version: 66.07
glider: 543
mission: 6
dive: 145
start: 1 1 113 0 52 42
data:
$ID,543
$MISSION,6
$DIVE,145
$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,-8273.8115
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,010113,004404,-4158.392,826.759,26,0.9,26,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-59.1
$GPS2,010113,005142,-4158.405,826.745,19,1.0,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.021,0.243
$KALMAN_X,-102439.4,1197.6,738.3,134714.7,-11454.1
$KALMAN_Y,28766.8,378.1,282.1,29144.2,-9660.6
$MHEAD_RNG_PITCHd_Wd,20.0,9742,-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,-49.33,0.000,2,0.000,0.000,69,3377,2654,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.5,6,104,5.78,2.20,-12.05,0.000,4,0.239,0.044,1476,1963,3071,0,0,0,0,0,0
$GC,232,-0.49,-146.1,20.6,-10.8,28,242,0.00,2.33,0.00,0.000,6,0.000,0.054,1467,3374,3073,0,0,0,0,0,0
$GC,320,-0.49,-146.1,31.5,-12.0,41,327,0.00,0.93,0.00,0.000,4,0.000,0.057,1462,3953,3073,0,0,0,0,0,0
$GC,357,-0.49,-146.1,36.1,-12.7,46,365,0.00,0.88,0.00,0.000,6,0.000,0.036,1463,3381,3074,0,0,0,0,0,0
$GC,606,-0.49,-146.1,64.1,-10.1,87,614,0.00,0.93,0.00,0.000,4,0.000,0.057,1458,3958,3074,0,0,0,0,0,0
$GC,843,-0.49,-146.1,90.5,-11.4,127,848,0.00,0.88,0.00,0.000,6,0.000,0.035,1458,3381,3075,0,0,0,0,0,0
$GC,1180,-0.49,-146.1,127.6,-11.2,157,1183,0.00,0.90,0.00,0.000,4,0.000,0.057,1454,3953,3076,0,0,0,0,0,0
$GC,1216,-0.49,-146.1,132.5,-11.9,159,1222,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3387,3076,0,0,0,0,0,0
$GC,1549,-0.49,-146.1,173.5,-12.2,180,1553,0.00,0.90,0.00,0.000,4,0.000,0.057,1449,3951,3077,0,0,0,0,0,0
$GC,1696,-0.49,-146.1,192.8,-12.7,188,1701,0.00,0.85,0.00,0.000,6,0.000,0.035,1449,3382,3077,0,0,0,0,0,0
$GC,2023,-0.49,-146.1,230.0,-11.2,209,2026,0.00,0.90,0.00,0.000,4,0.000,0.057,1445,3953,3078,0,0,0,0,0,0
$GC,2095,-0.49,-146.1,238.3,-12.0,213,2099,0.08,0.85,0.00,0.000,6,0.152,0.036,1470,3388,3078,0,0,0,0,0,0
$GC,2430,-0.49,-146.1,270.7,-9.7,231,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3388,3078,0,0,0,0,0,0
$GC,2739,-0.49,-146.1,301.8,-10.2,246,2742,0.00,0.90,0.00,0.000,4,0.000,0.057,1467,3957,3078,0,0,0,0,0,0
$GC,2818,-0.49,-146.1,311.0,-11.6,249,2824,0.00,0.88,0.00,0.000,6,0.000,0.036,1467,3374,3078,0,0,0,0,0,0
$GC,3143,-0.49,-146.1,345.3,-10.8,265,3148,0.00,0.93,0.00,0.000,4,0.000,0.057,1463,3960,3078,0,0,0,0,0,0
$GC,3239,-0.49,-146.1,356.3,-12.2,269,3242,0.00,0.88,0.00,0.000,6,0.000,0.036,1462,3374,3078,0,0,0,0,0,0
$GC,3573,-0.49,-146.1,391.8,-10.3,285,3579,0.00,0.93,0.00,0.000,4,0.000,0.057,1458,3961,3078,0,0,0,0,0,0
$GC,3657,-0.49,-146.1,401.2,-11.8,288,3661,0.00,0.88,0.00,0.000,6,0.000,0.036,1459,3378,3078,0,0,0,0,0,0
$GC,3976,-0.49,-146.1,434.9,-10.2,299,3979,0.00,0.90,0.00,0.000,4,0.000,0.057,1454,3950,3078,0,0,0,0,0,0
$GC,4031,-0.49,-146.1,441.1,-11.5,300,4034,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3383,3078,0,0,0,0,0,0
$GC,4349,-0.49,-146.1,474.4,-10.7,311,4353,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3955,3077,0,0,0,0,0,0
$GC,4421,-0.49,-146.1,483.2,-11.5,313,4425,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3371,3077,0,0,0,0,0,0
$GC,4757,-0.49,-146.1,521.3,-11.3,324,4761,0.00,0.93,0.00,0.000,4,0.000,0.057,1445,3959,3077,0,0,0,0,0,0
