version: 66.07
glider: 543
mission: 6
dive: 191
start: 1 9 113 21 9 46
data:
$ID,543
$MISSION,6
$DIVE,191
$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,-8387.5684
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,090113,205934,-4150.113,853.540,43,0.9,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-44.7
$GPS2,090113,210848,-4150.078,853.632,22,0.9,22,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.243,-0.020
$KALMAN_X,-117946.8,567.9,538.4,187775.1,-6576.4
$KALMAN_Y,-698.4,101.3,-51.9,74657.3,2054.8
$MHEAD_RNG_PITCHd_Wd,119.8,20359,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-49.28,0.000,2,0.000,0.000,46,3389,2630,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.0,6,104,5.70,0.93,-12.85,0.000,4,0.222,0.089,1469,3946,3071,0,0,0,0,0,0
$GC,390,-0.49,-146.1,44.6,-12.8,54,398,0.00,0.88,0.00,0.000,6,0.000,0.037,1469,3379,3074,0,0,0,0,0,0
$GC,640,-0.49,-146.1,75.4,-12.8,95,645,0.00,0.90,0.00,0.000,4,0.000,0.060,1464,3937,3074,0,0,0,0,0,0
$GC,907,-0.49,-146.1,105.6,-12.7,136,910,0.00,0.85,0.00,0.000,6,0.000,0.037,1465,3378,3075,0,0,0,0,0,0
$GC,1236,-0.49,-146.1,139.9,-9.6,157,1239,0.00,0.90,0.00,0.000,4,0.000,0.059,1460,3941,3076,0,0,0,0,0,0
$GC,1342,-0.49,-146.1,150.9,-11.0,163,1345,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3379,3076,0,0,0,0,0,0
$GC,1672,-0.49,-146.1,185.9,-10.6,184,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3379,3076,0,0,0,0,0,0
$GC,1985,-0.49,-146.1,217.7,-10.1,204,1988,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3941,3077,0,0,0,0,0,0
$GC,2150,-0.49,-146.1,235.3,-10.7,213,2154,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3379,3077,0,0,0,0,0,0
$GC,2481,-0.49,-146.1,269.3,-10.0,231,2487,0.00,0.90,0.00,0.000,4,0.000,0.059,1452,3943,3076,0,0,0,0,0,0
$GC,2607,-0.49,-146.1,284.0,-12.6,236,2610,0.00,0.85,0.00,0.000,6,0.000,0.036,1452,3378,3077,0,0,0,0,0,0
$GC,2930,-0.49,-146.1,318.4,-10.6,252,2934,0.00,0.90,0.00,0.000,4,0.000,0.059,1448,3942,3077,0,0,0,0,0,0
$GC,3073,-0.49,-146.1,335.8,-11.5,258,3076,0.00,0.85,0.00,0.000,6,0.000,0.037,1448,3381,3077,0,0,0,0,0,0
$GC,3401,-0.49,-146.1,372.3,-11.5,274,3405,0.00,0.90,0.00,0.000,4,0.000,0.059,1444,3946,3077,0,0,0,0,0,0
$GC,3499,-0.49,-146.1,384.3,-11.3,278,3503,0.08,0.85,0.00,0.000,6,0.144,0.036,1469,3383,3076,0,0,0,0,0,0
$GC,3836,-0.49,-146.1,415.9,-9.4,292,3839,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3947,3076,0,0,0,0,0,0
$GC,3938,-0.49,-146.1,426.0,-9.5,295,3941,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3382,3077,0,0,0,0,0,0
$GC,4279,-0.49,-146.1,455.5,-8.3,306,4285,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3947,3076,0,0,0,0,0,0
$GC,4335,-0.49,-146.1,460.8,-9.5,307,4339,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3384,3076,0,0,0,0,0,0
$GC,4656,-0.49,-146.1,487.1,-8.4,318,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3384,3076,0,0,0,0,0,0
$GC,4961,-0.49,-146.1,515.2,-9.7,328,4966,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3948,3075,0,0,0,0,0,0
$GC,5090,-0.49,-146.1,529.5,-11.8,331,5097,0.00,0.85,0.00,0.000,6,0.000,0.037,1457,3385,3075,0,0,0,0,0,0
