version: 66.07
glider: 543
mission: 6
dive: 197
start: 1 11 113 3 25 34
data:
$ID,543
$MISSION,6
$DIVE,197
$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,-8401.75
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,110113,031504,-4153.479,900.958,34,0.9,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-53.6
$GPS2,110113,032436,-4153.466,900.885,17,0.9,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.106
$KALMAN_X,-130551.5,350.8,154.8,210889.9,-5102.2
$KALMAN_Y,10703.8,25.3,-108.8,57114.5,4171.5
$MHEAD_RNG_PITCHd_Wd,140.9,12161,-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,-145.8,0.0,0.0,0,71,0.00,0.00,-49.17,0.000,2,0.000,0.000,46,3387,2632,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.4,-3.5,6,104,5.80,2.22,-12.95,0.000,4,0.228,0.044,1468,1963,3071,0,0,0,0,0,0
$GC,185,-0.49,-146.1,13.2,-9.1,21,193,0.00,2.35,0.00,0.000,6,0.000,0.058,1459,3371,3072,0,0,0,0,0,0
$GC,274,-0.49,-146.1,24.0,-14.2,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3371,3073,0,0,0,0,0,0
$GC,361,-0.49,-146.1,35.7,-13.1,47,369,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3945,3073,0,0,0,0,0,0
$GC,498,-0.49,-146.1,56.0,-15.1,69,506,0.00,0.88,0.00,0.000,6,0.000,0.035,1455,3370,3074,0,0,0,0,0,0
$GC,736,-0.49,-146.1,88.1,-11.4,110,742,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3370,3074,0,0,0,0,0,0
$GC,1071,-0.49,-146.1,123.3,-10.5,143,1077,0.00,0.93,0.00,0.000,4,0.000,0.059,1450,3950,3075,0,0,0,0,0,0
$GC,1189,-0.49,-146.1,136.9,-10.6,149,1196,0.00,0.85,0.00,0.000,6,0.000,0.034,1450,3384,3075,0,0,0,0,0,0
$GC,1509,-0.49,-146.1,171.5,-11.0,170,1513,0.00,0.90,0.00,0.000,4,0.000,0.059,1446,3950,3075,0,0,0,0,0,0
$GC,1580,-0.49,-146.1,180.1,-12.1,174,1585,0.08,0.88,0.00,0.000,6,0.142,0.035,1470,3372,3075,0,0,0,0,0,0
$GC,1911,-0.49,-146.1,211.3,-9.3,195,1914,0.00,0.93,0.00,0.000,4,0.000,0.059,1467,3952,3076,0,0,0,0,0,0
$GC,2033,-0.49,-146.1,224.1,-10.1,202,2037,0.00,0.88,0.00,0.000,6,0.000,0.035,1467,3371,3075,0,0,0,0,0,0
$GC,2354,-0.49,-146.1,254.5,-9.5,222,2357,0.00,0.93,0.00,0.000,4,0.000,0.059,1463,3951,3076,0,0,0,0,0,0
$GC,2472,-0.49,-146.1,266.2,-10.1,227,2476,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3387,3075,0,0,0,0,0,0
$GC,2808,-0.49,-146.1,298.7,-9.7,243,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3387,3075,0,0,0,0,0,0
$GC,3116,-0.49,-146.1,328.4,-9.5,258,3120,0.00,0.90,0.00,0.000,4,0.000,0.059,1458,3949,3076,0,0,0,0,0,0
$GC,3307,-0.49,-146.1,347.9,-10.0,266,3310,0.00,0.88,0.00,0.000,6,0.000,0.035,1459,3369,3075,0,0,0,0,0,0
$GC,3635,-0.49,-146.1,378.0,-9.2,282,3639,0.00,0.93,0.00,0.000,4,0.000,0.059,1454,3949,3075,0,0,0,0,0,0
$GC,3737,-0.49,-146.1,388.4,-9.8,286,3741,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3384,3075,0,0,0,0,0,0
$GC,4058,-0.49,-146.1,418.6,-9.7,299,4061,0.00,0.90,0.00,0.000,4,0.000,0.059,1450,3951,3075,0,0,0,0,0,0
$GC,4164,-0.49,-146.1,429.9,-10.5,302,4168,0.00,0.85,0.00,0.000,6,0.000,0.036,1450,3385,3075,0,0,0,0,0,0
$GC,4499,-0.49,-146.1,464.7,-10.8,313,4505,0.00,0.90,0.00,0.000,4,0.000,0.059,1446,3951,3075,0,0,0,0,0,0
$GC,4572,-0.49,-146.1,473.4,-10.9,315,4577,0.08,0.85,0.00,0.000,6,0.141,0.036,1470,3387,3075,0,0,0,0,0,0
$GC,4908,-0.49,-146.1,503.7,-8.9,326,4913,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3953,3075,0,0,0,0,0,0
$GC,4992,-0.49,-146.1,512.0,-9.7,328,4996,0.00,0.88,0.00,0.000,6,0.000,0.036,1467,3371,3075,0,0,0,0,0,0
$GC,5317,-0.49,-146.1,541.2,-8.9,339,5321,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3951,3074,0,0,0,0,0,0