$GC,4879,-0.49,-146.1,536.4,-12.6,327,4883,0.08,0.88,0.00,0.000,6,0.154,0.037,1469,3375,3077,0,0,0,0,0,0
$GC,5199,-0.49,-146.1,566.3,-9.1,338,5202,0.00,0.93,0.00,0.000,4,0.000,0.059,1466,3960,3076,0,0,0,0,0,0
$GC,5267,-0.49,-146.1,573.0,-10.0,340,5272,0.00,0.88,0.00,0.000,6,0.000,0.037,1466,3378,3076,0,0,0,0,0,0
$GC,5610,-0.49,-146.1,602.4,-8.5,351,5614,0.00,0.90,0.00,0.000,4,0.000,0.060,1461,3948,3075,0,0,0,0,0,0
$GC,5720,-0.49,-146.1,612.5,-8.5,354,5724,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3383,3075,0,0,0,0,0,0
$GC,6051,-0.49,-146.1,639.8,-8.1,365,6056,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3953,3075,0,0,0,0,0,0
$GC,6147,-0.49,-146.1,648.7,-9.2,367,6155,0.00,0.88,0.00,0.000,6,0.000,0.037,1458,3374,3075,0,0,0,0,0,0
$GC,6460,-0.49,-146.1,675.4,-8.6,378,6466,0.00,0.93,0.00,0.000,4,0.000,0.061,1453,3956,3074,0,0,0,0,0,0
$GC,6598,-0.49,-146.1,688.5,-9.0,382,6603,0.00,0.88,0.00,0.000,6,0.000,0.038,1453,3375,3073,0,0,0,0,0,0
$GC,6941,-0.49,-146.1,720.0,-9.2,393,6945,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3958,3073,0,0,0,0,0,0
$GC,6990,-0.49,-146.1,725.2,-9.9,394,6994,0.00,0.88,0.00,0.000,6,0.000,0.038,1449,3378,3073,0,0,0,0,0,0
$GC,7314,-0.49,-146.1,756.4,-9.5,405,7318,0.00,0.93,0.00,0.000,4,0.000,0.060,1445,3959,3072,0,0,0,0,0,0
$GC,7431,-0.49,-146.1,769.2,-11.0,408,7435,0.08,0.88,0.00,0.000,6,0.155,0.037,1469,3381,3072,0,0,0,0,0,0
$GC,7758,-0.49,-146.1,794.8,-7.6,419,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3381,3071,0,0,0,0,0,0
$GC,8063,-0.49,-146.1,818.1,-7.8,429,8068,0.00,0.93,0.00,0.000,4,0.000,0.061,1466,3960,3070,0,0,0,0,0,0
$GC,8098,-0.49,-146.1,821.2,-9.0,430,8102,0.00,0.88,0.00,0.000,6,0.000,0.039,1466,3383,3071,0,0,0,0,0,0
$GC,8440,-0.49,-146.1,851.5,-9.0,441,8446,0.00,0.90,0.00,0.000,4,0.000,0.061,1462,3948,3070,0,0,0,0,0,0
$GC,8485,-0.49,-146.1,856.2,-9.7,442,8491,0.00,0.85,0.00,0.000,6,0.000,0.039,1462,3385,3070,0,0,0,0,0,0
$GC,8818,-0.49,-146.1,886.8,-9.2,453,8821,0.00,0.90,0.00,0.000,4,0.000,0.061,1458,3951,3069,0,0,0,0,0,0
$GC,8878,-0.49,-146.1,893.0,-10.6,454,8885,0.00,0.88,0.00,0.000,6,0.000,0.039,1458,3376,3069,0,0,0,0,0,0
$GC,9192,-0.49,-146.1,921.5,-9.1,465,9195,0.00,0.93,0.00,0.000,4,0.000,0.060,1453,3955,3068,0,0,0,0,0,0
$GC,9266,-0.49,-146.1,928.7,-9.3,467,9269,0.00,0.88,0.00,0.000,6,0.000,0.039,1453,3381,3068,0,0,0,0,0,0
$GC,9602,-0.49,-146.1,959.8,-9.1,478,9605,0.00,0.93,0.00,0.000,4,0.000,0.062,1449,3948,3068,0,0,0,0,0,0
$GC,9677,-0.49,-146.1,967.0,-9.9,480,9681,0.00,0.88,0.00,0.000,6,0.000,0.040,1449,3372,3068,0,0,0,0,0,0
$GC,10012,-0.49,-146.1,998.8,-9.3,491,10016,0.00,0.93,0.00,0.000,4,0.000,0.061,1445,3953,3068,0,0,0,0,0,0
$STATE,10020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10021,begin apogee
$GC,10028,-0.14,0.0,1000.0,9.4,491,10177,0.45,0.00,140.30,1.806,6,0.144,0.000,1585,3272,2473,0,0,0,0,1,0
$STATE,10178,end apogee,CONTROL_FINISHED_OK
$STATE,10178,begin climb
$GC,10181,0.49,146.1,1004.4,0.0,496,10343,0.60,2.47,147.02,1.768,4,0.083,0.032,1796,1866,1877,0,0,0,0,1,0
$GC,10410,0.49,146.1,979.1,13.0,503,10414,0.00,2.45,0.00,0.000,6,0.000,0.052,1796,3273,1874,0,0,0,0,0,0
$GC,10745,0.49,146.1,923.0,16.6,514,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3273,1868,0,0,0,0,0,0
$GC,11051,0.49,146.1,872.7,16.3,524,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3273,1866,0,0,0,0,0,0