$GC,5404,-0.49,-146.1,562.2,-10.6,342,5407,0.00,0.90,0.00,0.000,4,0.000,0.060,1453,3946,3075,0,0,0,0,0,0
$GC,5478,-0.49,-146.1,570.7,-11.2,344,5482,0.00,0.88,0.00,0.000,6,0.000,0.037,1453,3369,3074,0,0,0,0,0,0
$GC,5813,-0.49,-146.1,605.4,-10.2,355,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3369,3074,0,0,0,0,0,0
$GC,6120,-0.49,-146.1,635.5,-9.7,365,6124,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3945,3073,0,0,0,0,0,0
$GC,6204,-0.49,-146.1,644.3,-10.7,367,6207,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3386,3074,0,0,0,0,0,0
$GC,6530,-0.49,-146.1,676.0,-9.9,378,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3386,3072,0,0,0,0,0,0
$GC,6834,-0.49,-146.1,706.4,-10.1,388,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3386,3071,0,0,0,0,0,0
$GC,7141,-0.49,-146.1,736.5,-9.6,398,7144,0.00,0.90,0.00,0.000,4,0.000,0.061,1445,3944,3071,0,0,0,0,0,0
$GC,7236,-0.49,-146.1,746.5,-10.4,400,7243,0.08,0.88,0.00,0.000,6,0.143,0.037,1470,3372,3071,0,0,0,0,0,0
$GC,7550,-0.49,-146.1,770.9,-7.8,411,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3372,3070,0,0,0,0,0,0
$GC,7857,-0.49,-146.1,794.5,-7.7,421,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3372,3069,0,0,0,0,0,0
$GC,8162,-0.49,-146.1,817.9,-7.7,431,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3372,3069,0,0,0,0,0,0
$GC,8468,-0.49,-146.1,842.4,-8.1,441,8472,0.00,0.93,0.00,0.000,4,0.000,0.063,1467,3943,3068,0,0,0,0,0,0
$GC,8580,-0.49,-146.1,852.7,-9.3,444,8586,0.00,0.85,0.00,0.000,6,0.000,0.039,1467,3387,3068,0,0,0,0,0,0
$GC,8913,-0.49,-146.1,879.8,-8.0,455,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3067,0,0,0,0,0,0
$GC,9218,-0.49,-146.1,903.7,-7.9,465,9223,0.00,0.90,0.00,0.000,4,0.000,0.062,1463,3946,3066,0,0,0,0,0,0
$GC,9308,-0.49,-146.1,911.5,-9.8,467,9313,0.00,0.88,0.00,0.000,6,0.000,0.039,1463,3372,3066,0,0,0,0,0,0
$GC,9628,-0.49,-146.1,937.2,-7.9,478,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3372,3066,0,0,0,0,0,0
$GC,9934,-0.49,-146.1,963.0,-8.7,488,9937,0.00,0.93,0.00,0.000,4,0.000,0.063,1458,3945,3065,0,0,0,0,0,0
$GC,10005,-0.49,-146.1,969.5,-9.5,490,10009,0.00,0.85,0.00,0.000,6,0.000,0.040,1459,3388,3065,0,0,0,0,0,0
$STATE,10343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10343,begin apogee
$GC,10351,-0.14,0.0,1001.8,9.4,501,10499,0.43,0.00,140.38,1.831,6,0.132,0.000,1587,3272,2474,0,0,0,0,1,0
$STATE,10501,end apogee,CONTROL_FINISHED_OK
$STATE,10501,begin climb
$GC,10503,0.49,146.1,1006.2,0.0,506,10666,0.60,2.47,148.50,1.786,4,0.079,0.032,1796,1856,1878,0,0,0,0,1,0
$GC,10711,0.49,146.1,984.5,12.8,512,10717,0.00,2.50,0.00,0.000,6,0.000,0.051,1796,3263,1874,0,0,0,0,0,0
$GC,11038,0.49,146.1,933.7,15.9,523,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3263,1866,0,0,0,0,0,0
$GC,11343,0.49,146.1,883.3,16.5,533,11346,0.00,1.12,0.00,0.000,4,0.000,0.060,1796,3947,1865,0,0,0,0,0,0
$GC,11431,0.49,146.1,866.9,18.2,535,11435,0.00,1.05,0.00,0.000,6,0.000,0.035,1801,3262,1864,0,0,0,0,0,0
$GC,11751,0.49,146.1,810.8,17.7,546,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3262,1863,0,0,0,0,0,0
$GC,12057,0.49,146.1,755.8,17.9,556,12060,0.00,2.15,0.00,0.000,4,0.000,0.034,1812,1856,1862,0,0,0,0,0,0
