version: 66.07
glider: 543
mission: 6
dive: 178
start: 1 7 113 6 30 0
data:
$ID,543
$MISSION,6
$DIVE,178
$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,-8357.0449
$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,36
$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
$GPS1,070113,061906,-4157.042,824.424,29,1.1,29,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-50.3
$GPS2,070113,062901,-4157.015,824.547,19,1.7,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.122,0.211
$KALMAN_X,-91207.7,400.7,397.8,121633.3,-5069.3
$KALMAN_Y,-4216.3,87.5,346.6,64925.5,-4824.3
$MHEAD_RNG_PITCHd_Wd,54.9,49106,-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,-146.1,0.0,0.0,0,70,0.00,0.00,-48.67,0.000,2,0.000,0.000,46,3395,2604,0,0,0,0,0,0
$GC,75,-0.49,-146.1,3.0,-3.6,6,103,5.80,2.20,-14.00,0.000,4,0.230,0.044,1469,1979,3071,0,0,0,0,0,0
$GC,239,-0.49,-146.1,20.5,-10.4,29,248,0.00,2.28,0.00,0.000,6,0.000,0.055,1459,3360,3073,0,0,0,0,0,0
$GC,325,-0.49,-146.1,31.6,-13.2,42,336,0.00,0.95,0.00,0.000,4,0.000,0.059,1455,3950,3073,0,0,0,0,0,0
$GC,394,-0.49,-146.1,40.8,-13.0,52,402,0.00,0.85,0.00,0.000,6,0.000,0.035,1455,3395,3073,0,0,0,0,0,0
$GC,641,-0.49,-146.1,72.3,-10.2,93,647,0.00,0.90,0.00,0.000,4,0.000,0.059,1451,3954,3074,0,0,0,0,0,0
$GC,725,-0.49,-146.1,82.4,-11.2,108,734,0.00,0.88,0.00,0.000,6,0.000,0.035,1451,3377,3075,0,0,0,0,0,0
$GC,1065,-0.49,-146.1,118.8,-11.4,147,1070,0.00,0.93,0.00,0.000,4,0.000,0.059,1447,3954,3075,0,0,0,0,0,0
$GC,1142,-0.49,-146.1,128.9,-12.6,151,1146,0.08,0.88,0.00,0.000,6,0.147,0.035,1470,3376,3075,0,0,0,0,0,0
$GC,1468,-0.49,-146.1,162.0,-10.2,172,1472,0.00,0.93,0.00,0.000,4,0.000,0.059,1467,3956,3076,0,0,0,0,0,0
$GC,1539,-0.49,-146.1,169.6,-10.6,176,1542,0.00,0.88,0.00,0.000,6,0.000,0.036,1467,3373,3076,0,0,0,0,0,0
$GC,1873,-0.49,-146.1,206.4,-11.2,197,1876,0.00,0.93,0.00,0.000,4,0.000,0.059,1463,3955,3076,0,0,0,0,0,0
$GC,1946,-0.49,-146.1,214.8,-12.2,201,1950,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3388,3076,0,0,0,0,0,0
$GC,2268,-0.49,-146.1,252.9,-11.5,221,2271,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3954,3076,0,0,0,0,0,0
$GC,2325,-0.49,-146.1,260.3,-12.0,223,2329,0.00,0.85,0.00,0.000,6,0.000,0.036,1459,3387,3076,0,0,0,0,0,0
$GC,2649,-0.49,-146.1,297.7,-11.9,239,2654,0.00,0.90,0.00,0.000,4,0.000,0.059,1455,3954,3076,0,0,0,0,0,0
$GC,2765,-0.49,-146.1,312.3,-11.7,244,2769,0.00,0.85,0.00,0.000,6,0.000,0.036,1455,3385,3076,0,0,0,0,0,0
$GC,3099,-0.49,-146.1,349.7,-10.8,260,3103,0.00,0.90,0.00,0.000,4,0.000,0.059,1451,3953,3076,0,0,0,0,0,0
