version: 66.07
glider: 543
mission: 6
dive: 316
start: 2 5 113 6 42 11
data:
$ID,543
$MISSION,6
$DIVE,316
$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,-8736.7959
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,050213,063105,-4217.138,900.148,34,0.8,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-62.6
$GPS2,050213,064112,-4217.139,900.275,19,1.5,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,-0.212
$KALMAN_X,1674.0,-134.8,-45.4,78543.8,2070.4
$KALMAN_Y,183983.0,-150.9,-273.0,-159664.0,3512.4
$MHEAD_RNG_PITCHd_Wd,227.5,23822,-15.9,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.49,-127.1,0.0,0.0,0,66,0.00,0.00,-41.90,0.000,2,0.000,0.000,44,3407,2558,0,0,0,0,0,0
$GC,70,-0.50,-146.1,3.5,-3.9,5,97,5.82,0.93,-14.95,0.000,4,0.226,0.096,1456,3950,3072,0,0,0,0,0,0
$GC,199,-0.50,-146.1,18.4,-12.7,23,208,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3414,3074,0,0,0,0,0,0
$GC,288,-0.50,-146.1,29.8,-12.7,36,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3414,3075,0,0,0,0,0,0
$GC,371,-0.50,-146.1,39.7,-11.3,49,379,0.00,0.85,0.00,0.000,4,0.000,0.060,1452,3936,3075,0,0,0,0,0,0
$GC,424,-0.50,-146.1,46.2,-12.8,57,430,0.00,0.82,0.00,0.000,6,0.000,0.035,1452,3400,3075,0,0,0,0,0,0
$GC,674,-0.50,-146.1,74.8,-11.9,98,680,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3400,3076,0,0,0,0,0,0
$GC,1020,-0.50,-146.1,111.5,-10.2,146,1024,0.00,2.15,0.00,0.000,4,0.000,0.030,1452,1971,3076,0,0,0,0,0,0
$GC,1090,-0.50,-146.1,118.2,-9.0,150,1094,0.00,2.33,0.00,0.000,6,0.000,0.055,1441,3403,3076,0,0,0,0,0,0
$GC,1410,-0.50,-146.1,154.3,-11.9,170,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3403,3077,0,0,0,0,0,0
$GC,1724,-0.50,-146.1,190.1,-11.1,190,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3403,3077,0,0,0,0,0,0
$GC,2036,-0.50,-146.1,222.0,-10.1,210,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3402,3077,0,0,0,0,0,0
$GC,2359,-0.50,-146.1,255.7,-10.8,230,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3402,3078,0,0,0,0,0,0
$GC,2668,-0.50,-146.1,289.1,-10.8,245,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3402,3077,0,0,0,0,0,0
$GC,2977,-0.50,-146.1,322.6,-10.5,260,2980,0.00,0.88,0.00,0.000,4,0.000,0.059,1437,3953,3077,0,0,0,0,0,0
$GC,3057,-0.50,-146.1,331.5,-11.0,263,3062,0.00,0.85,0.00,0.000,6,0.000,0.034,1437,3390,3077,0,0,0,0,0,0
$GC,3381,-0.50,-146.1,363.9,-10.4,279,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3390,3077,0,0,0,0,0,0
$GC,3690,-0.50,-146.1,395.2,-10.2,294,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3390,3077,0,0,0,0,0,0
$GC,3996,-0.50,-146.1,425.1,-9.6,305,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3390,3077,0,0,0,0,0,0
$GC,4302,-0.50,-146.1,455.5,-10.3,315,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3390,3077,0,0,0,0,0,0
$GC,4609,-0.50,-146.1,487.6,-10.4,325,4613,0.00,2.12,0.00,0.000,4,0.000,0.029,1437,1975,3077,0,0,0,0,0,0
$GC,4644,-0.50,-146.1,491.2,-9.6,326,4649,0.15,2.33,0.00,0.000,6,0.148,0.054,1467,3404,3077,0,0,0,0,0,0
$GC,4975,-0.50,-146.1,518.0,-8.0,337,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3076,0,0,0,0,0,0
$GC,5282,-0.50,-146.1,541.7,-7.6,347,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3076,0,0,0,0,0,0
$GC,5587,-0.50,-146.1,564.0,-7.4,357,5593,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3951,3075,0,0,0,0,0,0
$GC,5699,-0.50,-146.1,573.0,-7.8,360,5703,0.00,0.82,0.00,0.000,6,0.000,0.036,1464,3408,3075,0,0,0,0,0,0
