version: 66.07
glider: 543
mission: 6
dive: 226
start: 1 16 113 2 4 51
data:
$ID,543
$MISSION,6
$DIVE,226
$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,-8479.748
$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,58
$R_STBD_OVSHOOT,31
$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
$GPS1,160113,015358,-4204.362,859.972,39,1.1,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-58.0
$GPS2,160113,020353,-4204.336,900.180,18,1.2,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.062,-0.297
$KALMAN_X,-148324.7,231.1,-225.0,228223.3,-1493.8
$KALMAN_Y,53011.2,-602.6,-89.7,-4706.0,4561.7
$MHEAD_RNG_PITCHd_Wd,193.4,47530,-10.5,-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,-0.37,-146.1,0.0,0.0,0,71,0.00,0.00,-49.03,0.000,2,0.000,0.000,46,3388,2652,0,0,0,0,0,0
$GC,76,-0.37,-146.1,3.2,-3.5,6,104,5.97,0.93,-12.32,0.000,4,0.228,0.089,1501,3944,3071,0,0,0,0,0,0
$GC,397,-0.37,-146.1,32.4,-9.3,54,406,0.00,0.82,0.00,0.000,6,0.000,0.035,1502,3408,3074,0,0,0,0,0,0
$GC,655,-0.37,-146.1,54.0,-8.3,95,661,0.00,0.00,0.00,0.000,6,0.000,0.000,1501,3408,3074,0,0,0,0,0,0
$GC,901,-0.37,-146.1,70.7,-6.5,136,909,0.00,0.85,0.00,0.000,4,0.000,0.059,1498,3935,3075,0,0,0,0,0,0
$GC,1149,-0.37,-146.1,89.2,-8.0,178,1156,0.00,0.85,0.00,0.000,6,0.000,0.034,1498,3371,3076,0,0,0,0,0,0
$GC,1497,-0.37,-146.1,115.2,-7.8,215,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,3371,3077,0,0,0,0,0,0
$GC,1810,-0.37,-146.1,139.2,-7.6,235,1816,0.00,0.90,0.00,0.000,4,0.000,0.058,1494,3932,3077,0,0,0,0,0,0
$GC,1937,-0.37,-146.1,149.4,-7.9,242,1940,0.00,0.82,0.00,0.000,6,0.000,0.035,1495,3384,3077,0,0,0,0,0,0
$GC,2272,-0.37,-146.1,173.6,-7.2,263,2278,0.00,0.88,0.00,0.000,4,0.000,0.059,1490,3931,3077,0,0,0,0,0,0
$GC,2348,-0.37,-146.1,179.4,-7.9,267,2352,0.00,0.82,0.00,0.000,6,0.000,0.035,1490,3382,3077,0,0,0,0,0,0
$GC,2681,-0.37,-146.1,204.6,-7.7,288,2685,0.00,0.88,0.00,0.000,4,0.000,0.058,1486,3930,3077,0,0,0,0,0,0
$GC,2754,-0.37,-146.1,211.0,-8.8,292,2757,0.00,0.82,0.00,0.000,6,0.000,0.035,1486,3381,3077,0,0,0,0,0,0
$GC,3086,-0.37,-146.1,239.1,-8.5,313,3091,0.00,0.88,0.00,0.000,4,0.000,0.058,1482,3928,3077,0,0,0,0,0,0
$GC,3162,-0.37,-146.1,245.9,-9.2,317,3166,0.08,0.82,0.00,0.000,6,0.130,0.036,1507,3381,3077,0,0,0,0,0,0
$GC,3481,-0.37,-146.1,269.1,-6.9,333,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3381,3077,0,0,0,0,0,0
$GC,3790,-0.37,-146.1,291.8,-7.4,348,3794,0.00,0.90,0.00,0.000,4,0.000,0.059,1504,3946,3077,0,0,0,0,0,0
$GC,3922,-0.37,-146.1,302.3,-7.9,353,3929,0.00,0.85,0.00,0.000,6,0.000,0.035,1504,3379,3077,0,0,0,0,0,0
$GC,4241,-0.37,-146.1,324.2,-6.7,369,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3379,3077,0,0,0,0,0,0
$GC,4550,-0.37,-146.1,344.2,-6.1,384,4553,0.00,0.90,0.00,0.000,4,0.000,0.058,1501,3947,3077,0,0,0,0,0,0
$GC,4652,-0.37,-146.1,350.8,-6.0,388,4656,0.00,0.85,0.00,0.000,6,0.000,0.034,1501,3378,3077,0,0,0,0,0,0
$GC,4976,-0.37,-146.1,369.0,-5.5,404,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,1501,3377,3076,0,0,0,0,0,0
$GC,5286,-0.37,-146.1,387.3,-6.1,419,5292,0.00,0.90,0.00,0.000,4,0.000,0.059,1497,3943,3076,0,0,0,0,0,0
$GC,5433,-0.37,-146.1,397.6,-6.5,425,5437,0.00,0.85,0.00,0.000,6,0.000,0.035,1496,3374,3076,0,0,0,0,0,0
$GC,5748,-0.37,-146.1,420.0,-7.3,436,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3373,3075,0,0,0,0,0,0
$GC,6056,-0.37,-146.1,443.7,-7.9,446,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3373,3075,0,0,0,0,0,0