$GC,3232,-0.49,-146.1,364.9,-11.8,265,3239,0.00,0.88,0.00,0.000,6,0.000,0.034,1450,3370,3076,0,0,0,0,0,0
$GC,3550,-0.49,-146.1,397.3,-10.3,281,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3370,3076,0,0,0,0,0,0
$GC,3866,-0.49,-146.1,429.5,-10.1,292,3870,0.00,0.93,0.00,0.000,4,0.000,0.059,1446,3956,3076,0,0,0,0,0,0
$GC,4016,-0.49,-146.1,445.5,-10.1,296,4020,0.08,0.88,0.00,0.000,6,0.142,0.036,1471,3375,3076,0,0,0,0,0,0
$GC,4340,-0.49,-146.1,470.6,-7.7,307,4344,0.00,0.93,0.00,0.000,4,0.000,0.059,1468,3958,3076,0,0,0,0,0,0
$GC,4384,-0.49,-146.1,474.7,-8.8,308,4388,0.00,0.88,0.00,0.000,6,0.000,0.036,1468,3373,3075,0,0,0,0,0,0
$GC,4714,-0.49,-146.1,502.4,-8.6,319,4720,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3953,3076,0,0,0,0,0,0
$GC,4777,-0.49,-146.1,508.2,-9.3,320,4783,0.00,0.88,0.00,0.000,6,0.000,0.036,1464,3372,3075,0,0,0,0,0,0
$GC,5091,-0.49,-146.1,535.7,-9.0,331,5095,0.00,0.93,0.00,0.000,4,0.000,0.060,1459,3955,3075,0,0,0,0,0,0
$GC,5174,-0.49,-146.1,544.0,-10.0,333,5177,0.00,0.88,0.00,0.000,6,0.000,0.036,1460,3373,3075,0,0,0,0,0,0
$GC,5500,-0.49,-146.1,573.3,-9.2,344,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3373,3075,0,0,0,0,0,0
$GC,5804,-0.49,-146.1,601.8,-9.3,354,5810,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3954,3074,0,0,0,0,0,0
$GC,5945,-0.49,-146.1,616.3,-10.0,358,5951,0.00,0.88,0.00,0.000,6,0.000,0.037,1455,3375,3073,0,0,0,0,0,0
$GC,6283,-0.49,-146.1,648.7,-9.8,369,6286,0.00,0.93,0.00,0.000,4,0.000,0.060,1451,3954,3072,0,0,0,0,0,0
$GC,6350,-0.49,-146.1,656.2,-10.8,371,6356,0.00,0.85,0.00,0.000,6,0.000,0.037,1451,3390,3072,0,0,0,0,0,0
$GC,6694,-0.49,-146.1,691.7,-10.4,382,6698,0.00,0.90,0.00,0.000,4,0.000,0.061,1447,3953,3072,0,0,0,0,0,0
$GC,6810,-0.49,-146.1,705.3,-11.9,385,6816,0.08,0.88,0.00,0.000,6,0.142,0.037,1471,3372,3072,0,0,0,0,0,0
$GC,7137,-0.49,-146.1,734.8,-9.0,396,7142,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3951,3071,0,0,0,0,0,0
$GC,7249,-0.49,-146.1,746.1,-10.4,399,7253,0.00,0.85,0.00,0.000,6,0.000,0.038,1468,3389,3070,0,0,0,0,0,0
$GC,7579,-0.49,-146.1,776.0,-9.2,410,7582,0.00,0.90,0.00,0.000,4,0.000,0.061,1464,3953,3070,0,0,0,0,0,0
$GC,7681,-0.49,-146.1,785.7,-9.3,413,7686,0.00,0.88,0.00,0.000,6,0.000,0.038,1464,3373,3070,0,0,0,0,0,0
$GC,8025,-0.49,-146.1,815.3,-8.2,424,8028,0.00,0.93,0.00,0.000,4,0.000,0.062,1460,3952,3069,0,0,0,0,0,0
$GC,8093,-0.49,-146.1,821.4,-8.9,426,8099,0.00,0.85,0.00,0.000,6,0.000,0.039,1459,3388,3069,0,0,0,0,0,0
