version: 66.07
glider: 543
mission: 6
dive: 175
start: 1 6 113 15 59 45
data:
$ID,543
$MISSION,6
$DIVE,175
$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,-8349.4385
$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,47
$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
$GPS1,060113,154935,-4200.143,819.876,27,0.9,27,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-47.3
$GPS2,060113,155847,-4200.145,819.997,19,0.9,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.227,0.090
$KALMAN_X,-85255.4,672.0,-63.3,109678.7,-4495.9
$KALMAN_Y,1350.6,-125.3,-94.9,54230.6,-2156.0
$MHEAD_RNG_PITCHd_Wd,93.2,55057,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-48.95,0.000,2,0.000,0.000,56,3388,2622,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.1,-3.2,6,104,5.93,0.90,-13.80,0.000,4,0.242,0.089,1465,3932,3070,0,0,0,0,0,0
$GC,388,-0.49,-146.1,45.1,-13.0,54,399,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3381,3073,0,0,0,0,0,0
$GC,636,-0.49,-146.1,72.9,-6.9,95,643,0.00,0.88,0.00,0.000,4,0.000,0.057,1462,3925,3074,0,0,0,0,0,0
$GC,904,-0.49,-146.1,98.4,-11.5,141,912,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3382,3074,0,0,0,0,0,0
$GC,1236,-0.49,-146.1,136.5,-11.6,163,1239,0.00,0.88,0.00,0.000,4,0.000,0.057,1458,3931,3075,0,0,0,0,0,0
$GC,1379,-0.49,-146.1,154.5,-12.1,171,1383,0.00,0.82,0.00,0.000,6,0.000,0.037,1458,3388,3076,0,0,0,0,0,0
$GC,1704,-0.49,-146.1,190.4,-11.2,192,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3076,0,0,0,0,0,0
$GC,2016,-0.49,-146.1,225.3,-11.0,212,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3077,0,0,0,0,0,0
$GC,2330,-0.49,-146.1,257.4,-10.1,231,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3077,0,0,0,0,0,0
$GC,2639,-0.49,-146.1,288.1,-9.7,246,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3077,0,0,0,0,0,0
$GC,2948,-0.49,-146.1,316.9,-9.0,261,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3077,0,0,0,0,0,0
$GC,3257,-0.49,-146.1,344.3,-9.4,276,3261,0.00,0.85,0.00,0.000,4,0.000,0.057,1454,3927,3077,0,0,0,0,0,0
$GC,3323,-0.49,-146.1,350.8,-10.2,278,3331,0.00,0.82,0.00,0.000,6,0.000,0.037,1454,3381,3077,0,0,0,0,0,0
$GC,3640,-0.49,-146.1,381.2,-9.9,294,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3382,3077,0,0,0,0,0,0
$GC,3947,-0.49,-146.1,413.9,-11.0,307,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3381,3076,0,0,0,0,0,0
$GC,4254,-0.49,-146.1,447.7,-11.0,317,4257,0.00,0.88,0.00,0.000,4,0.000,0.057,1450,3933,3076,0,0,0,0,0,0
$GC,4337,-0.49,-146.1,457.9,-12.0,319,4341,0.00,0.82,0.00,0.000,6,0.000,0.037,1450,3384,3076,0,0,0,0,0,0
$GC,4662,-0.49,-146.1,494.3,-11.1,330,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3384,3076,0,0,0,0,0,0
$GC,4968,-0.49,-146.1,527.4,-10.7,340,4974,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3937,3075,0,0,0,0,0,0
$GC,5064,-0.49,-146.1,538.7,-11.9,342,5073,0.08,0.85,0.00,0.000,6,0.146,0.037,1470,3371,3075,0,0,0,0,0,0
$GC,5378,-0.49,-146.1,565.3,-8.3,353,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3372,3075,0,0,0,0,0,0
