version: 66.07
glider: 543
mission: 6
dive: 180
start: 1 7 113 15 52 45
data:
$ID,543
$MISSION,6
$DIVE,180
$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,-8361.7129
$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,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
$GPS1,070113,154252,-4154.280,826.581,38,1.0,38,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-47.5
$GPS2,070113,155147,-4154.308,826.647,20,1.1,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,-0.026
$KALMAN_X,-95061.5,583.2,445.6,128128.1,-6292.7
$KALMAN_Y,-8271.1,473.7,194.1,73764.4,-5048.0
$MHEAD_RNG_PITCHd_Wd,120.9,47098,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-51.35,0.000,2,0.000,0.000,53,3394,2708,0,0,0,0,0,0
$GC,78,-0.49,-146.1,3.1,-3.3,6,98,5.70,0.93,-10.05,0.000,4,0.223,0.093,1466,3946,3071,0,0,0,0,0,0
$GC,383,-0.49,-146.1,47.5,-12.4,53,390,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3392,3074,0,0,0,0,0,0
$GC,625,-0.49,-146.1,75.6,-9.5,94,632,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3936,3076,0,0,0,0,0,0
$GC,803,-0.49,-146.1,93.2,-9.9,124,810,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3379,3076,0,0,0,0,0,0
$GC,1138,-0.49,-146.1,128.5,-11.4,152,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3379,3076,0,0,0,0,0,0
$GC,1447,-0.49,-146.1,161.9,-10.4,172,1451,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3943,3078,0,0,0,0,0,0
$GC,1552,-0.49,-146.1,173.8,-11.1,178,1558,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3378,3078,0,0,0,0,0,0
$GC,1886,-0.49,-146.1,207.8,-10.1,199,1891,0.00,0.90,0.00,0.000,4,0.000,0.058,1453,3946,3078,0,0,0,0,0,0
$GC,1968,-0.49,-146.1,217.2,-10.9,203,1975,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3380,3078,0,0,0,0,0,0
$GC,2293,-0.49,-146.1,253.0,-11.3,224,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3380,3078,0,0,0,0,0,0
$GC,2604,-0.49,-146.1,288.7,-11.9,239,2610,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3947,3077,0,0,0,0,0,0
$GC,2708,-0.49,-146.1,302.4,-12.3,243,2713,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3382,3078,0,0,0,0,0,0
$GC,3032,-0.49,-146.1,340.7,-12.0,259,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3381,3077,0,0,0,0,0,0
$GC,3341,-0.49,-146.1,376.1,-11.3,274,3344,0.00,0.90,0.00,0.000,4,0.000,0.058,1445,3949,3077,0,0,0,0,0,0
$GC,3438,-0.49,-146.1,388.5,-11.9,278,3442,0.08,0.85,0.00,0.000,6,0.141,0.036,1470,3384,3077,0,0,0,0,0,0
$GC,3773,-0.49,-146.1,420.3,-9.2,291,3779,0.00,0.88,0.00,0.000,4,0.000,0.060,1467,3935,3077,0,0,0,0,0,0
$GC,3891,-0.49,-146.1,431.9,-9.6,294,3895,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3370,3078,0,0,0,0,0,0
$GC,4216,-0.49,-146.1,460.0,-8.6,305,4220,0.00,0.90,0.00,0.000,4,0.000,0.059,1463,3939,3077,0,0,0,0,0,0
$GC,4361,-0.49,-146.1,473.2,-8.8,309,4364,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3372,3077,0,0,0,0,0,0
$GC,4691,-0.49,-146.1,501.0,-8.5,320,4696,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3938,3077,0,0,0,0,0,0
$GC,4815,-0.49,-146.1,512.6,-9.3,323,4818,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3373,3077,0,0,0,0,0,0
