version: 66.07
glider: 543
mission: 6
dive: 146
start: 1 1 113 5 34 27
data:
$ID,543
$MISSION,6
$DIVE,146
$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,-8276.1396
$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,37
$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
$GPS1,010113,052404,-4157.255,826.305,30,0.9,30,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-57.1
$GPS2,010113,053329,-4157.361,826.295,20,1.0,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.084,0.194
$KALMAN_X,-100911.0,1034.7,718.9,132747.6,-6533.8
$KALMAN_Y,25230.2,559.6,480.1,34225.4,-9519.7
$MHEAD_RNG_PITCHd_Wd,1.4,9947,-17.7,-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,-0.54,-105.8,0.0,0.0,0,72,0.00,0.00,-49.33,0.000,2,0.000,0.000,47,3397,2658,0,0,0,0,0,0
$GC,76,-0.57,-146.1,3.1,-3.3,6,103,5.50,2.22,-12.35,0.000,4,0.220,0.044,1445,1974,3071,0,0,0,0,0,0
$GC,173,-0.57,-146.1,14.3,-15.6,19,182,0.00,2.30,0.00,0.000,6,0.000,0.058,1436,3358,3073,0,0,0,0,0,0
$GC,262,-0.57,-146.1,25.8,-14.2,32,271,0.00,0.98,0.00,0.000,4,0.000,0.060,1432,3959,3074,0,0,0,0,0,0
$GC,315,-0.57,-146.1,34.2,-16.2,39,321,0.00,0.88,0.00,0.000,6,0.000,0.037,1431,3395,3074,0,0,0,0,0,0
$GC,563,-0.57,-146.1,70.0,-13.8,80,570,0.00,0.90,0.00,0.000,4,0.000,0.057,1427,3958,3075,0,0,0,0,0,0
$GC,650,-0.57,-146.1,82.2,-14.1,95,655,0.00,0.90,0.00,0.000,6,0.000,0.036,1427,3367,3075,0,0,0,0,0,0
$GC,984,-0.57,-146.1,125.1,-13.6,132,987,0.00,0.95,0.00,0.000,4,0.000,0.057,1423,3964,3076,0,0,0,0,0,0
$GC,1128,-0.57,-146.1,147.2,-14.9,140,1131,0.00,0.88,0.00,0.000,6,0.000,0.035,1423,3382,3076,0,0,0,0,0,0
$GC,1462,-0.57,-146.1,195.0,-14.4,161,1465,0.00,0.90,0.00,0.000,4,0.000,0.057,1419,3952,3077,0,0,0,0,0,0
$GC,1588,-0.57,-146.1,215.3,-15.7,168,1594,0.08,0.85,0.00,0.000,6,0.164,0.035,1442,3387,3077,0,0,0,0,0,0
$GC,1912,-0.57,-146.1,255.7,-12.9,188,1916,0.00,0.90,0.00,0.000,4,0.000,0.057,1439,3958,3077,0,0,0,0,0,0
$GC,1987,-0.57,-146.1,266.7,-14.5,191,1993,0.00,0.88,0.00,0.000,6,0.000,0.036,1439,3375,3078,0,0,0,0,0,0
$GC,2317,-0.57,-146.1,310.0,-13.2,207,2323,0.00,0.93,0.00,0.000,4,0.000,0.057,1435,3959,3078,0,0,0,0,0,0
$GC,2486,-0.57,-146.1,335.3,-15.3,214,2489,0.00,0.88,0.00,0.000,6,0.000,0.036,1435,3380,3078,0,0,0,0,0,0
$GC,2815,-0.57,-146.1,383.8,-14.9,230,2818,0.00,0.95,0.00,0.000,4,0.000,0.058,1431,3964,3077,0,0,0,0,0,0
$GC,2902,-0.57,-146.1,398.0,-15.6,233,2909,0.00,0.88,0.00,0.000,6,0.000,0.036,1431,3383,3078,0,0,0,0,0,0
$GC,3236,-0.57,-146.1,446.9,-14.3,245,3240,0.00,0.90,0.00,0.000,4,0.000,0.057,1426,3956,3077,0,0,0,0,0,0
$GC,3314,-0.57,-146.1,458.6,-14.3,247,3318,0.00,0.88,0.00,0.000,6,0.000,0.036,1428,3373,3077,0,0,0,0,0,0
