version: 66.07
glider: 543
mission: 6
dive: 301
start: 2 1 113 17 6 47
data:
$ID,543
$MISSION,6
$DIVE,301
$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,-8692.1631
$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,32
$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
$GPS1,010213,165534,-4156.235,834.638,27,0.8,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-58.8
$GPS2,010213,170549,-4156.187,834.660,16,0.8,17,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.162,-0.182
$KALMAN_X,-7885.4,165.9,336.8,52420.5,-2181.8
$KALMAN_Y,159227.7,-231.7,-338.4,-95946.2,4012.5
$MHEAD_RNG_PITCHd_Wd,163.2,35583,-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,-41.88,0.000,2,0.000,0.000,44,3415,2568,0,0,0,0,0,0
$GC,71,-0.47,-146.1,3.3,-4.4,5,98,5.95,0.90,-15.10,0.000,4,0.233,0.094,1465,3946,3071,0,0,0,0,0,0
$GC,305,-0.47,-146.1,32.3,-13.2,40,313,0.00,0.82,0.00,0.000,6,0.000,0.034,1465,3407,3074,0,0,0,0,0,0
$GC,559,-0.47,-146.1,60.4,-10.7,81,567,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3407,3075,0,0,0,0,0,0
$GC,915,-0.47,-146.1,94.9,-8.8,142,922,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3407,3076,0,0,0,0,0,0
$GC,1243,-0.47,-146.1,123.9,-8.7,169,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3407,3077,0,0,0,0,0,0
$GC,1556,-0.47,-146.1,151.8,-8.9,189,1561,0.00,0.85,0.00,0.000,4,0.000,0.059,1461,3934,3077,0,0,0,0,0,0
$GC,1655,-0.47,-146.1,161.9,-10.0,194,1663,0.00,0.80,0.00,0.000,6,0.000,0.035,1461,3405,3077,0,0,0,0,0,0
$GC,1979,-0.47,-146.1,192.7,-10.1,215,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3405,3077,0,0,0,0,0,0
$GC,2291,-0.47,-146.1,222.5,-9.4,235,2294,0.00,0.85,0.00,0.000,4,0.000,0.058,1457,3936,3077,0,0,0,0,0,0
$GC,2399,-0.47,-146.1,234.1,-10.0,241,2403,0.00,0.82,0.00,0.000,6,0.000,0.034,1457,3390,3077,0,0,0,0,0,0
$GC,2734,-0.47,-146.1,266.3,-10.0,260,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3390,3077,0,0,0,0,0,0
$GC,3043,-0.47,-146.1,294.0,-8.7,275,3049,0.00,0.88,0.00,0.000,4,0.000,0.057,1453,3940,3077,0,0,0,0,0,0
$GC,3161,-0.47,-146.1,305.4,-9.4,280,3165,0.00,0.80,0.00,0.000,6,0.000,0.034,1453,3407,3077,0,0,0,0,0,0
$GC,3496,-0.47,-146.1,336.3,-9.1,296,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3407,3077,0,0,0,0,0,0
$GC,3806,-0.47,-146.1,364.0,-8.8,311,3812,0.00,0.85,0.00,0.000,4,0.000,0.058,1449,3939,3077,0,0,0,0,0,0
$GC,3917,-0.47,-146.1,374.5,-9.4,315,3924,0.00,0.82,0.00,0.000,6,0.000,0.034,1449,3393,3077,0,0,0,0,0,0
$GC,4235,-0.47,-146.1,401.6,-8.6,331,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3393,3077,0,0,0,0,0,0
$GC,4540,-0.47,-146.1,430.8,-9.7,341,4544,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3942,3076,0,0,0,0,0,0
$GC,4611,-0.47,-146.1,437.7,-10.0,343,4615,0.00,0.82,0.00,0.000,6,0.000,0.035,1445,3393,3076,0,0,0,0,0,0
$GC,4953,-0.47,-146.1,470.2,-9.4,354,4957,0.10,0.88,0.00,0.000,4,0.167,0.059,1469,3927,3076,0,0,0,0,0,0
$GC,5042,-0.47,-146.1,477.8,-8.3,356,5046,0.00,0.80,0.00,0.000,6,0.000,0.035,1469,3400,3076,0,0,0,0,0,0
$GC,5362,-0.47,-146.1,501.3,-7.3,367,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3075,0,0,0,0,0,0
$GC,5669,-0.47,-146.1,522.2,-6.6,377,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3075,0,0,0,0,0,0
$GC,5974,-0.47,-146.1,542.6,-6.9,387,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3074,0,0,0,0,0,0
