version: 66.07
glider: 543
mission: 6
dive: 179
start: 1 7 113 11 16 33
data:
$ID,543
$MISSION,6
$DIVE,179
$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,-8359.3818
$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,52
$R_STBD_OVSHOOT,29
$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
$GPS1,070113,110534,-4155.451,825.123,40,1.2,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-49.5
$GPS2,070113,111535,-4155.407,825.164,25,1.1,25,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.172,0.173
$KALMAN_X,-93242.3,777.6,234.6,124301.9,-5491.8
$KALMAN_Y,-5858.6,26.2,189.8,69764.2,-3909.6
$MHEAD_RNG_PITCHd_Wd,69.7,48694,-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,-49.22,0.000,2,0.000,0.000,49,3390,2649,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.1,-3.3,6,104,5.68,2.20,-12.80,0.000,4,0.223,0.046,1468,1984,3070,0,0,0,0,0,0
$GC,252,-0.49,-146.1,22.4,-9.1,31,263,0.00,2.28,0.00,0.000,6,0.000,0.057,1460,3356,3072,0,0,0,0,0,0
$GC,341,-0.49,-146.1,32.4,-13.3,44,351,0.00,0.98,0.00,0.000,4,0.000,0.063,1455,3953,3072,0,0,0,0,0,0
$GC,620,-0.49,-146.1,68.8,-13.2,90,631,0.00,0.85,0.00,0.000,6,0.000,0.036,1455,3396,3073,0,0,0,0,0,0
$GC,983,-0.49,-146.1,114.0,-12.6,139,987,0.00,0.88,0.00,0.000,4,0.000,0.060,1451,3944,3074,0,0,0,0,0,0
$GC,1039,-0.49,-146.1,122.5,-14.7,142,1043,0.00,0.88,0.00,0.000,6,0.000,0.036,1451,3367,3074,0,0,0,0,0,0
$GC,1367,-0.49,-146.1,165.7,-13.4,163,1371,0.00,0.93,0.00,0.000,4,0.000,0.059,1447,3949,3075,0,0,0,0,0,0
$GC,1492,-0.49,-146.1,183.3,-12.7,170,1497,0.08,0.85,0.00,0.000,6,0.149,0.036,1471,3386,3075,0,0,0,0,0,0
$GC,1826,-0.49,-146.1,216.6,-9.8,191,1830,0.00,0.90,0.00,0.000,4,0.000,0.060,1468,3952,3075,0,0,0,0,0,0
$GC,1897,-0.49,-146.1,224.1,-10.4,195,1901,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3386,3075,0,0,0,0,0,0
$GC,2231,-0.49,-146.1,257.0,-9.5,215,2235,0.00,0.90,0.00,0.000,4,0.000,0.059,1464,3951,3075,0,0,0,0,0,0
$GC,2315,-0.49,-146.1,266.3,-10.7,218,2327,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3386,3075,0,0,0,0,0,0
$GC,2633,-0.49,-146.1,299.1,-10.4,234,2636,0.00,0.90,0.00,0.000,4,0.000,0.059,1460,3953,3075,0,0,0,0,0,0
$GC,2721,-0.49,-146.1,308.7,-11.0,237,2728,0.00,0.88,0.00,0.000,6,0.000,0.036,1459,3372,3075,0,0,0,0,0,0
$GC,3039,-0.49,-146.1,341.3,-10.2,253,3045,0.00,0.93,0.00,0.000,4,0.000,0.059,1455,3954,3075,0,0,0,0,0,0
$GC,3135,-0.49,-146.1,352.0,-11.3,257,3139,0.00,0.88,0.00,0.000,6,0.000,0.037,1455,3373,3075,0,0,0,0,0,0
$GC,3470,-0.49,-146.1,387.9,-10.5,273,3476,0.00,0.93,0.00,0.000,4,0.000,0.059,1451,3954,3075,0,0,0,0,0,0
$GC,3581,-0.49,-146.1,401.0,-12.2,277,3588,0.00,0.88,0.00,0.000,6,0.000,0.036,1451,3375,3075,0,0,0,0,0,0
$GC,3895,-0.49,-146.1,435.9,-11.3,288,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3374,3075,0,0,0,0,0,0
$GC,4201,-0.49,-146.1,469.5,-10.9,298,4204,0.00,0.93,0.00,0.000,4,0.000,0.059,1446,3956,3075,0,0,0,0,0,0
$GC,4352,-0.49,-146.1,487.0,-11.1,302,4356,0.08,0.88,0.00,0.000,6,0.142,0.037,1471,3378,3075,0,0,0,0,0,0
$GC,4676,-0.49,-146.1,515.4,-8.6,313,4679,0.00,0.90,0.00,0.000,4,0.000,0.060,1468,3946,3075,0,0,0,0,0,0
