version: 66.07
glider: 543
mission: 6
dive: 176
start: 1 6 113 20 56 21
data:
$ID,543
$MISSION,6
$DIVE,176
$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,-8351.7686
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,060113,204134,-4159.583,822.070,28,0.9,28,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-52.3
$GPS2,060113,205523,-4159.609,822.037,15,1.5,15,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,0.168
$KALMAN_X,-87956.0,550.7,286.6,114927.5,-6152.8
$KALMAN_Y,-746.1,638.2,164.9,56290.8,-4009.4
$MHEAD_RNG_PITCHd_Wd,71.3,52253,-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,-49.28,0.000,2,0.000,0.000,49,3405,2636,0,0,0,0,0,0
$GC,77,-0.49,-146.1,3.1,-3.3,6,104,5.60,2.20,-13.40,0.000,4,0.218,0.044,1468,1967,3071,0,0,0,0,0,0
$GC,218,-0.49,-146.1,12.9,-8.2,26,227,0.00,2.33,0.00,0.000,6,0.000,0.056,1459,3370,3073,0,0,0,0,0,0
$GC,307,-0.49,-146.1,23.9,-13.4,39,316,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3943,3073,0,0,0,0,0,0
$GC,367,-0.49,-146.1,33.5,-14.2,48,376,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3389,3074,0,0,0,0,0,0
$GC,617,-0.49,-146.1,66.6,-11.7,89,621,0.00,0.90,0.00,0.000,4,0.000,0.057,1450,3955,3074,0,0,0,0,0,0
$GC,671,-0.49,-146.1,72.7,-12.6,97,675,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3380,3074,0,0,0,0,0,0
$GC,1023,-0.49,-146.1,111.7,-11.0,146,1026,0.00,0.93,0.00,0.000,4,0.000,0.058,1446,3948,3075,0,0,0,0,0,0
$GC,1116,-0.49,-146.1,122.0,-12.0,151,1120,0.08,0.85,0.00,0.000,6,0.151,0.037,1470,3385,3076,0,0,0,0,0,0
$GC,1448,-0.49,-146.1,153.8,-9.6,172,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3385,3076,0,0,0,0,0,0
$GC,1758,-0.49,-146.1,184.0,-9.6,192,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3385,3076,0,0,0,0,0,0
$GC,2071,-0.49,-146.1,213.3,-9.2,212,2074,0.00,0.90,0.00,0.000,4,0.000,0.058,1467,3954,3076,0,0,0,0,0,0
$GC,2163,-0.49,-146.1,221.5,-9.1,217,2167,0.00,0.88,0.00,0.000,6,0.000,0.036,1467,3373,3076,0,0,0,0,0,0
$GC,2497,-0.49,-146.1,249.0,-7.8,238,2500,0.00,0.93,0.00,0.000,4,0.000,0.057,1463,3958,3076,0,0,0,0,0,0
$GC,2569,-0.49,-146.1,255.7,-8.5,242,2573,0.00,0.88,0.00,0.000,6,0.000,0.036,1462,3377,3076,0,0,0,0,0,0
$GC,2898,-0.49,-146.1,281.8,-8.0,258,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3377,3076,0,0,0,0,0,0
$GC,3207,-0.49,-146.1,307.6,-8.6,273,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3377,3075,0,0,0,0,0,0
$GC,3516,-0.49,-146.1,335.4,-9.4,288,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3377,3075,0,0,0,0,0,0
$GC,3826,-0.49,-146.1,366.9,-10.6,303,3832,0.00,0.90,0.00,0.000,4,0.000,0.057,1458,3950,3076,0,0,0,0,0,0
$GC,3938,-0.49,-146.1,380.4,-12.4,307,3945,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3382,3076,0,0,0,0,0,0
$GC,4263,-0.49,-146.1,418.0,-11.5,321,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3383,3075,0,0,0,0,0,0
$GC,4571,-0.49,-146.1,451.8,-10.9,331,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3383,3075,0,0,0,0,0,0
$GC,4876,-0.49,-146.1,482.9,-10.0,341,4881,0.00,0.90,0.00,0.000,4,0.000,0.058,1454,3953,3075,0,0,0,0,0,0
$GC,4981,-0.49,-146.1,493.9,-10.1,344,4984,0.00,0.88,0.00,0.000,6,0.000,0.037,1454,3372,3075,0,0,0,0,0,0
