version: 66.07
glider: 543
mission: 6
dive: 198
start: 1 11 113 8 35 47
data:
$ID,543
$MISSION,6
$DIVE,198
$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,-8404.1416
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,110113,082522,-4154.052,902.419,42,0.9,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.2
$GPS2,110113,083449,-4154.112,902.430,19,1.4,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.037,-0.241
$KALMAN_X,-133501.6,184.5,261.8,216015.9,-5562.8
$KALMAN_Y,12229.4,-12.0,-430.2,54764.0,3952.3
$MHEAD_RNG_PITCHd_Wd,196.5,11406,-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,-49.05,0.000,2,0.000,0.000,48,3394,2641,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.3,-3.5,6,104,5.78,2.22,-13.23,0.000,4,0.226,0.044,1473,1970,3070,0,0,0,0,0,0
$GC,295,-0.49,-146.1,23.7,-9.5,38,306,0.00,2.30,0.00,0.000,6,0.000,0.055,1464,3362,3073,0,0,0,0,0,0
$GC,388,-0.49,-146.1,33.8,-12.0,51,394,0.00,0.95,0.00,0.000,4,0.000,0.060,1460,3949,3073,0,0,0,0,0,0
$GC,466,-0.49,-146.1,44.2,-13.7,63,473,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3392,3073,0,0,0,0,0,0
$GC,709,-0.49,-146.1,75.4,-12.4,104,716,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3392,3074,0,0,0,0,0,0
$GC,1054,-0.49,-146.1,112.8,-10.3,149,1059,0.00,0.90,0.00,0.000,4,0.000,0.059,1455,3953,3074,0,0,0,0,0,0
$GC,1148,-0.49,-146.1,123.8,-11.5,154,1153,0.00,0.88,0.00,0.000,6,0.000,0.035,1455,3375,3074,0,0,0,0,0,0
$GC,1475,-0.49,-146.1,160.1,-11.4,175,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3375,3075,0,0,0,0,0,0
$GC,1788,-0.49,-146.1,194.3,-10.7,195,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3376,3075,0,0,0,0,0,0
$GC,2100,-0.49,-146.1,227.4,-10.4,215,2106,0.00,0.93,0.00,0.000,4,0.000,0.058,1451,3952,3075,0,0,0,0,0,0
$GC,2176,-0.49,-146.1,235.7,-11.8,219,2179,0.00,0.88,0.00,0.000,6,0.000,0.035,1451,3372,3075,0,0,0,0,0,0
$GC,2512,-0.49,-146.1,273.3,-11.1,237,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3372,3075,0,0,0,0,0,0
$GC,2820,-0.49,-146.1,308.3,-11.3,252,2824,0.00,0.93,0.00,0.000,4,0.000,0.058,1446,3950,3075,0,0,0,0,0,0
$GC,2913,-0.49,-146.1,319.6,-11.8,256,2917,0.00,0.85,0.00,0.000,6,0.000,0.035,1446,3384,3075,0,0,0,0,0,0
$GC,3247,-0.49,-146.1,358.0,-11.6,272,3249,0.12,0.00,0.00,0.000,6,0.163,0.000,1478,3383,3075,0,0,0,0,0,0
$GC,3557,-0.49,-146.1,384.5,-8.0,287,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,1479,3383,3075,0,0,0,0,0,0
$GC,3884,-0.49,-146.1,411.5,-8.6,301,3890,0.00,0.90,0.00,0.000,4,0.000,0.060,1476,3948,3074,0,0,0,0,0,0
$GC,4014,-0.49,-146.1,423.4,-8.5,304,4020,0.00,0.85,0.00,0.000,6,0.000,0.036,1476,3383,3075,0,0,0,0,0,0
$GC,4327,-0.49,-146.1,449.6,-8.6,315,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3383,3074,0,0,0,0,0,0
$GC,4635,-0.49,-146.1,474.8,-8.0,325,4638,0.00,0.90,0.00,0.000,4,0.000,0.060,1472,3951,3074,0,0,0,0,0,0
$GC,4775,-0.49,-146.1,486.6,-7.9,329,4779,0.00,0.88,0.00,0.000,6,0.000,0.037,1472,3368,3074,0,0,0,0,0,0
$GC,5112,-0.49,-146.1,512.0,-7.4,340,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3368,3074,0,0,0,0,0,0
$GC,5418,-0.49,-146.1,534.6,-7.4,350,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3368,3073,0,0,0,0,0,0
$GC,5725,-0.49,-146.1,558.1,-7.8,360,5729,0.00,0.93,0.00,0.000,4,0.000,0.060,1468,3947,3073,0,0,0,0,0,0
