version: 66.07
glider: 543
mission: 6
dive: 300
start: 2 1 113 11 29 16
data:
$ID,543
$MISSION,6
$DIVE,300
$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,-8689.2197
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,010213,111834,-4154.465,832.339,26,1.1,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-54.8
$GPS2,010213,112818,-4154.425,832.348,16,1.6,16,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.139,-0.200
$KALMAN_X,-7535.3,119.6,110.9,49196.9,-2641.0
$KALMAN_Y,157881.5,-485.3,-167.8,-91274.0,4618.9
$MHEAD_RNG_PITCHd_Wd,170.3,39433,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.47,-146.1,0.0,0.0,0,67,0.00,0.00,-41.97,0.000,2,0.000,0.000,53,3416,2564,0,0,0,0,0,0
$GC,71,-0.47,-146.1,3.0,-3.2,5,98,5.85,0.88,-14.57,0.000,4,0.227,0.095,1467,3935,3071,0,0,0,0,0,0
$GC,314,-0.47,-146.1,31.6,-11.9,41,321,0.00,0.80,0.00,0.000,6,0.000,0.035,1467,3413,3075,0,0,0,0,0,0
$GC,565,-0.47,-146.1,61.4,-11.3,82,571,0.00,0.85,0.00,0.000,4,0.000,0.059,1464,3938,3075,0,0,0,0,0,0
$GC,620,-0.47,-146.1,67.5,-11.2,91,625,0.00,0.82,0.00,0.000,6,0.000,0.034,1464,3398,3075,0,0,0,0,0,0
$GC,986,-0.47,-146.1,103.0,-8.8,150,990,0.00,2.12,0.00,0.000,4,0.000,0.029,1464,1983,3076,0,0,0,0,0,0
$GC,1040,-0.47,-146.1,107.7,-8.1,153,1044,0.00,2.30,0.00,0.000,6,0.000,0.056,1453,3396,3077,0,0,0,0,0,0
$GC,1361,-0.47,-146.1,137.5,-9.3,173,1364,0.00,0.88,0.00,0.000,4,0.000,0.057,1449,3950,3077,0,0,0,0,0,0
$GC,1436,-0.47,-146.1,145.2,-9.6,177,1439,0.00,0.82,0.00,0.000,6,0.000,0.034,1449,3399,3077,0,0,0,0,0,0
$GC,1761,-0.47,-146.1,176.2,-9.2,198,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3077,0,0,0,0,0,0
$GC,2073,-0.47,-146.1,205.7,-9.5,218,2077,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3949,3077,0,0,0,0,0,0
$GC,2172,-0.47,-146.1,216.0,-10.0,223,2179,0.08,0.82,0.00,0.000,6,0.135,0.034,1470,3400,3077,0,0,0,0,0,0
$GC,2494,-0.47,-146.1,240.6,-7.7,244,2497,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3950,3077,0,0,0,0,0,0
$GC,2585,-0.47,-146.1,248.6,-8.6,249,2588,0.00,0.82,0.00,0.000,6,0.000,0.034,1467,3400,3077,0,0,0,0,0,0
$GC,2904,-0.47,-146.1,274.2,-8.3,265,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3400,3077,0,0,0,0,0,0
$GC,3213,-0.47,-146.1,298.9,-7.6,280,3216,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3950,3077,0,0,0,0,0,0
$GC,3285,-0.47,-146.1,305.0,-8.2,283,3289,0.00,0.82,0.00,0.000,6,0.000,0.034,1463,3397,3077,0,0,0,0,0,0
$GC,3621,-0.47,-146.1,331.3,-7.8,299,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3397,3077,0,0,0,0,0,0
$GC,3930,-0.47,-146.1,354.9,-7.9,314,3934,0.00,0.88,0.00,0.000,4,0.000,0.058,1459,3950,3077,0,0,0,0,0,0
$GC,3995,-0.47,-146.1,360.6,-8.8,316,4004,0.00,0.82,0.00,0.000,6,0.000,0.035,1459,3399,3077,0,0,0,0,0,0
$GC,4313,-0.47,-146.1,387.4,-8.7,332,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3400,3077,0,0,0,0,0,0
$GC,4630,-0.47,-146.1,413.9,-7.9,345,4634,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3950,3076,0,0,0,0,0,0
$GC,4776,-0.47,-146.1,426.7,-8.8,349,4780,0.00,0.82,0.00,0.000,6,0.000,0.034,1455,3398,3076,0,0,0,0,0,0
$GC,5106,-0.47,-146.1,454.4,-8.8,360,5110,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3949,3076,0,0,0,0,0,0
$GC,5214,-0.47,-146.1,464.8,-10.1,363,5218,0.00,0.82,0.00,0.000,6,0.000,0.034,1450,3397,3076,0,0,0,0,0,0
$GC,5550,-0.47,-146.1,496.6,-9.4,374,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3397,3075,0,0,0,0,0,0
$GC,5858,-0.47,-146.1,525.6,-9.5,384,5861,0.00,0.88,0.00,0.000,4,0.000,0.059,1446,3949,3074,0,0,0,0,0,0
