version: 66.07
glider: 543
mission: 6
dive: 199
start: 1 11 113 13 40 33
data:
$ID,543
$MISSION,6
$DIVE,199
$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,-8406.4727
$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,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
$GPS1,110113,133034,-4155.667,902.348,29,0.8,29,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-58.2
$GPS2,110113,133935,-4155.626,902.432,17,1.1,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.045,-0.240
$KALMAN_X,-134812.2,546.3,628.7,216585.0,-5522.8
$KALMAN_Y,14933.3,-452.0,209.6,49044.9,3842.4
$MHEAD_RNG_PITCHd_Wd,194.5,8765,-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,-49.22,0.000,2,0.000,0.000,44,3394,2637,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.3,-3.7,6,104,5.78,0.90,-13.32,0.000,4,0.226,0.092,1468,3936,3069,0,0,0,0,0,0
$GC,391,-0.49,-146.1,37.9,-11.2,54,402,0.00,0.82,0.00,0.000,6,0.000,0.036,1468,3402,3071,0,0,0,0,0,0
$GC,644,-0.49,-146.1,65.3,-11.0,95,650,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3402,3072,0,0,0,0,0,0
$GC,1006,-0.49,-146.1,103.3,-9.9,154,1009,0.00,0.88,0.00,0.000,4,0.000,0.059,1464,3947,3073,0,0,0,0,0,0
$GC,1128,-0.49,-146.1,115.6,-9.9,161,1132,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3370,3074,0,0,0,0,0,0
$GC,1460,-0.49,-146.1,147.4,-9.5,182,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3369,3073,0,0,0,0,0,0
$GC,1773,-0.49,-146.1,177.1,-9.3,202,1776,0.00,0.93,0.00,0.000,4,0.000,0.059,1460,3949,3074,0,0,0,0,0,0
$GC,1946,-0.49,-146.1,194.7,-9.7,211,1953,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3387,3074,0,0,0,0,0,0
$GC,2267,-0.49,-146.1,226.5,-10.3,232,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3387,3074,0,0,0,0,0,0
$GC,2585,-0.49,-146.1,260.1,-10.9,251,2591,0.00,0.88,0.00,0.000,4,0.000,0.059,1456,3934,3074,0,0,0,0,0,0
$GC,2728,-0.49,-146.1,276.0,-11.6,257,2731,0.00,0.85,0.00,0.000,6,0.000,0.036,1456,3372,3074,0,0,0,0,0,0
$GC,3063,-0.49,-146.1,313.3,-10.8,273,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3372,3074,0,0,0,0,0,0
$GC,3371,-0.49,-146.1,346.0,-10.5,288,3374,0.00,0.90,0.00,0.000,4,0.000,0.058,1452,3937,3074,0,0,0,0,0,0
$GC,3569,-0.49,-146.1,367.2,-10.4,296,3572,0.00,0.85,0.00,0.000,6,0.000,0.035,1452,3375,3074,0,0,0,0,0,0
$GC,3892,-0.49,-146.1,398.5,-9.7,312,3895,0.00,0.90,0.00,0.000,4,0.000,0.058,1448,3938,3074,0,0,0,0,0,0
$GC,3956,-0.49,-146.1,405.0,-10.3,314,3963,0.00,0.85,0.00,0.000,6,0.000,0.035,1448,3375,3074,0,0,0,0,0,0
$GC,4270,-0.49,-146.1,437.9,-10.6,325,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3375,3074,0,0,0,0,0,0
$GC,4576,-0.49,-146.1,470.8,-10.9,335,4580,0.10,0.93,0.00,0.000,4,0.171,0.060,1470,3943,3074,0,0,0,0,0,0
$GC,4738,-0.49,-146.1,486.7,-9.7,339,4745,0.00,0.85,0.00,0.000,6,0.000,0.035,1470,3377,3073,0,0,0,0,0,0
$GC,5051,-0.49,-146.1,515.5,-9.2,350,5056,0.00,0.90,0.00,0.000,4,0.000,0.059,1466,3942,3073,0,0,0,0,0,0
$GC,5130,-0.49,-146.1,523.2,-9.3,352,5134,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3378,3073,0,0,0,0,0,0
$GC,5460,-0.49,-146.1,553.0,-8.9,363,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3378,3072,0,0,0,0,0,0
$GC,5766,-0.49,-146.1,580.8,-9.3,373,5769,0.00,0.90,0.00,0.000,4,0.000,0.060,1461,3941,3072,0,0,0,0,0,0
$GC,5941,-0.49,-146.1,598.6,-10.2,378,5944,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3378,3071,0,0,0,0,0,0