$GC,5808,-0.49,-146.1,565.5,-8.4,362,5812,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3384,3073,0,0,0,0,0,0
$GC,6133,-0.49,-146.1,593.6,-8.6,373,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3384,3072,0,0,0,0,0,0
$GC,6439,-0.49,-146.1,619.3,-8.2,383,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3384,3071,0,0,0,0,0,0
$GC,6745,-0.49,-146.1,644.5,-8.1,393,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3384,3071,0,0,0,0,0,0
$GC,7052,-0.49,-146.1,668.8,-8.0,403,7056,0.00,0.90,0.00,0.000,4,0.000,0.061,1463,3949,3070,0,0,0,0,0,0
$GC,7155,-0.49,-146.1,677.7,-8.9,406,7159,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3384,3070,0,0,0,0,0,0
$GC,7497,-0.49,-146.1,705.4,-7.8,417,7503,0.00,2.15,0.00,0.000,4,0.000,0.031,1464,1962,3069,0,0,0,0,0,0
$GC,7537,-0.49,-146.1,708.3,-6.1,418,7543,0.00,2.33,0.00,0.000,6,0.000,0.054,1453,3387,3070,0,0,0,0,0,0
$GC,7875,-0.49,-146.1,735.0,-7.9,429,7879,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3954,3069,0,0,0,0,0,0
$GC,7944,-0.49,-146.1,741.0,-8.4,431,7949,0.00,0.88,0.00,0.000,6,0.000,0.036,1448,3373,3068,0,0,0,0,0,0
$GC,8287,-0.49,-146.1,769.5,-8.2,442,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3372,3068,0,0,0,0,0,0
$GC,8592,-0.49,-146.1,795.1,-8.5,452,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3372,3067,0,0,0,0,0,0
$GC,8898,-0.49,-146.1,822.1,-9.0,462,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3372,3067,0,0,0,0,0,0
$GC,9206,-0.49,-146.1,850.4,-9.3,472,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3373,3067,0,0,0,0,0,0
$GC,9511,-0.49,-146.1,879.9,-9.5,482,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3372,3067,0,0,0,0,0,0
$GC,9817,-0.49,-146.1,909.1,-9.5,492,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3373,3066,0,0,0,0,0,0
$GC,10124,-0.49,-146.1,936.0,-8.7,502,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3372,3065,0,0,0,0,0,0
$GC,10430,-0.49,-146.1,961.8,-8.3,512,10435,0.00,0.93,0.00,0.000,4,0.000,0.062,1444,3945,3065,0,0,0,0,0,0
$GC,10521,-0.49,-146.1,970.2,-8.6,514,10527,0.08,0.85,0.00,0.000,6,0.135,0.038,1469,3389,3065,0,0,0,0,0,0
$GC,10841,-0.49,-146.1,991.1,-6.4,525,10847,0.00,0.90,0.00,0.000,4,0.000,0.063,1467,3947,3064,0,0,0,0,0,0
$GC,10927,-0.49,-146.1,997.1,-7.1,527,10930,0.00,0.88,0.00,0.000,6,0.000,0.038,1467,3374,3064,0,0,0,0,0,0
$STATE,10973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10973,begin apogee
$GC,10980,-0.14,0.0,1000.1,6.2,529,11130,0.40,0.00,142.05,1.488,6,0.128,0.000,1588,3276,2473,0,0,0,0,1,0
$STATE,11131,end apogee,CONTROL_FINISHED_OK
$STATE,11131,begin climb
$GC,11134,0.49,146.1,1001.9,0.0,534,11291,0.62,0.00,148.48,1.771,6,0.076,0.000,1793,3276,1877,0,0,0,0,1,0
$GC,11582,0.49,146.1,936.1,16.3,549,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3276,1869,0,0,0,0,0,0
$GC,11889,0.49,146.1,887.4,15.8,559,11893,0.00,1.10,0.00,0.000,4,0.000,0.058,1793,3944,1867,0,0,0,0,0,0
$GC,11939,0.49,146.1,878.6,17.4,560,11943,0.00,1.05,0.00,0.000,6,0.000,0.034,1798,3258,1866,0,0,0,0,0,0
$GC,12263,0.49,146.1,827.5,15.7,571,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3258,1865,0,0,0,0,0,0
$GC,12569,0.49,146.1,778.9,16.0,581,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3258,1864,0,0,0,0,0,0