$GC,3644,-0.57,-146.1,502.6,-13.2,258,3647,0.00,0.93,0.00,0.000,4,0.000,0.057,1422,3958,3076,0,0,0,0,0,0
$GC,3713,-0.57,-146.1,512.2,-13.9,260,3717,0.00,0.88,0.00,0.000,6,0.000,0.037,1422,3376,3077,0,0,0,0,0,0
$GC,4054,-0.57,-146.1,555.4,-12.5,271,4057,0.00,0.93,0.00,0.000,4,0.000,0.057,1418,3961,3076,0,0,0,0,0,0
$GC,4176,-0.57,-146.1,571.9,-13.3,274,4180,0.08,0.88,0.00,0.000,6,0.164,0.037,1441,3382,3076,0,0,0,0,0,0
$GC,4496,-0.57,-146.1,605.0,-10.4,285,4499,0.00,0.93,0.00,0.000,4,0.000,0.059,1438,3965,3075,0,0,0,0,0,0
$GC,4556,-0.57,-146.1,612.0,-11.5,286,4563,0.00,0.88,0.00,0.000,6,0.000,0.037,1438,3384,3075,0,0,0,0,0,0
$GC,4869,-0.57,-146.1,644.9,-10.4,297,4873,0.00,0.90,0.00,0.000,4,0.000,0.060,1434,3953,3074,0,0,0,0,0,0
$GC,4944,-0.57,-146.1,653.4,-11.6,299,4947,0.00,0.88,0.00,0.000,6,0.000,0.037,1434,3375,3074,0,0,0,0,0,0
$GC,5280,-0.57,-146.1,689.7,-10.8,310,5284,0.00,0.93,0.00,0.000,4,0.000,0.060,1430,3958,3074,0,0,0,0,0,0
$GC,5351,-0.57,-146.1,698.0,-12.3,312,5354,0.00,0.88,0.00,0.000,6,0.000,0.038,1430,3380,3073,0,0,0,0,0,0
$GC,5692,-0.57,-146.1,738.3,-11.7,323,5696,0.00,0.95,0.00,0.000,4,0.000,0.061,1426,3961,3072,0,0,0,0,0,0
$GC,5794,-0.57,-146.1,751.5,-13.6,326,5800,0.00,0.88,0.00,0.000,6,0.000,0.038,1426,3382,3072,0,0,0,0,0,0
$GC,6137,-0.57,-146.1,793.0,-12.2,337,6141,0.00,0.90,0.00,0.000,4,0.000,0.060,1422,3952,3071,0,0,0,0,0,0
$GC,6239,-0.57,-146.1,807.0,-13.6,340,6243,0.00,0.88,0.00,0.000,6,0.000,0.038,1421,3372,3071,0,0,0,0,0,0
$GC,6581,-0.57,-146.1,848.9,-11.8,351,6587,0.10,0.95,0.00,0.000,4,0.191,0.061,1442,3958,3070,0,0,0,0,0,0
$GC,6739,-0.57,-146.1,866.7,-11.4,355,6743,0.00,0.88,0.00,0.000,6,0.000,0.038,1442,3381,3070,0,0,0,0,0,0
$GC,7058,-0.57,-146.1,898.9,-10.0,366,7062,0.00,0.93,0.00,0.000,4,0.000,0.061,1437,3961,3069,0,0,0,0,0,0
$GC,7136,-0.57,-146.1,907.5,-10.8,368,7140,0.00,0.88,0.00,0.000,6,0.000,0.039,1438,3383,3069,0,0,0,0,0,0
$GC,7467,-0.57,-146.1,939.9,-9.6,379,7470,0.00,0.93,0.00,0.000,4,0.000,0.061,1433,3963,3068,0,0,0,0,0,0
$GC,7598,-0.57,-146.1,953.7,-10.8,382,7605,0.00,0.88,0.00,0.000,6,0.000,0.039,1433,3388,3068,0,0,0,0,0,0
$GC,7911,-0.57,-146.1,983.3,-9.3,393,7917,0.00,0.90,0.00,0.000,4,0.000,0.061,1429,3956,3067,0,0,0,0,0,0
$GC,7985,-0.57,-146.1,990.9,-10.0,395,7988,0.00,0.88,0.00,0.000,6,0.000,0.039,1429,3381,3067,0,0,0,0,0,0
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8112,-0.14,0.0,1001.9,9.1,399,8265,0.52,0.00,150.38,1.169,6,0.145,0.000,1587,3270,2473,0,0,0,0,0,0
$STATE,8267,end apogee,CONTROL_FINISHED_OK
$STATE,8267,begin climb
$GC,8270,0.57,146.1,1003.2,0.0,404,8429,0.68,2.45,150.93,1.125,4,0.083,0.033,1825,1855,1870,0,0,0,0,0,0
