version: 66.07
glider: 543
mission: 6
dive: 173
start: 1 6 113 6 8 29
data:
$ID,543
$MISSION,6
$DIVE,173
$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,250
$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,-8344.748
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,34
$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
$GPS1,060113,055604,-4201.956,816.243,37,0.9,37,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-52.3
$GPS2,060113,060731,-4202.027,816.324,17,0.8,18,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,0.150
$KALMAN_X,-79494.0,-773.4,-219.0,100524.8,-948.3
$KALMAN_Y,5617.6,-181.9,-244.4,46698.2,-855.7
$MHEAD_RNG_PITCHd_Wd,77.0,6300,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.49,-146.1,0.0,0.0,0,73,0.00,0.00,-48.92,0.000,2,0.000,0.000,48,3395,2631,0,0,0,0,0,0
$GC,77,-0.49,-146.1,3.2,-3.6,6,106,5.82,0.88,-14.07,0.000,4,0.233,0.091,1466,3925,3070,0,0,0,0,0,0
$GC,389,-0.49,-146.1,43.4,-13.0,54,398,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3388,3073,0,0,0,0,0,0
$GC,636,-0.49,-146.1,67.6,-6.0,95,640,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3930,3073,0,0,0,0,0,0
$GC,801,-0.49,-146.1,82.0,-10.1,123,809,0.00,0.85,0.00,0.000,6,0.000,0.036,1462,3372,3074,0,0,0,0,0,0
$GC,1146,-0.49,-146.1,116.6,-10.4,164,1149,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3935,3075,0,0,0,0,0,0
$GC,1246,-0.49,-146.1,127.7,-10.9,169,1252,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3371,3075,0,0,0,0,0,0
$GC,1565,-0.49,-146.1,160.4,-10.4,190,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3371,3075,0,0,0,0,0,0
$GC,1878,-0.49,-146.1,194.7,-11.1,210,1882,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3937,3076,0,0,0,0,0,0
$GC,1942,-0.49,-146.1,202.6,-11.8,213,1949,0.00,0.82,0.00,0.000,6,0.000,0.036,1453,3387,3076,0,0,0,0,0,0
$GC,2262,-0.49,-146.1,239.8,-11.5,234,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3387,3076,0,0,0,0,0,0
$GC,2584,-0.49,-146.1,275.0,-10.5,251,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3387,3076,0,0,0,0,0,0
$GC,2893,-0.49,-146.1,308.7,-11.3,266,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3387,3076,0,0,0,0,0,0
$GC,3203,-0.49,-146.1,343.9,-11.7,281,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3387,3076,0,0,0,0,0,0
$GC,3512,-0.49,-146.1,378.5,-10.5,296,3515,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3937,3076,0,0,0,0,0,0
$GC,3632,-0.49,-146.1,392.8,-11.7,301,3636,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3369,3075,0,0,0,0,0,0
$GC,3958,-0.49,-146.1,428.4,-11.1,313,3961,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3933,3075,0,0,0,0,0,0
$GC,4037,-0.49,-146.1,438.4,-12.6,315,4041,0.08,0.82,0.00,0.000,6,0.145,0.037,1470,3388,3075,0,0,0,0,0,0
$GC,4368,-0.49,-146.1,470.1,-9.3,326,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3075,0,0,0,0,0,0
$GC,4673,-0.49,-146.1,496.3,-8.3,336,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3075,0,0,0,0,0,0
$GC,4979,-0.49,-146.1,520.7,-8.0,346,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3074,0,0,0,0,0,0
$GC,5287,-0.49,-146.1,544.6,-7.9,356,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3073,0,0,0,0,0,0
$GC,5591,-0.49,-146.1,570.0,-8.6,366,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3073,0,0,0,0,0,0
