version: 66.07
glider: 543
mission: 6
dive: 194
start: 1 10 113 11 49 3
data:
$ID,543
$MISSION,6
$DIVE,194
$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,250
$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,-8394.6895
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,28
$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
$GPS1,100113,113853,-4151.030,858.288,40,1.1,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.8
$GPS2,100113,114805,-4151.030,858.271,17,1.5,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.232,-0.076
$KALMAN_X,-123809.0,355.3,535.8,200186.3,-5914.1
$KALMAN_Y,5494.4,-274.7,-243.7,67282.6,4305.3
$MHEAD_RNG_PITCHd_Wd,133.3,16782,-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,-0.49,-146.1,0.0,0.0,0,71,0.00,0.00,-49.17,0.000,2,0.000,0.000,44,3391,2643,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-2.9,6,104,5.72,0.90,-12.77,0.000,4,0.223,0.088,1467,3935,3071,0,0,0,0,0,0
$GC,389,-0.49,-146.1,41.8,-12.3,54,397,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3382,3074,0,0,0,0,0,0
$GC,635,-0.49,-146.1,72.3,-12.1,95,642,0.00,0.90,0.00,0.000,4,0.000,0.059,1463,3939,3075,0,0,0,0,0,0
$GC,686,-0.49,-146.1,77.8,-11.3,103,690,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3381,3075,0,0,0,0,0,0
$GC,1033,-0.49,-146.1,112.4,-10.2,149,1036,0.00,0.90,0.00,0.000,4,0.000,0.059,1459,3943,3076,0,0,0,0,0,0
$GC,1143,-0.49,-146.1,123.8,-10.8,155,1146,0.00,0.85,0.00,0.000,6,0.000,0.035,1459,3379,3076,0,0,0,0,0,0
$GC,1473,-0.49,-146.1,159.1,-10.5,176,1477,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3942,3076,0,0,0,0,0,0
$GC,1564,-0.49,-146.1,168.4,-11.2,181,1567,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3378,3077,0,0,0,0,0,0
$GC,1895,-0.49,-146.1,204.2,-10.9,202,1898,0.00,0.90,0.00,0.000,4,0.000,0.059,1450,3941,3077,0,0,0,0,0,0
$GC,2055,-0.49,-146.1,222.3,-11.8,211,2058,0.00,0.85,0.00,0.000,6,0.000,0.035,1450,3377,3077,0,0,0,0,0,0
$GC,2392,-0.49,-146.1,261.0,-11.4,231,2397,0.00,0.90,0.00,0.000,4,0.000,0.058,1446,3944,3077,0,0,0,0,0,0
$GC,2467,-0.49,-146.1,270.6,-11.6,234,2473,0.08,0.85,0.00,0.000,6,0.144,0.034,1470,3380,3077,0,0,0,0,0,0
$GC,2797,-0.49,-146.1,300.7,-9.0,250,2801,0.00,0.93,0.00,0.000,4,0.000,0.061,1467,3943,3077,0,0,0,0,0,0
$GC,2905,-0.49,-146.1,311.7,-9.5,254,2916,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3378,3077,0,0,0,0,0,0
$GC,3223,-0.49,-146.1,341.7,-9.6,270,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3379,3077,0,0,0,0,0,0
$GC,3533,-0.49,-146.1,369.9,-8.9,285,3539,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3941,3077,0,0,0,0,0,0
$GC,3720,-0.49,-146.1,388.2,-9.2,293,3724,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3377,3077,0,0,0,0,0,0
$GC,4052,-0.49,-146.1,418.1,-9.0,306,4055,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3939,3077,0,0,0,0,0,0
$GC,4121,-0.49,-146.1,424.7,-9.4,308,4125,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3376,3077,0,0,0,0,0,0
$GC,4462,-0.49,-146.1,457.2,-9.5,319,4466,0.00,0.90,0.00,0.000,4,0.000,0.060,1455,3939,3077,0,0,0,0,0,0
$GC,4571,-0.49,-146.1,467.9,-9.7,322,4574,0.00,0.85,0.00,0.000,6,0.000,0.036,1455,3375,3076,0,0,0,0,0,0
$GC,4906,-0.49,-146.1,500.1,-9.6,333,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3374,3076,0,0,0,0,0,0
$GC,5214,-0.49,-146.1,528.7,-9.1,343,5217,0.00,0.90,0.00,0.000,4,0.000,0.060,1451,3938,3075,0,0,0,0,0,0
$GC,5425,-0.49,-146.1,550.2,-9.7,349,5431,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3375,3075,0,0,0,0,0,0
