version: 66.07
glider: 543
mission: 6
dive: 177
start: 1 7 113 1 45 39
data:
$ID,543
$MISSION,6
$DIVE,177
$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,-8354.1025
$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,33
$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
$GPS1,070113,013504,-4158.466,823.292,37,0.8,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-48.1
$GPS2,070113,014441,-4158.550,823.404,16,0.9,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,0.207
$KALMAN_X,-89699.9,163.8,349.7,118851.0,-5476.4
$KALMAN_Y,-2624.4,621.5,139.9,60167.5,-4840.6
$MHEAD_RNG_PITCHd_Wd,56.8,50438,-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,-49.12,0.000,2,0.000,0.000,57,3387,2627,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.4,6,104,5.55,2.20,-13.48,0.000,4,0.216,0.043,1471,1970,3069,0,0,0,0,0,0
$GC,232,-0.49,-146.1,18.6,-13.8,28,242,0.00,2.30,0.00,0.000,6,0.000,0.055,1462,3363,3072,0,0,0,0,0,0
$GC,321,-0.49,-146.1,30.2,-12.9,41,327,0.00,0.95,0.00,0.000,4,0.000,0.060,1458,3949,3072,0,0,0,0,0,0
$GC,354,-0.49,-146.1,34.9,-13.7,46,365,0.00,0.85,0.00,0.000,6,0.000,0.037,1457,3400,3072,0,0,0,0,0,0
$GC,606,-0.49,-146.1,68.7,-11.9,87,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3400,3072,0,0,0,0,0,0
$GC,961,-0.49,-146.1,109.4,-11.3,139,967,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3949,3074,0,0,0,0,0,0
$GC,1025,-0.49,-146.1,117.3,-11.5,142,1033,0.00,0.88,0.00,0.000,6,0.000,0.035,1454,3370,3074,0,0,0,0,0,0
$GC,1348,-0.49,-146.1,152.4,-10.9,163,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3371,3075,0,0,0,0,0,0
$GC,1661,-0.49,-146.1,186.1,-10.8,183,1664,0.00,0.93,0.00,0.000,4,0.000,0.057,1450,3953,3075,0,0,0,0,0,0
$GC,1768,-0.49,-146.1,199.6,-12.1,189,1772,0.00,0.88,0.00,0.000,6,0.000,0.036,1449,3372,3075,0,0,0,0,0,0
$GC,2094,-0.49,-146.1,236.5,-11.4,210,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3372,3075,0,0,0,0,0,0
$GC,2406,-0.49,-146.1,273.7,-12.3,227,2412,0.00,0.93,0.00,0.000,4,0.000,0.058,1444,3953,3075,0,0,0,0,0,0
$GC,2517,-0.49,-146.1,288.7,-13.4,231,2524,0.08,0.88,0.00,0.000,6,0.143,0.035,1469,3373,3075,0,0,0,0,0,0
$GC,2836,-0.49,-146.1,321.8,-10.2,247,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3373,3075,0,0,0,0,0,0
$GC,3144,-0.49,-146.1,354.4,-10.4,262,3148,0.00,0.93,0.00,0.000,4,0.000,0.059,1466,3956,3075,0,0,0,0,0,0
$GC,3241,-0.49,-146.1,365.9,-11.7,266,3245,0.00,0.88,0.00,0.000,6,0.000,0.036,1466,3372,3075,0,0,0,0,0,0
$GC,3570,-0.49,-146.1,400.4,-10.6,282,3574,0.00,0.93,0.00,0.000,4,0.000,0.058,1462,3953,3075,0,0,0,0,0,0
$GC,3650,-0.49,-146.1,409.1,-10.9,284,3654,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3388,3075,0,0,0,0,0,0
$GC,3981,-0.49,-146.1,442.9,-10.1,295,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3388,3074,0,0,0,0,0,0
$GC,4286,-0.49,-146.1,472.5,-9.5,305,4291,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3956,3074,0,0,0,0,0,0
$GC,4325,-0.49,-146.1,477.0,-10.3,306,4331,0.00,0.88,0.00,0.000,6,0.000,0.037,1457,3376,3074,0,0,0,0,0,0
$GC,4663,-0.49,-146.1,510.4,-9.9,317,4667,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3947,3074,0,0,0,0,0,0
$GC,4731,-0.49,-146.1,517.6,-10.7,319,4737,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3381,3075,0,0,0,0,0,0
$GC,5074,-0.49,-146.1,551.5,-9.7,330,5078,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3953,3074,0,0,0,0,0,0