$GC,5133,-0.49,-146.1,543.1,-9.9,334,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3373,3077,0,0,0,0,0,0
$GC,5441,-0.49,-146.1,574.9,-10.3,344,5445,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3938,3076,0,0,0,0,0,0
$GC,5529,-0.49,-146.1,584.8,-11.1,346,5533,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3374,3076,0,0,0,0,0,0
$GC,5850,-0.49,-146.1,615.2,-9.4,357,5854,0.00,0.90,0.00,0.000,4,0.000,0.060,1450,3939,3075,0,0,0,0,0,0
$GC,5934,-0.49,-146.1,623.7,-9.5,359,5937,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3377,3075,0,0,0,0,0,0
$GC,6259,-0.49,-146.1,653.9,-9.4,370,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3074,0,0,0,0,0,0
$GC,6564,-0.49,-146.1,684.0,-10.2,380,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3377,3073,0,0,0,0,0,0
$GC,6871,-0.49,-146.1,716.4,-10.9,390,6875,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3938,3073,0,0,0,0,0,0
$GC,6954,-0.49,-146.1,726.5,-12.5,392,6958,0.00,0.85,0.00,0.000,6,0.000,0.037,1446,3377,3073,0,0,0,0,0,0
$GC,7279,-0.49,-146.1,763.4,-11.5,403,7283,0.10,0.93,0.00,0.000,4,0.171,0.061,1469,3943,3071,0,0,0,0,0,0
$GC,7352,-0.49,-146.1,770.8,-9.2,405,7356,0.00,0.85,0.00,0.000,6,0.000,0.038,1469,3384,3071,0,0,0,0,0,0
$GC,7688,-0.49,-146.1,800.8,-8.6,416,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3384,3071,0,0,0,0,0,0
$GC,7996,-0.49,-146.1,824.9,-7.5,426,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3384,3070,0,0,0,0,0,0
$GC,8301,-0.49,-146.1,846.7,-7.1,436,8307,0.00,0.90,0.00,0.000,4,0.000,0.062,1465,3944,3069,0,0,0,0,0,0
$GC,8397,-0.49,-146.1,854.5,-7.7,438,8405,0.00,0.88,0.00,0.000,6,0.000,0.039,1466,3371,3069,0,0,0,0,0,0
$GC,8711,-0.49,-146.1,879.0,-8.1,449,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3371,3069,0,0,0,0,0,0
$GC,9017,-0.49,-146.1,903.1,-7.8,459,9021,0.00,0.90,0.00,0.000,4,0.000,0.063,1461,3932,3068,0,0,0,0,0,0
$GC,9101,-0.49,-146.1,910.6,-8.8,461,9104,0.00,0.85,0.00,0.000,6,0.000,0.039,1461,3376,3068,0,0,0,0,0,0
$GC,9425,-0.49,-146.1,938.0,-8.6,472,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3376,3067,0,0,0,0,0,0
$GC,9731,-0.49,-146.1,964.5,-8.6,482,9737,0.00,0.90,0.00,0.000,4,0.000,0.063,1457,3935,3067,0,0,0,0,0,0
$GC,9844,-0.49,-146.1,974.7,-9.3,485,9847,0.00,0.85,0.00,0.000,6,0.000,0.039,1457,3381,3066,0,0,0,0,0,0
$STATE,10171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10171,begin apogee
$GC,10178,-0.14,0.0,1001.4,7.8,496,10329,0.43,0.00,148.18,1.186,6,0.132,0.000,1586,3270,2473,0,0,0,0,0,0
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10334,0.49,146.1,1003.5,0.0,501,10493,0.60,2.42,148.88,1.161,4,0.084,0.031,1799,1846,1870,0,0,0,0,0,0
$GC,10538,0.49,146.1,978.1,13.0,507,10544,0.00,2.50,0.00,0.000,6,0.000,0.051,1799,3259,1861,0,0,0,0,0,0
$GC,10870,0.49,146.1,923.4,16.6,518,10874,0.00,1.15,0.00,0.000,4,0.000,0.058,1799,3948,1854,0,0,0,0,0,0
$GC,11002,0.49,146.1,899.7,18.3,521,11009,0.00,1.08,0.00,0.000,6,0.000,0.034,1805,3257,1853,0,0,0,0,0,0
$GC,11315,0.49,146.1,847.5,16.2,532,11321,0.00,1.15,0.00,0.000,4,0.000,0.057,1804,3955,1851,0,0,0,0,0,0
$GC,11385,0.49,146.1,835.4,18.4,534,11388,0.00,1.05,0.00,0.000,6,0.000,0.035,1810,3269,1851,0,0,0,0,0,0
