version: 66.07
glider: 543
mission: 6
dive: 183
start: 1 8 113 6 13 16
data:
$ID,543
$MISSION,6
$DIVE,183
$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,-8368.7188
$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,53
$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
$GPS1,080113,060306,-4153.180,834.007,35,1.0,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-44.7
$GPS2,080113,061218,-4153.190,834.185,16,1.4,16,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.225,0.093
$KALMAN_X,-100322.8,426.1,290.1,144000.3,-5566.5
$KALMAN_Y,-6599.4,394.9,179.6,74252.9,-2176.9
$MHEAD_RNG_PITCHd_Wd,92.6,37701,-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,-49.22,0.000,2,0.000,0.000,56,3395,2620,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.0,-3.4,6,104,5.57,2.20,-13.57,0.000,4,0.218,0.044,1469,1976,3070,0,0,0,0,0,0
$GC,284,-0.49,-146.1,22.7,-7.9,36,294,0.00,2.30,0.00,0.000,6,0.000,0.055,1459,3373,3072,0,0,0,0,0,0
$GC,376,-0.49,-146.1,32.1,-11.8,49,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3372,3072,0,0,0,0,0,0
$GC,620,-0.49,-146.1,68.3,-15.9,90,630,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3372,3073,0,0,0,0,0,0
$GC,984,-0.49,-146.1,108.1,-10.0,143,988,0.00,0.93,0.00,0.000,4,0.000,0.058,1455,3953,3074,0,0,0,0,0,0
$GC,1171,-0.49,-146.1,130.1,-11.9,153,1178,0.00,0.85,0.00,0.000,6,0.000,0.034,1455,3386,3075,0,0,0,0,0,0
$GC,1490,-0.49,-146.1,168.1,-12.1,174,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,1803,-0.49,-146.1,207.5,-12.8,194,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,2115,-0.49,-146.1,246.9,-12.5,214,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,2436,-0.49,-146.1,286.6,-12.2,230,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,2747,-0.49,-146.1,322.7,-11.3,245,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3386,3075,0,0,0,0,0,0
$GC,3055,-0.49,-146.1,356.1,-10.2,260,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,3365,-0.49,-146.1,386.8,-9.8,275,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3075,0,0,0,0,0,0
$GC,3692,-0.49,-146.1,421.4,-10.7,288,3695,0.00,0.90,0.00,0.000,4,0.000,0.059,1451,3953,3075,0,0,0,0,0,0
$GC,3761,-0.49,-146.1,429.2,-11.1,290,3765,0.00,0.85,0.00,0.000,6,0.000,0.036,1451,3386,3075,0,0,0,0,0,0
$GC,4103,-0.49,-146.1,467.3,-11.1,301,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3386,3075,0,0,0,0,0,0
$GC,4409,-0.49,-146.1,501.3,-11.1,311,4413,0.00,0.90,0.00,0.000,4,0.000,0.059,1447,3953,3075,0,0,0,0,0,0
$GC,4498,-0.49,-146.1,512.2,-12.2,313,4502,0.08,0.85,0.00,0.000,6,0.143,0.036,1471,3387,3075,0,0,0,0,0,0
$GC,4817,-0.49,-146.1,540.0,-8.4,324,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3387,3074,0,0,0,0,0,0
$GC,5125,-0.49,-146.1,565.4,-8.2,334,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3387,3074,0,0,0,0,0,0
$GC,5429,-0.49,-146.1,589.3,-7.7,344,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3387,3073,0,0,0,0,0,0
$GC,5736,-0.49,-146.1,612.7,-7.6,354,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3387,3072,0,0,0,0,0,0