$GC,4740,-0.49,-146.1,521.3,-8.8,314,4747,0.00,0.85,0.00,0.000,6,0.000,0.037,1468,3382,3075,0,0,0,0,0,0
$GC,5053,-0.49,-146.1,549.3,-9.0,325,5059,0.00,0.90,0.00,0.000,4,0.000,0.060,1464,3948,3074,0,0,0,0,0,0
$GC,5127,-0.49,-146.1,556.7,-10.1,327,5130,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3369,3074,0,0,0,0,0,0
$GC,5462,-0.49,-146.1,588.8,-9.6,338,5467,0.00,0.93,0.00,0.000,4,0.000,0.061,1460,3950,3073,0,0,0,0,0,0
$GC,5627,-0.49,-146.1,605.9,-11.0,342,5634,0.00,0.88,0.00,0.000,6,0.000,0.037,1460,3373,3073,0,0,0,0,0,0
$GC,5941,-0.49,-146.1,637.1,-9.9,353,5944,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3953,3072,0,0,0,0,0,0
$GC,6002,-0.49,-146.1,643.8,-10.4,354,6011,0.00,0.88,0.00,0.000,6,0.000,0.037,1455,3376,3072,0,0,0,0,0,0
$GC,6315,-0.49,-146.1,675.0,-10.0,365,6321,0.00,0.93,0.00,0.000,4,0.000,0.060,1451,3954,3071,0,0,0,0,0,0
$GC,6422,-0.49,-146.1,686.6,-10.5,368,6426,0.00,0.88,0.00,0.000,6,0.000,0.037,1451,3378,3071,0,0,0,0,0,0
$GC,6759,-0.49,-146.1,721.1,-10.4,379,6762,0.00,0.93,0.00,0.000,4,0.000,0.060,1447,3958,3070,0,0,0,0,0,0
$GC,6881,-0.49,-146.1,735.2,-11.6,382,6885,0.00,0.88,0.00,0.000,6,0.000,0.039,1447,3382,3070,0,0,0,0,0,0
$GC,7201,-0.49,-146.1,769.4,-10.8,393,7202,0.10,0.00,0.00,0.000,6,0.174,0.000,1471,3382,3069,0,0,0,0,0,0
$GC,7510,-0.49,-146.1,796.9,-8.9,403,7514,0.00,0.90,0.00,0.000,4,0.000,0.062,1469,3945,3068,0,0,0,0,0,0
$GC,7571,-0.49,-146.1,803.3,-9.3,404,7578,0.00,0.85,0.00,0.000,6,0.000,0.039,1469,3385,3069,0,0,0,0,0,0
$GC,7884,-0.49,-146.1,833.0,-9.6,415,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3385,3067,0,0,0,0,0,0
$GC,8192,-0.49,-146.1,861.8,-9.2,425,8195,0.00,0.90,0.00,0.000,4,0.000,0.062,1465,3947,3067,0,0,0,0,0,0
$GC,8308,-0.49,-146.1,873.4,-9.8,428,8314,0.00,0.88,0.00,0.000,6,0.000,0.040,1465,3375,3066,0,0,0,0,0,0
$GC,8634,-0.49,-146.1,904.2,-9.6,439,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3375,3066,0,0,0,0,0,0
$GC,8940,-0.49,-146.1,932.8,-9.2,449,8943,0.00,0.93,0.00,0.000,4,0.000,0.063,1461,3951,3065,0,0,0,0,0,0
$GC,9012,-0.49,-146.1,939.7,-10.2,451,9016,0.00,0.88,0.00,0.000,6,0.000,0.039,1460,3377,3065,0,0,0,0,0,0
$GC,9354,-0.49,-146.1,972.2,-9.3,462,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3378,3064,0,0,0,0,0,0
$GC,9661,-0.49,-146.1,999.6,-8.7,472,9665,0.00,0.93,0.00,0.000,4,0.000,0.063,1456,3952,3063,0,0,0,0,0,0
$STATE,9668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9676,-0.14,0.0,1000.8,8.9,472,9825,0.40,0.00,140.68,1.818,6,0.136,0.000,1582,3272,2473,0,0,0,0,1,0
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9830,0.49,146.1,1004.8,0.0,477,9991,0.62,2.47,147.98,1.773,4,0.085,0.033,1795,1864,1877,0,0,0,0,1,0
$GC,10051,0.49,146.1,980.6,13.0,483,10058,0.00,2.45,0.00,0.000,6,0.000,0.052,1795,3272,1872,0,0,0,0,0,0
$GC,10365,0.49,146.1,930.1,16.6,494,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3272,1867,0,0,0,0,0,0
$GC,10670,0.49,146.1,880.6,15.9,504,10676,0.00,1.10,0.00,0.000,4,0.000,0.059,1796,3945,1865,0,0,0,0,0,0
$GC,10749,0.49,146.1,866.2,18.6,506,10753,0.00,1.05,0.00,0.000,6,0.000,0.034,1801,3260,1864,0,0,0,0,0,0
$GC,11079,0.49,146.1,811.3,16.9,517,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3260,1863,0,0,0,0,0,0
