version: 66.07
glider: 543
mission: 6
dive: 256
start: 1 22 113 13 0 27
data:
$ID,543
$MISSION,6
$DIVE,256
$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,-8561.9775
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,220113,124934,-4233.858,854.804,24,1.1,24,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-57.5
$GPS2,220113,125929,-4233.861,854.880,36,1.0,36,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,-0.224
$KALMAN_X,-103482.4,-270.8,-65.4,176519.7,4191.2
$KALMAN_Y,123304.5,-556.3,-506.0,-129307.2,5098.1
$MHEAD_RNG_PITCHd_Wd,228.2,48161,-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,-146.1,0.0,0.0,0,64,0.00,0.00,-41.25,0.000,2,0.000,0.000,55,3414,2511,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.0,-3.4,5,94,5.72,0.00,-17.55,0.000,6,0.222,0.000,1471,3414,3070,0,0,0,0,0,0
$GC,175,-0.47,-146.1,15.3,-16.8,20,183,0.00,0.88,0.00,0.000,4,0.000,0.058,1468,3950,3074,0,0,0,0,0,0
$GC,245,-0.47,-146.1,25.0,-14.3,30,256,0.00,0.85,0.00,0.000,6,0.000,0.037,1468,3404,3074,0,0,0,0,0,0
$GC,334,-0.47,-146.1,36.1,-11.5,43,342,0.00,2.20,0.00,0.000,4,0.000,0.031,1468,1981,3074,0,0,0,0,0,0
$GC,401,-0.47,-146.1,43.3,-10.4,53,408,0.00,2.35,0.00,0.000,6,0.000,0.060,1458,3404,3075,0,0,0,0,0,0
$GC,650,-0.47,-146.1,71.9,-11.1,94,658,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3404,3075,0,0,0,0,0,0
$GC,998,-0.47,-146.1,111.0,-11.6,143,999,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3404,3076,0,0,0,0,0,0
$GC,1310,-0.47,-146.1,147.3,-11.0,163,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3404,3077,0,0,0,0,0,0
$GC,1622,-0.47,-146.1,178.0,-9.0,183,1628,0.00,0.88,0.00,0.000,4,0.000,0.058,1453,3954,3077,0,0,0,0,0,0
$GC,1705,-0.47,-146.1,186.3,-9.4,187,1712,0.00,0.85,0.00,0.000,6,0.000,0.035,1454,3394,3077,0,0,0,0,0,0
$GC,2027,-0.47,-146.1,215.0,-9.1,208,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3394,3077,0,0,0,0,0,0
$GC,2339,-0.47,-146.1,245.5,-9.8,228,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3393,3077,0,0,0,0,0,0
$GC,2653,-0.47,-146.1,275.2,-9.1,244,2657,0.00,2.12,0.00,0.000,4,0.000,0.029,1453,1972,3077,0,0,0,0,0,0
$GC,2700,-0.47,-146.1,279.4,-7.2,246,2706,0.08,2.35,0.00,0.000,6,0.122,0.055,1469,3407,3078,0,0,0,0,0,0
$GC,3031,-0.47,-146.1,303.8,-7.6,262,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3407,3077,0,0,0,0,0,0
$GC,3340,-0.47,-146.1,327.4,-7.5,277,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3406,3078,0,0,0,0,0,0
$GC,3649,-0.47,-146.1,352.3,-8.5,292,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3407,3078,0,0,0,0,0,0
$GC,3959,-0.47,-146.1,378.6,-9.0,307,3965,0.00,2.17,0.00,0.000,4,0.000,0.030,1469,1974,3077,0,0,0,0,0,0
$GC,4010,-0.47,-146.1,382.9,-8.4,309,4014,0.00,2.30,0.00,0.000,6,0.000,0.053,1460,3401,3077,0,0,0,0,0,0
$GC,4346,-0.47,-146.1,416.6,-9.9,323,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3401,3077,0,0,0,0,0,0
$GC,4653,-0.47,-146.1,447.6,-10.1,333,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3401,3077,0,0,0,0,0,0
$GC,4958,-0.47,-146.1,477.9,-9.6,343,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3401,3076,0,0,0,0,0,0
$GC,5265,-0.47,-146.1,504.8,-8.2,353,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3401,3076,0,0,0,0,0,0
$GC,5572,-0.47,-146.1,530.0,-8.2,363,5576,0.00,2.12,0.00,0.000,4,0.000,0.030,1460,1975,3075,0,0,0,0,0,0
$GC,5606,-0.47,-146.1,533.0,-7.2,364,5610,0.00,2.33,0.00,0.000,6,0.000,0.054,1450,3407,3075,0,0,0,0,0,0