$GC,6043,-0.49,-146.1,635.2,-7.4,364,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3387,3072,0,0,0,0,0,0
$GC,6348,-0.49,-146.1,659.3,-8.0,374,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3387,3071,0,0,0,0,0,0
$GC,6654,-0.49,-146.1,684.4,-8.4,384,6657,0.00,0.90,0.00,0.000,4,0.000,0.061,1468,3947,3070,0,0,0,0,0,0
$GC,6725,-0.49,-146.1,690.6,-9.2,386,6729,0.00,0.88,0.00,0.000,6,0.000,0.037,1468,3372,3070,0,0,0,0,0,0
$GC,7067,-0.49,-146.1,719.5,-8.4,397,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3371,3069,0,0,0,0,0,0
$GC,7375,-0.49,-146.1,745.9,-8.7,407,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3372,3069,0,0,0,0,0,0
$GC,7679,-0.49,-146.1,772.6,-8.5,417,7685,0.00,0.93,0.00,0.000,4,0.000,0.060,1464,3949,3068,0,0,0,0,0,0
$GC,7736,-0.49,-146.1,778.0,-9.8,418,7739,0.00,0.88,0.00,0.000,6,0.000,0.038,1464,3374,3068,0,0,0,0,0,0
$GC,8055,-0.49,-146.1,806.3,-9.1,429,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3373,3068,0,0,0,0,0,0
$GC,8360,-0.49,-146.1,833.6,-8.8,439,8366,0.00,0.93,0.00,0.000,4,0.000,0.060,1460,3953,3067,0,0,0,0,0,0
$GC,8479,-0.49,-146.1,845.0,-9.2,442,8482,0.00,0.88,0.00,0.000,6,0.000,0.039,1460,3380,3067,0,0,0,0,0,0
$GC,8804,-0.49,-146.1,871.3,-7.9,453,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3380,3066,0,0,0,0,0,0
$GC,9111,-0.49,-146.1,894.9,-7.5,463,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3380,3065,0,0,0,0,0,0
$GC,9416,-0.49,-146.1,917.8,-7.5,473,9421,0.00,0.95,0.00,0.000,4,0.000,0.063,1456,3956,3065,0,0,0,0,0,0
$GC,9501,-0.49,-146.1,925.1,-7.9,475,9504,0.00,0.88,0.00,0.000,6,0.000,0.039,1455,3384,3065,0,0,0,0,0,0
$GC,9825,-0.49,-146.1,950.8,-7.9,486,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3384,3064,0,0,0,0,0,0
$GC,10131,-0.49,-146.1,975.1,-8.0,496,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3384,3064,0,0,0,0,0,0
$GC,10439,-0.49,-146.1,999.8,-8.2,506,10442,0.00,0.90,0.00,0.000,4,0.000,0.061,1452,3948,3063,0,0,0,0,0,0
$STATE,10447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10447,begin apogee
$GC,10454,-0.14,0.0,1001.1,8.1,506,10606,0.43,0.00,148.32,1.205,6,0.136,0.000,1584,3271,2473,0,0,0,0,0,0
$STATE,10607,end apogee,CONTROL_FINISHED_OK
$STATE,10607,begin climb
$GC,10610,0.49,146.1,1003.5,0.0,511,10770,0.60,2.45,147.60,1.187,4,0.085,0.034,1797,1859,1868,0,0,0,0,0,0
$GC,10815,0.49,146.1,979.3,13.0,517,10821,0.00,2.50,0.00,0.000,6,0.000,0.051,1797,3272,1859,0,0,0,0,0,0
$GC,11147,0.49,146.1,925.3,16.7,528,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3272,1851,0,0,0,0,0,0
$GC,11453,0.49,146.1,875.5,16.3,538,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3272,1849,0,0,0,0,0,0
$GC,11759,0.49,146.1,824.9,16.3,548,11762,0.00,1.10,0.00,0.000,4,0.000,0.058,1797,3952,1848,0,0,0,0,0,0
$GC,11802,0.49,146.1,816.7,17.8,549,11806,0.00,1.05,0.00,0.000,6,0.000,0.034,1803,3261,1848,0,0,0,0,0,0
$GC,12133,0.49,146.1,760.1,17.4,560,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3260,1847,0,0,0,0,0,0
$GC,12439,0.49,146.1,705.8,17.8,570,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3261,1847,0,0,0,0,0,0