$GC,5756,-0.49,-146.1,580.6,-9.2,360,5762,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3937,3074,0,0,0,0,0,0
$GC,5885,-0.49,-146.1,593.5,-9.6,363,5893,0.08,0.85,0.00,0.000,6,0.144,0.037,1470,3378,3074,0,0,0,0,0,0
$GC,6199,-0.49,-146.1,617.8,-7.9,374,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3378,3074,0,0,0,0,0,0
$GC,6506,-0.49,-146.1,642.8,-8.4,384,6510,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3937,3073,0,0,0,0,0,0
$GC,6713,-0.49,-146.1,662.6,-9.3,390,6717,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3378,3073,0,0,0,0,0,0
$GC,7048,-0.49,-146.1,693.8,-9.4,401,7054,0.00,0.90,0.00,0.000,4,0.000,0.062,1463,3937,3071,0,0,0,0,0,0
$GC,7155,-0.49,-146.1,704.6,-10.2,404,7159,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3377,3071,0,0,0,0,0,0
$GC,7491,-0.49,-146.1,736.1,-9.2,415,7495,0.00,0.90,0.00,0.000,4,0.000,0.061,1459,3938,3071,0,0,0,0,0,0
$GC,7644,-0.49,-146.1,751.2,-9.8,419,7649,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3379,3070,0,0,0,0,0,0
$GC,7969,-0.49,-146.1,781.3,-9.1,430,7975,0.00,0.90,0.00,0.000,4,0.000,0.062,1455,3939,3070,0,0,0,0,0,0
$GC,8076,-0.49,-146.1,791.7,-9.4,433,8080,0.00,0.85,0.00,0.000,6,0.000,0.038,1455,3381,3070,0,0,0,0,0,0
$GC,8412,-0.49,-146.1,819.4,-7.9,444,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3381,3069,0,0,0,0,0,0
$GC,8720,-0.49,-146.1,843.5,-8.1,454,8724,0.00,0.90,0.00,0.000,4,0.000,0.063,1451,3938,3068,0,0,0,0,0,0
$GC,8931,-0.49,-146.1,863.1,-8.8,460,8937,0.00,0.85,0.00,0.000,6,0.000,0.038,1451,3377,3068,0,0,0,0,0,0
$GC,9263,-0.49,-146.1,891.4,-8.7,471,9268,0.00,0.90,0.00,0.000,4,0.000,0.062,1446,3936,3068,0,0,0,0,0,0
$GC,9370,-0.49,-146.1,902.2,-10.4,474,9374,0.08,0.85,0.00,0.000,6,0.142,0.038,1471,3382,3067,0,0,0,0,0,0
$GC,9706,-0.49,-146.1,927.7,-7.6,485,9709,0.00,0.90,0.00,0.000,4,0.000,0.063,1468,3942,3067,0,0,0,0,0,0
$GC,9879,-0.49,-146.1,941.2,-8.0,490,9882,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3383,3067,0,0,0,0,0,0
$GC,10221,-0.49,-146.1,966.7,-7.3,501,10224,0.00,0.90,0.00,0.000,4,0.000,0.063,1464,3939,3066,0,0,0,0,0,0
$GC,10337,-0.49,-146.1,976.4,-8.9,504,10341,0.00,0.85,0.00,0.000,6,0.000,0.040,1463,3384,3066,0,0,0,0,0,0
$STATE,10660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10660,begin apogee
$GC,10668,-0.14,0.0,1000.6,7.5,515,10819,0.40,0.00,148.50,1.201,6,0.131,0.000,1585,3271,2473,0,0,0,0,0,0
$STATE,10821,end apogee,CONTROL_FINISHED_OK
$STATE,10821,begin climb
$GC,10823,0.49,146.1,1003.8,0.0,520,10983,0.57,2.42,149.43,1.187,4,0.083,0.031,1791,1845,1870,0,0,0,0,0,0
$GC,11067,0.49,146.1,977.4,11.1,527,11072,0.00,2.45,0.00,0.000,6,0.000,0.052,1791,3262,1860,0,0,0,0,0,0
$GC,11386,0.49,146.1,931.2,14.8,538,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3262,1854,0,0,0,0,0,0
$GC,11693,0.49,146.1,888.2,14.0,548,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3262,1852,0,0,0,0,0,0
$GC,12000,0.49,146.1,845.8,13.8,558,12004,0.00,2.17,0.00,0.000,4,0.000,0.034,1802,1850,1851,0,0,0,0,0,0
$GC,12032,0.49,146.1,841.4,12.0,559,12036,0.00,2.33,0.00,0.000,6,0.000,0.054,1802,3275,1850,0,0,0,0,0,0
$GC,12362,0.49,146.1,794.6,14.7,570,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3275,1850,0,0,0,0,0,0
$GC,12669,0.49,146.1,748.8,15.2,580,12673,0.00,2.17,0.00,0.000,4,0.000,0.034,1813,1843,1849,0,0,0,0,0,0
$GC,12724,0.49,146.1,741.0,12.9,581,12731,0.00,2.30,0.00,0.000,6,0.000,0.054,1813,3271,1848,0,0,0,0,0,0