$GC,12877,0.49,146.1,729.4,16.3,591,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3258,1863,0,0,0,0,0,0
$GC,13182,0.49,146.1,680.5,15.6,601,13188,0.00,1.12,0.00,0.000,4,0.000,0.057,1798,3950,1863,0,0,0,0,0,0
$GC,13230,0.49,146.1,672.5,17.5,602,13234,0.00,1.02,0.00,0.000,6,0.000,0.034,1803,3271,1863,0,0,0,0,0,0
$GC,13562,0.49,146.1,618.7,15.9,613,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3271,1862,0,0,0,0,0,0
$GC,13867,0.49,146.1,569.1,16.3,623,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3271,1861,0,0,0,0,0,0
$GC,14173,0.49,146.1,518.2,16.9,633,14177,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3951,1861,0,0,0,0,0,0
$GC,14267,0.49,146.1,500.4,18.8,635,14274,0.00,1.02,0.00,0.000,6,0.000,0.031,1808,3262,1861,0,0,0,0,0,0
$GC,14581,0.49,146.1,447.3,16.8,646,14585,0.00,1.10,0.00,0.000,4,0.000,0.056,1808,3947,1861,0,0,0,0,0,0
$GC,14631,0.49,146.1,437.7,18.5,647,14634,0.00,1.00,0.00,0.000,6,0.000,0.032,1814,3272,1861,0,0,0,0,0,0
$GC,14948,0.49,146.1,382.6,17.2,659,14953,0.00,1.10,0.00,0.000,4,0.000,0.055,1814,3959,1860,0,0,0,0,0,0
$GC,14999,0.49,146.1,373.6,19.3,661,15002,0.00,1.02,0.00,0.000,6,0.000,0.031,1819,3270,1860,0,0,0,0,0,0
$GC,15333,0.49,146.1,317.1,16.5,677,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1860,0,0,0,0,0,0
$GC,15642,0.49,146.1,266.4,16.4,692,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1860,0,0,0,0,0,0
$GC,15965,0.49,146.1,215.7,15.2,711,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1860,0,0,0,0,0,0
$GC,16277,0.49,146.1,167.0,15.6,731,16283,0.00,1.10,0.00,0.000,4,0.000,0.056,1819,3953,1860,0,0,0,0,0,0
$GC,16377,0.49,146.1,149.6,16.4,736,16386,0.10,1.02,0.00,0.000,6,0.177,0.031,1795,3258,1860,0,0,0,0,0,0
$GC,16703,0.49,146.1,107.3,13.6,757,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3258,1860,0,0,0,0,0,0
$GC,17049,0.49,146.1,63.0,12.0,812,17057,0.00,1.10,0.00,0.000,4,0.000,0.054,1796,3945,1860,0,0,0,0,0,0
$GC,17143,0.49,146.1,50.9,13.6,827,17151,0.00,0.98,0.00,0.000,6,0.000,0.031,1799,3282,1860,0,0,0,0,0,0
$GC,17403,0.49,146.1,18.4,13.2,868,17413,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3282,1860,0,0,0,0,0,0
$GC,17495,0.49,146.1,6.6,13.3,881,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3282,1860,0,0,0,0,0,0
$STATE,17519,end climb,SURFACE_DEPTH_REACHED
$STATE,17519,begin surface coast
$FINISH,1.4,1.026267
$STATE,17545,end surface coast,CONTROL_FINISHED_OK
$STATE,17545,begin surface
$SM_CCo,17561,49.00,0.708,1,0,1449,250.20
$SM_GC,1.98,0.00,0.00,49.00,0.000,0.000,0.708,44,3394,1449,-4.97,0.40,250.20
$IRIDIUM_FIX,-4140.91,903.47,110113,030331
$TT8_MAMPS,0.025466
$HUMID,56.30
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.3,35.829
$10V_AH,10.1,21.331
$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,11.700,43.675,290.525,49.000,0.000,26.077,44.209,313.068,0.000,0.000,22.199,2193.953,12033.131,457.535,2542.761,951.431,33.365,1390.439,0.000,2458.286,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,86.445,1770.975,708.390,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.093,1980.682,896.837,411.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,63747,888
$CAP_FILE_SIZE,126519,0
$CFSIZE,259252224,245985280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,110113,133034,-4155.667,902.348,29,0.8,29,-25.1