version: 66.07
glider: 543
mission: 6
dive: 195
start: 1 10 113 17 2 33
data:
$ID,543
$MISSION,6
$DIVE,195
$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,-8397.0693
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,100113,165204,-4151.400,900.259,31,0.8,31,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.9
$GPS2,100113,170135,-4151.397,900.299,16,0.9,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.207,-0.126
$KALMAN_X,-126027.2,472.8,102.1,205497.7,-4943.3
$KALMAN_Y,6683.2,-479.6,-329.6,65705.7,4062.7
$MHEAD_RNG_PITCHd_Wd,146.5,15938,-14.8,-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,-144.5,0.0,0.0,0,64,0.00,0.00,-41.55,0.000,2,0.000,0.000,53,3394,2453,0,0,0,0,0,0
$GC,68,-0.49,-146.1,3.0,-3.3,5,104,5.75,0.90,-22.05,0.000,4,0.227,0.090,1465,3938,3070,0,0,0,0,0,0
$GC,200,-0.49,-146.1,14.9,-13.4,23,211,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3391,3073,0,0,0,0,0,0
$GC,291,-0.49,-146.1,27.0,-12.3,36,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3391,3073,0,0,0,0,0,0
$GC,380,-0.49,-146.1,37.8,-12.2,49,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3391,3074,0,0,0,0,0,0
$GC,628,-0.49,-146.1,68.8,-12.0,90,638,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3934,3074,0,0,0,0,0,0
$GC,873,-0.49,-146.1,98.1,-10.3,131,879,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3379,3074,0,0,0,0,0,0
$GC,1205,-0.49,-146.1,131.5,-9.8,154,1208,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3937,3075,0,0,0,0,0,0
$GC,1287,-0.49,-146.1,140.2,-9.9,158,1294,0.00,0.85,0.00,0.000,6,0.000,0.037,1457,3378,3075,0,0,0,0,0,0
$GC,1610,-0.49,-146.1,172.7,-10.2,179,1613,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3941,3075,0,0,0,0,0,0
$GC,1751,-0.49,-146.1,188.4,-11.1,187,1755,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3378,3075,0,0,0,0,0,0
$GC,2082,-0.49,-146.1,224.4,-10.6,208,2086,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3941,3075,0,0,0,0,0,0
$GC,2187,-0.49,-146.1,236.6,-11.5,214,2191,0.00,0.85,0.00,0.000,6,0.000,0.035,1449,3381,3075,0,0,0,0,0,0
$GC,2512,-0.49,-146.1,270.8,-10.4,232,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3380,3075,0,0,0,0,0,0
$GC,2822,-0.49,-146.1,303.1,-10.4,247,2828,0.00,0.93,0.00,0.000,4,0.000,0.060,1444,3947,3075,0,0,0,0,0,0
$GC,2965,-0.49,-146.1,318.7,-11.5,253,2969,0.08,0.85,0.00,0.000,6,0.141,0.036,1469,3383,3075,0,0,0,0,0,0
$GC,3300,-0.49,-146.1,347.6,-8.7,269,3306,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3947,3076,0,0,0,0,0,0
$GC,3372,-0.49,-146.1,354.3,-8.8,272,3377,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3382,3075,0,0,0,0,0,0
$GC,3707,-0.49,-146.1,384.3,-8.7,288,3711,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3929,3075,0,0,0,0,0,0
$GC,3779,-0.49,-146.1,390.9,-9.7,291,3783,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3383,3075,0,0,0,0,0,0
$GC,4100,-0.49,-146.1,421.0,-9.4,303,4106,0.00,0.90,0.00,0.000,4,0.000,0.059,1458,3947,3075,0,0,0,0,0,0
$GC,4157,-0.49,-146.1,426.9,-10.2,304,4160,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3384,3075,0,0,0,0,0,0
$GC,4477,-0.49,-146.1,456.8,-9.4,315,4481,0.00,0.88,0.00,0.000,4,0.000,0.060,1454,3931,3075,0,0,0,0,0,0
$GC,4537,-0.49,-146.1,463.0,-9.7,316,4544,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3383,3075,0,0,0,0,0,0
$GC,4851,-0.49,-146.1,492.9,-9.7,327,4854,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3930,3075,0,0,0,0,0,0