$GC,5936,-0.47,-146.1,562.4,-9.1,375,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3407,3074,0,0,0,0,0,0
$GC,6243,-0.47,-146.1,591.1,-9.5,385,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3407,3074,0,0,0,0,0,0
$GC,6548,-0.47,-146.1,621.2,-10.1,395,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3407,3073,0,0,0,0,0,0
$GC,6854,-0.47,-146.1,653.8,-10.7,405,6858,0.00,2.15,0.00,0.000,4,0.000,0.030,1449,1975,3072,0,0,0,0,0,0
$GC,6917,-0.47,-146.1,660.0,-9.3,407,6923,0.10,2.35,0.00,0.000,6,0.122,0.054,1472,3405,3073,0,0,0,0,0,0
$GC,7260,-0.47,-146.1,688.5,-8.1,418,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3405,3072,0,0,0,0,0,0
$GC,7568,-0.47,-146.1,712.1,-7.6,428,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3405,3071,0,0,0,0,0,0
$GC,7873,-0.47,-146.1,734.6,-7.4,438,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3405,3071,0,0,0,0,0,0
$GC,8179,-0.47,-146.1,756.7,-7.3,448,8183,0.00,2.15,0.00,0.000,4,0.000,0.031,1472,1977,3070,0,0,0,0,0,0
$GC,8229,-0.47,-146.1,760.5,-7.9,449,8233,0.00,2.33,0.00,0.000,6,0.000,0.054,1463,3405,3070,0,0,0,0,0,0
$GC,8542,-0.47,-146.1,787.2,-9.0,459,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3405,3069,0,0,0,0,0,0
$GC,8849,-0.47,-146.1,815.1,-9.0,469,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,9155,-0.47,-146.1,841.4,-8.3,479,9160,0.00,2.17,0.00,0.000,4,0.000,0.031,1463,1974,3069,0,0,0,0,0,0
$GC,9195,-0.47,-146.1,844.5,-7.1,480,9201,0.00,2.35,0.00,0.000,6,0.000,0.055,1452,3402,3068,0,0,0,0,0,0
$GC,9533,-0.47,-146.1,872.1,-8.2,491,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3402,3067,0,0,0,0,0,0
$GC,9838,-0.47,-146.1,894.5,-7.1,501,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3402,3067,0,0,0,0,0,0
$GC,10145,-0.47,-146.1,914.1,-6.5,511,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3402,3066,0,0,0,0,0,0
$GC,10452,-0.47,-146.1,934.9,-7.0,521,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3402,3065,0,0,0,0,0,0
$GC,10757,-0.47,-146.1,958.5,-8.2,531,10762,0.00,2.17,0.00,0.000,4,0.000,0.031,1452,1975,3065,0,0,0,0,0,0
$GC,10806,-0.47,-146.1,962.4,-7.7,532,10811,0.12,2.33,0.00,0.000,6,0.150,0.055,1474,3401,3065,0,0,0,0,0,0
$GC,11131,-0.47,-146.1,984.5,-6.7,543,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3402,3064,0,0,0,0,0,0
$STATE,11373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11373,begin apogee
$GC,11380,-0.13,0.0,1000.5,6.3,551,11529,0.35,0.00,140.57,1.802,6,0.124,0.000,1583,3277,2474,0,0,0,0,1,0
$STATE,11530,end apogee,CONTROL_FINISHED_OK
$STATE,11530,begin climb
$GC,11533,0.47,146.1,1003.3,0.0,556,11695,0.57,2.45,149.48,1.757,4,0.081,0.031,1783,1866,1878,0,0,0,0,1,0
$GC,11718,0.47,146.1,984.4,12.3,561,11725,0.00,2.53,0.00,0.000,6,0.000,0.050,1783,3285,1876,0,0,0,0,0,0
$GC,12032,0.47,146.1,938.5,14.8,572,12035,0.00,1.10,0.00,0.000,4,0.000,0.058,1783,3942,1867,0,0,0,0,0,0
$GC,12185,0.47,146.1,913.4,16.3,576,12188,0.00,1.02,0.00,0.000,6,0.000,0.033,1788,3275,1866,0,0,0,0,0,0
$GC,12509,0.47,146.1,866.7,13.9,587,12513,0.00,1.10,0.00,0.000,4,0.000,0.060,1788,3944,1865,0,0,0,0,0,0
$GC,12622,0.47,146.1,849.1,16.4,590,12626,0.00,1.02,0.00,0.000,6,0.000,0.034,1794,3272,1865,0,0,0,0,0,0
$GC,12954,0.47,146.1,799.6,15.2,601,12957,0.00,1.10,0.00,0.000,4,0.000,0.060,1793,3946,1863,0,0,0,0,0,0
$GC,13036,0.47,146.1,784.8,18.7,603,13040,0.00,1.00,0.00,0.000,6,0.000,0.034,1798,3285,1863,0,0,0,0,0,0