$GC,6361,-0.37,-146.1,466.9,-7.4,456,6367,0.00,0.90,0.00,0.000,4,0.000,0.060,1493,3936,3075,0,0,0,0,0,0
$GC,6621,-0.37,-146.1,487.0,-7.7,463,6624,0.00,0.82,0.00,0.000,6,0.000,0.035,1493,3386,3075,0,0,0,0,0,0
$GC,6941,-0.37,-146.1,508.1,-6.5,474,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,1493,3386,3074,0,0,0,0,0,0
$GC,7246,-0.37,-146.1,528.2,-6.5,484,7252,0.00,0.88,0.00,0.000,4,0.000,0.060,1489,3935,3074,0,0,0,0,0,0
$GC,7444,-0.37,-146.1,542.5,-6.7,489,7451,0.00,0.82,0.00,0.000,6,0.000,0.036,1489,3387,3073,0,0,0,0,0,0
$GC,7759,-0.37,-146.1,562.6,-6.5,500,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,1489,3387,3073,0,0,0,0,0,0
$GC,8064,-0.37,-146.1,581.6,-6.1,510,8069,0.00,0.88,0.00,0.000,4,0.000,0.060,1485,3932,3072,0,0,0,0,0,0
$GC,8207,-0.37,-146.1,591.1,-6.8,514,8213,0.00,0.85,0.00,0.000,6,0.000,0.037,1485,3371,3072,0,0,0,0,0,0
$GC,8545,-0.37,-146.1,613.5,-6.8,525,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,3371,3071,0,0,0,0,0,0
$GC,8851,-0.37,-146.1,634.8,-7.0,535,8856,0.00,0.90,0.00,0.000,4,0.000,0.061,1481,3929,3071,0,0,0,0,0,0
$GC,9001,-0.37,-146.1,646.2,-7.5,539,9006,0.08,0.82,0.00,0.000,6,0.128,0.036,1507,3386,3071,0,0,0,0,0,0
$GC,9332,-0.37,-146.1,664.9,-5.6,550,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3386,3070,0,0,0,0,0,0
$GC,9639,-0.37,-146.1,682.0,-5.5,560,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3386,3070,0,0,0,0,0,0
$GC,9944,-0.37,-146.1,699.1,-5.6,570,9949,0.00,0.90,0.00,0.000,4,0.000,0.062,1504,3942,3069,0,0,0,0,0,0
$GC,10068,-0.37,-146.1,706.7,-6.7,573,10072,0.00,0.85,0.00,0.000,6,0.000,0.037,1504,3382,3068,0,0,0,0,0,0
$GC,10388,-0.37,-146.1,725.0,-5.7,584,10391,0.00,0.90,0.00,0.000,4,0.000,0.061,1500,3938,3068,0,0,0,0,0,0
$GC,10465,-0.37,-146.1,729.9,-6.6,586,10469,0.00,0.85,0.00,0.000,6,0.000,0.036,1500,3378,3068,0,0,0,0,0,0
$GC,10795,-0.37,-146.1,748.9,-5.8,597,10799,0.00,0.90,0.00,0.000,4,0.000,0.061,1496,3936,3067,0,0,0,0,0,0
$GC,10873,-0.37,-146.1,754.1,-6.3,599,10877,0.00,0.85,0.00,0.000,6,0.000,0.037,1496,3377,3068,0,0,0,0,0,0
$GC,11204,-0.37,-146.1,774.1,-6.1,610,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,1496,3377,3067,0,0,0,0,0,0
$GC,11510,-0.37,-146.1,792.3,-5.9,620,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3377,3066,0,0,0,0,0,0
$GC,11817,-0.37,-146.1,810.0,-5.7,630,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3377,3065,0,0,0,0,0,0
$GC,12123,-0.37,-146.1,827.2,-5.6,640,12128,0.00,0.90,0.00,0.000,4,0.000,0.061,1493,3931,3065,0,0,0,0,0,0
$GC,12229,-0.37,-146.1,833.8,-5.6,643,12233,0.00,0.85,0.00,0.000,6,0.000,0.037,1493,3376,3065,0,0,0,0,0,0
$GC,12566,-0.37,-146.1,853.0,-5.9,654,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,1493,3375,3064,0,0,0,0,0,0
$STATE,12623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12624,begin apogee
$GC,12631,-0.14,0.0,856.7,6.0,656,12781,0.30,0.00,147.70,1.146,6,0.121,0.000,1586,3276,2473,0,0,0,0,0,0
$STATE,12782,end apogee,CONTROL_FINISHED_OK
$STATE,12783,begin climb
$GC,12785,0.37,146.1,860.2,0.0,661,12945,0.47,2.42,149.65,1.095,4,0.087,0.030,1760,1849,1870,0,0,0,0,0,0
$GC,12996,0.37,146.1,843.1,9.5,667,13002,0.00,2.47,0.00,0.000,6,0.000,0.050,1760,3255,1860,0,0,0,0,0,0
$GC,13322,0.37,146.1,804.4,12.1,678,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3255,1854,0,0,0,0,0,0
$GC,13628,0.37,146.1,766.7,12.4,688,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3255,1852,0,0,0,0,0,0
$GC,13935,0.37,146.1,728.3,12.6,698,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3256,1851,0,0,0,0,0,0
