version: 66.07
glider: 543
mission: 6
dive: 258
start: 1 22 113 23 36 4
data:
$ID,543
$MISSION,6
$DIVE,258
$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,-8567.541
$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,49
$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
$GPS1,220113,232458,-4237.395,853.267,39,0.9,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-63.0
$GPS2,220113,233506,-4237.390,853.434,18,0.9,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.122
$KALMAN_X,-98747.3,-445.5,-116.9,170016.3,5042.8
$KALMAN_Y,124768.4,-212.7,-138.4,-138022.7,2935.3
$MHEAD_RNG_PITCHd_Wd,265.1,47660,-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,21,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.17,0.000,2,0.000,0.000,46,3406,2512,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-4.1,5,104,5.65,0.90,-18.58,0.000,4,0.215,0.096,1465,3942,3072,0,0,0,0,0,0
$GC,145,-0.47,-146.1,8.5,-9.8,15,155,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3411,3073,0,0,0,0,0,0
$GC,237,-0.47,-146.1,19.5,-12.1,28,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3411,3074,0,0,0,0,0,0
$GC,328,-0.47,-146.1,31.1,-13.1,41,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3411,3075,0,0,0,0,0,0
$GC,575,-0.47,-146.1,67.1,-13.0,82,582,0.00,2.20,0.00,0.000,4,0.000,0.030,1465,1972,3075,0,0,0,0,0,0
$GC,622,-0.47,-146.1,71.3,-8.9,89,627,0.00,2.33,0.00,0.000,6,0.000,0.056,1455,3395,3075,0,0,0,0,0,0
$GC,975,-0.47,-146.1,101.7,-9.8,148,979,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3947,3076,0,0,0,0,0,0
$GC,1031,-0.47,-146.1,107.5,-10.9,151,1035,0.00,0.82,0.00,0.000,6,0.000,0.036,1451,3402,3076,0,0,0,0,0,0
$GC,1362,-0.47,-146.1,145.9,-11.3,172,1366,0.00,2.12,0.00,0.000,4,0.000,0.029,1451,1977,3077,0,0,0,0,0,0
$GC,1413,-0.47,-146.1,150.8,-9.1,175,1418,0.12,2.33,0.00,0.000,6,0.149,0.057,1473,3405,3077,0,0,0,0,0,0
$GC,1742,-0.47,-146.1,182.0,-9.8,196,1745,0.00,0.88,0.00,0.000,4,0.000,0.060,1470,3950,3078,0,0,0,0,0,0
$GC,1818,-0.47,-146.1,190.4,-10.3,200,1824,0.00,0.82,0.00,0.000,6,0.000,0.035,1470,3403,3078,0,0,0,0,0,0
$GC,2146,-0.47,-146.1,221.3,-9.2,221,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3404,3078,0,0,0,0,0,0
$GC,2459,-0.47,-146.1,248.2,-8.2,241,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3404,3078,0,0,0,0,0,0
$GC,2779,-0.47,-146.1,277.5,-9.5,257,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3404,3077,0,0,0,0,0,0
$GC,3087,-0.47,-146.1,306.5,-9.2,272,3091,0.00,2.12,0.00,0.000,4,0.000,0.029,1470,1978,3078,0,0,0,0,0,0
$GC,3121,-0.47,-146.1,309.8,-8.7,273,3128,0.00,2.30,0.00,0.000,6,0.000,0.054,1460,3410,3077,0,0,0,0,0,0
$GC,3440,-0.47,-146.1,339.5,-9.5,289,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3077,0,0,0,0,0,0
$GC,3748,-0.47,-146.1,370.0,-9.9,304,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3077,0,0,0,0,0,0
$GC,4059,-0.47,-146.1,399.0,-9.0,319,4064,0.00,0.85,0.00,0.000,4,0.000,0.059,1455,3949,3077,0,0,0,0,0,0
$GC,4115,-0.47,-146.1,405.0,-10.1,321,4119,0.00,0.82,0.00,0.000,6,0.000,0.035,1455,3399,3077,0,0,0,0,0,0
$GC,4435,-0.47,-146.1,433.6,-9.1,332,4439,0.00,2.12,0.00,0.000,4,0.000,0.030,1455,1975,3076,0,0,0,0,0,0
$GC,4474,-0.47,-146.1,437.3,-8.4,333,4479,0.12,2.33,0.00,0.000,6,0.148,0.054,1477,3410,3077,0,0,0,0,0,0
$GC,4799,-0.47,-146.1,462.5,-7.9,344,4803,0.00,2.15,0.00,0.000,4,0.000,0.029,1477,1974,3076,0,0,0,0,0,0
$GC,4838,-0.47,-146.1,465.4,-7.1,345,4842,0.00,2.33,0.00,0.000,6,0.000,0.055,1468,3405,3075,0,0,0,0,0,0