$GC,13362,0.47,146.1,729.6,17.4,614,13366,0.00,1.08,0.00,0.000,4,0.000,0.059,1798,3947,1862,0,0,0,0,0,0
$GC,13451,0.47,146.1,712.3,19.0,616,13455,0.00,1.00,0.00,0.000,6,0.000,0.033,1803,3282,1861,0,0,0,0,0,0
$GC,13771,0.47,146.1,655.5,17.4,627,13774,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3958,1861,0,0,0,0,0,0
$GC,13902,0.47,146.1,631.0,18.6,630,13909,0.08,1.02,0.00,0.000,6,0.177,0.033,1787,3278,1861,0,0,0,0,0,0
$GC,14217,0.47,146.1,584.2,14.4,641,14221,0.00,1.10,0.00,0.000,4,0.000,0.058,1787,3956,1860,0,0,0,0,0,0
$GC,14307,0.47,146.1,569.6,15.8,643,14311,0.00,1.02,0.00,0.000,6,0.000,0.032,1791,3271,1860,0,0,0,0,0,0
$GC,14628,0.47,146.1,520.2,15.5,654,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3271,1860,0,0,0,0,0,0
$GC,14932,0.47,146.1,474.5,14.9,664,14936,0.00,1.10,0.00,0.000,4,0.000,0.056,1791,3951,1859,0,0,0,0,0,0
$GC,15105,0.47,146.1,446.7,16.9,669,15109,0.00,1.00,0.00,0.000,6,0.000,0.033,1796,3279,1859,0,0,0,0,0,0
$GC,15430,0.47,146.1,396.7,15.9,680,15434,0.00,1.08,0.00,0.000,4,0.000,0.056,1796,3954,1859,0,0,0,0,0,0
$GC,15523,0.47,146.1,380.4,17.9,684,15527,0.00,1.00,0.00,0.000,6,0.000,0.033,1801,3282,1860,0,0,0,0,0,0
$GC,15857,0.47,146.1,326.8,15.9,700,15861,0.00,1.08,0.00,0.000,4,0.000,0.055,1801,3950,1859,0,0,0,0,0,0
$GC,16013,0.47,146.1,300.2,15.8,706,16021,0.00,1.00,0.00,0.000,6,0.000,0.032,1806,3278,1859,0,0,0,0,0,0
$GC,16330,0.47,146.1,252.4,14.7,722,16334,0.00,1.08,0.00,0.000,4,0.000,0.054,1806,3949,1859,0,0,0,0,0,0
$GC,16388,0.47,146.1,243.5,17.1,725,16392,0.10,1.00,0.00,0.000,6,0.171,0.031,1782,3274,1859,0,0,0,0,0,0
$GC,16721,0.47,146.1,199.7,12.9,746,16724,0.00,1.10,0.00,0.000,4,0.000,0.056,1782,3956,1858,0,0,0,0,0,0
$GC,16777,0.47,146.1,192.1,15.0,749,16781,0.00,1.00,0.00,0.000,6,0.000,0.031,1786,3281,1859,0,0,0,0,0,0
$GC,17108,0.47,146.1,147.4,13.4,770,17112,0.00,1.08,0.00,0.000,4,0.000,0.056,1786,3953,1858,0,0,0,0,0,0
$GC,17166,0.47,146.1,138.9,14.0,773,17169,0.00,1.00,0.00,0.000,6,0.000,0.031,1791,3276,1858,0,0,0,0,0,0
$GC,17490,0.47,146.1,95.8,13.0,797,17494,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3275,1858,0,0,0,0,0,0
$GC,17845,0.47,146.1,47.2,13.8,858,17856,0.00,1.08,0.00,0.000,4,0.000,0.056,1791,3946,1858,0,0,0,0,0,0
$GC,18027,0.47,146.1,23.7,13.6,886,18035,0.00,0.98,0.00,0.000,6,0.000,0.030,1796,3280,1858,0,0,0,0,0,0
$GC,18119,0.47,146.1,11.9,13.2,899,18127,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3281,1858,0,0,0,0,0,0
$STATE,18187,end climb,SURFACE_DEPTH_REACHED
$STATE,18187,begin surface coast
$FINISH,1.1,1.026178
$STATE,18213,end surface coast,CONTROL_FINISHED_OK
$STATE,18213,begin surface
$SM_CCo,18229,40.65,0.700,1,0,1532,230.09
$SM_GC,2.18,0.00,0.00,40.65,0.000,0.000,0.700,49,3415,1532,-4.94,0.45,230.09
$IRIDIUM_FIX,-4215.72,853.65,220113,070700
$TT8_MAMPS,0.025466
$HUMID,55.98
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.1,43.818
$10V_AH,10.0,27.968
$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,11.700,71.975,290.050,40.650,0.000,27.137,26.210,341.901,0.000,0.000,38.447,2288.797,12470.137,411.506,2710.774,984.136,33.372,1429.112,0.000,2541.724,0.000,1.014,0.000
$DEVICE_MAMPS,221.850,74.205,1801.575,699.975,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.203,1990.819,903.927,384.868,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,67296,913
$CAP_FILE_SIZE,138128,0
$CFSIZE,259252224,242204672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220113,180622,-4236.167,854.450,38,0.7,38,-25.1