version: 66.07
glider: 543
mission: 6
dive: 254
start: 1 22 113 2 18 40
data:
$ID,543
$MISSION,6
$DIVE,254
$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,-8556.3252
$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,54
$R_STBD_OVSHOOT,19
$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
$GPS1,220113,020759,-4230.796,856.583,40,1.1,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-50.6
$GPS2,220113,021742,-4230.806,856.805,21,1.0,21,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.135,-0.203
$KALMAN_X,-106842.9,-1087.8,185.6,183042.2,6828.8
$KALMAN_Y,119743.5,-187.7,-510.4,-120440.4,4769.7
$MHEAD_RNG_PITCHd_Wd,238.7,50277,-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,-0.47,-146.1,0.0,0.0,0,79,0.00,0.00,-55.92,0.000,2,0.000,0.000,49,3409,2916,0,0,0,0,0,0
$GC,83,-0.47,-146.1,3.2,-3.1,7,104,5.72,0.88,-4.12,0.000,4,0.220,0.082,1469,3950,3070,0,0,0,0,0,0
$GC,113,-0.47,-146.1,8.9,-10.3,10,124,0.00,0.82,0.00,0.000,6,0.000,0.036,1469,3416,3071,0,0,0,0,0,0
$GC,205,-0.47,-146.1,21.0,-11.5,23,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3414,3072,0,0,0,0,0,0
$GC,295,-0.47,-146.1,32.3,-12.6,36,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3414,3073,0,0,0,0,0,0
$GC,547,-0.47,-146.1,59.5,-9.8,77,555,0.00,2.20,0.00,0.000,4,0.000,0.031,1469,1984,3074,0,0,0,0,0,0
$GC,625,-0.47,-146.1,66.4,-7.4,90,633,0.00,2.33,0.00,0.000,6,0.000,0.056,1459,3394,3074,0,0,0,0,0,0
$GC,997,-0.47,-146.1,102.0,-9.7,151,1000,0.00,0.88,0.00,0.000,4,0.000,0.057,1454,3945,3075,0,0,0,0,0,0
$GC,1142,-0.47,-146.1,117.5,-10.3,159,1145,0.00,0.82,0.00,0.000,6,0.000,0.034,1454,3398,3075,0,0,0,0,0,0
$GC,1472,-0.47,-146.1,151.2,-9.6,180,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3076,0,0,0,0,0,0
$GC,1786,-0.47,-146.1,181.5,-9.8,200,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3076,0,0,0,0,0,0
$GC,2099,-0.47,-146.1,211.9,-9.6,220,2103,0.00,0.88,0.00,0.000,4,0.000,0.056,1450,3951,3076,0,0,0,0,0,0
$GC,2156,-0.47,-146.1,217.8,-11.1,223,2160,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3401,3076,0,0,0,0,0,0
$GC,2493,-0.47,-146.1,253.3,-10.6,244,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3400,3076,0,0,0,0,0,0
$GC,2803,-0.47,-146.1,284.5,-9.9,259,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3401,3076,0,0,0,0,0,0
$GC,3112,-0.47,-146.1,315.6,-9.7,274,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3400,3076,0,0,0,0,0,0
$GC,3422,-0.47,-146.1,345.6,-9.7,289,3427,0.00,2.17,0.00,0.000,4,0.000,0.029,1450,1974,3076,0,0,0,0,0,0
$GC,3461,-0.47,-146.1,349.5,-8.9,290,3470,0.10,2.33,0.00,0.000,6,0.118,0.054,1472,3401,3076,0,0,0,0,0,0
$GC,3780,-0.47,-146.1,373.4,-7.9,306,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3401,3076,0,0,0,0,0,0
$GC,4089,-0.47,-146.1,398.5,-8.4,321,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3401,3076,0,0,0,0,0,0
$GC,4414,-0.47,-146.1,426.7,-8.6,332,4418,0.00,0.88,0.00,0.000,4,0.000,0.058,1470,3956,3076,0,0,0,0,0,0
$GC,4516,-0.47,-146.1,436.1,-8.7,335,4522,0.00,0.85,0.00,0.000,6,0.000,0.035,1470,3390,3076,0,0,0,0,0,0
$GC,4860,-0.47,-146.1,465.6,-8.5,346,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3390,3075,0,0,0,0,0,0
$GC,5169,-0.47,-146.1,490.6,-8.0,356,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3390,3075,0,0,0,0,0,0
$GC,5471,-0.47,-146.1,514.6,-7.6,366,5475,0.00,0.90,0.00,0.000,4,0.000,0.058,1466,3952,3074,0,0,0,0,0,0
$GC,5556,-0.47,-146.1,521.7,-8.0,368,5559,0.00,0.82,0.00,0.000,6,0.000,0.036,1466,3408,3074,0,0,0,0,0,0
