version: 66.07
glider: 543
mission: 6
dive: 297
start: 1 31 113 18 46 42
data:
$ID,543
$MISSION,6
$DIVE,297
$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,-8680.2285
$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,57
$R_STBD_OVSHOOT,26
$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
$GPS1,310113,183455,-4155.895,823.259,40,0.9,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-55.0
$GPS2,310113,184541,-4155.917,823.279,16,1.2,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,-0.014
$KALMAN_X,-1228.3,-896.1,-593.2,32265.9,2485.7
$KALMAN_Y,148759.7,969.1,349.6,-86910.2,-912.1
$MHEAD_RNG_PITCHd_Wd,118.2,51101,-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,-146.1,0.0,0.0,0,63,0.00,0.00,-41.00,0.000,2,0.000,0.000,43,3403,2527,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.0,-3.8,5,103,5.90,2.17,-17.80,0.000,4,0.230,0.044,1467,1997,3072,0,0,0,0,0,0
$GC,263,-0.47,-146.1,20.5,-10.4,33,273,0.00,2.30,0.00,0.000,6,0.000,0.054,1458,3392,3074,0,0,0,0,0,0
$GC,353,-0.47,-146.1,31.5,-12.7,46,362,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3952,3074,0,0,0,0,0,0
$GC,486,-0.47,-146.1,48.7,-12.0,67,494,0.00,0.80,0.00,0.000,6,0.000,0.034,1454,3424,3075,0,0,0,0,0,0
$GC,729,-0.47,-146.1,74.7,-9.7,108,738,0.00,2.20,0.00,0.000,4,0.000,0.029,1453,1973,3075,0,0,0,0,0,0
$GC,791,-0.47,-146.1,80.2,-8.8,118,799,0.12,2.33,0.00,0.000,6,0.148,0.056,1476,3409,3075,0,0,0,0,0,0
$GC,1153,-0.47,-146.1,108.3,-7.7,167,1156,0.00,0.85,0.00,0.000,4,0.000,0.058,1474,3947,3077,0,0,0,0,0,0
$GC,1225,-0.47,-146.1,114.5,-9.2,171,1229,0.00,0.82,0.00,0.000,6,0.000,0.034,1473,3398,3077,0,0,0,0,0,0
$GC,1560,-0.47,-146.1,142.2,-8.0,192,1564,0.00,2.12,0.00,0.000,4,0.000,0.028,1473,1978,3077,0,0,0,0,0,0
$GC,1612,-0.47,-146.1,146.2,-7.1,195,1616,0.00,2.30,0.00,0.000,6,0.000,0.054,1463,3401,3078,0,0,0,0,0,0
$GC,1936,-0.47,-146.1,175.3,-9.0,216,1940,0.00,0.88,0.00,0.000,4,0.000,0.058,1459,3948,3078,0,0,0,0,0,0
$GC,1993,-0.47,-146.1,180.3,-9.4,219,1997,0.00,0.82,0.00,0.000,6,0.000,0.034,1459,3394,3078,0,0,0,0,0,0
$GC,2326,-0.47,-146.1,211.9,-9.4,240,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3394,3078,0,0,0,0,0,0
$GC,2638,-0.47,-146.1,241.0,-9.5,260,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3394,3078,0,0,0,0,0,0
$GC,2954,-0.47,-146.1,271.3,-9.7,277,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3394,3078,0,0,0,0,0,0
$GC,3263,-0.47,-146.1,300.2,-9.1,292,3267,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3946,3077,0,0,0,0,0,0
$GC,3324,-0.47,-146.1,306.2,-9.9,294,3327,0.00,0.82,0.00,0.000,6,0.000,0.034,1454,3395,3077,0,0,0,0,0,0
$GC,3647,-0.47,-146.1,336.9,-9.2,310,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3395,3077,0,0,0,0,0,0
$GC,3957,-0.47,-146.1,365.8,-9.0,325,3963,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3944,3077,0,0,0,0,0,0
$GC,4033,-0.47,-146.1,373.0,-8.8,328,4038,0.00,0.82,0.00,0.000,6,0.000,0.034,1451,3395,3077,0,0,0,0,0,0
$GC,4372,-0.47,-146.1,403.5,-9.1,344,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3395,3076,0,0,0,0,0,0
$GC,4677,-0.47,-146.1,430.6,-8.9,354,4683,0.00,2.12,0.00,0.000,4,0.000,0.028,1450,1980,3076,0,0,0,0,0,0
$GC,4734,-0.47,-146.1,435.4,-8.1,355,4739,0.12,2.30,0.00,0.000,6,0.147,0.052,1472,3406,3076,0,0,0,0,0,0
$GC,5050,-0.47,-146.1,458.7,-7.7,365,5053,0.00,0.85,0.00,0.000,4,0.000,0.059,1470,3947,3075,0,0,0,0,0,0
$GC,5156,-0.47,-146.1,467.6,-7.9,368,5160,0.00,0.82,0.00,0.000,6,0.000,0.034,1470,3400,3075,0,0,0,0,0,0
