version: 66.07
glider: 543
mission: 6
dive: 193
start: 1 10 113 6 48 28
data:
$ID,543
$MISSION,6
$DIVE,193
$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,-8392.3037
$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
$GPS1,100113,063834,-4149.090,858.298,26,1.1,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-55.8
$GPS2,100113,064730,-4149.054,858.266,15,0.7,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.082,-0.229
$KALMAN_X,-122215.3,534.7,357.8,198591.6,-6651.0
$KALMAN_Y,3985.7,-332.2,-285.1,72540.6,4898.7
$MHEAD_RNG_PITCHd_Wd,185.4,20413,-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,-49.28,0.000,2,0.000,0.000,45,3400,2656,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.4,-3.7,6,104,5.68,0.00,-11.93,0.000,6,0.220,0.000,1468,3400,3070,0,0,0,0,0,0
$GC,184,-0.49,-146.1,14.5,-10.6,21,193,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3937,3071,0,0,0,0,0,0
$GC,339,-0.49,-146.1,37.1,-16.1,45,346,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3386,3072,0,0,0,0,0,0
$GC,583,-0.49,-146.1,68.9,-11.2,86,590,0.00,0.90,0.00,0.000,4,0.000,0.059,1462,3942,3073,0,0,0,0,0,0
$GC,661,-0.49,-146.1,77.1,-11.1,99,667,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3385,3073,0,0,0,0,0,0
$GC,1010,-0.49,-146.1,117.0,-11.1,142,1014,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3946,3073,0,0,0,0,0,0
$GC,1279,-0.49,-146.1,146.7,-10.9,157,1282,0.00,0.85,0.00,0.000,6,0.000,0.035,1457,3385,3074,0,0,0,0,0,0
$GC,1604,-0.49,-146.1,179.9,-10.0,178,1607,0.00,0.88,0.00,0.000,4,0.000,0.059,1453,3933,3075,0,0,0,0,0,0
$GC,1747,-0.49,-146.1,195.4,-10.5,186,1751,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3371,3075,0,0,0,0,0,0
$GC,2081,-0.49,-146.1,229.4,-10.4,207,2084,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3937,3075,0,0,0,0,0,0
$GC,2304,-0.49,-146.1,253.8,-10.6,219,2307,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3376,3075,0,0,0,0,0,0
$GC,2628,-0.49,-146.1,286.0,-10.1,235,2633,0.00,0.90,0.00,0.000,4,0.000,0.059,1445,3937,3075,0,0,0,0,0,0
$GC,2828,-0.49,-146.1,308.5,-11.0,243,2837,0.08,0.85,0.00,0.000,6,0.145,0.035,1469,3377,3075,0,0,0,0,0,0
$GC,3147,-0.49,-146.1,336.3,-8.6,259,3152,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3939,3075,0,0,0,0,0,0
$GC,3312,-0.49,-146.1,351.5,-10.0,266,3318,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3374,3075,0,0,0,0,0,0
$GC,3648,-0.49,-146.1,380.0,-8.3,282,3651,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3935,3075,0,0,0,0,0,0
$GC,3845,-0.49,-146.1,398.8,-8.9,290,3849,0.00,0.85,0.00,0.000,6,0.000,0.036,1462,3375,3074,0,0,0,0,0,0
$GC,4164,-0.49,-146.1,429.7,-10.0,301,4168,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3938,3075,0,0,0,0,0,0
$GC,4295,-0.49,-146.1,443.9,-10.9,304,4302,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3375,3075,0,0,0,0,0,0
$GC,4608,-0.49,-146.1,476.5,-10.2,315,4614,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3938,3074,0,0,0,0,0,0
$GC,4699,-0.49,-146.1,486.5,-11.2,317,4704,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3378,3074,0,0,0,0,0,0
$GC,5018,-0.49,-146.1,518.7,-9.9,328,5024,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3941,3074,0,0,0,0,0,0
$GC,5114,-0.49,-146.1,529.0,-9.9,330,5122,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3377,3074,0,0,0,0,0,0
$GC,5428,-0.49,-146.1,558.2,-9.1,341,5433,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3939,3073,0,0,0,0,0,0