$GC,5881,-0.47,-146.1,546.5,-7.7,379,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3408,3073,0,0,0,0,0,0
$GC,6187,-0.47,-146.1,570.3,-7.8,389,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3408,3073,0,0,0,0,0,0
$GC,6494,-0.47,-146.1,594.7,-7.9,399,6498,0.00,2.15,0.00,0.000,4,0.000,0.031,1466,1977,3072,0,0,0,0,0,0
$GC,6533,-0.47,-146.1,597.9,-7.7,400,6537,0.00,2.33,0.00,0.000,6,0.000,0.054,1455,3405,3072,0,0,0,0,0,0
$GC,6857,-0.47,-146.1,626.6,-8.8,411,6860,0.00,0.88,0.00,0.000,4,0.000,0.059,1451,3954,3071,0,0,0,0,0,0
$GC,6928,-0.47,-146.1,633.2,-9.6,413,6932,0.00,0.85,0.00,0.000,6,0.000,0.036,1451,3397,3071,0,0,0,0,0,0
$GC,7269,-0.47,-146.1,666.1,-9.7,424,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3397,3070,0,0,0,0,0,0
$GC,7576,-0.47,-146.1,697.7,-10.4,434,7580,0.00,2.15,0.00,0.000,4,0.000,0.031,1451,1969,3069,0,0,0,0,0,0
$GC,7615,-0.47,-146.1,701.9,-9.6,435,7620,0.12,2.33,0.00,0.000,6,0.148,0.054,1473,3402,3070,0,0,0,0,0,0
$GC,7940,-0.47,-146.1,729.5,-8.6,446,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3402,3069,0,0,0,0,0,0
$GC,8247,-0.47,-146.1,755.1,-8.4,456,8251,0.00,0.88,0.00,0.000,4,0.000,0.060,1470,3949,3068,0,0,0,0,0,0
$GC,8323,-0.47,-146.1,761.8,-8.9,458,8326,0.00,0.82,0.00,0.000,6,0.000,0.038,1471,3409,3068,0,0,0,0,0,0
$GC,8659,-0.47,-146.1,788.4,-7.6,469,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3408,3067,0,0,0,0,0,0
$GC,8966,-0.47,-146.1,811.3,-7.2,479,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3409,3066,0,0,0,0,0,0
$GC,9271,-0.47,-146.1,832.7,-6.9,489,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3409,3066,0,0,0,0,0,0
$GC,9577,-0.47,-146.1,854.0,-7.0,499,9581,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3950,3065,0,0,0,0,0,0
$GC,9652,-0.47,-146.1,859.5,-7.0,501,9656,0.00,0.85,0.00,0.000,6,0.000,0.039,1466,3397,3064,0,0,0,0,0,0
$GC,9988,-0.47,-146.1,883.4,-7.1,512,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3397,3064,0,0,0,0,0,0
$GC,10295,-0.47,-146.1,906.1,-7.6,522,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3063,0,0,0,0,0,0
$GC,10600,-0.47,-146.1,929.8,-7.7,532,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3063,0,0,0,0,0,0
$GC,10907,-0.47,-146.1,954.1,-7.9,542,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3062,0,0,0,0,0,0
$GC,11214,-0.47,-146.1,977.8,-7.5,552,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3397,3062,0,0,0,0,0,0
$GC,11519,-0.47,-146.1,999.6,-7.1,562,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3397,3061,0,0,0,0,0,0
$STATE,11547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11547,begin apogee
$GC,11554,-0.13,0.0,1002.1,7.2,563,11703,0.38,0.00,140.38,1.795,6,0.126,0.000,1580,3281,2473,0,0,0,0,1,0
$STATE,11704,end apogee,CONTROL_FINISHED_OK
$STATE,11704,begin climb
$GC,11707,0.47,146.1,1005.4,0.0,568,11870,0.60,2.47,149.38,1.752,4,0.081,0.032,1787,1864,1877,0,0,0,0,1,0
$GC,11904,0.47,146.1,985.3,11.5,574,11909,0.00,2.53,0.00,0.000,6,0.000,0.051,1787,3284,1875,0,0,0,0,0,0
$GC,12228,0.47,146.1,937.4,14.8,585,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3284,1867,0,0,0,0,0,0
$GC,12535,0.47,146.1,893.6,14.3,595,12538,0.00,1.10,0.00,0.000,4,0.000,0.060,1787,3954,1864,0,0,0,0,0,0
$GC,12624,0.47,146.1,879.2,15.1,597,12628,0.00,1.05,0.00,0.000,6,0.000,0.034,1792,3267,1864,0,0,0,0,0,0
$GC,12942,0.47,146.1,828.5,16.4,608,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3267,1863,0,0,0,0,0,0