$GC,12746,0.49,146.1,651.2,17.6,580,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3261,1847,0,0,0,0,0,0
$GC,13052,0.49,146.1,599.0,16.6,590,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3261,1847,0,0,0,0,0,0
$GC,13358,0.49,146.1,549.3,16.0,600,13361,0.00,1.12,0.00,0.000,4,0.000,0.057,1803,3955,1847,0,0,0,0,0,0
$GC,13419,0.49,146.1,538.4,17.4,601,13427,0.00,1.05,0.00,0.000,6,0.000,0.034,1808,3254,1846,0,0,0,0,0,0
$GC,13732,0.49,146.1,486.7,16.8,612,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3254,1846,0,0,0,0,0,0
$GC,14038,0.49,146.1,435.3,16.9,622,14042,0.00,1.12,0.00,0.000,4,0.000,0.056,1808,3954,1846,0,0,0,0,0,0
$GC,14100,0.49,146.1,423.7,18.8,623,14108,0.00,1.02,0.00,0.000,6,0.000,0.034,1813,3263,1846,0,0,0,0,0,0
$GC,14430,0.49,146.1,368.7,16.7,637,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3263,1845,0,0,0,0,0,0
$GC,14735,0.49,146.1,315.2,18.1,652,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3262,1845,0,0,0,0,0,0
$GC,15045,0.49,146.1,261.1,17.3,667,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3263,1845,0,0,0,0,0,0
$GC,15361,0.49,146.1,206.2,17.4,686,15364,0.00,1.10,0.00,0.000,4,0.000,0.054,1813,3955,1845,0,0,0,0,0,0
$GC,15406,0.49,146.1,197.3,18.8,688,15414,0.00,1.02,0.00,0.000,6,0.000,0.032,1819,3262,1844,0,0,0,0,0,0
$GC,15730,0.49,146.1,143.2,16.8,709,15731,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3262,1845,0,0,0,0,0,0
$GC,16047,0.49,146.1,89.4,16.5,735,16053,0.00,1.10,0.00,0.000,4,0.000,0.053,1819,3953,1845,0,0,0,0,0,0
$GC,16094,0.49,146.1,81.1,18.2,743,16101,0.10,1.00,0.00,0.000,6,0.172,0.031,1795,3272,1845,0,0,0,0,0,0
$GC,16457,0.49,146.1,29.8,13.8,804,16468,0.00,1.08,0.00,0.000,4,0.000,0.051,1795,3958,1845,0,0,0,0,0,0
$GC,16521,0.49,146.1,21.0,14.3,812,16530,0.00,1.00,0.00,0.000,6,0.000,0.031,1798,3273,1845,0,0,0,0,0,0
$GC,16611,0.49,146.1,7.9,12.3,825,16619,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1845,0,0,0,0,0,0
$STATE,16656,end climb,SURFACE_DEPTH_REACHED
$STATE,16657,begin surface coast
$FINISH,1.4,1.026189
$STATE,16690,end surface coast,CONTROL_FINISHED_OK
$STATE,16690,begin surface
$SM_CCo,16706,49.20,0.701,1,0,1450,250.20
$SM_GC,1.82,0.00,0.00,49.20,0.000,0.000,0.701,55,3392,1450,-4.94,0.34,250.20
$IRIDIUM_FIX,-4140.91,833.99,080113,010125
$TT8_MAMPS,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.9,33.481
$10V_AH,10.1,19.509
$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,11.425,36.825,295.925,49.200,0.000,24.208,20.727,330.736,0.000,0.000,19.022,2045.465,11640.271,403.438,2359.980,862.085,33.367,1279.198,0.000,2197.222,0.000,1.014,0.000
$DEVICE_MAMPS,218.025,78.795,1204.875,700.740,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.520,1831.154,835.449,389.511,0.000,0.000,0.000,0.000,0.000,0.000
$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,60510,837
$CAP_FILE_SIZE,115634,0
$CFSIZE,259252224,247025664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,080113,105404,-4152.266,836.553,44,1.1,45,-25.0