.358,816.843,36,0.9,37,-24.9