$GC,5323,-0.49,-146.1,528.7,-10.2,355,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3372,3074,0,0,0,0,0,0
$GC,5629,-0.49,-146.1,561.2,-10.8,365,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3371,3074,0,0,0,0,0,0
$GC,5934,-0.49,-146.1,594.4,-10.8,375,5940,0.00,0.93,0.00,0.000,4,0.000,0.059,1450,3954,3073,0,0,0,0,0,0
$GC,6008,-0.49,-146.1,603.1,-11.5,377,6011,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3377,3073,0,0,0,0,0,0
$GC,6343,-0.49,-146.1,640.8,-11.2,388,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3377,3072,0,0,0,0,0,0
$GC,6650,-0.49,-146.1,675.3,-11.3,398,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3072,0,0,0,0,0,0
$GC,6957,-0.49,-146.1,708.6,-10.6,408,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3071,0,0,0,0,0,0
$GC,7262,-0.49,-146.1,739.7,-10.0,418,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3070,0,0,0,0,0,0
$GC,7568,-0.49,-146.1,768.4,-9.2,428,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3069,0,0,0,0,0,0
$GC,7876,-0.49,-146.1,796.5,-9.1,438,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3069,0,0,0,0,0,0
$GC,8181,-0.49,-146.1,823.7,-8.8,448,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3068,0,0,0,0,0,0
$GC,8487,-0.49,-146.1,849.5,-8.4,458,8491,0.00,0.93,0.00,0.000,4,0.000,0.060,1446,3954,3067,0,0,0,0,0,0
$GC,8570,-0.49,-146.1,857.5,-9.5,460,8574,0.08,0.88,0.00,0.000,6,0.144,0.039,1470,3380,3067,0,0,0,0,0,0
$GC,8895,-0.49,-146.1,880.1,-7.1,471,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3380,3066,0,0,0,0,0,0
$GC,9202,-0.49,-146.1,903.2,-7.6,481,9205,0.00,0.93,0.00,0.000,4,0.000,0.063,1467,3944,3066,0,0,0,0,0,0
$GC,9251,-0.49,-146.1,907.6,-8.1,482,9255,0.00,0.88,0.00,0.000,6,0.000,0.040,1467,3371,3066,0,0,0,0,0,0
$GC,9576,-0.49,-146.1,932.7,-7.7,493,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3371,3065,0,0,0,0,0,0
$GC,9882,-0.49,-146.1,956.2,-7.7,503,9885,0.00,0.93,0.00,0.000,4,0.000,0.061,1463,3951,3064,0,0,0,0,0,0
$GC,9926,-0.49,-146.1,960.0,-8.1,504,9930,0.00,0.88,0.00,0.000,6,0.000,0.040,1463,3377,3064,0,0,0,0,0,0
$GC,10257,-0.49,-146.1,985.0,-7.5,515,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3376,3063,0,0,0,0,0,0
$STATE,10468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10468,begin apogee
$GC,10475,-0.14,0.0,1000.8,7.5,522,10627,0.40,0.00,148.50,1.193,6,0.134,0.000,1583,3266,2473,0,0,0,0,0,0
$STATE,10628,end apogee,CONTROL_FINISHED_OK
$STATE,10628,begin climb
$GC,10631,0.49,146.1,1002.8,0.0,527,10791,0.60,2.40,149.73,1.174,4,0.087,0.031,1795,1854,1871,0,0,0,0,0,0
$GC,10831,0.49,146.1,978.6,13.4,533,10835,0.00,2.50,0.00,0.000,6,0.000,0.051,1796,3279,1862,0,0,0,0,0,0
$GC,11160,0.49,146.1,921.4,17.5,544,11166,0.00,1.12,0.00,0.000,4,0.000,0.059,1796,3953,1855,0,0,0,0,0,0
$GC,11296,0.49,146.1,896.2,18.8,548,11302,0.00,1.08,0.00,0.000,6,0.000,0.034,1801,3255,1853,0,0,0,0,0,0
$GC,11640,0.49,146.1,835.6,17.5,559,11643,0.00,1.15,0.00,0.000,4,0.000,0.059,1801,3956,1852,0,0,0,0,0,0
$GC,11787,0.49,146.1,808.0,17.7,563,11790,0.00,1.05,0.00,0.000,6,0.000,0.034,1806,3268,1851,0,0,0,0,0,0
$GC,12117,0.49,146.1,751.6,17.1,574,12120,0.00,1.10,0.00,0.000,4,0.000,0.058,1806,3946,1850,0,0,0,0,0,0