$GC,5685,-0.49,-146.1,589.7,-7.7,363,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3372,3074,0,0,0,0,0,0
$GC,5992,-0.49,-146.1,612.8,-7.5,373,5995,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3940,3074,0,0,0,0,0,0
$GC,6071,-0.49,-146.1,619.4,-8.8,375,6075,0.00,0.85,0.00,0.000,6,0.000,0.038,1467,3379,3073,0,0,0,0,0,0
$GC,6402,-0.49,-146.1,643.6,-7.1,386,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3379,3072,0,0,0,0,0,0
$GC,6707,-0.49,-146.1,663.4,-6.2,396,6713,0.00,0.88,0.00,0.000,4,0.000,0.059,1463,3929,3072,0,0,0,0,0,0
$GC,6760,-0.49,-146.1,667.2,-7.8,397,6764,0.00,0.82,0.00,0.000,6,0.000,0.038,1463,3386,3072,0,0,0,0,0,0
$GC,7087,-0.49,-146.1,691.5,-7.8,408,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3071,0,0,0,0,0,0
$GC,7391,-0.49,-146.1,718.0,-9.0,418,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3070,0,0,0,0,0,0
$GC,7697,-0.49,-146.1,745.9,-9.1,428,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3070,0,0,0,0,0,0
$GC,8005,-0.49,-146.1,773.4,-9.1,438,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3386,3069,0,0,0,0,0,0
$GC,8310,-0.49,-146.1,800.2,-8.6,448,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3068,0,0,0,0,0,0
$GC,8616,-0.49,-146.1,825.7,-8.3,458,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3068,0,0,0,0,0,0
$GC,8924,-0.49,-146.1,849.7,-7.8,468,8927,0.00,0.88,0.00,0.000,4,0.000,0.060,1459,3930,3067,0,0,0,0,0,0
$GC,9004,-0.49,-146.1,856.4,-8.1,470,9007,0.00,0.85,0.00,0.000,6,0.000,0.039,1459,3376,3067,0,0,0,0,0,0
$GC,9335,-0.49,-146.1,882.0,-7.7,481,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3376,3066,0,0,0,0,0,0
$GC,9640,-0.49,-146.1,908.0,-9.0,491,9646,0.00,0.90,0.00,0.000,4,0.000,0.061,1455,3937,3065,0,0,0,0,0,0
$GC,9747,-0.49,-146.1,919.1,-10.6,494,9751,0.00,0.85,0.00,0.000,6,0.000,0.039,1455,3381,3065,0,0,0,0,0,0
$GC,10083,-0.49,-146.1,951.8,-9.9,505,10087,0.00,0.90,0.00,0.000,4,0.000,0.063,1450,3927,3065,0,0,0,0,0,0
$GC,10148,-0.49,-146.1,958.6,-10.3,506,10155,0.00,0.82,0.00,0.000,6,0.000,0.040,1450,3386,3065,0,0,0,0,0,0
$GC,10461,-0.49,-146.1,987.8,-8.8,517,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3385,3064,0,0,0,0,0,0
$STATE,10613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10613,begin apogee
$GC,10620,-0.14,0.0,1000.6,8.3,522,10768,0.45,0.00,139.95,1.824,6,0.143,0.000,1584,3273,2473,0,0,0,0,1,0
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10770,begin climb
$GC,10773,0.49,146.1,1002.6,0.0,527,10935,0.62,2.50,147.85,1.770,4,0.087,0.032,1797,1853,1877,0,0,0,0,1,0
$GC,10958,0.49,146.1,979.4,15.6,532,10965,0.00,2.47,0.00,0.000,6,0.000,0.050,1797,3256,1875,0,0,0,0,0,0
$GC,11271,0.49,146.1,923.7,17.7,543,11275,0.00,1.15,0.00,0.000,4,0.000,0.058,1797,3943,1867,0,0,0,0,0,0
$GC,11408,0.49,146.1,896.8,20.4,547,11412,0.00,1.05,0.00,0.000,6,0.000,0.034,1803,3264,1866,0,0,0,0,0,0
$GC,11750,0.49,146.1,835.3,17.6,558,11753,0.00,1.12,0.00,0.000,4,0.000,0.059,1803,3949,1864,0,0,0,0,0,0
$GC,11794,0.49,146.1,826.7,19.6,559,11797,0.00,1.02,0.00,0.000,6,0.000,0.034,1808,3276,1863,0,0,0,0,0,0
