version: 66.07
glider: 543
mission: 6
dive: 174
start: 1 6 113 11 3 40
data:
$ID,543
$MISSION,6
$DIVE,174
$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,-8347.1016
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,060113,105334,-4201.117,818.224,41,1.2,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-45.4
$GPS2,060113,110242,-4201.205,818.333,15,1.0,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.186,0.158
$KALMAN_X,-82267.8,-161.1,-52.5,105246.4,-2421.0
$KALMAN_Y,3499.6,-527.0,-5.9,50437.6,-1794.5
$MHEAD_RNG_PITCHd_Wd,74.5,3200,-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,-0.49,-146.1,0.0,0.0,0,71,0.00,0.00,-49.15,0.000,2,0.000,0.000,73,3395,2637,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.1,-3.5,6,104,5.80,2.28,-13.10,0.000,4,0.238,0.044,1471,1938,3069,0,0,0,0,0,0
$GC,191,-0.49,-146.1,15.6,-11.1,22,202,0.00,2.40,0.00,0.000,6,0.000,0.057,1462,3382,3070,0,0,0,0,0,0
$GC,286,-0.49,-146.1,26.7,-13.7,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3382,3070,0,0,0,0,0,0
$GC,370,-0.49,-146.1,38.5,-12.8,48,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3382,3071,0,0,0,0,0,0
$GC,617,-0.49,-146.1,68.6,-11.2,89,623,0.00,2.20,0.00,0.000,4,0.000,0.031,1462,1945,3071,0,0,0,0,0,0
$GC,660,-0.49,-146.1,73.2,-10.2,96,669,0.00,2.38,0.00,0.000,6,0.000,0.059,1451,3382,3071,0,0,0,0,0,0
$GC,1017,-0.49,-146.1,114.9,-11.3,143,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3382,3073,0,0,0,0,0,0
$GC,1330,-0.49,-146.1,150.6,-11.6,163,1336,0.00,0.90,0.00,0.000,4,0.000,0.057,1447,3949,3073,0,0,0,0,0,0
$GC,1394,-0.49,-146.1,158.9,-12.3,166,1402,0.00,0.90,0.00,0.000,6,0.000,0.034,1447,3347,3073,0,0,0,0,0,0
$GC,1715,-0.49,-146.1,197.1,-12.1,187,1719,0.10,0.98,0.00,0.000,4,0.175,0.060,1468,3953,3074,0,0,0,0,0,0
$GC,1788,-0.49,-146.1,205.6,-10.6,191,1792,0.00,0.85,0.00,0.000,6,0.000,0.035,1468,3383,3074,0,0,0,0,0,0
$GC,2113,-0.49,-146.1,238.9,-9.9,212,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3383,3074,0,0,0,0,0,0
$GC,2426,-0.49,-146.1,270.0,-10.1,229,2431,0.00,2.15,0.00,0.000,4,0.000,0.031,1468,1958,3074,0,0,0,0,0,0
$GC,2476,-0.49,-146.1,274.6,-8.7,231,2481,0.00,2.30,0.00,0.000,6,0.000,0.054,1457,3389,3074,0,0,0,0,0,0
$GC,2806,-0.49,-146.1,308.7,-10.1,247,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3389,3074,0,0,0,0,0,0
$GC,3114,-0.49,-146.1,340.0,-10.0,262,3117,0.00,0.88,0.00,0.000,4,0.000,0.058,1453,3947,3074,0,0,0,0,0,0
$GC,3207,-0.49,-146.1,349.7,-9.9,266,3211,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3378,3074,0,0,0,0,0,0
$GC,3542,-0.49,-146.1,384.6,-11.0,282,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3378,3074,0,0,0,0,0,0
$GC,3869,-0.49,-146.1,422.4,-11.8,295,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3378,3074,0,0,0,0,0,0
$GC,4176,-0.49,-146.1,457.4,-11.3,305,4180,0.00,2.08,0.00,0.000,4,0.000,0.031,1453,1965,3073,0,0,0,0,0,0
$GC,4232,-0.49,-146.1,463.6,-9.6,306,4240,0.12,2.28,0.00,0.000,6,0.153,0.055,1475,3389,3073,0,0,0,0,0,0
$GC,4545,-0.49,-146.1,492.0,-9.1,317,4549,0.00,0.88,0.00,0.000,4,0.000,0.060,1472,3943,3073,0,0,0,0,0,0
$GC,4590,-0.49,-146.1,496.5,-9.6,318,4593,0.00,0.85,0.00,0.000,6,0.000,0.036,1472,3377,3073,0,0,0,0,0,0
$GC,4920,-0.49,-146.1,524.9,-8.5,329,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3376,3073,0,0,0,0,0,0