$GC,6276,-0.49,-146.1,630.6,-9.5,389,6280,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3941,3071,0,0,0,0,0,0
$GC,6338,-0.49,-146.1,637.0,-10.1,390,6345,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3376,3071,0,0,0,0,0,0
$GC,6651,-0.49,-146.1,666.7,-9.4,401,6655,0.00,0.90,0.00,0.000,4,0.000,0.060,1453,3938,3070,0,0,0,0,0,0
$GC,6724,-0.49,-146.1,673.3,-8.7,403,6728,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3376,3070,0,0,0,0,0,0
$GC,7066,-0.49,-146.1,705.2,-9.0,414,7069,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3938,3069,0,0,0,0,0,0
$GC,7138,-0.49,-146.1,711.8,-10.0,416,7141,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3376,3069,0,0,0,0,0,0
$GC,7479,-0.49,-146.1,742.8,-8.9,427,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3375,3069,0,0,0,0,0,0
$GC,7786,-0.49,-146.1,768.9,-8.4,437,7790,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3935,3068,0,0,0,0,0,0
$GC,7924,-0.49,-146.1,780.7,-9.1,441,7928,0.08,0.85,0.00,0.000,6,0.138,0.037,1470,3374,3068,0,0,0,0,0,0
$GC,8265,-0.49,-146.1,803.0,-6.4,452,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3374,3067,0,0,0,0,0,0
$GC,8571,-0.49,-146.1,822.1,-6.4,462,8575,0.00,0.93,0.00,0.000,4,0.000,0.062,1467,3948,3066,0,0,0,0,0,0
$GC,8768,-0.49,-146.1,836.0,-7.3,467,8775,0.00,0.88,0.00,0.000,6,0.000,0.037,1467,3374,3066,0,0,0,0,0,0
$GC,9082,-0.49,-146.1,856.8,-6.8,478,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3375,3065,0,0,0,0,0,0
$GC,9389,-0.49,-146.1,878.8,-7.3,488,9393,0.00,0.93,0.00,0.000,4,0.000,0.062,1463,3948,3065,0,0,0,0,0,0
$GC,9534,-0.49,-146.1,890.7,-8.8,492,9537,0.00,0.85,0.00,0.000,6,0.000,0.038,1463,3387,3065,0,0,0,0,0,0
$GC,9864,-0.49,-146.1,916.4,-8.0,503,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3386,3064,0,0,0,0,0,0
$GC,10170,-0.49,-146.1,940.3,-7.6,513,10173,0.00,0.90,0.00,0.000,4,0.000,0.062,1458,3946,3064,0,0,0,0,0,0
$GC,10265,-0.49,-146.1,948.1,-8.0,515,10272,0.00,0.88,0.00,0.000,6,0.000,0.038,1459,3372,3063,0,0,0,0,0,0
$GC,10579,-0.49,-146.1,971.9,-7.5,526,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3372,3063,0,0,0,0,0,0
$GC,10886,-0.49,-146.1,993.3,-7.0,536,10889,0.00,0.93,0.00,0.000,4,0.000,0.063,1455,3945,3062,0,0,0,0,0,0
$STATE,10971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10971,begin apogee
$GC,10979,-0.14,0.0,1000.2,7.5,538,11131,0.40,0.00,148.35,1.207,6,0.134,0.000,1580,3268,2473,0,0,0,0,0,0
$STATE,11132,end apogee,CONTROL_FINISHED_OK
$STATE,11132,begin climb
$GC,11135,0.49,146.1,1002.2,0.0,543,11296,0.60,2.40,149.90,1.185,4,0.086,0.031,1794,1853,1871,0,0,0,0,0,0
$GC,11355,0.49,146.1,975.7,12.0,549,11360,0.00,2.47,0.00,0.000,6,0.000,0.052,1794,3269,1861,0,0,0,0,0,0
$GC,11669,0.49,146.1,926.3,15.8,559,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3269,1855,0,0,0,0,0,0
$GC,11975,0.49,146.1,880.3,14.7,569,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3269,1853,0,0,0,0,0,0
$GC,12282,0.49,146.1,837.2,13.9,579,12286,0.00,1.12,0.00,0.000,4,0.000,0.059,1794,3956,1852,0,0,0,0,0,0
$GC,12337,0.49,146.1,828.7,14.7,580,12341,0.00,1.05,0.00,0.000,6,0.000,0.034,1799,3263,1852,0,0,0,0,0,0
$GC,12657,0.49,146.1,786.0,13.2,591,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1851,0,0,0,0,0,0