$GC,13250,0.47,146.1,778.2,16.5,618,13254,0.00,1.12,0.00,0.000,4,0.000,0.059,1792,3954,1861,0,0,0,0,0,0
$GC,13310,0.47,146.1,767.0,18.2,619,13317,0.00,1.02,0.00,0.000,6,0.000,0.034,1797,3276,1861,0,0,0,0,0,0
$GC,13623,0.47,146.1,716.9,15.5,630,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3276,1861,0,0,0,0,0,0
$GC,13932,0.47,146.1,671.3,14.8,640,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3276,1860,0,0,0,0,0,0
$GC,14236,0.47,146.1,624.3,15.6,650,14241,0.00,1.10,0.00,0.000,4,0.000,0.058,1797,3950,1860,0,0,0,0,0,0
$GC,14298,0.47,146.1,613.3,16.8,651,14305,0.00,1.00,0.00,0.000,6,0.000,0.033,1802,3283,1860,0,0,0,0,0,0
$GC,14613,0.47,146.1,562.7,16.0,662,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3283,1859,0,0,0,0,0,0
$GC,14918,0.47,146.1,515.2,15.3,672,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3283,1859,0,0,0,0,0,0
$GC,15224,0.47,146.1,467.9,15.5,682,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3283,1858,0,0,0,0,0,0
$GC,15531,0.47,146.1,420.3,15.6,692,15532,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3283,1858,0,0,0,0,0,0
$GC,15853,0.47,146.1,368.5,16.3,705,15857,0.00,1.08,0.00,0.000,4,0.000,0.056,1802,3950,1858,0,0,0,0,0,0
$GC,15909,0.47,146.1,357.3,18.2,707,15915,0.08,1.00,0.00,0.000,6,0.173,0.032,1786,3277,1858,0,0,0,0,0,0
$GC,16234,0.47,146.1,311.8,13.6,723,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3276,1858,0,0,0,0,0,0
$GC,16543,0.47,146.1,271.6,12.9,738,16546,0.00,1.08,0.00,0.000,4,0.000,0.056,1786,3947,1858,0,0,0,0,0,0
$GC,16594,0.47,146.1,263.5,16.3,740,16599,0.00,1.00,0.00,0.000,6,0.000,0.032,1789,3273,1858,0,0,0,0,0,0
$GC,16918,0.47,146.1,217.5,14.6,759,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3273,1857,0,0,0,0,0,0
$GC,17228,0.47,146.1,172.6,14.6,779,17234,0.00,1.08,0.00,0.000,4,0.000,0.054,1789,3946,1858,0,0,0,0,0,0
$GC,17303,0.47,146.1,161.3,16.5,783,17307,0.00,0.98,0.00,0.000,6,0.000,0.031,1794,3287,1858,0,0,0,0,0,0
$GC,17635,0.47,146.1,111.9,14.9,804,17638,0.00,2.15,0.00,0.000,4,0.000,0.028,1805,1856,1857,0,0,0,0,0,0
$GC,17686,0.47,146.1,105.7,12.0,807,17690,0.00,2.28,0.00,0.000,6,0.000,0.047,1805,3286,1857,0,0,0,0,0,0
$GC,18038,0.47,146.1,50.5,14.1,863,18044,0.00,1.05,0.00,0.000,4,0.000,0.053,1805,3949,1857,0,0,0,0,0,0
$GC,18114,0.47,146.1,39.8,15.0,875,18121,0.08,1.00,0.00,0.000,6,0.162,0.031,1788,3270,1857,0,0,0,0,0,0
$GC,18378,0.47,146.1,8.3,12.1,916,18389,0.00,2.12,0.00,0.000,4,0.000,0.029,1797,1869,1857,0,0,0,0,0,0
$STATE,18430,end climb,SURFACE_DEPTH_REACHED
$STATE,18430,begin surface coast
$FINISH,1.3,1.026130
$STATE,18442,end surface coast,CONTROL_FINISHED_OK
$STATE,18442,begin surface
$SM_CCo,18461,40.60,0.711,1,0,1533,230.09
$SM_GC,2.00,0.00,0.00,40.60,0.000,0.000,0.711,52,3404,1533,-4.93,0.14,230.09
$IRIDIUM_FIX,-4218.64,856.99,210113,202059
$TT8_MAMPS,0.025466
$HUMID,55.43
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.2,43.506
$10V_AH,10.0,27.714
$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,11.725,60.550,289.750,40.600,0.000,25.441,23.611,349.524,0.000,0.000,23.717,2285.941,12824.375,411.606,2593.288,971.346,33.368,1385.846,0.000,2488.092,0.000,1.013,0.000
$DEVICE_MAMPS,219.555,81.855,1794.690,710.685,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.871,2028.017,907.444,402.934,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,67117,925
$CAP_FILE_SIZE,133802,0
$CFSIZE,259252224,242352128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220113,072829,-4232.317,855.772,40,0.9,40,-25.1