$GC,5226,-0.49,-146.1,550.5,-8.4,339,5230,0.00,2.10,0.00,0.000,4,0.000,0.031,1472,1965,3072,0,0,0,0,0,0
$GC,5296,-0.49,-146.1,555.8,-7.4,341,5300,0.00,2.25,0.00,0.000,6,0.000,0.054,1462,3380,3072,0,0,0,0,0,0
$GC,5626,-0.49,-146.1,584.7,-8.8,352,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3381,3071,0,0,0,0,0,0
$GC,5933,-0.49,-146.1,611.5,-8.7,362,5936,0.00,0.90,0.00,0.000,4,0.000,0.059,1458,3949,3071,0,0,0,0,0,0
$GC,5982,-0.49,-146.1,616.3,-10.0,363,5985,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3382,3070,0,0,0,0,0,0
$GC,6306,-0.49,-146.1,645.6,-9.1,374,6310,0.00,2.10,0.00,0.000,4,0.000,0.032,1457,1960,3070,0,0,0,0,0,0
$GC,6339,-0.49,-146.1,648.7,-8.6,375,6344,0.10,2.30,0.00,0.000,6,0.166,0.056,1471,3389,3070,0,0,0,0,0,0
$GC,6670,-0.49,-146.1,674.8,-8.0,386,6675,0.00,0.88,0.00,0.000,4,0.000,0.060,1469,3943,3069,0,0,0,0,0,0
$GC,6726,-0.49,-146.1,679.9,-8.7,387,6730,0.00,0.85,0.00,0.000,6,0.000,0.037,1469,3379,3069,0,0,0,0,0,0
$GC,7047,-0.49,-146.1,705.4,-8.2,398,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3379,3068,0,0,0,0,0,0
$GC,7356,-0.49,-146.1,730.1,-8.2,408,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3378,3068,0,0,0,0,0,0
$GC,7658,-0.49,-146.1,754.7,-7.9,418,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3379,3067,0,0,0,0,0,0
$GC,7964,-0.49,-146.1,778.6,-7.9,428,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3379,3066,0,0,0,0,0,0
$GC,8272,-0.49,-146.1,802.8,-7.9,438,8275,0.00,2.12,0.00,0.000,4,0.000,0.032,1469,1956,3066,0,0,0,0,0,0
$GC,8310,-0.49,-146.1,805.8,-7.3,439,8315,0.00,2.30,0.00,0.000,6,0.000,0.055,1458,3383,3065,0,0,0,0,0,0
$GC,8634,-0.49,-146.1,833.1,-8.4,450,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3383,3065,0,0,0,0,0,0
$GC,8942,-0.49,-146.1,858.4,-8.2,460,8946,0.00,0.90,0.00,0.000,4,0.000,0.061,1454,3949,3064,0,0,0,0,0,0
$GC,9002,-0.49,-146.1,864.1,-9.0,461,9009,0.00,0.85,0.00,0.000,6,0.000,0.038,1454,3387,3063,0,0,0,0,0,0
$GC,9316,-0.49,-146.1,890.4,-8.3,472,9320,0.00,2.15,0.00,0.000,4,0.000,0.032,1454,1950,3063,0,0,0,0,0,0
$GC,9348,-0.49,-146.1,893.5,-8.5,473,9353,0.12,2.30,0.00,0.000,6,0.158,0.055,1476,3379,3062,0,0,0,0,0,0
$GC,9679,-0.49,-146.1,915.3,-6.7,484,9683,0.00,0.90,0.00,0.000,4,0.000,0.062,1473,3945,3062,0,0,0,0,0,0
$GC,9752,-0.49,-146.1,920.9,-7.4,486,9756,0.00,0.88,0.00,0.000,6,0.000,0.039,1473,3369,3062,0,0,0,0,0,0
$GC,10089,-0.49,-146.1,945.8,-7.7,497,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3369,3061,0,0,0,0,0,0
$GC,10395,-0.49,-146.1,969.5,-7.5,507,10398,0.00,0.93,0.00,0.000,4,0.000,0.062,1469,3950,3061,0,0,0,0,0,0
$GC,10466,-0.49,-146.1,975.3,-8.6,509,10470,0.00,0.88,0.00,0.000,6,0.000,0.039,1468,3372,3061,0,0,0,0,0,0
$STATE,10775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10775,begin apogee
$GC,10782,-0.14,0.0,1001.0,8.2,519,10935,0.40,0.00,149.75,1.219,6,0.137,0.000,1589,3276,2473,0,0,0,0,0,0
$STATE,10936,end apogee,CONTROL_FINISHED_OK
$STATE,10936,begin climb
$GC,10939,0.49,146.1,1004.9,0.0,524,11098,0.60,0.00,150.62,1.194,6,0.088,0.000,1790,3276,1872,0,0,0,0,0,0
$GC,11400,0.49,146.1,936.5,16.6,539,11404,0.00,1.12,0.00,0.000,4,0.000,0.057,1790,3947,1853,0,0,0,0,0,0
$GC,11456,0.49,146.1,926.2,18.7,540,11460,0.00,1.08,0.00,0.000,6,0.000,0.034,1795,3255,1852,0,0,0,0,0,0