$GC,5180,-0.49,-146.1,563.1,-10.5,333,5184,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3386,3074,0,0,0,0,0,0
$GC,5515,-0.49,-146.1,596.8,-9.9,344,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3386,3073,0,0,0,0,0,0
$GC,5822,-0.49,-146.1,626.3,-9.6,354,5825,0.00,0.90,0.00,0.000,4,0.000,0.059,1445,3954,3072,0,0,0,0,0,0
$GC,5896,-0.49,-146.1,634.0,-10.7,356,5900,0.08,0.88,0.00,0.000,6,0.145,0.037,1469,3376,3072,0,0,0,0,0,0
$GC,6232,-0.49,-146.1,659.8,-7.5,367,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3376,3071,0,0,0,0,0,0
$GC,6539,-0.49,-146.1,683.6,-7.9,377,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3376,3071,0,0,0,0,0,0
$GC,6844,-0.49,-146.1,709.0,-8.5,387,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3376,3070,0,0,0,0,0,0
$GC,7150,-0.49,-146.1,735.0,-8.4,397,7153,0.00,0.93,0.00,0.000,4,0.000,0.060,1466,3954,3069,0,0,0,0,0,0
$GC,7233,-0.49,-146.1,742.9,-9.7,399,7237,0.00,0.88,0.00,0.000,6,0.000,0.038,1466,3376,3069,0,0,0,0,0,0
$GC,7557,-0.49,-146.1,771.9,-9.1,410,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3376,3069,0,0,0,0,0,0
$GC,7864,-0.49,-146.1,800.2,-9.3,420,7868,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3955,3068,0,0,0,0,0,0
$GC,7939,-0.49,-146.1,807.8,-10.1,422,7943,0.00,0.88,0.00,0.000,6,0.000,0.039,1462,3379,3068,0,0,0,0,0,0
$GC,8276,-0.49,-146.1,839.8,-9.5,433,8279,0.00,0.93,0.00,0.000,4,0.000,0.061,1458,3958,3067,0,0,0,0,0,0
$GC,8326,-0.49,-146.1,845.0,-10.3,434,8329,0.00,0.88,0.00,0.000,6,0.000,0.039,1458,3381,3067,0,0,0,0,0,0
$GC,8650,-0.49,-146.1,875.7,-9.6,445,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3380,3066,0,0,0,0,0,0
$GC,8957,-0.49,-146.1,904.8,-9.4,455,8960,0.00,0.95,0.00,0.000,4,0.000,0.063,1454,3959,3066,0,0,0,0,0,0
$GC,9018,-0.49,-146.1,911.3,-10.5,456,9026,0.00,0.88,0.00,0.000,6,0.000,0.039,1454,3381,3065,0,0,0,0,0,0
$GC,9331,-0.49,-146.1,940.5,-9.3,467,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3381,3065,0,0,0,0,0,0
$GC,9637,-0.49,-146.1,967.2,-8.4,477,9641,0.00,0.93,0.00,0.000,4,0.000,0.061,1449,3959,3064,0,0,0,0,0,0
$GC,9740,-0.49,-146.1,976.6,-9.1,480,9744,0.00,0.88,0.00,0.000,6,0.000,0.039,1450,3382,3063,0,0,0,0,0,0
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10018,begin apogee
$GC,10025,-0.14,0.0,1000.8,8.6,489,10172,0.45,0.00,138.45,1.823,6,0.137,0.000,1584,3270,2473,0,0,0,0,1,0
$STATE,10174,end apogee,CONTROL_FINISHED_OK
$STATE,10174,begin climb
$GC,10177,0.49,146.1,1002.9,0.0,494,10338,0.60,2.47,147.90,1.778,4,0.084,0.032,1793,1856,1877,0,0,0,0,1,0
$GC,10369,0.49,146.1,980.7,14.3,500,10373,0.00,2.50,0.00,0.000,6,0.000,0.050,1793,3273,1874,0,0,0,0,0,0
$GC,10704,0.49,146.1,925.2,16.6,511,10710,0.00,1.12,0.00,0.000,4,0.000,0.058,1793,3948,1867,0,0,0,0,0,0
$GC,10841,0.49,146.1,900.0,17.9,515,10847,0.00,1.05,0.00,0.000,6,0.000,0.034,1798,3267,1865,0,0,0,0,0,0
$GC,11185,0.49,146.1,842.8,16.0,526,11188,0.00,1.12,0.00,0.000,4,0.000,0.059,1798,3953,1864,0,0,0,0,0,0
$GC,11252,0.49,146.1,831.1,17.5,528,11258,0.00,1.05,0.00,0.000,6,0.000,0.035,1804,3265,1863,0,0,0,0,0,0
$GC,11596,0.49,146.1,778.0,15.1,539,11599,0.00,1.10,0.00,0.000,4,0.000,0.058,1804,3943,1861,0,0,0,0,0,0
$GC,11639,0.49,146.1,770.3,15.6,540,11643,0.00,1.02,0.00,0.000,6,0.000,0.035,1809,3264,1861,0,0,0,0,0,0
$GC,11970,0.49,146.1,717.3,16.2,551,11973,0.00,1.10,0.00,0.000,4,0.000,0.059,1809,3945,1860,0,0,0,0,0,0