$GC,5412,-0.49,-146.1,550.5,-9.1,341,5419,0.00,0.85,0.00,0.000,6,0.000,0.035,1463,3385,3074,0,0,0,0,0,0
$GC,5725,-0.49,-146.1,578.4,-8.8,352,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3384,3074,0,0,0,0,0,0
$GC,6033,-0.49,-146.1,604.6,-8.7,362,6036,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3948,3073,0,0,0,0,0,0
$GC,6191,-0.49,-146.1,619.3,-9.7,366,6194,0.00,0.88,0.00,0.000,6,0.000,0.037,1459,3369,3073,0,0,0,0,0,0
$GC,6509,-0.49,-146.1,647.1,-8.9,377,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3369,3072,0,0,0,0,0,0
$GC,6816,-0.49,-146.1,674.9,-9.1,387,6819,0.00,0.93,0.00,0.000,4,0.000,0.061,1455,3949,3071,0,0,0,0,0,0
$GC,6927,-0.49,-146.1,686.1,-9.5,390,6933,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3384,3071,0,0,0,0,0,0
$GC,7260,-0.49,-146.1,717.7,-9.7,401,7264,0.00,0.90,0.00,0.000,4,0.000,0.061,1451,3947,3071,0,0,0,0,0,0
$GC,7389,-0.49,-146.1,731.6,-11.0,404,7397,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3384,3070,0,0,0,0,0,0
$GC,7702,-0.49,-146.1,762.4,-9.9,415,7706,0.00,0.90,0.00,0.000,4,0.000,0.061,1446,3948,3070,0,0,0,0,0,0
$GC,7777,-0.49,-146.1,770.1,-10.1,417,7781,0.08,0.88,0.00,0.000,6,0.140,0.037,1471,3372,3070,0,0,0,0,0,0
$GC,8112,-0.49,-146.1,796.4,-7.4,428,8116,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3950,3069,0,0,0,0,0,0
$GC,8239,-0.49,-146.1,806.6,-8.7,431,8242,0.00,0.85,0.00,0.000,6,0.000,0.038,1468,3390,3069,0,0,0,0,0,0
$GC,8559,-0.49,-146.1,831.2,-7.6,442,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3389,3068,0,0,0,0,0,0
$GC,8864,-0.49,-146.1,853.9,-7.5,452,8867,0.00,0.90,0.00,0.000,4,0.000,0.062,1464,3951,3068,0,0,0,0,0,0
$GC,8947,-0.49,-146.1,860.7,-7.8,454,8951,0.00,0.88,0.00,0.000,6,0.000,0.038,1464,3373,3068,0,0,0,0,0,0
$GC,9272,-0.49,-146.1,885.9,-7.9,465,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3373,3067,0,0,0,0,0,0
$GC,9578,-0.49,-146.1,909.8,-7.7,475,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3373,3066,0,0,0,0,0,0
$GC,9886,-0.49,-146.1,933.6,-7.8,485,9890,0.00,0.93,0.00,0.000,4,0.000,0.062,1459,3948,3065,0,0,0,0,0,0
$GC,10017,-0.49,-146.1,944.8,-8.3,488,10024,0.00,0.88,0.00,0.000,6,0.000,0.038,1459,3373,3065,0,0,0,0,0,0
$GC,10331,-0.49,-146.1,970.1,-8.2,499,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3373,3065,0,0,0,0,0,0
$GC,10636,-0.49,-146.1,995.8,-8.5,509,10640,0.00,0.93,0.00,0.000,4,0.000,0.063,1455,3949,3064,0,0,0,0,0,0
$STATE,10678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10678,begin apogee
$GC,10686,-0.14,0.0,1000.1,9.7,510,10838,0.40,0.00,148.52,1.207,6,0.134,0.000,1581,3271,2473,0,0,0,0,0,0
$STATE,10839,end apogee,CONTROL_FINISHED_OK
$STATE,10839,begin climb
$GC,10842,0.49,146.1,1004.0,0.0,515,11001,0.60,2.40,149.73,1.183,4,0.085,0.030,1795,1857,1871,0,0,0,0,0,0
$GC,11074,0.49,146.1,980.7,11.2,522,11078,0.00,2.45,0.00,0.000,6,0.000,0.052,1795,3271,1861,0,0,0,0,0,0
$GC,11409,0.49,146.1,930.7,15.0,533,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3270,1855,0,0,0,0,0,0
$GC,11715,0.49,146.1,885.3,14.8,543,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3270,1853,0,0,0,0,0,0
$GC,12023,0.49,146.1,838.6,15.4,553,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3270,1853,0,0,0,0,0,0
$GC,12327,0.49,146.1,792.4,15.1,563,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3271,1852,0,0,0,0,0,0
$GC,12634,0.49,146.1,746.3,14.8,573,12637,0.00,1.10,0.00,0.000,4,0.000,0.059,1795,3951,1851,0,0,0,0,0,0