$GC,5492,-0.47,-146.1,494.2,-8.0,379,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3400,3075,0,0,0,0,0,0
$GC,5799,-0.47,-146.1,518.6,-7.8,389,5803,0.00,0.88,0.00,0.000,4,0.000,0.060,1467,3948,3075,0,0,0,0,0,0
$GC,5882,-0.47,-146.1,525.9,-8.5,391,5886,0.00,0.82,0.00,0.000,6,0.000,0.035,1466,3399,3075,0,0,0,0,0,0
$GC,6207,-0.47,-146.1,550.6,-7.5,402,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3399,3074,0,0,0,0,0,0
$GC,6515,-0.47,-146.1,573.7,-7.6,412,6518,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3947,3073,0,0,0,0,0,0
$GC,6590,-0.47,-146.1,580.0,-8.5,414,6593,0.00,0.82,0.00,0.000,6,0.000,0.034,1462,3402,3073,0,0,0,0,0,0
$GC,6926,-0.47,-146.1,607.4,-8.2,425,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3402,3072,0,0,0,0,0,0
$GC,7233,-0.47,-146.1,632.8,-8.3,435,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3401,3071,0,0,0,0,0,0
$GC,7538,-0.47,-146.1,658.2,-8.3,445,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3401,3071,0,0,0,0,0,0
$GC,7844,-0.47,-146.1,683.0,-8.1,455,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3401,3070,0,0,0,0,0,0
$GC,8152,-0.47,-146.1,706.2,-7.6,465,8156,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3944,3070,0,0,0,0,0,0
$GC,8221,-0.47,-146.1,712.1,-8.8,467,8226,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3401,3070,0,0,0,0,0,0
$GC,8565,-0.47,-146.1,740.4,-8.2,478,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3402,3069,0,0,0,0,0,0
$GC,8869,-0.47,-146.1,764.8,-8.0,488,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3402,3068,0,0,0,0,0,0
$GC,9175,-0.47,-146.1,788.9,-7.7,498,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3401,3068,0,0,0,0,0,0
$GC,9483,-0.47,-146.1,811.8,-7.3,508,9486,0.00,0.88,0.00,0.000,4,0.000,0.060,1454,3946,3066,0,0,0,0,0,0
$GC,9551,-0.47,-146.1,817.4,-7.6,510,9557,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3403,3067,0,0,0,0,0,0
$GC,9896,-0.47,-146.1,843.7,-7.6,521,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3066,0,0,0,0,0,0
$GC,10201,-0.47,-146.1,867.5,-7.7,531,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3403,3066,0,0,0,0,0,0
$GC,10507,-0.47,-146.1,890.6,-7.5,541,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3065,0,0,0,0,0,0
$GC,10815,-0.47,-146.1,914.9,-8.0,551,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3064,0,0,0,0,0,0
$GC,11120,-0.47,-146.1,939.7,-8.2,561,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3063,0,0,0,0,0,0
$GC,11425,-0.47,-146.1,964.9,-8.4,571,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3063,0,0,0,0,0,0
$GC,11733,-0.47,-146.1,990.4,-8.2,581,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3403,3062,0,0,0,0,0,0
$STATE,11851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11851,begin apogee
$GC,11858,-0.13,0.0,1000.5,8.3,585,12008,0.43,0.00,146.30,1.271,6,0.129,0.000,1582,3270,2473,0,0,0,0,0,0
$STATE,12009,end apogee,CONTROL_FINISHED_OK
$STATE,12009,begin climb
$GC,12013,0.47,146.1,1004.0,0.0,590,12173,0.57,2.42,148.32,1.237,4,0.083,0.031,1787,1876,1871,0,0,0,0,0,0
$GC,12219,0.47,146.1,982.9,11.4,596,12224,0.00,2.47,0.00,0.000,6,0.000,0.050,1787,3273,1863,0,0,0,0,0,0
$GC,12551,0.47,146.1,932.8,15.2,607,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1856,0,0,0,0,0,0
$GC,12856,0.47,146.1,885.8,15.5,617,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1855,0,0,0,0,0,0
$GC,13162,0.47,146.1,841.1,14.3,627,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1854,0,0,0,0,0,0