$GC,4946,-0.49,-146.1,503.4,-11.0,329,4953,0.08,0.82,0.00,0.000,6,0.142,0.036,1474,3386,3075,0,0,0,0,0,0
$GC,5259,-0.49,-146.1,532.3,-9.4,340,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3386,3074,0,0,0,0,0,0
$GC,5567,-0.49,-146.1,560.2,-8.8,350,5570,0.00,0.88,0.00,0.000,4,0.000,0.060,1471,3931,3074,0,0,0,0,0,0
$GC,5711,-0.49,-146.1,574.2,-9.1,354,5715,0.00,0.85,0.00,0.000,6,0.000,0.037,1471,3372,3074,0,0,0,0,0,0
$GC,6042,-0.49,-146.1,602.3,-8.6,365,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3371,3073,0,0,0,0,0,0
$GC,6348,-0.49,-146.1,628.6,-8.6,375,6352,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3935,3072,0,0,0,0,0,0
$GC,6527,-0.49,-146.1,644.5,-9.1,380,6531,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3373,3072,0,0,0,0,0,0
$GC,6857,-0.49,-146.1,671.2,-7.9,391,6861,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3937,3071,0,0,0,0,0,0
$GC,6964,-0.49,-146.1,680.5,-8.4,394,6967,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3374,3071,0,0,0,0,0,0
$GC,7303,-0.49,-146.1,707.0,-7.9,405,7306,0.00,0.90,0.00,0.000,4,0.000,0.061,1458,3935,3071,0,0,0,0,0,0
$GC,7381,-0.49,-146.1,714.1,-8.5,407,7386,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3375,3071,0,0,0,0,0,0
$GC,7712,-0.49,-146.1,741.1,-8.3,418,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3375,3069,0,0,0,0,0,0
$GC,8018,-0.49,-146.1,767.3,-8.6,428,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3375,3069,0,0,0,0,0,0
$GC,8326,-0.49,-146.1,793.6,-8.7,438,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3375,3068,0,0,0,0,0,0
$GC,8630,-0.49,-146.1,820.5,-8.7,448,8636,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3935,3068,0,0,0,0,0,0
$GC,8700,-0.49,-146.1,827.2,-9.5,450,8703,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3376,3068,0,0,0,0,0,0
$GC,9041,-0.49,-146.1,857.7,-8.5,461,9047,0.00,2.15,0.00,0.000,4,0.000,0.032,1454,1954,3066,0,0,0,0,0,0
$GC,9103,-0.49,-146.1,862.6,-7.4,462,9111,0.12,2.28,0.00,0.000,6,0.154,0.056,1476,3372,3066,0,0,0,0,0,0
$GC,9417,-0.49,-146.1,884.8,-7.1,473,9421,0.00,2.12,0.00,0.000,4,0.000,0.032,1476,1955,3065,0,0,0,0,0,0
$GC,9467,-0.49,-146.1,888.4,-7.2,474,9471,0.00,2.30,0.00,0.000,6,0.000,0.056,1467,3378,3066,0,0,0,0,0,0
$GC,9781,-0.49,-146.1,910.2,-7.0,484,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3377,3065,0,0,0,0,0,0
$GC,10089,-0.49,-146.1,930.7,-6.7,494,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3377,3065,0,0,0,0,0,0
$GC,10393,-0.49,-146.1,951.4,-6.8,504,10399,0.00,2.15,0.00,0.000,4,0.000,0.032,1467,1955,3064,0,0,0,0,0,0
$GC,10467,-0.49,-146.1,956.6,-6.4,506,10471,0.00,2.30,0.00,0.000,6,0.000,0.056,1456,3382,3063,0,0,0,0,0,0
$GC,10797,-0.49,-146.1,981.4,-7.9,517,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3382,3063,0,0,0,0,0,0
$STATE,11039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11039,begin apogee
$GC,11046,-0.14,0.0,1000.8,7.9,525,11194,0.43,0.00,139.77,1.821,6,0.132,0.000,1585,3275,2473,0,0,0,0,1,0
$STATE,11196,end apogee,CONTROL_FINISHED_OK
$STATE,11196,begin climb
$GC,11199,0.49,146.1,1004.8,0.0,530,11356,0.65,0.00,149.57,1.782,6,0.079,0.000,1792,3275,1878,0,0,0,0,1,0
$GC,11648,0.49,146.1,946.8,14.6,545,11652,0.00,1.15,0.00,0.000,4,0.000,0.059,1792,3950,1868,0,0,0,0,0,0
$GC,11710,0.49,146.1,936.7,16.8,546,11719,0.00,1.08,0.00,0.000,6,0.000,0.033,1797,3261,1867,0,0,0,0,0,0
$GC,12023,0.49,146.1,887.1,16.1,557,12029,0.00,1.12,0.00,0.000,4,0.000,0.058,1797,3943,1865,0,0,0,0,0,0