$GC,6029,-0.50,-146.1,597.1,-7.3,371,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3075,0,0,0,0,0,0
$GC,6335,-0.50,-146.1,619.3,-7.1,381,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3409,3074,0,0,0,0,0,0
$GC,6643,-0.50,-146.1,640.7,-6.9,391,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3073,0,0,0,0,0,0
$GC,6948,-0.50,-146.1,663.2,-7.4,401,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3409,3073,0,0,0,0,0,0
$GC,7254,-0.50,-146.1,686.5,-7.7,411,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3072,0,0,0,0,0,0
$GC,7561,-0.50,-146.1,710.6,-8.0,421,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3409,3072,0,0,0,0,0,0
$GC,7866,-0.50,-146.1,734.6,-7.6,431,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3409,3071,0,0,0,0,0,0
$GC,8173,-0.50,-146.1,757.3,-7.4,441,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3409,3071,0,0,0,0,0,0
$GC,8480,-0.50,-146.1,779.9,-7.6,451,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3070,0,0,0,0,0,0
$GC,8785,-0.50,-146.1,802.7,-7.4,461,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3409,3069,0,0,0,0,0,0
$GC,9092,-0.50,-146.1,825.4,-7.4,471,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3069,0,0,0,0,0,0
$GC,9399,-0.50,-146.1,847.9,-7.3,481,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3068,0,0,0,0,0,0
$GC,9704,-0.50,-146.1,870.5,-7.4,491,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3068,0,0,0,0,0,0
$GC,10010,-0.50,-146.1,892.5,-7.1,501,10014,0.00,0.88,0.00,0.000,4,0.000,0.061,1461,3950,3068,0,0,0,0,0,0
$GC,10083,-0.50,-146.1,897.8,-7.8,503,10086,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3395,3068,0,0,0,0,0,0
$GC,10424,-0.50,-146.1,921.5,-6.7,514,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3395,3067,0,0,0,0,0,0
$GC,10732,-0.50,-146.1,941.9,-6.7,524,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3395,3067,0,0,0,0,0,0
$GC,11036,-0.50,-146.1,963.0,-6.8,534,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3395,3066,0,0,0,0,0,0
$GC,11343,-0.50,-146.1,983.6,-6.8,544,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3395,3066,0,0,0,0,0,0
$STATE,11615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11615,begin apogee
$GC,11623,-0.13,0.0,1001.2,6.2,553,11774,0.40,0.00,148.02,1.254,6,0.125,0.000,1581,3283,2473,0,0,0,0,0,0
$STATE,11775,end apogee,CONTROL_FINISHED_OK
$STATE,11775,begin climb
$GC,11778,0.50,146.1,1003.5,0.0,558,11938,0.60,2.42,149.43,1.226,4,0.082,0.030,1794,1863,1872,0,0,0,0,0,0
$GC,11978,0.50,146.1,980.5,12.5,564,11982,0.00,2.50,0.00,0.000,6,0.000,0.050,1794,3278,1864,0,0,0,0,0,0
$GC,12308,0.50,146.1,926.6,16.6,575,12313,0.00,1.10,0.00,0.000,4,0.000,0.057,1794,3943,1857,0,0,0,0,0,0
$GC,12387,0.50,146.1,911.9,18.1,577,12390,0.00,1.05,0.00,0.000,6,0.000,0.033,1799,3261,1856,0,0,0,0,0,0
$GC,12716,0.50,146.1,856.9,16.4,588,12722,0.00,1.12,0.00,0.000,4,0.000,0.057,1799,3951,1855,0,0,0,0,0,0
$GC,12773,0.50,146.1,846.6,17.0,589,12777,0.00,1.02,0.00,0.000,6,0.000,0.033,1804,3275,1854,0,0,0,0,0,0
$GC,13093,0.50,146.1,792.7,16.8,600,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3274,1854,0,0,0,0,0,0
$GC,13398,0.50,146.1,741.5,16.5,610,13403,0.00,1.10,0.00,0.000,4,0.000,0.058,1804,3952,1853,0,0,0,0,0,0
$GC,13511,0.50,146.1,720.6,18.8,613,13514,0.00,1.02,0.00,0.000,6,0.000,0.032,1809,3271,1853,0,0,0,0,0,0