$GC,12089,0.49,146.1,750.0,16.9,557,12093,0.00,2.30,0.00,0.000,6,0.000,0.053,1812,3277,1860,0,0,0,0,0,0
$GC,12419,0.49,146.1,690.9,17.9,568,12423,0.00,1.08,0.00,0.000,4,0.000,0.058,1813,3946,1860,0,0,0,0,0,0
$GC,12520,0.49,146.1,671.3,20.2,571,12526,0.00,1.02,0.00,0.000,6,0.000,0.034,1817,3263,1860,0,0,0,0,0,0
$GC,12864,0.49,146.1,611.2,17.1,582,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3262,1859,0,0,0,0,0,0
$GC,13169,0.49,146.1,556.7,18.2,592,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3262,1859,0,0,0,0,0,0
$GC,13475,0.49,146.1,501.5,17.9,602,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3263,1858,0,0,0,0,0,0
$GC,13782,0.49,146.1,448.8,17.0,612,13786,0.00,1.10,0.00,0.000,4,0.000,0.057,1817,3947,1858,0,0,0,0,0,0
$GC,13826,0.49,146.1,440.3,17.8,613,13830,0.08,1.00,0.00,0.000,6,0.180,0.033,1801,3275,1858,0,0,0,0,0,0
$GC,14158,0.49,146.1,388.1,16.0,625,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3275,1857,0,0,0,0,0,0
$GC,14467,0.49,146.1,338.2,15.6,640,14471,0.00,2.12,0.00,0.000,4,0.000,0.031,1810,1852,1857,0,0,0,0,0,0
$GC,14514,0.49,146.1,331.3,12.9,642,14519,0.00,2.28,0.00,0.000,6,0.000,0.049,1810,3266,1856,0,0,0,0,0,0
$GC,14843,0.49,146.1,280.0,15.8,658,14847,0.00,1.08,0.00,0.000,4,0.000,0.055,1810,3943,1856,0,0,0,0,0,0
$GC,14904,0.49,146.1,269.8,17.8,660,14908,0.00,1.00,0.00,0.000,6,0.000,0.032,1816,3268,1856,0,0,0,0,0,0
$GC,15232,0.49,146.1,216.0,16.6,679,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1856,0,0,0,0,0,0
$GC,15541,0.49,146.1,162.5,17.6,699,15545,0.00,2.12,0.00,0.000,4,0.000,0.031,1826,1850,1856,0,0,0,0,0,0
$GC,15583,0.49,146.1,156.0,15.0,701,15591,0.12,2.25,0.00,0.000,6,0.165,0.049,1795,3273,1856,0,0,0,0,0,0
$GC,15906,0.49,146.1,107.0,15.2,722,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3273,1856,0,0,0,0,0,0
$GC,16246,0.49,146.1,61.6,11.9,776,16253,0.00,1.08,0.00,0.000,4,0.000,0.054,1795,3954,1856,0,0,0,0,0,0
$GC,16329,0.49,146.1,50.7,12.8,789,16337,0.00,1.02,0.00,0.000,6,0.000,0.032,1799,3261,1856,0,0,0,0,0,0
$GC,16592,0.49,146.1,12.4,16.7,830,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3261,1856,0,0,0,0,0,0
$STATE,16669,end climb,SURFACE_DEPTH_REACHED
$STATE,16670,begin surface coast
$FINISH,1.1,1.012397
$STATE,16703,end surface coast,CONTROL_FINISHED_OK
$STATE,16703,begin surface
$SM_CCo,16719,48.53,0.708,1,0,1451,250.20
$SM_GC,2.21,0.00,0.00,48.53,0.000,0.000,0.708,51,3392,1451,-4.95,0.34,250.20
$IRIDIUM_FIX,-4135.14,847.84,090113,161659
$TT8_MAMPS,0.025466
$HUMID,55.11
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.3,34.754
$10V_AH,10.1,20.446
$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,11.700,57.300,288.875,48.525,0.000,28.093,24.777,317.378,0.000,0.000,24.236,2142.231,11236.946,401.819,2628.723,918.096,33.371,1390.927,0.000,2473.214,0.000,1.014,0.000
$DEVICE_MAMPS,221.850,88.740,1830.645,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.419,1862.143,853.774,386.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,60614,847
$CAP_FILE_SIZE,129694,0
$CFSIZE,259252224,246484992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,100113,015035,-4149.262,856.263,34,0.9,34,-25.1