$GC,8437,-0.49,-146.1,849.2,-8.2,437,8440,0.00,0.90,0.00,0.000,4,0.000,0.063,1455,3950,3068,0,0,0,0,0,0
$GC,8480,-0.49,-146.1,853.1,-8.4,438,8484,0.00,0.85,0.00,0.000,6,0.000,0.038,1456,3387,3067,0,0,0,0,0,0
$GC,8812,-0.49,-146.1,880.9,-8.6,449,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3386,3067,0,0,0,0,0,0
$GC,9117,-0.49,-146.1,907.7,-9.0,459,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3386,3065,0,0,0,0,0,0
$GC,9424,-0.49,-146.1,936.1,-9.4,469,9428,0.00,0.90,0.00,0.000,4,0.000,0.063,1451,3947,3066,0,0,0,0,0,0
$GC,9478,-0.49,-146.1,941.8,-9.8,470,9482,0.00,0.88,0.00,0.000,6,0.000,0.039,1451,3373,3065,0,0,0,0,0,0
$GC,9798,-0.49,-146.1,971.3,-9.1,481,9801,0.00,0.93,0.00,0.000,4,0.000,0.063,1447,3949,3065,0,0,0,0,0,0
$GC,9886,-0.49,-146.1,980.2,-10.1,483,9890,0.00,0.88,0.00,0.000,6,0.000,0.039,1447,3374,3065,0,0,0,0,0,0
$STATE,10110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10110,begin apogee
$GC,10117,-0.14,0.0,1000.2,8.9,491,10269,0.45,0.00,148.60,1.204,6,0.136,0.000,1583,3278,2473,0,0,0,0,0,0
$STATE,10270,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$GC,10273,0.49,146.1,1002.6,0.0,496,10433,0.60,2.42,149.12,1.193,4,0.088,0.031,1795,1853,1871,0,0,0,0,0,0
$GC,10462,0.49,146.1,980.2,14.2,501,10468,0.00,2.50,0.00,0.000,6,0.000,0.050,1795,3278,1863,0,0,0,0,0,0
$GC,10775,0.49,146.1,929.4,16.3,512,10779,0.00,1.12,0.00,0.000,4,0.000,0.058,1794,3952,1855,0,0,0,0,0,0
$GC,10886,0.49,146.1,909.2,18.3,515,10892,0.00,1.08,0.00,0.000,6,0.000,0.034,1800,3260,1854,0,0,0,0,0,0
$GC,11219,0.49,146.1,854.7,16.4,526,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3260,1853,0,0,0,0,0,0
$GC,11524,0.49,146.1,804.4,16.3,536,11527,0.00,1.12,0.00,0.000,4,0.000,0.059,1800,3949,1851,0,0,0,0,0,0
$GC,11607,0.49,146.1,789.2,17.6,538,11610,0.00,1.02,0.00,0.000,6,0.000,0.035,1805,3273,1851,0,0,0,0,0,0
$GC,11931,0.49,146.1,734.0,17.0,549,11935,0.00,1.10,0.00,0.000,4,0.000,0.058,1805,3952,1850,0,0,0,0,0,0
$GC,12021,0.49,146.1,717.2,18.1,551,12025,0.00,1.02,0.00,0.000,6,0.000,0.034,1811,3272,1850,0,0,0,0,0,0
$GC,12339,0.49,146.1,662.6,17.1,562,12343,0.00,1.10,0.00,0.000,4,0.000,0.057,1810,3952,1849,0,0,0,0,0,0
$GC,12404,0.49,146.1,651.4,17.9,563,12410,0.00,1.02,0.00,0.000,6,0.000,0.034,1815,3271,1849,0,0,0,0,0,0
$GC,12717,0.49,146.1,597.3,17.3,574,12722,0.00,1.10,0.00,0.000,4,0.000,0.057,1815,3953,1848,0,0,0,0,0,0
$GC,12790,0.49,146.1,583.0,20.3,576,12794,0.00,1.02,0.00,0.000,6,0.000,0.034,1820,3267,1848,0,0,0,0,0,0
$GC,13127,0.49,146.1,523.3,17.6,587,13133,0.00,1.10,0.00,0.000,4,0.000,0.057,1820,3949,1848,0,0,0,0,0,0