$GC,12963,0.49,146.1,745.4,13.2,601,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1850,0,0,0,0,0,0
$GC,13270,0.49,146.1,703.4,13.8,611,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1849,0,0,0,0,0,0
$GC,13575,0.49,146.1,662.0,13.5,621,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1849,0,0,0,0,0,0
$GC,13881,0.49,146.1,619.9,13.7,631,13885,0.00,2.15,0.00,0.000,4,0.000,0.033,1810,1851,1848,0,0,0,0,0,0
$GC,13914,0.49,146.1,615.6,11.6,632,13919,0.00,2.30,0.00,0.000,6,0.000,0.052,1810,3279,1848,0,0,0,0,0,0
$GC,14244,0.49,146.1,566.7,15.5,643,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3279,1848,0,0,0,0,0,0
$GC,14550,0.49,146.1,518.7,15.7,653,14552,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3279,1848,0,0,0,0,0,0
$GC,14858,0.49,146.1,470.6,15.4,663,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3279,1848,0,0,0,0,0,0
$GC,15163,0.49,146.1,422.9,15.8,673,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3279,1848,0,0,0,0,0,0
$GC,15483,0.49,146.1,373.1,15.2,686,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3279,1848,0,0,0,0,0,0
$GC,15792,0.49,146.1,326.9,15.2,701,15798,0.00,2.17,0.00,0.000,4,0.000,0.031,1821,1856,1848,0,0,0,0,0,0
$GC,15845,0.49,146.1,319.4,12.0,703,15849,0.00,2.28,0.00,0.000,6,0.000,0.050,1821,3276,1847,0,0,0,0,0,0
$GC,16168,0.49,146.1,270.7,15.1,719,16174,0.00,1.08,0.00,0.000,4,0.000,0.057,1821,3951,1847,0,0,0,0,0,0
$GC,16232,0.49,146.1,259.5,16.3,721,16240,0.10,1.02,0.00,0.000,6,0.172,0.032,1797,3259,1847,0,0,0,0,0,0
$GC,16562,0.49,146.1,217.7,12.6,741,16563,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3259,1847,0,0,0,0,0,0
$GC,16872,0.49,146.1,178.0,13.2,761,16873,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3259,1847,0,0,0,0,0,0
$GC,17182,0.49,146.1,136.5,13.0,781,17184,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3259,1847,0,0,0,0,0,0
$GC,17496,0.49,146.1,94.8,14.0,805,17501,0.00,1.10,0.00,0.000,4,0.000,0.057,1797,3940,1847,0,0,0,0,0,0
$GC,17557,0.49,146.1,85.5,14.5,816,17565,0.00,1.00,0.00,0.000,6,0.000,0.033,1801,3268,1846,0,0,0,0,0,0
$GC,17922,0.49,146.1,41.5,10.7,877,17930,0.00,2.15,0.00,0.000,4,0.000,0.030,1811,1851,1846,0,0,0,0,0,0
$GC,18005,0.49,146.1,33.3,8.8,890,18014,0.00,2.28,0.00,0.000,6,0.000,0.050,1811,3267,1847,0,0,0,0,0,0
$STATE,18249,end climb,SURFACE_DEPTH_REACHED
$STATE,18249,begin surface coast
$FINISH,1.2,1.026261
$STATE,18275,end surface coast,CONTROL_FINISHED_OK
$STATE,18275,begin surface
$SM_CCo,18291,49.42,0.686,1,0,1451,250.20
$SM_GC,1.84,0.00,0.00,49.42,0.000,0.000,0.686,54,3407,1451,-4.94,0.74,250.20
$IRIDIUM_FIX,-4140.91,900.61,110113,080848
$TT8_MAMPS,0.025466
$HUMID,56.34
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.8,35.960
$10V_AH,10.1,21.462
$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,11.675,54.850,298.250,49.425,0.000,28.453,20.180,311.357,0.000,0.000,19.518,2334.828,12306.567,419.638,2825.432,997.688,33.366,1476.943,0.000,2758.965,0.000,1.012,0.000
$DEVICE_MAMPS,225.675,91.800,1207.170,686.205,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.714,2057.585,951.271,425.328,0.000,0.000,0.000,0.000,0.000,0.000
$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,67256,931
$CAP_FILE_SIZE,137153,0
$CFSIZE,259252224,245899264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,110113,184734,-4157.153,900.585,33,0.7,33,-25.1