$GC,11726,0.49,146.1,779.2,16.3,545,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3269,1850,0,0,0,0,0,0
$GC,12032,0.49,146.1,726.1,17.8,555,12036,0.00,1.10,0.00,0.000,4,0.000,0.059,1810,3947,1850,0,0,0,0,0,0
$GC,12106,0.49,146.1,711.7,19.3,557,12109,0.00,1.02,0.00,0.000,6,0.000,0.035,1815,3266,1849,0,0,0,0,0,0
$GC,12441,0.49,146.1,648.5,19.2,568,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3266,1849,0,0,0,0,0,0
$GC,12748,0.49,146.1,592.4,18.2,578,12752,0.00,1.10,0.00,0.000,4,0.000,0.058,1815,3946,1848,0,0,0,0,0,0
$GC,12851,0.49,146.1,572.6,18.8,581,12854,0.00,1.02,0.00,0.000,6,0.000,0.034,1820,3261,1848,0,0,0,0,0,0
$GC,13196,0.49,146.1,513.4,16.9,592,13200,0.00,1.10,0.00,0.000,4,0.000,0.057,1820,3943,1847,0,0,0,0,0,0
$GC,13268,0.49,146.1,498.9,20.4,594,13272,0.10,1.00,0.00,0.000,6,0.173,0.033,1796,3273,1847,0,0,0,0,0,0
$GC,13603,0.49,146.1,447.7,15.4,605,13609,0.00,1.10,0.00,0.000,4,0.000,0.056,1796,3958,1847,0,0,0,0,0,0
$GC,13721,0.49,146.1,427.5,16.7,608,13725,0.00,1.02,0.00,0.000,6,0.000,0.034,1800,3272,1847,0,0,0,0,0,0
$GC,14051,0.49,146.1,374.7,16.9,621,14055,0.00,1.10,0.00,0.000,4,0.000,0.055,1800,3958,1847,0,0,0,0,0,0
$GC,14112,0.49,146.1,362.5,17.7,623,14119,0.00,1.02,0.00,0.000,6,0.000,0.032,1805,3269,1847,0,0,0,0,0,0
$GC,14431,0.49,146.1,307.3,17.6,639,14437,0.00,1.08,0.00,0.000,4,0.000,0.055,1805,3948,1847,0,0,0,0,0,0
$GC,14495,0.49,146.1,294.7,18.9,641,14502,0.00,1.00,0.00,0.000,6,0.000,0.032,1810,3272,1847,0,0,0,0,0,0
$GC,14819,0.49,146.1,239.1,16.4,658,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3272,1846,0,0,0,0,0,0
$GC,15131,0.49,146.1,187.8,16.4,678,15135,0.00,1.08,0.00,0.000,4,0.000,0.054,1810,3951,1847,0,0,0,0,0,0
$GC,15190,0.49,146.1,176.7,18.6,681,15193,0.00,1.00,0.00,0.000,6,0.000,0.032,1815,3274,1847,0,0,0,0,0,0
$GC,15515,0.49,146.1,120.0,17.9,702,15518,0.00,1.08,0.00,0.000,4,0.000,0.053,1815,3953,1847,0,0,0,0,0,0
$GC,15585,0.49,146.1,106.8,19.6,706,15588,0.00,1.00,0.00,0.000,6,0.000,0.031,1820,3272,1847,0,0,0,0,0,0
$GC,15943,0.49,146.1,42.6,15.6,763,15951,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3272,1847,0,0,0,0,0,0
$STATE,16176,end climb,SURFACE_DEPTH_REACHED
$STATE,16176,begin surface coast
$FINISH,1.1,1.015855
$STATE,16199,end surface coast,CONTROL_FINISHED_OK
$STATE,16199,begin surface
$SM_CCo,16215,49.00,0.685,1,0,1451,250.20
$SM_GC,1.73,0.00,0.00,49.00,0.000,0.000,0.685,45,3405,1451,-4.97,0.71,250.20
$IRIDIUM_FIX,-4140.91,825.41,070113,111103
$TT8_MAMPS,0.025466
$HUMID,55.86
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.9,33.034
$10V_AH,10.1,19.157
$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,11.625,54.575,297.050,49.000,0.000,24.679,18.478,310.204,0.000,0.000,22.828,2062.186,10867.719,404.370,2589.321,879.481,33.363,1403.270,0.000,2390.675,0.000,1.013,0.000
$DEVICE_MAMPS,223.380,93.330,1185.750,684.675,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.638,1719.155,773.418,346.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353832
$DATA_FILE_SIZE,57121,803
$CAP_FILE_SIZE,129266,0
$CFSIZE,259252224,247226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070113,202504,-4154.428,829.519,27,1.4,27,-24.9