$GC,13167,0.49,146.1,515.3,19.1,588,13173,0.10,1.02,0.00,0.000,6,0.174,0.034,1797,3263,1848,0,0,0,0,0,0
$GC,13505,0.49,146.1,463.2,15.4,599,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3263,1848,0,0,0,0,0,0
$GC,13810,0.49,146.1,416.9,15.0,609,13816,0.00,1.10,0.00,0.000,4,0.000,0.057,1797,3949,1847,0,0,0,0,0,0
$GC,13872,0.49,146.1,406.4,16.3,610,13879,0.00,1.00,0.00,0.000,6,0.000,0.034,1801,3274,1847,0,0,0,0,0,0
$GC,14190,0.49,146.1,356.6,15.8,625,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3274,1847,0,0,0,0,0,0
$GC,14498,0.49,146.1,305.9,16.7,640,14502,0.00,1.08,0.00,0.000,4,0.000,0.054,1800,3949,1847,0,0,0,0,0,0
$GC,14539,0.49,146.1,298.0,18.0,641,14546,0.00,1.00,0.00,0.000,6,0.000,0.033,1805,3274,1847,0,0,0,0,0,0
$GC,14863,0.49,146.1,241.6,17.4,658,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3274,1847,0,0,0,0,0,0
$GC,15175,0.49,146.1,187.7,16.8,678,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3274,1847,0,0,0,0,0,0
$GC,15486,0.49,146.1,137.2,15.8,698,15490,0.00,2.10,0.00,0.000,4,0.000,0.031,1816,1858,1847,0,0,0,0,0,0
$GC,15509,0.49,146.1,133.4,15.0,699,15516,0.00,2.25,0.00,0.000,6,0.000,0.047,1816,3284,1847,0,0,0,0,0,0
$GC,15841,0.49,146.1,79.6,16.2,734,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3284,1847,0,0,0,0,0,0
$GC,16211,0.49,146.1,22.4,13.8,795,16221,0.00,1.05,0.00,0.000,4,0.000,0.052,1816,3954,1847,0,0,0,0,0,0
$GC,16269,0.49,146.1,11.4,18.3,803,16280,0.00,1.00,0.00,0.000,6,0.000,0.032,1821,3273,1847,0,0,0,0,0,0
$STATE,16343,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,1.1,1.012597
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16398,49.22,0.697,1,0,1450,250.20
$SM_GC,1.94,0.00,0.00,49.22,0.000,0.000,0.697,49,3390,1450,-4.95,0.28,250.20
$IRIDIUM_FIX,-4143.80,825.83,070113,010137
$TT8_MAMPS,0.025466
$HUMID,55.27
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.8,32.727
$10V_AH,10.1,18.926
$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,11.900,70.550,297.725,49.225,0.000,27.047,29.569,358.296,0.000,0.000,20.892,2108.415,10862.303,431.369,2713.802,929.685,33.366,1495.391,0.000,2493.343,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,81.090,1204.110,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.598,1804.786,829.303,365.967,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,60280,819
$CAP_FILE_SIZE,137197,0
$CFSIZE,259252224,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070113,110534,-4155.451,825.123,40,1.2,40,-24.9