$GC,13037,0.49,146.1,690.4,16.4,592,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3271,1848,0,0,0,0,0,0
$GC,13345,0.49,146.1,641.4,15.6,602,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3271,1848,0,0,0,0,0,0
$GC,13650,0.49,146.1,593.8,15.4,612,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3271,1848,0,0,0,0,0,0
$GC,13956,0.49,146.1,547.4,15.1,622,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3271,1848,0,0,0,0,0,0
$GC,14264,0.49,146.1,502.4,14.5,632,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3271,1847,0,0,0,0,0,0
$GC,14568,0.49,146.1,458.0,14.4,642,14574,0.00,2.17,0.00,0.000,4,0.000,0.031,1824,1847,1847,0,0,0,0,0,0
$GC,14638,0.49,146.1,449.7,12.1,644,14643,0.12,2.30,0.00,0.000,6,0.173,0.051,1794,3280,1847,0,0,0,0,0,0
$GC,14974,0.49,146.1,408.3,12.3,655,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3281,1847,0,0,0,0,0,0
$GC,15295,0.49,146.1,369.1,12.1,669,15300,0.00,2.20,0.00,0.000,4,0.000,0.032,1803,1845,1847,0,0,0,0,0,0
$GC,15328,0.49,146.1,365.0,9.7,670,15333,0.00,2.30,0.00,0.000,6,0.000,0.051,1803,3280,1847,0,0,0,0,0,0
$GC,15647,0.49,146.1,322.2,14.0,685,15653,0.00,2.20,0.00,0.000,4,0.000,0.031,1814,1840,1846,0,0,0,0,0,0
$GC,15698,0.49,146.1,316.2,11.3,687,15702,0.00,2.30,0.00,0.000,6,0.000,0.051,1814,3274,1846,0,0,0,0,0,0
$GC,16027,0.49,146.1,268.2,15.0,703,16028,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3274,1846,0,0,0,0,0,0
$GC,16340,0.49,146.1,222.2,14.9,721,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3274,1846,0,0,0,0,0,0
$GC,16652,0.49,146.1,177.6,14.3,741,16653,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3274,1846,0,0,0,0,0,0
$GC,16965,0.49,146.1,131.9,14.7,761,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3274,1846,0,0,0,0,0,0
$GC,17292,0.49,146.1,84.5,13.9,793,17297,0.00,2.15,0.00,0.000,4,0.000,0.031,1825,1842,1846,0,0,0,0,0,0
$GC,17368,0.49,146.1,74.9,10.7,805,17373,0.12,2.28,0.00,0.000,6,0.163,0.050,1794,3271,1847,0,0,0,0,0,0
$GC,17731,0.49,146.1,34.2,11.5,866,17739,0.00,1.08,0.00,0.000,4,0.000,0.055,1794,3947,1846,0,0,0,0,0,0
$GC,17776,0.49,146.1,29.1,12.2,872,17787,0.00,1.02,0.00,0.000,6,0.000,0.032,1797,3252,1847,0,0,0,0,0,0
$GC,17871,0.49,146.1,18.5,10.9,885,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3253,1847,0,0,0,0,0,0
$GC,17959,0.49,146.1,8.3,10.5,898,17968,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3253,1846,0,0,0,0,0,0
$STATE,18004,end climb,SURFACE_DEPTH_REACHED
$STATE,18004,begin surface coast
$FINISH,1.3,1.025896
$STATE,18037,end surface coast,CONTROL_FINISHED_OK
$STATE,18037,begin surface
$SM_CCo,18053,49.40,0.688,1,0,1451,250.20
$SM_GC,2.02,0.00,0.00,49.40,0.000,0.000,0.688,54,3394,1451,-4.94,0.40,250.20
$IRIDIUM_FIX,-4132.26,859.26,100113,060607
$TT8_MAMPS,0.025466
$HUMID,55.07
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.8,35.197
$10V_AH,10.1,20.818
$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,11.775,69.250,297.925,49.400,0.000,27.474,43.243,299.843,0.000,0.000,19.786,2335.232,11960.737,418.818,2944.729,996.335,33.375,1553.795,0.000,2782.156,0.000,1.013,0.000
$DEVICE_MAMPS,223.380,87.975,1201.050,687.735,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.386,1991.992,918.529,421.195,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,67027,909
$CAP_FILE_SIZE,143802,0
$CFSIZE,259252224,246251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,100113,165204,-4151.400,900.259,31,0.8,31,-25.1