version: 66.07
glider: 543
mission: 6
dive: 182
start: 1 8 113 1 21 9
data:
$ID,543
$MISSION,6
$DIVE,182
$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,-8366.3838
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,080113,011058,-4154.339,832.191,41,0.8,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-44.8
$GPS2,080113,012011,-4154.380,832.271,15,1.2,15,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.211,0.122
$KALMAN_X,-97872.6,375.4,152.2,139121.7,-4634.9
$KALMAN_Y,-6971.3,1125.8,317.0,71533.5,-3041.0
$MHEAD_RNG_PITCHd_Wd,85.0,39558,-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,-146.1,0.0,0.0,0,78,0.00,0.00,-56.15,0.000,2,0.000,0.000,43,3402,2808,0,0,0,0,0,0
$GC,83,-0.49,-146.1,3.3,-3.4,7,104,5.68,2.22,-6.65,0.000,4,0.220,0.045,1473,1982,3071,0,0,0,0,0,0
$GC,240,-0.49,-146.1,25.8,-10.4,29,249,0.00,2.30,0.00,0.000,6,0.000,0.056,1464,3374,3074,0,0,0,0,0,0
$GC,324,-0.49,-146.1,37.4,-13.8,42,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3374,3074,0,0,0,0,0,0
$GC,574,-0.49,-146.1,69.2,-11.7,83,581,0.00,0.93,0.00,0.000,4,0.000,0.058,1459,3953,3074,0,0,0,0,0,0
$GC,675,-0.49,-146.1,79.9,-10.5,100,682,0.00,0.85,0.00,0.000,6,0.000,0.036,1459,3393,3075,0,0,0,0,0,0
$GC,1021,-0.49,-146.1,115.8,-10.9,143,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3393,3076,0,0,0,0,0,0
$GC,1336,-0.49,-146.1,152.0,-11.8,163,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3393,3077,0,0,0,0,0,0
$GC,1648,-0.49,-146.1,188.4,-11.4,183,1652,0.00,0.90,0.00,0.000,4,0.000,0.057,1455,3959,3077,0,0,0,0,0,0
$GC,1762,-0.49,-146.1,202.5,-12.0,189,1769,0.00,0.90,0.00,0.000,6,0.000,0.035,1455,3362,3077,0,0,0,0,0,0
$GC,2082,-0.49,-146.1,237.8,-11.3,210,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3362,3077,0,0,0,0,0,0
$GC,2394,-0.49,-146.1,272.0,-11.1,227,2399,0.00,0.93,0.00,0.000,4,0.000,0.057,1451,3947,3077,0,0,0,0,0,0
$GC,2497,-0.49,-146.1,284.5,-11.9,231,2503,0.00,0.85,0.00,0.000,6,0.000,0.036,1451,3384,3077,0,0,0,0,0,0
$GC,2822,-0.49,-146.1,319.9,-10.9,247,2827,0.00,0.90,0.00,0.000,4,0.000,0.058,1447,3953,3077,0,0,0,0,0,0
$GC,2880,-0.49,-146.1,327.2,-12.2,249,2884,0.08,0.88,0.00,0.000,6,0.140,0.036,1471,3373,3077,0,0,0,0,0,0
$GC,3204,-0.49,-146.1,356.9,-9.7,265,3209,0.00,0.93,0.00,0.000,4,0.000,0.059,1468,3957,3077,0,0,0,0,0,0
$GC,3257,-0.49,-146.1,362.9,-10.2,267,3261,0.00,0.88,0.00,0.000,6,0.000,0.036,1468,3373,3077,0,0,0,0,0,0
$GC,3586,-0.49,-146.1,395.4,-9.9,283,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3372,3077,0,0,0,0,0,0
$GC,3892,-0.49,-146.1,426.8,-10.3,294,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3372,3077,0,0,0,0,0,0
$GC,4197,-0.49,-146.1,457.7,-10.1,304,4203,0.00,0.93,0.00,0.000,4,0.000,0.059,1464,3955,3076,0,0,0,0,0,0
$GC,4276,-0.49,-146.1,466.2,-10.7,306,4280,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3374,3076,0,0,0,0,0,0
$GC,4606,-0.49,-146.1,498.9,-9.9,317,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3374,3076,0,0,0,0,0,0
$GC,4913,-0.49,-146.1,528.7,-9.6,327,4916,0.00,0.93,0.00,0.000,4,0.000,0.059,1460,3956,3076,0,0,0,0,0,0
$GC,5025,-0.49,-146.1,540.2,-10.0,330,5030,0.00,0.88,0.00,0.000,6,0.000,0.037,1459,3377,3076,0,0,0,0,0,0
$GC,5356,-0.49,-146.1,571.1,-9.3,341,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3377,3075,0,0,0,0,0,0