$GC,5940,-0.47,-146.1,534.4,-10.5,386,5944,0.00,0.82,0.00,0.000,6,0.000,0.034,1447,3401,3074,0,0,0,0,0,0
$GC,6266,-0.47,-146.1,564.6,-9.1,397,6270,0.10,0.90,0.00,0.000,4,0.167,0.058,1469,3953,3073,0,0,0,0,0,0
$GC,6369,-0.47,-146.1,573.1,-7.9,400,6372,0.00,0.82,0.00,0.000,6,0.000,0.035,1469,3403,3073,0,0,0,0,0,0
$GC,6710,-0.47,-146.1,599.2,-7.5,411,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3403,3073,0,0,0,0,0,0
$GC,7017,-0.47,-146.1,622.0,-7.4,421,7021,0.00,0.88,0.00,0.000,4,0.000,0.060,1465,3950,3072,0,0,0,0,0,0
$GC,7095,-0.47,-146.1,628.3,-7.7,423,7098,0.00,0.82,0.00,0.000,6,0.000,0.036,1466,3403,3072,0,0,0,0,0,0
$GC,7425,-0.47,-146.1,651.4,-7.1,434,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3402,3071,0,0,0,0,0,0
$GC,7733,-0.47,-146.1,673.1,-7.0,444,7736,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3950,3070,0,0,0,0,0,0
$GC,7816,-0.47,-146.1,679.8,-7.9,446,7819,0.00,0.82,0.00,0.000,6,0.000,0.036,1462,3403,3070,0,0,0,0,0,0
$GC,8142,-0.47,-146.1,703.0,-7.2,457,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3403,3069,0,0,0,0,0,0
$GC,8447,-0.47,-146.1,725.0,-7.3,467,8452,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3945,3069,0,0,0,0,0,0
$GC,8560,-0.47,-146.1,734.4,-8.0,470,8563,0.00,0.82,0.00,0.000,6,0.000,0.035,1457,3402,3068,0,0,0,0,0,0
$GC,8890,-0.47,-146.1,761.6,-8.4,481,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3402,3068,0,0,0,0,0,0
$GC,9197,-0.47,-146.1,788.3,-8.9,491,9201,0.00,0.88,0.00,0.000,4,0.000,0.060,1454,3946,3067,0,0,0,0,0,0
$GC,9272,-0.47,-146.1,795.4,-9.4,493,9276,0.00,0.82,0.00,0.000,6,0.000,0.035,1453,3404,3067,0,0,0,0,0,0
$GC,9609,-0.47,-146.1,826.2,-9.2,504,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3402,3067,0,0,0,0,0,0
$GC,9916,-0.47,-146.1,853.6,-8.7,514,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3402,3066,0,0,0,0,0,0
$GC,10221,-0.47,-146.1,879.7,-8.5,524,10226,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3944,3065,0,0,0,0,0,0
$GC,10371,-0.47,-146.1,892.9,-9.0,528,10375,0.00,0.82,0.00,0.000,6,0.000,0.036,1449,3403,3065,0,0,0,0,0,0
$GC,10702,-0.47,-146.1,919.1,-7.7,539,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3402,3064,0,0,0,0,0,0
$GC,11010,-0.47,-146.1,942.3,-7.7,549,11014,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3944,3063,0,0,0,0,0,0
$GC,11112,-0.47,-146.1,951.1,-8.4,552,11116,0.00,0.82,0.00,0.000,6,0.000,0.037,1445,3401,3063,0,0,0,0,0,0
$GC,11454,-0.47,-146.1,977.0,-7.3,563,11456,0.10,0.00,0.00,0.000,6,0.168,0.000,1471,3400,3062,0,0,0,0,0,0
$GC,11761,-0.47,-146.1,994.1,-5.5,573,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3400,3062,0,0,0,0,0,0
$STATE,11880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11880,begin apogee
$GC,11887,-0.13,0.0,1000.7,5.4,577,12037,0.35,0.00,147.25,1.248,6,0.122,0.000,1581,3268,2473,0,0,0,0,0,0
$STATE,12038,end apogee,CONTROL_FINISHED_OK
$STATE,12039,begin climb
$GC,12041,0.47,146.1,1002.1,0.0,582,12201,0.57,2.45,147.25,1.221,4,0.083,0.029,1786,1866,1870,0,0,0,0,0,0
$GC,12273,0.47,146.1,975.6,12.4,589,12277,0.00,2.42,0.00,0.000,6,0.000,0.049,1786,3280,1860,0,0,0,0,0,0
$GC,12609,0.47,146.1,921.8,16.2,600,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1854,0,0,0,0,0,0
$GC,12914,0.47,146.1,874.4,15.4,610,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1853,0,0,0,0,0,0
$GC,13222,0.47,146.1,828.7,14.7,620,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1852,0,0,0,0,0,0