$GC,14240,0.37,146.1,690.2,12.3,708,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3256,1850,0,0,0,0,0,0
$GC,14547,0.37,146.1,653.3,12.0,718,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3255,1849,0,0,0,0,0,0
$GC,14854,0.37,146.1,617.4,11.6,728,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3255,1849,0,0,0,0,0,0
$GC,15159,0.37,146.1,582.1,11.5,738,15164,0.00,2.17,0.00,0.000,4,0.000,0.032,1770,1848,1849,0,0,0,0,0,0
$GC,15215,0.37,146.1,576.5,8.7,739,15220,0.00,2.28,0.00,0.000,6,0.000,0.052,1770,3272,1848,0,0,0,0,0,0
$GC,15531,0.37,146.1,539.4,12.1,749,15532,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3272,1847,0,0,0,0,0,0
$GC,15835,0.37,146.1,500.4,13.0,759,15836,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3272,1847,0,0,0,0,0,0
$GC,16141,0.37,146.1,458.7,14.1,769,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3272,1847,0,0,0,0,0,0
$GC,16448,0.37,146.1,415.7,13.9,779,16450,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3272,1847,0,0,0,0,0,0
$GC,16757,0.37,146.1,375.0,13.1,792,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3272,1847,0,0,0,0,0,0
$GC,17067,0.37,146.1,336.0,12.3,807,17072,0.00,2.17,0.00,0.000,4,0.000,0.031,1781,1852,1847,0,0,0,0,0,0
$GC,17106,0.37,146.1,330.9,10.8,808,17114,0.00,2.30,0.00,0.000,6,0.000,0.050,1781,3271,1846,0,0,0,0,0,0
$GC,17425,0.37,146.1,288.0,14.0,824,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3271,1846,0,0,0,0,0,0
$GC,17744,0.37,146.1,245.4,12.9,840,17745,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3271,1846,0,0,0,0,0,0
$GC,18056,0.37,146.1,204.6,13.3,860,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3271,1846,0,0,0,0,0,0
$GC,18369,0.37,146.1,163.6,13.0,880,18371,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3271,1847,0,0,0,0,0,0
$GC,18682,0.37,146.1,122.6,13.3,900,18686,0.00,2.15,0.00,0.000,4,0.000,0.029,1792,1840,1846,0,0,0,0,0,0
$GC,18723,0.37,146.1,117.4,12.3,902,18731,0.10,2.33,0.00,0.000,6,0.135,0.050,1761,3275,1846,0,0,0,0,0,0
$GC,19058,0.37,146.1,82.9,9.6,941,19062,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3275,1846,0,0,0,0,0,0
$GC,19409,0.37,146.1,49.1,9.8,1002,19417,0.00,2.17,0.00,0.000,4,0.000,0.029,1770,1844,1846,0,0,0,0,0,0
$GC,19494,0.37,146.1,41.9,8.8,1015,19501,0.00,2.30,0.00,0.000,6,0.000,0.050,1770,3283,1846,0,0,0,0,0,0
$GC,19756,0.37,146.1,15.1,10.3,1056,19765,0.00,1.05,0.00,0.000,4,0.000,0.056,1770,3942,1846,0,0,0,0,0,0
$STATE,19864,end climb,SURFACE_DEPTH_REACHED
$STATE,19864,begin surface coast
$FINISH,1.1,1.015776
$STATE,19900,end surface coast,CONTROL_FINISHED_OK
$STATE,19900,begin surface
$SM_CCo,19917,50.17,0.678,1,0,1449,250.20
$SM_GC,2.09,0.00,0.00,50.17,0.000,0.000,0.678,48,3357,1449,-4.96,-0.65,250.20
$IRIDIUM_FIX,-4146.69,901.52,150113,202023
$TT8_MAMPS,0.025466
$HUMID,54.76
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.9,39.174
$10V_AH,10.1,24.235
$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,11.575,54.225,297.350,50.175,0.000,25.114,49.260,339.121,0.000,0.000,20.352,2640.596,13198.659,419.345,3175.837,1130.840,33.363,1564.393,0.000,3065.601,0.000,1.013,0.000
$DEVICE_MAMPS,227.970,88.740,1145.970,677.790,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.733,2387.518,1187.477,541.495,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,76844,1077
$CAP_FILE_SIZE,149228,0
$CFSIZE,259252224,244289536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,160113,073905,-4206.337,900.438,39,1.1,39,-25.1