$GC,12124,0.49,146.1,767.9,17.7,570,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3276,1863,0,0,0,0,0,0
$GC,12430,0.49,146.1,714.7,17.2,580,12434,0.00,1.08,0.00,0.000,4,0.000,0.058,1808,3940,1862,0,0,0,0,0,0
$GC,12479,0.49,146.1,705.0,18.3,581,12483,0.00,1.02,0.00,0.000,6,0.000,0.034,1813,3259,1862,0,0,0,0,0,0
$GC,12804,0.49,146.1,647.9,17.5,592,12808,0.00,2.12,0.00,0.000,4,0.000,0.034,1824,1864,1861,0,0,0,0,0,0
$GC,12859,0.49,146.1,639.1,13.7,593,12868,0.08,2.30,0.00,0.000,6,0.146,0.053,1801,3276,1859,0,0,0,0,0,0
$GC,13173,0.49,146.1,590.7,15.6,604,13178,0.00,1.08,0.00,0.000,4,0.000,0.058,1801,3947,1858,0,0,0,0,0,0
$GC,13302,0.49,146.1,568.0,17.2,607,13309,0.00,1.02,0.00,0.000,6,0.000,0.033,1804,3262,1858,0,0,0,0,0,0
$GC,13616,0.49,146.1,518.5,15.4,618,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3262,1858,0,0,0,0,0,0
$GC,13923,0.49,146.1,472.1,15.2,628,13926,0.00,1.10,0.00,0.000,4,0.000,0.055,1804,3949,1858,0,0,0,0,0,0
$GC,14059,0.49,146.1,448.0,17.7,632,14063,0.00,1.00,0.00,0.000,6,0.000,0.034,1809,3274,1858,0,0,0,0,0,0
$GC,14394,0.49,146.1,391.4,17.2,643,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3274,1857,0,0,0,0,0,0
$GC,14701,0.49,146.1,336.6,17.8,658,14705,0.00,1.08,0.00,0.000,4,0.000,0.054,1809,3949,1857,0,0,0,0,0,0
$GC,14780,0.49,146.1,320.5,19.8,661,14786,0.00,1.00,0.00,0.000,6,0.000,0.033,1814,3272,1858,0,0,0,0,0,0
$GC,15105,0.49,146.1,264.0,16.9,677,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,15425,0.49,146.1,212.1,16.0,696,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,15737,0.49,146.1,160.9,17.0,716,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,16050,0.49,146.1,105.9,17.6,736,16051,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3271,1857,0,0,0,0,0,0
$GC,16391,0.49,146.1,51.5,12.7,790,16402,0.00,1.08,0.00,0.000,4,0.000,0.053,1814,3951,1857,0,0,0,0,0,0
$GC,16516,0.49,146.1,33.0,15.9,809,16524,0.00,1.00,0.00,0.000,6,0.000,0.031,1819,3269,1857,0,0,0,0,0,0
$STATE,16736,end climb,SURFACE_DEPTH_REACHED
$STATE,16736,begin surface coast
$FINISH,1.0,1.018539
$STATE,16769,end surface coast,CONTROL_FINISHED_OK
$STATE,16769,begin surface
$SM_CCo,16785,48.47,0.707,1,0,1451,250.20
$SM_GC,1.86,0.00,0.00,48.47,0.000,0.000,0.707,50,3405,1451,-4.95,0.71,250.20
$IRIDIUM_FIX,-4143.80,819.68,060113,101057
$TT8_MAMPS,0.026215
$HUMID,55.15
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,32.275
$10V_AH,10.0,18.564
$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,11.825,43.450,287.800,48.475,0.000,31.675,20.114,321.942,0.000,0.000,21.947,2093.554,11498.336,402.332,2501.080,894.438,33.359,1334.043,0.000,2369.281,0.000,1.013,0.000
$DEVICE_MAMPS,241.740,88.740,1823.760,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.533,1869.070,854.260,371.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,60391,848
$CAP_FILE_SIZE,121575,0
$CFSIZE,259252224,247574528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,060113,204134,-4159.583,822.070,28,0.9,28,-24.9