$GC,12678,0.49,146.1,739.0,16.4,574,12681,0.00,1.05,0.00,0.000,6,0.000,0.034,1800,3258,1851,0,0,0,0,0,0
$GC,13007,0.49,146.1,689.5,15.1,585,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3258,1850,0,0,0,0,0,0
$GC,13314,0.49,146.1,644.0,15.0,595,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3258,1850,0,0,0,0,0,0
$GC,13621,0.49,146.1,596.7,15.5,605,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3258,1849,0,0,0,0,0,0
$GC,13926,0.49,146.1,549.2,15.5,615,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3258,1849,0,0,0,0,0,0
$GC,14232,0.49,146.1,503.8,14.6,625,14233,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3258,1849,0,0,0,0,0,0
$GC,14539,0.49,146.1,461.4,13.6,635,14543,0.00,2.10,0.00,0.000,4,0.000,0.031,1811,1855,1849,0,0,0,0,0,0
$GC,14584,0.49,146.1,456.0,9.8,636,14588,0.00,2.28,0.00,0.000,6,0.000,0.050,1811,3275,1847,0,0,0,0,0,0
$GC,14902,0.49,146.1,411.0,14.5,647,14905,0.00,1.08,0.00,0.000,4,0.000,0.056,1811,3950,1848,0,0,0,0,0,0
$GC,14951,0.49,146.1,403.2,15.0,648,14955,0.00,1.02,0.00,0.000,6,0.000,0.031,1816,3258,1848,0,0,0,0,0,0
$GC,15271,0.49,146.1,354.4,15.6,663,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3258,1848,0,0,0,0,0,0
$GC,15579,0.49,146.1,306.7,15.2,678,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3258,1848,0,0,0,0,0,0
$GC,15889,0.49,146.1,259.7,15.0,693,15895,0.00,1.10,0.00,0.000,4,0.000,0.055,1816,3945,1848,0,0,0,0,0,0
$GC,15961,0.49,146.1,247.9,17.3,696,15966,0.00,1.00,0.00,0.000,6,0.000,0.031,1822,3270,1848,0,0,0,0,0,0
$GC,16294,0.49,146.1,196.7,15.8,717,16299,0.00,2.15,0.00,0.000,4,0.000,0.031,1833,1856,1848,0,0,0,0,0,0
$GC,16334,0.49,146.1,191.1,13.6,719,16339,0.15,2.25,0.00,0.000,6,0.162,0.048,1794,3270,1847,0,0,0,0,0,0
$GC,16661,0.49,146.1,148.8,13.2,740,16664,0.00,1.08,0.00,0.000,4,0.000,0.055,1794,3952,1847,0,0,0,0,0,0
$GC,16729,0.49,146.1,138.7,15.5,744,16733,0.00,1.00,0.00,0.000,6,0.000,0.031,1797,3272,1848,0,0,0,0,0,0
$GC,17056,0.49,146.1,95.9,12.4,767,17060,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3272,1847,0,0,0,0,0,0
$GC,17412,0.49,146.1,51.8,11.8,828,17422,0.00,2.15,0.00,0.000,4,0.000,0.029,1808,1853,1848,0,0,0,0,0,0
$GC,17464,0.49,146.1,46.4,10.7,835,17472,0.00,2.28,0.00,0.000,6,0.000,0.049,1808,3271,1847,0,0,0,0,0,0
$GC,17725,0.49,146.1,13.5,13.3,876,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3271,1848,0,0,0,0,0,0
$STATE,17805,end climb,SURFACE_DEPTH_REACHED
$STATE,17806,begin surface coast
$FINISH,1.0,1.014052
$STATE,17833,end surface coast,CONTROL_FINISHED_OK
$STATE,17833,begin surface
$SM_CCo,17849,49.28,0.681,1,0,1450,250.20
$SM_GC,1.92,0.00,0.00,49.28,0.000,0.000,0.681,48,3394,1450,-4.96,0.40,250.20
$IRIDIUM_FIX,-4138.02,900.16,100113,222200
$TT8_MAMPS,0.025466
$HUMID,55.07
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.8,35.665
$10V_AH,10.1,21.207
$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,11.775,65.150,298.250,49.275,0.000,25.066,44.501,318.832,0.000,0.000,20.995,2267.194,12004.874,424.246,2812.972,961.079,33.365,1497.268,0.000,2626.055,0.000,1.013,0.000
$DEVICE_MAMPS,227.970,85.680,1207.170,680.850,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.129,1943.583,893.836,386.691,0.000,0.000,0.000,0.000,0.000,0.000
$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,63808,892
$CAP_FILE_SIZE,141181,0
$CFSIZE,259252224,246042624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,110113,082522,-4154.052,902.419,42,0.9,42,-25.1