$GC,11359,0.49,146.1,822.4,16.5,534,11363,0.00,2.17,0.00,0.000,4,0.000,0.035,1806,1856,1865,0,0,0,0,0,0
$GC,11380,0.49,146.1,818.6,16.3,534,11388,0.00,2.33,0.00,0.000,6,0.000,0.054,1807,3270,1864,0,0,0,0,0,0
$GC,11694,0.49,146.1,763.9,17.5,545,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3270,1863,0,0,0,0,0,0
$GC,12000,0.49,146.1,710.8,17.1,555,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3270,1863,0,0,0,0,0,0
$GC,12307,0.49,146.1,658.1,17.6,565,12310,0.00,1.10,0.00,0.000,4,0.000,0.059,1807,3956,1862,0,0,0,0,0,0
$GC,12345,0.49,146.1,650.7,19.6,566,12348,0.00,1.05,0.00,0.000,6,0.000,0.034,1812,3261,1862,0,0,0,0,0,0
$GC,12680,0.49,146.1,592.6,16.9,577,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3260,1862,0,0,0,0,0,0
$GC,12987,0.49,146.1,537.6,18.5,587,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3260,1861,0,0,0,0,0,0
$GC,13294,0.49,146.1,481.5,17.9,597,13298,0.00,1.10,0.00,0.000,4,0.000,0.056,1812,3950,1860,0,0,0,0,0,0
$GC,13362,0.49,146.1,468.2,19.2,599,13367,0.00,1.02,0.00,0.000,6,0.000,0.034,1817,3261,1860,0,0,0,0,0,0
$GC,13705,0.49,146.1,405.9,17.9,610,13709,0.00,2.10,0.00,0.000,4,0.000,0.031,1828,1854,1860,0,0,0,0,0,0
$GC,13743,0.49,146.1,399.1,14.7,611,13748,0.12,2.25,0.00,0.000,6,0.181,0.050,1798,3286,1858,0,0,0,0,0,0
$GC,14074,0.49,146.1,347.1,16.6,627,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3286,1858,0,0,0,0,0,0
$GC,14382,0.49,146.1,295.4,16.5,642,14385,0.00,1.05,0.00,0.000,4,0.000,0.055,1798,3951,1858,0,0,0,0,0,0
$GC,14462,0.49,146.1,280.3,19.2,645,14467,0.00,1.00,0.00,0.000,6,0.000,0.034,1802,3274,1858,0,0,0,0,0,0
$GC,14787,0.49,146.1,225.6,16.6,663,14788,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3273,1858,0,0,0,0,0,0
$GC,15102,0.49,146.1,172.5,16.8,683,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3274,1858,0,0,0,0,0,0
$GC,15414,0.49,146.1,119.6,16.6,703,15418,0.00,1.08,0.00,0.000,4,0.000,0.054,1801,3952,1858,0,0,0,0,0,0
$GC,15469,0.49,146.1,108.3,19.3,706,15473,0.00,1.00,0.00,0.000,6,0.000,0.033,1807,3274,1858,0,0,0,0,0,0
$GC,15817,0.49,146.1,47.4,17.6,760,15828,0.00,1.08,0.00,0.000,4,0.000,0.053,1807,3955,1858,0,0,0,0,0,0
$GC,15862,0.49,146.1,39.2,18.3,766,15871,0.00,1.02,0.00,0.000,6,0.000,0.033,1812,3260,1859,0,0,0,0,0,0
$STATE,16113,end climb,SURFACE_DEPTH_REACHED
$STATE,16113,begin surface coast
$FINISH,1.1,1.026168
$STATE,16139,end surface coast,CONTROL_FINISHED_OK
$STATE,16139,begin surface
$SM_CCo,16155,50.08,0.698,1,0,1453,250.20
$SM_GC,1.91,0.00,0.00,50.08,0.000,0.000,0.698,48,3397,1453,-4.96,0.48,250.20
$IRIDIUM_FIX,-4143.80,819.68,311212,212145
$TT8_MAMPS,0.025466
$HUMID,56.69
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.3,27.842
$10V_AH,10.1,15.168
$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,11.775,70.175,287.325,50.075,0.000,24.527,18.316,257.883,0.000,0.000,21.711,2079.575,10758.987,406.608,2534.651,895.101,33.358,1437.506,0.000,2434.189,0.000,1.012,0.000
$DEVICE_MAMPS,238.680,68.850,1806.165,698.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.892,1791.210,825.122,367.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,60327,809
$CAP_FILE_SIZE,132513,0
$CFSIZE,259252224,249585664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010113,052404,-4157.255,826.305,30,0.9,30,-24.9