$GC,5662,-0.49,-146.1,598.9,-9.0,351,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3378,3074,0,0,0,0,0,0
$GC,5970,-0.49,-146.1,626.4,-9.0,361,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3378,3074,0,0,0,0,0,0
$GC,6274,-0.49,-146.1,653.8,-8.9,371,6280,0.00,0.93,0.00,0.000,4,0.000,0.060,1455,3955,3073,0,0,0,0,0,0
$GC,6336,-0.49,-146.1,660.0,-9.5,372,6343,0.00,0.88,0.00,0.000,6,0.000,0.037,1455,3380,3073,0,0,0,0,0,0
$GC,6651,-0.49,-146.1,689.4,-9.7,383,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3380,3073,0,0,0,0,0,0
$GC,6956,-0.49,-146.1,718.9,-9.5,393,6961,0.00,0.95,0.00,0.000,4,0.000,0.061,1451,3956,3072,0,0,0,0,0,0
$GC,7040,-0.49,-146.1,727.7,-10.7,395,7044,0.00,0.88,0.00,0.000,6,0.000,0.038,1451,3382,3072,0,0,0,0,0,0
$GC,7365,-0.49,-146.1,758.5,-9.6,406,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3381,3071,0,0,0,0,0,0
$GC,7671,-0.49,-146.1,786.2,-9.0,416,7675,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3947,3070,0,0,0,0,0,0
$GC,7788,-0.49,-146.1,797.7,-9.7,419,7793,0.00,0.88,0.00,0.000,6,0.000,0.038,1446,3369,3070,0,0,0,0,0,0
$GC,8113,-0.49,-146.1,826.1,-8.9,430,8115,0.10,0.00,0.00,0.000,6,0.172,0.000,1472,3369,3070,0,0,0,0,0,0
$GC,8420,-0.49,-146.1,848.6,-7.3,440,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3369,3069,0,0,0,0,0,0
$GC,8727,-0.49,-146.1,871.2,-7.5,450,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3369,3068,0,0,0,0,0,0
$GC,9032,-0.49,-146.1,893.8,-7.5,460,9038,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3945,3068,0,0,0,0,0,0
$GC,9156,-0.49,-146.1,904.1,-8.7,463,9160,0.00,0.85,0.00,0.000,6,0.000,0.039,1469,3386,3067,0,0,0,0,0,0
$GC,9475,-0.49,-146.1,928.7,-7.8,474,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3067,0,0,0,0,0,0
$GC,9783,-0.49,-146.1,951.7,-7.5,484,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3386,3067,0,0,0,0,0,0
$GC,10088,-0.49,-146.1,974.0,-7.3,494,10093,0.00,0.90,0.00,0.000,4,0.000,0.062,1464,3948,3066,0,0,0,0,0,0
$GC,10158,-0.49,-146.1,979.6,-8.0,496,10162,0.00,0.88,0.00,0.000,6,0.000,0.039,1464,3373,3066,0,0,0,0,0,0
$STATE,10435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10435,begin apogee
$GC,10442,-0.14,0.0,1000.5,7.4,505,10593,0.40,0.00,147.50,1.208,6,0.127,0.000,1587,3277,2473,0,0,0,0,0,0
$STATE,10594,end apogee,CONTROL_FINISHED_OK
$STATE,10594,begin climb
$GC,10597,0.49,146.1,1002.6,0.0,510,10756,0.57,2.45,148.52,1.197,4,0.083,0.031,1795,1838,1869,0,0,0,0,0,0
$GC,10785,0.49,146.1,980.9,14.1,515,10792,0.00,2.53,0.00,0.000,6,0.000,0.051,1795,3277,1862,0,0,0,0,0,0
$GC,11099,0.49,146.1,931.5,15.7,526,11102,0.00,1.12,0.00,0.000,4,0.000,0.058,1795,3951,1855,0,0,0,0,0,0
$GC,11210,0.49,146.1,911.5,17.7,529,11216,0.00,1.08,0.00,0.000,6,0.000,0.033,1800,3254,1854,0,0,0,0,0,0
$GC,11543,0.49,146.1,859.0,15.7,540,11547,0.00,1.15,0.00,0.000,4,0.000,0.057,1800,3953,1852,0,0,0,0,0,0
$GC,11588,0.49,146.1,850.9,17.1,541,11591,0.00,1.05,0.00,0.000,6,0.000,0.034,1805,3265,1852,0,0,0,0,0,0
$GC,11918,0.49,146.1,796.6,16.3,552,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3265,1851,0,0,0,0,0,0
$GC,12225,0.49,146.1,747.2,16.1,562,12229,0.00,1.12,0.00,0.000,4,0.000,0.058,1805,3955,1849,0,0,0,0,0,0