$GC,6280,-0.47,-146.1,564.1,-7.1,397,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3074,0,0,0,0,0,0
$GC,6588,-0.47,-146.1,587.1,-7.7,407,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3073,0,0,0,0,0,0
$GC,6893,-0.47,-146.1,610.0,-7.5,417,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3400,3072,0,0,0,0,0,0
$GC,7199,-0.47,-146.1,632.4,-7.2,427,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3400,3072,0,0,0,0,0,0
$GC,7507,-0.47,-146.1,654.0,-7.1,437,7510,0.00,0.90,0.00,0.000,4,0.000,0.060,1465,3944,3071,0,0,0,0,0,0
$GC,7590,-0.47,-146.1,660.9,-8.0,439,7594,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3402,3071,0,0,0,0,0,0
$GC,7917,-0.47,-146.1,685.5,-7.6,450,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3402,3070,0,0,0,0,0,0
$GC,8222,-0.47,-146.1,710.4,-8.4,460,8227,0.00,0.85,0.00,0.000,4,0.000,0.060,1461,3927,3069,0,0,0,0,0,0
$GC,8295,-0.47,-146.1,717.4,-8.3,462,8299,0.00,0.80,0.00,0.000,6,0.000,0.036,1461,3404,3069,0,0,0,0,0,0
$GC,8631,-0.47,-146.1,746.6,-8.6,473,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3403,3068,0,0,0,0,0,0
$GC,8938,-0.47,-146.1,772.3,-8.1,483,8942,0.00,0.85,0.00,0.000,4,0.000,0.059,1457,3931,3068,0,0,0,0,0,0
$GC,9056,-0.47,-146.1,782.7,-8.9,486,9059,0.00,0.80,0.00,0.000,6,0.000,0.037,1457,3404,3068,0,0,0,0,0,0
$GC,9383,-0.47,-146.1,808.2,-7.8,497,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3405,3067,0,0,0,0,0,0
$GC,9687,-0.47,-146.1,831.2,-7.6,507,9693,0.00,0.85,0.00,0.000,4,0.000,0.060,1453,3931,3066,0,0,0,0,0,0
$GC,9783,-0.47,-146.1,838.9,-7.8,509,9791,0.00,0.82,0.00,0.000,6,0.000,0.037,1453,3390,3067,0,0,0,0,0,0
$GC,10097,-0.47,-146.1,862.5,-7.5,520,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3390,3065,0,0,0,0,0,0
$GC,10404,-0.47,-146.1,886.1,-7.6,530,10407,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3932,3064,0,0,0,0,0,0
$GC,10493,-0.47,-146.1,893.8,-9.0,532,10496,0.00,0.80,0.00,0.000,6,0.000,0.037,1449,3408,3065,0,0,0,0,0,0
$GC,10812,-0.47,-146.1,920.1,-8.3,543,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3409,3064,0,0,0,0,0,0
$GC,11117,-0.47,-146.1,945.5,-8.4,553,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3409,3063,0,0,0,0,0,0
$GC,11425,-0.47,-146.1,970.7,-8.1,563,11429,0.00,0.85,0.00,0.000,4,0.000,0.060,1445,3932,3063,0,0,0,0,0,0
$GC,11508,-0.47,-146.1,978.0,-8.3,565,11512,0.08,0.82,0.00,0.000,6,0.132,0.037,1469,3395,3062,0,0,0,0,0,0
$GC,11834,-0.47,-146.1,997.7,-5.9,576,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3062,0,0,0,0,0,0
$STATE,11890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11891,begin apogee
$GC,11898,-0.13,0.0,1001.3,5.9,578,12047,0.38,0.00,141.12,1.803,6,0.125,0.000,1586,3280,2473,0,0,0,0,1,0
$STATE,12048,end apogee,CONTROL_FINISHED_OK
$STATE,12048,begin climb
$GC,12052,0.47,146.1,1003.5,0.0,583,12215,0.57,2.45,150.45,1.753,4,0.077,0.029,1786,1855,1878,0,0,0,0,1,0
$GC,12255,0.47,146.1,981.7,11.8,589,12260,0.00,2.50,0.00,0.000,6,0.000,0.050,1786,3269,1874,0,0,0,0,0,0
$GC,12574,0.47,146.1,935.9,14.5,600,12577,0.00,1.12,0.00,0.000,4,0.000,0.057,1786,3953,1868,0,0,0,0,0,0
$GC,12617,0.47,146.1,928.8,17.2,601,12621,0.00,1.05,0.00,0.000,6,0.000,0.031,1791,3269,1867,0,0,0,0,0,0
$GC,12948,0.47,146.1,879.1,14.8,612,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3270,1865,0,0,0,0,0,0