$GC,5163,-0.47,-146.1,490.8,-8.1,356,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3075,0,0,0,0,0,0
$GC,5468,-0.47,-146.1,515.7,-8.2,366,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3074,0,0,0,0,0,0
$GC,5776,-0.47,-146.1,540.0,-7.8,376,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3074,0,0,0,0,0,0
$GC,6081,-0.47,-146.1,564.4,-7.9,386,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3074,0,0,0,0,0,0
$GC,6387,-0.47,-146.1,589.7,-8.3,396,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3405,3073,0,0,0,0,0,0
$GC,6694,-0.47,-146.1,616.0,-8.7,406,6698,0.00,2.15,0.00,0.000,4,0.000,0.031,1468,1978,3071,0,0,0,0,0,0
$GC,6738,-0.47,-146.1,619.9,-8.2,407,6743,0.00,2.33,0.00,0.000,6,0.000,0.054,1458,3410,3072,0,0,0,0,0,0
$GC,7057,-0.47,-146.1,649.2,-9.6,418,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3410,3071,0,0,0,0,0,0
$GC,7364,-0.47,-146.1,677.9,-9.5,428,7368,0.00,2.15,0.00,0.000,4,0.000,0.030,1458,1978,3071,0,0,0,0,0,0
$GC,7402,-0.47,-146.1,681.5,-8.4,429,7407,0.00,2.33,0.00,0.000,6,0.000,0.055,1447,3405,3071,0,0,0,0,0,0
$GC,7727,-0.47,-146.1,711.9,-9.5,440,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3070,0,0,0,0,0,0
$GC,8035,-0.47,-146.1,740.5,-9.1,450,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3070,0,0,0,0,0,0
$GC,8339,-0.47,-146.1,768.4,-9.2,460,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3405,3069,0,0,0,0,0,0
$GC,8645,-0.47,-146.1,798.0,-10.0,470,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3069,0,0,0,0,0,0
$GC,8952,-0.47,-146.1,829.4,-10.4,480,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3068,0,0,0,0,0,0
$GC,9258,-0.47,-146.1,861.2,-10.5,490,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3067,0,0,0,0,0,0
$GC,9564,-0.47,-146.1,891.9,-9.6,500,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3067,0,0,0,0,0,0
$GC,9871,-0.47,-146.1,920.6,-9.0,510,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3066,0,0,0,0,0,0
$GC,10177,-0.47,-146.1,947.2,-8.3,520,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3066,0,0,0,0,0,0
$GC,10483,-0.47,-146.1,971.1,-7.6,530,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3065,0,0,0,0,0,0
$GC,10790,-0.47,-146.1,993.8,-7.5,540,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3405,3065,0,0,0,0,0,0
$STATE,10879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10879,begin apogee
$GC,10886,-0.13,0.0,1000.8,7.7,543,11037,0.45,0.00,148.48,1.225,6,0.130,0.000,1582,3280,2473,0,0,0,0,0,0
$STATE,11039,end apogee,CONTROL_FINISHED_OK
$STATE,11039,begin climb
$GC,11042,0.47,146.1,1002.5,0.0,548,11201,0.57,0.00,151.10,1.202,6,0.083,0.000,1776,3280,1870,0,0,0,0,0,0
$GC,11503,0.47,146.1,943.8,13.5,563,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3280,1854,0,0,0,0,0,0
$GC,11811,0.47,146.1,902.0,13.7,573,11814,0.00,1.12,0.00,0.000,4,0.000,0.058,1776,3953,1853,0,0,0,0,0,0
$GC,11894,0.47,146.1,888.7,15.3,575,11897,0.00,1.05,0.00,0.000,6,0.000,0.034,1781,3273,1852,0,0,0,0,0,0
$GC,12219,0.47,146.1,839.7,15.1,586,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3273,1851,0,0,0,0,0,0
$GC,12524,0.47,146.1,794.4,14.7,596,12530,0.00,1.10,0.00,0.000,4,0.000,0.058,1781,3944,1850,0,0,0,0,0,0
$GC,12564,0.47,146.1,787.9,15.8,597,12569,0.00,1.02,0.00,0.000,6,0.000,0.034,1786,3270,1850,0,0,0,0,0,0
$GC,12901,0.47,146.1,735.4,15.5,608,12905,0.00,1.10,0.00,0.000,4,0.000,0.058,1786,3946,1850,0,0,0,0,0,0