$GC,11775,0.49,146.1,872.5,16.4,551,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3255,1850,0,0,0,0,0,0
$GC,12081,0.49,146.1,824.3,15.4,561,12084,0.00,1.12,0.00,0.000,4,0.000,0.058,1795,3943,1849,0,0,0,0,0,0
$GC,12159,0.49,146.1,810.5,17.9,563,12162,0.00,1.02,0.00,0.000,6,0.000,0.034,1800,3266,1848,0,0,0,0,0,0
$GC,12489,0.49,146.1,757.9,15.7,574,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3265,1848,0,0,0,0,0,0
$GC,12796,0.49,146.1,710.6,15.2,584,12800,0.00,1.10,0.00,0.000,4,0.000,0.059,1800,3944,1847,0,0,0,0,0,0
$GC,12879,0.49,146.1,696.0,16.7,586,12883,0.00,1.02,0.00,0.000,6,0.000,0.034,1805,3258,1847,0,0,0,0,0,0
$GC,13207,0.49,146.1,644.9,15.6,597,13210,0.00,1.12,0.00,0.000,4,0.000,0.057,1805,3953,1847,0,0,0,0,0,0
$GC,13323,0.49,146.1,623.9,17.7,600,13329,0.00,1.02,0.00,0.000,6,0.000,0.033,1810,3269,1847,0,0,0,0,0,0
$GC,13649,0.49,146.1,569.4,17.3,611,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3269,1847,0,0,0,0,0,0
$GC,13955,0.49,146.1,515.2,18.4,621,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3269,1847,0,0,0,0,0,0
$GC,14262,0.49,146.1,457.9,18.6,631,14266,0.00,1.10,0.00,0.000,4,0.000,0.056,1810,3955,1847,0,0,0,0,0,0
$GC,14299,0.49,146.1,451.0,19.1,632,14302,0.00,1.02,0.00,0.000,6,0.000,0.034,1815,3267,1847,0,0,0,0,0,0
$GC,14624,0.49,146.1,391.1,18.0,643,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1846,0,0,0,0,0,0
$GC,14930,0.49,146.1,337.6,16.6,658,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3267,1845,0,0,0,0,0,0
$GC,15240,0.49,146.1,286.9,15.8,673,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1846,0,0,0,0,0,0
$GC,15551,0.49,146.1,236.6,17.1,689,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1846,0,0,0,0,0,0
$GC,15863,0.49,146.1,182.8,17.5,709,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1846,0,0,0,0,0,0
$GC,16175,0.49,146.1,128.0,17.6,729,16177,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1846,0,0,0,0,0,0
$GC,16499,0.49,146.1,71.3,17.6,767,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1846,0,0,0,0,0,0
$GC,16871,0.49,146.1,17.3,16.1,828,16882,0.00,2.12,0.00,0.000,4,0.000,0.030,1827,1852,1846,0,0,0,0,0,0
$GC,16926,0.49,146.1,11.9,8.4,835,16936,0.10,2.28,0.00,0.000,6,0.144,0.047,1796,3281,1846,0,0,0,0,0,0
$STATE,16987,end climb,SURFACE_DEPTH_REACHED
$STATE,16987,begin surface coast
$FINISH,1.1,1.025805
$STATE,17015,end surface coast,CONTROL_FINISHED_OK
$STATE,17015,begin surface
$SM_CCo,17031,49.67,0.715,1,0,1449,250.20
$SM_GC,1.93,0.00,0.00,49.67,0.000,0.000,0.715,57,3388,1449,-4.93,0.25,250.20
$IRIDIUM_FIX,-4146.69,817.23,060113,060648
$TT8_MAMPS,0.025466
$HUMID,55.27
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.8,32.099
$10V_AH,10.1,18.446
$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,11.950,66.975,300.375,49.675,0.000,26.317,20.026,326.176,0.000,0.000,18.779,2119.425,11733.946,436.144,2438.011,905.466,33.364,1351.979,0.000,2312.827,0.000,1.013,0.000
$DEVICE_MAMPS,237.915,87.975,1218.645,714.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.657,1858.721,830.419,364.087,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,60640,848
$CAP_FILE_SIZE,126333,0
$CFSIZE,259252224,247640064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060113,154935,-4200.143,819.876,27,0.9,27,-24.9