$GC,11386,0.49,146.1,758.9,17.3,527,11390,0.00,2.12,0.00,0.000,4,0.000,0.035,1811,1862,1862,0,0,0,0,0,0
$GC,11418,0.49,146.1,753.4,15.2,528,11423,0.00,2.28,0.00,0.000,6,0.000,0.053,1811,3274,1861,0,0,0,0,0,0
$GC,11748,0.49,146.1,691.4,19.1,539,11752,0.00,1.08,0.00,0.000,4,0.000,0.057,1811,3943,1860,0,0,0,0,0,0
$GC,11831,0.49,146.1,673.6,22.6,541,11834,0.00,1.02,0.00,0.000,6,0.000,0.034,1816,3260,1860,0,0,0,0,0,0
$GC,12155,0.49,146.1,611.5,18.8,552,12159,0.00,1.10,0.00,0.000,4,0.000,0.057,1817,3941,1859,0,0,0,0,0,0
$GC,12258,0.49,146.1,590.5,20.2,555,12263,0.00,1.00,0.00,0.000,6,0.000,0.034,1822,3271,1859,0,0,0,0,0,0
$GC,12601,0.49,146.1,524.1,19.1,566,12605,0.00,1.08,0.00,0.000,4,0.000,0.057,1821,3941,1858,0,0,0,0,0,0
$GC,12670,0.49,146.1,509.9,21.1,568,12676,0.10,1.00,0.00,0.000,6,0.178,0.033,1798,3270,1858,0,0,0,0,0,0
$GC,13013,0.49,146.1,453.4,16.3,579,13017,0.00,1.08,0.00,0.000,4,0.000,0.057,1798,3943,1858,0,0,0,0,0,0
$GC,13057,0.49,146.1,445.5,18.1,580,13061,0.00,1.00,0.00,0.000,6,0.000,0.033,1802,3272,1858,0,0,0,0,0,0
$GC,13381,0.49,146.1,393.3,15.8,591,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3272,1857,0,0,0,0,0,0
$GC,13688,0.49,146.1,344.0,16.1,606,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3272,1857,0,0,0,0,0,0
$GC,13998,0.49,146.1,294.9,16.1,621,13999,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3272,1857,0,0,0,0,0,0
$GC,14318,0.49,146.1,244.8,15.6,637,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3272,1857,0,0,0,0,0,0
$GC,14630,0.49,146.1,194.0,16.2,657,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3272,1857,0,0,0,0,0,0
$GC,14943,0.49,146.1,143.8,15.9,677,14948,0.00,1.08,0.00,0.000,4,0.000,0.054,1802,3946,1857,0,0,0,0,0,0
$GC,14982,0.49,146.1,137.4,17.3,679,14986,0.00,1.00,0.00,0.000,6,0.000,0.032,1807,3265,1857,0,0,0,0,0,0
$GC,15309,0.49,146.1,82.5,16.4,710,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3265,1857,0,0,0,0,0,0
$GC,15681,0.49,146.1,23.8,13.7,771,15690,0.00,1.10,0.00,0.000,4,0.000,0.057,1807,3948,1857,0,0,0,0,0,0
$GC,15760,0.49,146.1,10.1,18.2,782,15769,0.00,1.00,0.00,0.000,6,0.000,0.031,1812,3267,1857,0,0,0,0,0,0
$STATE,15805,end climb,SURFACE_DEPTH_REACHED
$STATE,15805,begin surface coast
$FINISH,1.2,1.013256
$STATE,15829,end surface coast,CONTROL_FINISHED_OK
$STATE,15829,begin surface
$SM_CCo,15845,48.70,0.703,1,0,1451,250.20
$SM_GC,2.18,0.00,0.00,48.70,0.000,0.000,0.703,54,3394,1451,-4.94,0.40,250.20
$IRIDIUM_FIX,-4143.80,903.93,070113,060636
$TT8_MAMPS,0.025466
$HUMID,55.35
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.3,32.906
$10V_AH,10.1,19.042
$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,11.725,62.725,288.650,48.700,0.000,28.031,46.643,340.781,0.000,0.000,28.046,2030.972,10530.863,418.926,2623.459,893.314,33.368,1426.475,0.000,2392.914,0.000,1.014,0.000
$DEVICE_MAMPS,222.615,78.030,1817.640,703.035,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.933,1745.112,806.200,354.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,57234,791
$CAP_FILE_SIZE,128723,0
$CFSIZE,259252224,247296000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,070113,154252,-4154.280,826.581,38,1.0,38,-24.9