$GC,12076,0.49,146.1,877.9,17.5,558,12080,0.00,1.02,0.00,0.000,6,0.000,0.035,1802,3274,1865,0,0,0,0,0,0
$GC,12401,0.49,146.1,823.5,16.7,569,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3274,1864,0,0,0,0,0,0
$GC,12707,0.49,146.1,774.1,15.9,579,12712,0.00,2.20,0.00,0.000,4,0.000,0.034,1813,1858,1863,0,0,0,0,0,0
$GC,12743,0.49,146.1,768.9,13.3,580,12747,0.00,2.30,0.00,0.000,6,0.000,0.054,1813,3277,1861,0,0,0,0,0,0
$GC,13078,0.49,146.1,715.9,15.6,591,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3277,1861,0,0,0,0,0,0
$GC,13384,0.49,146.1,670.4,14.5,601,13386,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3277,1861,0,0,0,0,0,0
$GC,13691,0.49,146.1,625.4,14.8,611,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3277,1860,0,0,0,0,0,0
$GC,13996,0.49,146.1,578.5,15.8,621,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3277,1860,0,0,0,0,0,0
$GC,14303,0.49,146.1,529.7,15.9,631,14306,0.00,1.08,0.00,0.000,4,0.000,0.057,1813,3948,1860,0,0,0,0,0,0
$GC,14342,0.49,146.1,522.8,16.5,632,14345,0.00,1.02,0.00,0.000,6,0.000,0.033,1818,3261,1859,0,0,0,0,0,0
$GC,14677,0.49,146.1,469.3,16.0,643,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3261,1859,0,0,0,0,0,0
$GC,14983,0.49,146.1,422.0,15.5,653,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3261,1859,0,0,0,0,0,0
$GC,15302,0.49,146.1,371.8,15.6,666,15303,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3261,1859,0,0,0,0,0,0
$GC,15612,0.49,146.1,322.3,16.1,681,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3261,1859,0,0,0,0,0,0
$GC,15921,0.49,146.1,273.5,15.5,696,15922,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3261,1859,0,0,0,0,0,0
$GC,16243,0.49,146.1,224.9,15.1,714,16246,0.00,1.10,0.00,0.000,4,0.000,0.055,1818,3945,1859,0,0,0,0,0,0
$GC,16289,0.49,146.1,216.7,17.1,716,16297,0.00,1.00,0.00,0.000,6,0.000,0.032,1823,3272,1859,0,0,0,0,0,0
$GC,16611,0.49,146.1,165.6,15.9,737,16612,0.12,0.00,0.00,0.000,6,0.188,0.000,1794,3272,1859,0,0,0,0,0,0
$GC,16923,0.49,146.1,123.1,13.9,757,16924,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3272,1859,0,0,0,0,0,0
$GC,17253,0.49,146.1,80.6,13.2,793,17257,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3272,1859,0,0,0,0,0,0
$GC,17614,0.49,146.1,41.2,10.6,854,17623,0.00,1.08,0.00,0.000,4,0.000,0.055,1793,3947,1859,0,0,0,0,0,0
$GC,17679,0.49,146.1,33.0,12.9,864,17688,0.00,1.00,0.00,0.000,6,0.000,0.032,1797,3270,1859,0,0,0,0,0,0
$STATE,17936,end climb,SURFACE_DEPTH_REACHED
$STATE,17937,begin surface coast
$FINISH,1.2,1.012999
$STATE,17970,end surface coast,CONTROL_FINISHED_OK
$STATE,17970,begin surface
$SM_CCo,17986,48.78,0.707,1,0,1449,250.20
$SM_GC,1.99,0.00,0.00,48.78,0.000,0.000,0.707,53,3400,1449,-4.94,0.57,250.20
$IRIDIUM_FIX,-4135.14,856.86,100113,111121
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.3,35.375
$10V_AH,10.1,20.946
$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,11.850,56.625,289.350,48.775,0.000,25.703,45.584,316.744,0.000,0.000,19.118,2273.725,12190.815,465.637,2696.128,981.128,33.369,1462.896,0.000,2576.912,0.000,1.012,0.000
$DEVICE_MAMPS,227.205,89.505,1820.700,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.124,2006.959,924.605,431.056,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,67094,909
$CAP_FILE_SIZE,134088,0
$CFSIZE,259252224,246190080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,100113,220435,-4152.052,902.299,39,0.9,39,-25.1