$GC,5897,-0.49,-146.1,599.5,-10.1,376,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3072,0,0,0,0,0,0
$GC,6205,-0.49,-146.1,631.7,-10.8,386,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3071,0,0,0,0,0,0
$GC,6510,-0.49,-146.1,664.1,-10.6,396,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3070,0,0,0,0,0,0
$GC,6817,-0.49,-146.1,695.4,-10.3,406,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3070,0,0,0,0,0,0
$GC,7123,-0.49,-146.1,726.6,-10.0,416,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3069,0,0,0,0,0,0
$GC,7429,-0.49,-146.1,755.1,-9.0,426,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3388,3068,0,0,0,0,0,0
$GC,7735,-0.49,-146.1,781.8,-8.6,436,7738,0.00,0.88,0.00,0.000,4,0.000,0.062,1467,3932,3068,0,0,0,0,0,0
$GC,7852,-0.49,-146.1,792.7,-9.6,439,7857,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3377,3068,0,0,0,0,0,0
$GC,8177,-0.49,-146.1,818.6,-7.6,450,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3376,3067,0,0,0,0,0,0
$GC,8483,-0.49,-146.1,840.0,-6.9,460,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3376,3066,0,0,0,0,0,0
$GC,8791,-0.49,-146.1,860.5,-6.6,470,8794,0.00,0.90,0.00,0.000,4,0.000,0.063,1463,3938,3065,0,0,0,0,0,0
$GC,8871,-0.49,-146.1,866.5,-7.0,472,8874,0.00,0.85,0.00,0.000,6,0.000,0.039,1463,3381,3065,0,0,0,0,0,0
$GC,9202,-0.49,-146.1,889.6,-7.1,483,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3381,3065,0,0,0,0,0,0
$GC,9507,-0.49,-146.1,911.4,-7.2,493,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3381,3064,0,0,0,0,0,0
$GC,9815,-0.49,-146.1,935.2,-7.9,503,9818,0.00,0.88,0.00,0.000,4,0.000,0.063,1459,3924,3063,0,0,0,0,0,0
$GC,9870,-0.49,-146.1,940.4,-9.3,504,9876,0.00,0.82,0.00,0.000,6,0.000,0.040,1459,3382,3063,0,0,0,0,0,0
$GC,10190,-0.49,-146.1,967.5,-8.7,515,10195,0.00,0.88,0.00,0.000,4,0.000,0.063,1455,3927,3063,0,0,0,0,0,0
$GC,10263,-0.49,-146.1,974.6,-9.7,517,10267,0.00,0.85,0.00,0.000,6,0.000,0.039,1455,3370,3062,0,0,0,0,0,0
$STATE,10566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10566,begin apogee
$GC,10573,-0.14,0.0,1002.4,9.2,527,10725,0.43,0.00,149.00,1.201,6,0.135,0.000,1583,3274,2473,0,0,0,0,0,0
$STATE,10726,end apogee,CONTROL_FINISHED_OK
$STATE,10726,begin climb
$GC,10729,0.49,146.1,1006.6,0.0,532,10889,0.60,2.47,151.35,1.191,4,0.088,0.033,1794,1856,1871,0,0,0,0,0,0
$GC,10918,0.49,146.1,987.4,11.9,537,10925,0.00,2.45,0.00,0.000,6,0.000,0.050,1794,3255,1862,0,0,0,0,0,0
$GC,11231,0.49,146.1,939.5,15.6,548,11235,0.00,1.15,0.00,0.000,4,0.000,0.057,1794,3943,1854,0,0,0,0,0,0
$GC,11292,0.49,146.1,928.4,19.9,549,11301,0.00,1.05,0.00,0.000,6,0.000,0.034,1799,3264,1854,0,0,0,0,0,0
$GC,11605,0.49,146.1,877.7,15.9,560,11611,0.00,2.20,0.00,0.000,4,0.000,0.035,1810,1864,1852,0,0,0,0,0,0
$GC,11653,0.49,146.1,871.3,11.4,561,11658,0.00,2.28,0.00,0.000,6,0.000,0.053,1810,3272,1851,0,0,0,0,0,0
$GC,11979,0.49,146.1,820.0,15.9,572,11982,0.00,1.10,0.00,0.000,4,0.000,0.059,1810,3953,1849,0,0,0,0,0,0
$GC,12015,0.49,146.1,813.9,18.9,573,12018,0.00,1.02,0.00,0.000,6,0.000,0.034,1815,3276,1850,0,0,0,0,0,0
$GC,12356,0.49,146.1,755.8,17.2,584,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3276,1849,0,0,0,0,0,0