$GC,5551,-0.49,-146.1,570.6,-10.0,344,5556,0.08,0.85,0.00,0.000,6,0.145,0.037,1470,3379,3073,0,0,0,0,0,0
$GC,5870,-0.49,-146.1,594.5,-7.5,355,5874,0.00,0.90,0.00,0.000,4,0.000,0.061,1467,3941,3073,0,0,0,0,0,0
$GC,6006,-0.49,-146.1,605.5,-8.4,359,6010,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3381,3073,0,0,0,0,0,0
$GC,6348,-0.49,-146.1,632.6,-7.9,370,6353,0.00,0.90,0.00,0.000,4,0.000,0.062,1463,3939,3072,0,0,0,0,0,0
$GC,6466,-0.49,-146.1,643.2,-9.3,373,6469,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3381,3072,0,0,0,0,0,0
$GC,6790,-0.49,-146.1,671.2,-9.0,384,6793,0.00,0.90,0.00,0.000,4,0.000,0.062,1459,3940,3071,0,0,0,0,0,0
$GC,6873,-0.49,-146.1,679.4,-10.1,386,6877,0.00,0.85,0.00,0.000,6,0.000,0.038,1459,3382,3071,0,0,0,0,0,0
$GC,7198,-0.49,-146.1,709.4,-9.3,397,7201,0.00,0.90,0.00,0.000,4,0.000,0.061,1454,3941,3070,0,0,0,0,0,0
$GC,7396,-0.49,-146.1,730.1,-10.7,402,7404,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3382,3070,0,0,0,0,0,0
$GC,7709,-0.49,-146.1,760.9,-9.8,413,7715,0.00,0.90,0.00,0.000,4,0.000,0.062,1450,3940,3069,0,0,0,0,0,0
$GC,7788,-0.49,-146.1,769.5,-10.6,415,7792,0.00,0.85,0.00,0.000,6,0.000,0.038,1450,3383,3069,0,0,0,0,0,0
$GC,8118,-0.49,-146.1,801.6,-9.6,426,8123,0.00,0.90,0.00,0.000,4,0.000,0.061,1446,3944,3068,0,0,0,0,0,0
$GC,8230,-0.49,-146.1,813.2,-10.4,429,8235,0.08,0.88,0.00,0.000,6,0.145,0.038,1470,3372,3068,0,0,0,0,0,0
$GC,8561,-0.49,-146.1,839.3,-7.8,440,8564,0.00,0.93,0.00,0.000,4,0.000,0.063,1467,3946,3067,0,0,0,0,0,0
$GC,8669,-0.49,-146.1,847.9,-8.4,443,8673,0.00,0.88,0.00,0.000,6,0.000,0.039,1467,3372,3067,0,0,0,0,0,0
$GC,9004,-0.49,-146.1,873.5,-7.6,454,9008,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3945,3067,0,0,0,0,0,0
$GC,9117,-0.49,-146.1,882.7,-7.9,457,9123,0.00,0.85,0.00,0.000,6,0.000,0.039,1463,3387,3067,0,0,0,0,0,0
$GC,9450,-0.49,-146.1,907.7,-7.5,468,9454,0.00,0.90,0.00,0.000,4,0.000,0.063,1458,3946,3066,0,0,0,0,0,0
$GC,9579,-0.49,-146.1,918.8,-8.5,471,9586,0.00,0.88,0.00,0.000,6,0.000,0.039,1458,3374,3065,0,0,0,0,0,0
$GC,9893,-0.49,-146.1,944.2,-8.2,482,9897,0.00,0.90,0.00,0.000,4,0.000,0.063,1454,3933,3064,0,0,0,0,0,0
$GC,10023,-0.49,-146.1,955.9,-9.6,485,10030,0.00,0.85,0.00,0.000,6,0.000,0.040,1454,3379,3064,0,0,0,0,0,0
$GC,10337,-0.49,-146.1,982.6,-8.5,496,10342,0.00,0.90,0.00,0.000,4,0.000,0.063,1450,3937,3063,0,0,0,0,0,0
$GC,10421,-0.49,-146.1,990.4,-9.0,498,10424,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3383,3063,0,0,0,0,0,0
$STATE,10559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10559,begin apogee
$GC,10567,-0.14,0.0,1002.5,8.8,503,10715,0.45,0.00,140.43,1.829,6,0.136,0.000,1585,3272,2474,0,0,0,0,1,0
$STATE,10717,end apogee,CONTROL_FINISHED_OK
$STATE,10717,begin climb
$GC,10719,0.49,146.1,1006.8,0.0,508,10882,0.60,2.50,148.60,1.784,4,0.080,0.032,1793,1848,1878,0,0,0,0,1,0
$GC,10957,0.49,146.1,981.8,12.4,515,10961,0.00,2.47,0.00,0.000,6,0.000,0.051,1793,3268,1873,0,0,0,0,0,0
$GC,11281,0.49,146.1,932.1,15.6,526,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3267,1866,0,0,0,0,0,0
$GC,11587,0.49,146.1,884.8,15.5,536,11591,0.00,2.22,0.00,0.000,4,0.000,0.034,1804,1839,1864,0,0,0,0,0,0
$GC,11625,0.49,146.1,879.3,12.7,537,11629,0.00,2.33,0.00,0.000,6,0.000,0.054,1804,3270,1863,0,0,0,0,0,0
$GC,11950,0.49,146.1,827.2,16.4,548,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3270,1863,0,0,0,0,0,0
$GC,12256,0.49,146.1,777.6,16.0,558,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3270,1861,0,0,0,0,0,0