$GC,13527,0.47,146.1,784.7,14.1,630,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1851,0,0,0,0,0,0
$GC,13833,0.47,146.1,743.1,13.5,640,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1850,0,0,0,0,0,0
$GC,14140,0.47,146.1,702.4,13.2,650,14142,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3279,1849,0,0,0,0,0,0
$GC,14446,0.47,146.1,661.8,13.4,660,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1849,0,0,0,0,0,0
$GC,14752,0.47,146.1,621.2,13.3,670,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1849,0,0,0,0,0,0
$GC,15059,0.47,146.1,578.9,14.0,680,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1848,0,0,0,0,0,0
$GC,15364,0.47,146.1,535.2,14.1,690,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1848,0,0,0,0,0,0
$GC,15671,0.47,146.1,492.1,14.0,700,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3280,1848,0,0,0,0,0,0
$GC,15978,0.47,146.1,450.1,13.4,710,15981,0.00,1.08,0.00,0.000,4,0.000,0.056,1786,3953,1848,0,0,0,0,0,0
$GC,16021,0.47,146.1,443.5,14.8,711,16025,0.00,1.02,0.00,0.000,6,0.000,0.031,1791,3270,1848,0,0,0,0,0,0
$GC,16351,0.47,146.1,399.5,13.1,722,16352,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3269,1848,0,0,0,0,0,0
$GC,16662,0.47,146.1,359.3,12.7,737,16667,0.00,1.10,0.00,0.000,4,0.000,0.055,1791,3951,1848,0,0,0,0,0,0
$GC,16733,0.47,146.1,349.3,13.8,740,16739,0.00,1.00,0.00,0.000,6,0.000,0.031,1796,3276,1848,0,0,0,0,0,0
$GC,17069,0.47,146.1,305.8,13.1,756,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3276,1848,0,0,0,0,0,0
$GC,17378,0.47,146.1,264.0,13.8,771,17380,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3276,1848,0,0,0,0,0,0
$GC,17699,0.47,146.1,219.3,13.8,790,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3276,1848,0,0,0,0,0,0
$GC,18011,0.47,146.1,175.1,14.3,810,18012,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3276,1848,0,0,0,0,0,0
$GC,18324,0.47,146.1,133.1,13.1,830,18327,0.00,1.10,0.00,0.000,4,0.000,0.054,1796,3958,1848,0,0,0,0,0,0
$GC,18384,0.47,146.1,124.1,14.0,833,18391,0.00,1.00,0.00,0.000,6,0.000,0.031,1801,3282,1848,0,0,0,0,0,0
$GC,18718,0.47,146.1,79.8,12.4,870,18726,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3282,1848,0,0,0,0,0,0
$GC,19084,0.47,146.1,37.3,10.9,931,19091,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3282,1848,0,0,0,0,0,0
$GC,19347,0.47,146.1,10.4,11.6,972,19357,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3282,1848,0,0,0,0,0,0
$STATE,19414,end climb,SURFACE_DEPTH_REACHED
$STATE,19414,begin surface coast
$FINISH,1.4,1.025976
$STATE,19448,end surface coast,CONTROL_FINISHED_OK
$STATE,19448,begin surface
$SM_CCo,19464,39.40,0.671,1,0,1531,230.09
$SM_GC,2.34,0.00,0.00,39.40,0.000,0.000,0.671,45,3415,1531,-4.95,0.42,230.09
$IRIDIUM_FIX,-4138.02,827.84,010213,050511
$TT8_MAMPS,0.025466
$HUMID,55.82
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.5,50.738
$10V_AH,10.1,33.739
$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,11.725,44.925,294.500,39.400,0.000,27.927,18.949,346.140,0.000,0.000,19.049,2458.141,13295.638,395.434,2875.225,1062.396,33.370,1445.892,0.000,2768.632,0.000,1.015,0.000
$DEVICE_MAMPS,227.205,94.860,1247.715,670.905,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.964,2195.316,1012.470,440.321,0.000,0.000,0.000,0.000,0.000,0.000
$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,70493,987
$CAP_FILE_SIZE,141139,0
$CFSIZE,259252224,238895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,010213,165534,-4156.235,834.638,27,0.8,27,-25.0