$GC,12342,0.49,146.1,725.7,18.5,565,12348,0.00,1.02,0.00,0.000,6,0.000,0.033,1810,3273,1849,0,0,0,0,0,0
$GC,12668,0.49,146.1,671.1,16.6,576,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3273,1848,0,0,0,0,0,0
$GC,12974,0.49,146.1,619.2,16.7,586,12978,0.00,1.10,0.00,0.000,4,0.000,0.057,1810,3954,1848,0,0,0,0,0,0
$GC,13057,0.49,146.1,603.3,19.4,588,13061,0.00,1.02,0.00,0.000,6,0.000,0.033,1815,3268,1848,0,0,0,0,0,0
$GC,13382,0.49,146.1,545.8,17.8,599,13385,0.00,1.10,0.00,0.000,4,0.000,0.057,1815,3951,1848,0,0,0,0,0,0
$GC,13443,0.49,146.1,533.7,19.1,600,13451,0.08,1.02,0.00,0.000,6,0.181,0.033,1800,3266,1848,0,0,0,0,0,0
$GC,13756,0.49,146.1,483.1,15.8,611,13761,0.00,1.10,0.00,0.000,4,0.000,0.057,1799,3953,1847,0,0,0,0,0,0
$GC,13880,0.49,146.1,461.3,16.8,614,13883,0.00,1.02,0.00,0.000,6,0.000,0.033,1803,3265,1847,0,0,0,0,0,0
$GC,14199,0.49,146.1,409.4,16.0,625,14202,0.00,1.10,0.00,0.000,4,0.000,0.055,1804,3953,1847,0,0,0,0,0,0
$GC,14268,0.49,146.1,397.0,18.6,627,14272,0.00,1.02,0.00,0.000,6,0.000,0.032,1808,3265,1847,0,0,0,0,0,0
$GC,14603,0.49,146.1,343.1,15.9,643,14608,0.00,1.10,0.00,0.000,4,0.000,0.055,1808,3953,1847,0,0,0,0,0,0
$GC,14747,0.49,146.1,317.8,17.7,649,14751,0.00,1.00,0.00,0.000,6,0.000,0.032,1813,3274,1847,0,0,0,0,0,0
$GC,15077,0.49,146.1,263.7,16.8,665,15082,0.00,1.08,0.00,0.000,4,0.000,0.054,1814,3950,1847,0,0,0,0,0,0
$GC,15217,0.49,146.1,237.7,19.1,672,15220,0.00,1.00,0.00,0.000,6,0.000,0.031,1819,3272,1847,0,0,0,0,0,0
$GC,15551,0.49,146.1,180.0,17.2,693,15554,0.00,1.08,0.00,0.000,4,0.000,0.054,1819,3949,1847,0,0,0,0,0,0
$GC,15640,0.49,146.1,162.4,19.9,698,15644,0.10,1.00,0.00,0.000,6,0.174,0.032,1795,3269,1847,0,0,0,0,0,0
$GC,15976,0.49,146.1,111.1,15.3,719,15979,0.00,1.10,0.00,0.000,4,0.000,0.055,1795,3956,1847,0,0,0,0,0,0
$GC,16063,0.49,146.1,95.5,16.7,726,16071,0.00,1.00,0.00,0.000,6,0.000,0.031,1798,3275,1847,0,0,0,0,0,0
$GC,16424,0.49,146.1,45.6,13.8,787,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3275,1847,0,0,0,0,0,0
$GC,16684,0.49,146.1,8.5,12.6,828,16694,0.00,2.12,0.00,0.000,4,0.000,0.028,1809,1850,1847,0,0,0,0,0,0
$GC,16752,0.54,230.7,4.3,5.1,837,16764,0.00,2.25,7.22,0.645,2,0.000,0.046,1809,3270,1801,0,0,0,0,0,0
$STATE,16765,end climb,SURFACE_DEPTH_REACHED
$STATE,16765,begin surface coast
$FINISH,1.1,1.026163
$STATE,16772,end surface coast,CONTROL_FINISHED_OK
$STATE,16772,begin surface
$SM_CCo,16788,45.70,0.689,1,0,1449,250.20
$SM_GC,1.69,0.00,0.00,45.70,0.000,0.000,0.689,57,3397,1449,-4.93,0.51,250.20
$IRIDIUM_FIX,-4138.02,827.84,070113,202027
$TT8_MAMPS,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.8,33.350
$10V_AH,10.0,19.394
$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,11.600,59.050,303.250,45.700,0.000,26.183,45.858,310.052,0.000,0.000,17.971,2119.496,11327.216,414.536,2624.966,904.851,33.371,1435.963,0.000,2414.454,0.000,1.015,0.000
$DEVICE_MAMPS,220.320,74.970,1207.935,688.500,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.438,1800.451,824.600,373.800,0.000,0.000,0.000,0.000,0.000,0.000
$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,60566,839
$CAP_FILE_SIZE,131071,0
$CFSIZE,259252224,247083008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,080113,060306,-4153.180,834.007,35,1.0,35,-25.0