$GC,12563,0.49,146.1,727.6,16.1,568,12567,0.00,2.17,0.00,0.000,4,0.000,0.034,1815,1844,1860,0,0,0,0,0,0
$GC,12607,0.49,146.1,720.7,13.0,569,12611,0.00,2.33,0.00,0.000,6,0.000,0.053,1815,3278,1860,0,0,0,0,0,0
$GC,12925,0.49,146.1,666.9,17.2,580,12929,0.00,1.08,0.00,0.000,4,0.000,0.057,1815,3946,1859,0,0,0,0,0,0
$GC,12964,0.49,146.1,659.4,19.9,581,12968,0.00,1.05,0.00,0.000,6,0.000,0.034,1821,3249,1859,0,0,0,0,0,0
$GC,13299,0.49,146.1,601.1,17.5,592,13303,0.00,2.10,0.00,0.000,4,0.000,0.033,1831,1868,1859,0,0,0,0,0,0
$GC,13344,0.49,146.1,593.9,13.7,593,13348,0.15,2.28,0.00,0.000,6,0.171,0.051,1794,3275,1858,0,0,0,0,0,0
$GC,13668,0.49,146.1,545.7,15.0,604,13672,0.00,1.08,0.00,0.000,4,0.000,0.057,1793,3948,1857,0,0,0,0,0,0
$GC,13718,0.49,146.1,537.4,16.2,605,13724,0.00,1.02,0.00,0.000,6,0.000,0.034,1797,3264,1857,0,0,0,0,0,0
$GC,14044,0.49,146.1,489.5,14.5,616,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3264,1857,0,0,0,0,0,0
$GC,14350,0.49,146.1,444.6,14.9,626,14354,0.00,2.12,0.00,0.000,4,0.000,0.031,1808,1856,1857,0,0,0,0,0,0
$GC,14399,0.49,146.1,438.0,11.5,627,14404,0.00,2.25,0.00,0.000,6,0.000,0.050,1808,3277,1856,0,0,0,0,0,0
$GC,14714,0.49,146.1,388.9,15.9,638,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3278,1856,0,0,0,0,0,0
$GC,15025,0.49,146.1,340.1,15.4,653,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3278,1856,0,0,0,0,0,0
$GC,15333,0.49,146.1,294.1,14.5,668,15337,0.00,2.15,0.00,0.000,4,0.000,0.031,1819,1854,1856,0,0,0,0,0,0
$GC,15402,0.49,146.1,284.8,12.0,671,15407,0.00,2.28,0.00,0.000,6,0.000,0.050,1819,3267,1855,0,0,0,0,0,0
$GC,15720,0.49,146.1,234.1,16.0,688,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3267,1856,0,0,0,0,0,0
$GC,16033,0.49,146.1,184.5,15.7,708,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3267,1855,0,0,0,0,0,0
$GC,16345,0.49,146.1,134.7,15.9,728,16347,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3267,1855,0,0,0,0,0,0
$GC,16671,0.49,146.1,82.3,15.9,760,16677,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3267,1856,0,0,0,0,0,0
$GC,17039,0.49,146.1,28.1,14.5,821,17047,0.00,2.15,0.00,0.000,4,0.000,0.030,1830,1851,1856,0,0,0,0,0,0
$GC,17083,0.49,146.1,22.7,12.3,827,17094,0.10,2.28,0.00,0.000,6,0.137,0.048,1798,3273,1856,0,0,0,0,0,0
$GC,17178,0.49,146.1,11.4,12.1,840,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1855,0,0,0,0,0,0
$STATE,17245,end climb,SURFACE_DEPTH_REACHED
$STATE,17246,begin surface coast
$FINISH,1.1,1.014078
$STATE,17273,end surface coast,CONTROL_FINISHED_OK
$STATE,17273,begin surface
$SM_CCo,17289,48.58,0.711,1,0,1451,250.20
$SM_GC,2.09,0.00,0.00,48.58,0.000,0.000,0.711,45,3390,1451,-4.97,0.28,250.20
$IRIDIUM_FIX,-4135.14,850.70,090113,212158
$TT8_MAMPS,0.025466
$HUMID,54.88
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.3,35.066
$10V_AH,10.1,20.686
$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,11.825,76.500,289.025,48.575,0.000,37.623,22.906,298.190,0.000,0.000,18.697,2237.476,11312.779,431.314,2925.143,972.166,33.369,1590.297,0.000,2748.838,0.000,1.013,0.000
$DEVICE_MAMPS,220.320,84.150,1829.115,710.685,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.588,1871.000,852.548,366.750,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353880
$DATA_FILE_SIZE,63805,854
$CAP_FILE_SIZE,146786,0
$CFSIZE,259252224,246329344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,100113,113853,-4151.030,858.288,40,1.1,40,-25.1