$GC,13254,0.47,146.1,834.0,14.8,622,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3270,1864,0,0,0,0,0,0
$GC,13561,0.47,146.1,787.7,15.2,632,13565,0.00,1.12,0.00,0.000,4,0.000,0.057,1791,3958,1863,0,0,0,0,0,0
$GC,13637,0.47,146.1,775.2,17.2,634,13640,0.00,1.02,0.00,0.000,6,0.000,0.033,1796,3278,1863,0,0,0,0,0,0
$GC,13973,0.47,146.1,722.8,15.3,645,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1861,0,0,0,0,0,0
$GC,14280,0.47,146.1,676.8,14.7,655,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1861,0,0,0,0,0,0
$GC,14585,0.47,146.1,633.9,13.9,665,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3278,1860,0,0,0,0,0,0
$GC,14891,0.47,146.1,591.0,13.9,675,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1860,0,0,0,0,0,0
$GC,15199,0.47,146.1,549.1,13.8,685,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1860,0,0,0,0,0,0
$GC,15504,0.47,146.1,506.9,13.7,695,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1860,0,0,0,0,0,0
$GC,15810,0.47,146.1,465.2,13.6,705,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,16117,0.47,146.1,422.7,14.0,715,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,16425,0.47,146.1,380.7,13.6,727,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3277,1859,0,0,0,0,0,0
$GC,16734,0.47,146.1,338.0,13.6,742,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,17044,0.47,146.1,295.9,13.2,757,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,17353,0.47,146.1,255.1,12.9,772,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1859,0,0,0,0,0,0
$GC,17675,0.47,146.1,212.9,13.5,792,17676,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3278,1859,0,0,0,0,0,0
$GC,17988,0.47,146.1,172.5,12.4,812,17989,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,18299,0.47,146.1,135.0,11.9,832,18300,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,18612,0.47,146.1,97.8,11.8,854,18619,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,18966,0.47,146.1,57.7,10.4,915,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1859,0,0,0,0,0,0
$GC,19216,0.47,146.1,30.9,10.1,956,19224,0.00,1.08,0.00,0.000,4,0.000,0.056,1796,3948,1859,0,0,0,0,0,0
$GC,19305,0.47,146.1,21.4,10.2,969,19316,0.00,1.00,0.00,0.000,6,0.000,0.030,1801,3270,1859,0,0,0,0,0,0
$GC,19395,0.47,146.1,11.6,11.4,982,19405,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3269,1859,0,0,0,0,0,0
$STATE,19479,end climb,SURFACE_DEPTH_REACHED
$STATE,19479,begin surface coast
$FINISH,1.3,1.018090
$STATE,19512,end surface coast,CONTROL_FINISHED_OK
$STATE,19512,begin surface
$SM_CCo,19528,39.88,0.705,1,0,1531,230.09
$SM_GC,2.22,0.00,0.00,39.88,0.000,0.000,0.705,55,3408,1531,-4.91,0.23,230.09
$IRIDIUM_FIX,-4140.91,833.99,010213,111114
$TT8_MAMPS,0.025466
$HUMID,55.59
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.0,50.916
$10V_AH,10.0,33.874
$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,11.850,33.550,291.575,39.875,0.000,25.098,26.145,370.877,0.000,0.000,20.030,2437.172,13507.070,399.083,2804.912,1034.864,33.375,1411.922,0.000,2663.167,0.000,1.013,0.000
$DEVICE_MAMPS,232.560,94.095,1803.105,704.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.614,2186.085,1009.734,448.449,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353820
$DATA_FILE_SIZE,73699,999
$CAP_FILE_SIZE,134927,0
$CFSIZE,259252224,238825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010213,223423,-4157.432,837.086,40,0.9,40,-25.0