$GC,12172,0.49,146.1,741.3,18.8,575,12177,0.00,1.02,0.00,0.000,6,0.000,0.034,1811,3268,1850,0,0,0,0,0,0
$GC,12492,0.49,146.1,686.9,16.8,586,12497,0.00,1.10,0.00,0.000,4,0.000,0.058,1811,3947,1849,0,0,0,0,0,0
$GC,12565,0.49,146.1,673.3,17.9,588,12569,0.00,1.02,0.00,0.000,6,0.000,0.034,1816,3265,1849,0,0,0,0,0,0
$GC,12900,0.49,146.1,615.1,17.5,599,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3264,1848,0,0,0,0,0,0
$GC,13206,0.49,146.1,562.7,17.2,609,13210,0.00,1.10,0.00,0.000,4,0.000,0.057,1816,3947,1848,0,0,0,0,0,0
$GC,13318,0.49,146.1,541.7,18.9,612,13324,0.00,1.00,0.00,0.000,6,0.000,0.033,1821,3276,1848,0,0,0,0,0,0
$GC,13649,0.49,146.1,484.4,17.6,623,13655,0.00,1.08,0.00,0.000,4,0.000,0.057,1821,3947,1848,0,0,0,0,0,0
$GC,13719,0.49,146.1,471.0,21.0,625,13723,0.10,1.00,0.00,0.000,6,0.179,0.032,1798,3272,1847,0,0,0,0,0,0
$GC,14060,0.49,146.1,416.4,16.0,636,14065,0.00,1.08,0.00,0.000,4,0.000,0.055,1798,3947,1847,0,0,0,0,0,0
$GC,14096,0.49,146.1,410.2,18.0,637,14099,0.00,1.00,0.00,0.000,6,0.000,0.033,1801,3272,1847,0,0,0,0,0,0
$GC,14431,0.49,146.1,352.9,16.8,652,14434,0.00,1.08,0.00,0.000,4,0.000,0.054,1801,3948,1847,0,0,0,0,0,0
$GC,14549,0.49,146.1,331.5,17.7,657,14552,0.00,1.00,0.00,0.000,6,0.000,0.033,1806,3272,1847,0,0,0,0,0,0
$GC,14884,0.49,146.1,272.9,16.8,673,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3272,1847,0,0,0,0,0,0
$GC,15201,0.49,146.1,217.9,17.7,691,15205,0.00,2.10,0.00,0.000,4,0.000,0.030,1817,1856,1847,0,0,0,0,0,0
$GC,15234,0.49,146.1,211.8,13.7,693,15238,0.00,2.25,0.00,0.000,6,0.000,0.048,1817,3277,1847,0,0,0,0,0,0
$GC,15556,0.49,146.1,157.1,16.9,713,15561,0.00,1.05,0.00,0.000,4,0.000,0.054,1817,3943,1846,0,0,0,0,0,0
$GC,15666,0.49,146.1,136.8,18.8,719,15670,0.00,1.00,0.00,0.000,6,0.000,0.031,1822,3263,1846,0,0,0,0,0,0
$GC,15999,0.49,146.1,78.1,17.7,752,16006,0.00,2.08,0.00,0.000,4,0.000,0.031,1833,1859,1847,0,0,0,0,0,0
$GC,16035,0.49,146.1,72.8,17.1,757,16040,0.15,2.22,0.00,0.000,6,0.162,0.047,1795,3270,1846,0,0,0,0,0,0
$GC,16407,0.49,146.1,24.8,11.4,818,16418,0.00,1.08,0.00,0.000,4,0.000,0.052,1794,3954,1847,0,0,0,0,0,0
$GC,16464,0.49,146.1,14.6,18.1,826,16475,0.00,1.00,0.00,0.000,6,0.000,0.031,1798,3270,1846,0,0,0,0,0,0
$STATE,16547,end climb,SURFACE_DEPTH_REACHED
$STATE,16547,begin surface coast
$FINISH,1.1,1.020612
$STATE,16573,end surface coast,CONTROL_FINISHED_OK
$STATE,16573,begin surface
$SM_CCo,16589,49.40,0.682,1,0,1451,250.20
$SM_GC,1.85,0.00,0.00,49.40,0.000,0.000,0.682,58,3387,1451,-4.93,0.20,250.20
$IRIDIUM_FIX,-4146.69,820.10,060113,202010
$TT8_MAMPS,0.025466
$HUMID,55.59
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.9,32.416
$10V_AH,10.1,18.686
$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,11.625,59.125,298.225,49.400,0.000,59.876,101.323,412.332,0.000,0.000,17.697,2123.638,11247.268,408.393,2775.641,916.603,33.366,1379.495,0.000,2395.380,0.000,1.013,0.000
$DEVICE_MAMPS,218.025,78.795,1192.635,681.615,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.005,1857.976,871.493,380.515,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,60397,842
$CAP_FILE_SIZE,130436,0
$CFSIZE,259252224,247500800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070113,013504,-4158.466,823.292,37,0.8,37,-24.9