$GC,13841,0.50,146.1,664.4,17.1,624,13844,0.00,1.10,0.00,0.000,4,0.000,0.057,1809,3951,1852,0,0,0,0,0,0
$GC,13918,0.50,146.1,650.0,18.8,626,13922,0.00,1.00,0.00,0.000,6,0.000,0.032,1815,3282,1852,0,0,0,0,0,0
$GC,14248,0.50,146.1,594.7,16.4,637,14252,0.00,1.08,0.00,0.000,4,0.000,0.057,1815,3949,1852,0,0,0,0,0,0
$GC,14292,0.50,146.1,586.6,17.4,638,14296,0.00,1.00,0.00,0.000,6,0.000,0.031,1819,3278,1852,0,0,0,0,0,0
$GC,14622,0.50,146.1,532.3,16.7,649,14627,0.00,1.10,0.00,0.000,4,0.000,0.056,1819,3959,1851,0,0,0,0,0,0
$GC,14695,0.50,146.1,518.5,18.5,651,14699,0.10,1.00,0.00,0.000,6,0.167,0.031,1796,3288,1850,0,0,0,0,0,0
$GC,15030,0.50,146.1,470.3,14.2,662,15036,0.00,1.08,0.00,0.000,4,0.000,0.057,1796,3954,1850,0,0,0,0,0,0
$GC,15087,0.50,146.1,461.4,15.0,663,15091,0.00,1.00,0.00,0.000,6,0.000,0.032,1799,3284,1849,0,0,0,0,0,0
$GC,15406,0.50,146.1,415.3,14.3,674,15410,0.00,1.08,0.00,0.000,4,0.000,0.057,1799,3951,1849,0,0,0,0,0,0
$GC,15501,0.50,146.1,399.9,16.4,676,15508,0.00,1.00,0.00,0.000,6,0.000,0.031,1804,3278,1849,0,0,0,0,0,0
$GC,15819,0.50,146.1,352.9,14.5,692,15820,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3278,1849,0,0,0,0,0,0
$GC,16128,0.50,146.1,308.6,14.3,707,16134,0.00,1.08,0.00,0.000,4,0.000,0.055,1804,3947,1849,0,0,0,0,0,0
$GC,16297,0.50,146.1,282.0,15.4,714,16301,0.00,1.00,0.00,0.000,6,0.000,0.031,1809,3274,1850,0,0,0,0,0,0
$GC,16617,0.50,146.1,234.9,14.3,731,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3274,1849,0,0,0,0,0,0
$GC,16929,0.50,146.1,191.0,14.0,751,16935,0.00,1.10,0.00,0.000,4,0.000,0.054,1809,3957,1849,0,0,0,0,0,0
$GC,17059,0.50,146.1,170.9,14.8,758,17062,0.00,1.00,0.00,0.000,6,0.000,0.031,1814,3282,1849,0,0,0,0,0,0
$GC,17387,0.50,146.1,124.1,14.4,779,17391,0.00,1.08,0.00,0.000,4,0.000,0.055,1814,3952,1849,0,0,0,0,0,0
$GC,17482,0.50,146.1,107.8,15.7,784,17493,0.08,1.00,0.00,0.000,6,0.169,0.029,1797,3273,1849,0,0,0,0,0,0
$GC,17829,0.50,146.1,63.6,12.4,837,17835,0.00,1.10,0.00,0.000,4,0.000,0.055,1797,3953,1849,0,0,0,0,0,0
$GC,17893,0.50,146.1,55.6,12.6,848,17901,0.00,1.00,0.00,0.000,6,0.000,0.031,1800,3279,1849,0,0,0,0,0,0
$GC,18151,0.50,146.1,26.8,11.2,889,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3279,1849,0,0,0,0,0,0
$GC,18242,0.50,146.1,16.8,10.9,902,18250,0.00,2.15,0.00,0.000,4,0.000,0.028,1811,1861,1849,0,0,0,0,0,0
$GC,18286,0.50,146.1,12.5,9.2,908,18297,0.00,2.30,0.00,0.000,6,0.000,0.048,1811,3282,1849,0,0,0,0,0,0
$STATE,18369,end climb,SURFACE_DEPTH_REACHED
$STATE,18370,begin surface coast
$FINISH,1.4,1.025481
$STATE,18396,end surface coast,CONTROL_FINISHED_OK
$STATE,18396,begin surface
$SM_CCo,18412,40.03,0.689,1,0,1533,230.09
$SM_GC,2.30,0.00,0.00,40.03,0.000,0.000,0.689,55,3409,1533,-4.92,0.25,230.09
$IRIDIUM_FIX,-4201.18,900.48,050213,010136
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.4,53.231
$10V_AH,10.0,35.943
$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,11.800,52.425,297.450,40.025,0.000,26.034,21.529,365.158,0.000,0.000,22.229,2289.880,12714.521,405.811,2664.745,985.194,33.372,1401.496,0.000,2497.170,0.000,1.014,0.000
$DEVICE_MAMPS,226.440,95.625,1253.835,688.500,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.258,2008.223,907.004,411.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,67068,924
$CAP_FILE_SIZE,135189,0
$CFSIZE,259252224,237666304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050213,115104,-4218.708,859.946,33,0.8,33,-25.1