$GC,13469,0.47,146.1,796.9,14.8,637,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1853,0,0,0,0,0,0
$GC,13774,0.47,146.1,752.6,14.5,647,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1852,0,0,0,0,0,0
$GC,14081,0.47,146.1,708.9,14.0,657,14085,0.00,1.10,0.00,0.000,4,0.000,0.059,1787,3954,1851,0,0,0,0,0,0
$GC,14142,0.47,146.1,699.1,16.1,658,14150,0.00,1.02,0.00,0.000,6,0.000,0.032,1792,3271,1851,0,0,0,0,0,0
$GC,14455,0.47,146.1,653.6,14.2,669,14456,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1850,0,0,0,0,0,0
$GC,14762,0.47,146.1,612.7,13.1,679,14763,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1850,0,0,0,0,0,0
$GC,15069,0.47,146.1,570.5,14.3,689,15070,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1850,0,0,0,0,0,0
$GC,15374,0.47,146.1,527.0,14.1,699,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1850,0,0,0,0,0,0
$GC,15680,0.47,146.1,483.0,14.5,709,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1849,0,0,0,0,0,0
$GC,15987,0.47,146.1,438.8,14.1,719,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1849,0,0,0,0,0,0
$GC,16292,0.47,146.1,396.9,13.5,729,16298,0.00,1.10,0.00,0.000,4,0.000,0.057,1792,3952,1849,0,0,0,0,0,0
$GC,16356,0.47,146.1,387.2,15.4,731,16362,0.00,1.00,0.00,0.000,6,0.000,0.030,1797,3278,1849,0,0,0,0,0,0
$GC,16674,0.47,146.1,341.7,14.4,747,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1849,0,0,0,0,0,0
$GC,16982,0.47,146.1,297.3,14.2,762,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1849,0,0,0,0,0,0
$GC,17293,0.47,146.1,255.0,13.6,777,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1848,0,0,0,0,0,0
$GC,17615,0.47,146.1,211.9,13.1,797,17616,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1849,0,0,0,0,0,0
$GC,17927,0.47,146.1,169.6,13.6,817,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1849,0,0,0,0,0,0
$GC,18240,0.47,146.1,127.4,13.1,837,18241,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1849,0,0,0,0,0,0
$GC,18565,0.47,146.1,82.6,13.4,871,18570,0.00,2.12,0.00,0.000,4,0.000,0.028,1808,1866,1849,0,0,0,0,0,0
$GC,18602,0.47,146.1,78.2,11.5,877,18607,0.00,2.28,0.00,0.000,6,0.000,0.047,1808,3286,1849,0,0,0,0,0,0
$GC,18967,0.47,146.1,32.2,11.3,938,18976,0.00,1.05,0.00,0.000,4,0.000,0.054,1808,3946,1849,0,0,0,0,0,0
$GC,19153,0.47,146.1,8.6,13.7,966,19161,0.10,0.98,0.00,0.000,6,0.158,0.029,1783,3277,1849,0,0,0,0,0,0
$STATE,19211,end climb,SURFACE_DEPTH_REACHED
$STATE,19211,begin surface coast
$FINISH,1.2,1.015197
$STATE,19253,end surface coast,CONTROL_FINISHED_OK
$STATE,19253,begin surface
$SM_CCo,19268,39.60,0.683,1,0,1533,230.09
$SM_GC,1.99,0.00,0.00,39.60,0.000,0.000,0.683,44,3409,1533,-4.95,0.23,230.09
$IRIDIUM_FIX,-4143.80,822.54,310113,121217
$TT8_MAMPS,0.025466
$HUMID,55.55
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.5,50.292
$10V_AH,10.0,33.328
$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,11.800,50.725,294.625,39.600,0.000,27.975,49.915,374.012,0.000,0.000,19.000,2385.368,13418.317,399.087,2715.417,1037.436,33.370,1371.936,0.000,2587.594,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,77.265,1270.665,683.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.444,2173.311,997.756,440.692,0.000,0.000,0.000,0.000,0.000,0.000
$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,70494,980
$CAP_FILE_SIZE,133661,0
$CFSIZE,259252224,239132672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,010213,000959,-4154.970,826.371,41,0.8,41,-24.9