$GC,12662,0.49,146.1,703.1,17.2,594,12666,0.00,2.15,0.00,0.000,4,0.000,0.035,1826,1857,1848,0,0,0,0,0,0
$GC,12692,0.49,146.1,698.1,15.6,595,12697,0.12,2.25,0.00,0.000,6,0.175,0.053,1797,3271,1847,0,0,0,0,0,0
$GC,13028,0.49,146.1,647.4,15.0,606,13032,0.00,1.10,0.00,0.000,4,0.000,0.058,1796,3954,1847,0,0,0,0,0,0
$GC,13072,0.49,146.1,639.7,17.0,607,13075,0.00,1.02,0.00,0.000,6,0.000,0.034,1800,3268,1847,0,0,0,0,0,0
$GC,13402,0.49,146.1,587.0,15.8,618,13407,0.00,2.15,0.00,0.000,4,0.000,0.033,1810,1864,1847,0,0,0,0,0,0
$GC,13437,0.49,146.1,581.8,13.8,619,13442,0.00,2.25,0.00,0.000,6,0.000,0.051,1810,3272,1846,0,0,0,0,0,0
$GC,13773,0.49,146.1,527.1,16.5,630,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3272,1846,0,0,0,0,0,0
$GC,14079,0.49,146.1,477.5,16.2,640,14083,0.00,2.15,0.00,0.000,4,0.000,0.032,1821,1852,1846,0,0,0,0,0,0
$GC,14112,0.49,146.1,472.5,13.9,641,14116,0.00,2.25,0.00,0.000,6,0.000,0.050,1822,3274,1846,0,0,0,0,0,0
$GC,14441,0.49,146.1,415.0,17.8,652,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3274,1846,0,0,0,0,0,0
$GC,14761,0.49,146.1,355.3,19.3,666,14765,0.00,1.08,0.00,0.000,4,0.000,0.056,1821,3951,1846,0,0,0,0,0,0
$GC,14841,0.49,146.1,338.2,20.6,669,14847,0.10,1.00,0.00,0.000,6,0.178,0.032,1798,3272,1846,0,0,0,0,0,0
$GC,15167,0.49,146.1,283.9,17.1,685,15173,0.00,2.15,0.00,0.000,4,0.000,0.031,1807,1856,1846,0,0,0,0,0,0
$GC,15218,0.49,146.1,276.2,14.0,687,15222,0.00,2.25,0.00,0.000,6,0.000,0.049,1807,3275,1846,0,0,0,0,0,0
$GC,15538,0.49,146.1,220.3,17.4,705,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3275,1845,0,0,0,0,0,0
$GC,15853,0.49,146.1,167.3,16.8,725,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3275,1845,0,0,0,0,0,0
$GC,16163,0.49,146.1,117.4,15.2,745,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3275,1845,0,0,0,0,0,0
$GC,16494,0.49,146.1,66.8,15.1,789,16500,0.00,2.15,0.00,0.000,4,0.000,0.031,1818,1859,1846,0,0,0,0,0,0
$GC,16548,0.49,146.1,59.5,12.1,798,16557,0.00,2.28,0.00,0.000,6,0.000,0.050,1818,3277,1846,0,0,0,0,0,0
$GC,16804,0.49,146.1,23.0,12.9,839,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3277,1846,0,0,0,0,0,0
$GC,16895,0.49,146.1,8.3,15.7,852,16905,0.00,1.05,0.00,0.000,4,0.000,0.053,1818,3941,1846,0,0,0,0,0,0
$STATE,16926,end climb,SURFACE_DEPTH_REACHED
$STATE,16926,begin surface coast
$FINISH,1.1,1.013059
$STATE,16949,end surface coast,CONTROL_FINISHED_OK
$STATE,16949,begin surface
$SM_CCo,16966,49.62,0.697,1,0,1451,250.20
$SM_GC,1.98,0.00,0.00,49.62,0.000,0.000,0.697,75,3395,1451,-4.88,0.42,250.20
$IRIDIUM_FIX,-4146.69,820.10,060113,010126
$TT8_MAMPS,0.025466
$HUMID,55.23
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.8,31.966
$10V_AH,10.1,18.329
$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,12.250,59.300,300.350,49.625,0.000,106.426,21.991,323.349,0.000,0.000,20.376,2107.768,11768.021,413.414,2529.623,887.025,33.363,1339.198,0.000,2301.121,0.000,1.013,0.000
$DEVICE_MAMPS,233.325,91.035,1201.050,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.150,1852.775,839.293,382.953,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,63906,859
$CAP_FILE_SIZE,124285,0
$CFSIZE,259252224,247705600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060113,105334,-4201.117,818.224,41,1.2,41,-24.9