$GC,12945,0.47,146.1,727.7,18.1,609,12949,0.00,1.00,0.00,0.000,6,0.000,0.034,1791,3285,1849,0,0,0,0,0,0
$GC,13276,0.47,146.1,675.8,15.5,620,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3283,1849,0,0,0,0,0,0
$GC,13582,0.47,146.1,629.6,14.9,630,13583,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3284,1849,0,0,0,0,0,0
$GC,13889,0.47,146.1,584.0,14.8,640,13893,0.00,1.08,0.00,0.000,4,0.000,0.058,1791,3947,1849,0,0,0,0,0,0
$GC,13958,0.47,146.1,572.6,17.2,642,13963,0.00,1.00,0.00,0.000,6,0.000,0.033,1796,3279,1848,0,0,0,0,0,0
$GC,14301,0.47,146.1,517.6,16.2,653,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3278,1848,0,0,0,0,0,0
$GC,14606,0.47,146.1,470.4,15.1,663,14612,0.00,1.08,0.00,0.000,4,0.000,0.057,1796,3943,1848,0,0,0,0,0,0
$GC,14654,0.47,146.1,462.7,16.3,664,14658,0.00,1.00,0.00,0.000,6,0.000,0.032,1801,3274,1848,0,0,0,0,0,0
$GC,14986,0.47,146.1,411.2,15.3,675,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3274,1848,0,0,0,0,0,0
$GC,15305,0.47,146.1,361.7,15.7,689,15311,0.00,1.10,0.00,0.000,4,0.000,0.057,1801,3950,1848,0,0,0,0,0,0
$GC,15369,0.47,146.1,349.7,18.1,691,15376,0.00,1.00,0.00,0.000,6,0.000,0.031,1806,3277,1848,0,0,0,0,0,0
$GC,15688,0.47,146.1,298.2,16.0,707,15689,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3277,1848,0,0,0,0,0,0
$GC,15996,0.47,146.1,249.9,15.9,722,15998,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3277,1848,0,0,0,0,0,0
$GC,16309,0.47,146.1,203.0,15.1,742,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3277,1848,0,0,0,0,0,0
$GC,16622,0.47,146.1,157.0,14.9,762,16625,0.00,1.08,0.00,0.000,4,0.000,0.056,1806,3946,1848,0,0,0,0,0,0
$GC,16716,0.47,146.1,140.8,15.7,767,16720,0.10,1.00,0.00,0.000,6,0.166,0.031,1782,3272,1848,0,0,0,0,0,0
$GC,17043,0.47,146.1,98.2,13.1,788,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3272,1848,0,0,0,0,0,0
$GC,17403,0.47,146.1,57.0,11.3,849,17410,0.00,2.12,0.00,0.000,4,0.000,0.029,1791,1871,1848,0,0,0,0,0,0
$GC,17459,0.47,146.1,51.5,8.8,858,17469,0.00,2.28,0.00,0.000,6,0.000,0.049,1791,3277,1848,0,0,0,0,0,0
$GC,17720,0.47,146.1,24.1,11.2,899,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3277,1848,0,0,0,0,0,0
$GC,17808,0.47,146.1,14.1,10.2,912,17816,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3277,1848,0,0,0,0,0,0
$GC,17896,0.47,146.1,3.9,13.0,925,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3277,1848,0,0,0,0,0,0
$STATE,17910,end climb,SURFACE_DEPTH_REACHED
$STATE,17910,begin surface coast
$FINISH,1.2,1.025790
$STATE,17942,end surface coast,CONTROL_FINISHED_OK
$STATE,17942,begin surface
$SM_CCo,17958,40.62,0.689,1,0,1532,230.09
$SM_GC,2.12,0.00,0.00,40.62,0.000,0.000,0.689,53,3410,1532,-4.92,0.31,230.09
$IRIDIUM_FIX,-4221.55,851.67,220113,181848
$TT8_MAMPS,0.025466
$HUMID,56.02
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.6,44.128
$10V_AH,10.0,28.224
$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,11.625,57.575,299.575,40.625,0.000,34.456,54.223,335.918,0.000,0.000,21.228,2258.493,12391.257,424.863,2562.506,971.581,33.368,1364.075,0.000,2432.609,0.000,1.013,0.000
$DEVICE_MAMPS,214.965,96.390,1224.765,689.265,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.425,2051.862,947.542,429.240,0.000,0.000,0.000,0.000,0.000,0.000
$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,67076,931
$CAP_FILE_SIZE,128571,0
$CFSIZE,259252224,242073600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230113,043729,-4238.077,851.533,38,0.9,38,-25.1