$GC,12040,0.49,146.1,705.1,18.3,553,12043,0.00,1.02,0.00,0.000,6,0.000,0.034,1814,3264,1860,0,0,0,0,0,0
$GC,12381,0.49,146.1,645.7,17.3,564,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3263,1859,0,0,0,0,0,0
$GC,12687,0.49,146.1,592.8,17.4,574,12691,0.00,1.10,0.00,0.000,4,0.000,0.058,1814,3947,1859,0,0,0,0,0,0
$GC,12790,0.49,146.1,572.9,20.1,577,12794,0.00,1.02,0.00,0.000,6,0.000,0.034,1819,3261,1859,0,0,0,0,0,0
$GC,13131,0.49,146.1,512.3,17.8,588,13136,0.00,1.10,0.00,0.000,4,0.000,0.057,1819,3946,1859,0,0,0,0,0,0
$GC,13221,0.49,146.1,493.6,20.7,590,13227,0.10,1.00,0.00,0.000,6,0.176,0.034,1796,3272,1858,0,0,0,0,0,0
$GC,13541,0.49,146.1,442.2,16.0,601,13547,0.00,1.10,0.00,0.000,4,0.000,0.056,1796,3958,1857,0,0,0,0,0,0
$GC,13626,0.49,146.1,427.0,18.2,603,13629,0.00,1.02,0.00,0.000,6,0.000,0.033,1799,3268,1857,0,0,0,0,0,0
$GC,13941,0.49,146.1,374.5,16.9,616,13945,0.00,1.10,0.00,0.000,4,0.000,0.056,1799,3954,1857,0,0,0,0,0,0
$GC,14021,0.49,146.1,359.1,18.3,619,14027,0.00,1.02,0.00,0.000,6,0.000,0.032,1805,3262,1857,0,0,0,0,0,0
$GC,14346,0.49,146.1,301.5,18.0,635,14352,0.00,1.10,0.00,0.000,4,0.000,0.056,1805,3951,1857,0,0,0,0,0,0
$GC,14410,0.49,146.1,288.4,19.1,637,14417,0.00,1.00,0.00,0.000,6,0.000,0.031,1810,3274,1857,0,0,0,0,0,0
$GC,14739,0.49,146.1,229.6,17.7,655,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3274,1856,0,0,0,0,0,0
$GC,15055,0.49,146.1,175.7,16.5,675,15058,0.00,1.08,0.00,0.000,4,0.000,0.054,1810,3950,1857,0,0,0,0,0,0
$GC,15091,0.49,146.1,169.0,16.8,677,15097,0.00,1.00,0.00,0.000,6,0.000,0.032,1815,3272,1857,0,0,0,0,0,0
$GC,15424,0.49,146.1,112.3,17.0,698,15428,0.00,2.10,0.00,0.000,4,0.000,0.031,1826,1857,1857,0,0,0,0,0,0
$GC,15455,0.49,146.1,107.3,14.6,700,15460,0.12,2.25,0.00,0.000,6,0.168,0.048,1795,3278,1856,0,0,0,0,0,0
$GC,15800,0.49,146.1,61.2,11.0,754,15807,0.00,1.05,0.00,0.000,4,0.000,0.054,1795,3947,1856,0,0,0,0,0,0
$GC,15835,0.49,146.1,57.4,11.1,759,15842,0.00,1.00,0.00,0.000,6,0.000,0.031,1798,3264,1856,0,0,0,0,0,0
$GC,16093,0.49,146.1,21.8,14.0,800,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3264,1857,0,0,0,0,0,0
$GC,16185,0.49,146.1,10.1,14.7,813,16196,0.00,2.12,0.00,0.000,4,0.000,0.034,1808,1863,1856,0,0,0,0,0,0
$GC,16213,0.49,146.1,6.4,13.5,816,16221,0.00,2.25,0.00,0.000,6,0.000,0.048,1809,3271,1857,0,0,0,0,0,0
$STATE,16239,end climb,SURFACE_DEPTH_REACHED
$STATE,16239,begin surface coast
$FINISH,1.0,1.026182
$STATE,16265,end surface coast,CONTROL_FINISHED_OK
$STATE,16265,begin surface
$SM_CCo,16281,48.62,0.709,1,0,1451,250.20
$SM_GC,1.72,0.00,0.00,48.62,0.000,0.000,0.709,46,3396,1451,-4.96,0.45,250.20
$IRIDIUM_FIX,-4143.80,816.81,060113,202044
$TT8_MAMPS,0.025466
$HUMID,55.39
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.3,32.593
$10V_AH,10.1,18.805
$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,11.550,68.625,286.350,48.625,0.000,33.711,44.143,324.306,0.000,0.000,18.827,2093.359,10826.998,420.983,2649.628,919.450,33.362,1454.918,0.000,2450.513,0.000,1.014,0.000
$DEVICE_MAMPS,216.495,78.030,1822.995,709.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.634,1807.298,831.589,379.360,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,60355,823
$CAP_FILE_SIZE,133769,0
$CFSIZE,259252224,247427072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,070113,061906,-4157.042,824.424,29,1.1,29,-24.9