$GC,8499,0.57,146.1,968.2,16.4,411,8503,0.00,2.45,0.00,0.000,6,0.000,0.052,1825,3281,1855,0,0,0,0,0,0
$GC,8834,0.57,146.1,897.4,21.2,422,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3281,1848,0,0,0,0,0,0
$GC,9140,0.57,146.1,834.6,20.1,432,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3281,1847,0,0,0,0,0,0
$GC,9448,0.57,146.1,774.7,19.1,442,9452,0.00,2.22,0.00,0.000,4,0.000,0.035,1836,1848,1846,0,0,0,0,0,0
$GC,9497,0.57,146.1,765.9,14.3,443,9501,0.00,2.33,0.00,0.000,6,0.000,0.054,1836,3276,1845,0,0,0,0,0,0
$GC,9810,0.57,146.1,703.7,20.2,453,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,3276,1845,0,0,0,0,0,0
$GC,10118,0.57,146.1,643.2,19.3,463,10122,0.00,2.20,0.00,0.000,4,0.000,0.034,1847,1835,1844,0,0,0,0,0,0
$GC,10150,0.57,146.1,637.1,16.2,464,10155,0.00,2.33,0.00,0.000,6,0.000,0.053,1847,3279,1844,0,0,0,0,0,0
$GC,10480,0.57,146.1,575.3,18.8,475,10484,0.00,1.08,0.00,0.000,4,0.000,0.056,1847,3953,1843,0,0,0,0,0,0
$GC,10507,0.57,146.1,569.6,19.8,475,10514,0.10,1.05,0.00,0.000,6,0.195,0.033,1825,3251,1843,0,0,0,0,0,0
$GC,10822,0.57,146.1,516.3,17.0,486,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3250,1843,0,0,0,0,0,0
$GC,11127,0.57,146.1,461.3,18.6,496,11132,0.00,2.12,0.00,0.000,4,0.000,0.032,1834,1856,1843,0,0,0,0,0,0
$GC,11149,0.57,146.1,456.9,17.8,496,11153,0.00,2.25,0.00,0.000,6,0.000,0.050,1834,3271,1842,0,0,0,0,0,0
$GC,11463,0.57,146.1,395.0,20.0,506,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3271,1842,0,0,0,0,0,0
$GC,11774,0.57,146.1,330.9,21.5,521,11779,0.00,1.08,0.00,0.000,4,0.000,0.054,1834,3953,1842,0,0,0,0,0,0
$GC,11802,0.57,146.1,323.7,23.0,522,11805,0.00,1.02,0.00,0.000,6,0.000,0.033,1839,3264,1842,0,0,0,0,0,0
$GC,12130,0.57,146.1,253.0,21.6,538,12134,0.00,1.10,0.00,0.000,4,0.000,0.054,1839,3954,1842,0,0,0,0,0,0
$GC,12158,0.57,146.1,247.5,21.6,539,12162,0.00,1.02,0.00,0.000,6,0.000,0.033,1844,3272,1842,0,0,0,0,0,0
$GC,12482,0.57,146.1,177.3,21.0,560,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3272,1842,0,0,0,0,0,0
$GC,12795,0.57,146.1,112.0,20.6,580,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3272,1842,0,0,0,0,0,0
$GC,13136,0.57,146.1,44.6,17.5,632,13144,0.00,2.12,0.00,0.000,4,0.000,0.031,1855,1854,1842,0,0,0,0,0,0
$GC,13186,0.57,146.1,36.8,15.7,639,13195,0.10,2.28,0.00,0.000,6,0.155,0.050,1824,3278,1842,0,0,0,0,0,0
$STATE,13409,end climb,SURFACE_DEPTH_REACHED
$STATE,13409,begin surface coast
$FINISH,1.1,1.006126
$STATE,13436,end surface coast,CONTROL_FINISHED_OK
$STATE,13437,begin surface
$SM_CCo,13452,46.78,0.705,1,0,1450,250.20
$SM_GC,1.88,0.00,0.00,46.78,0.000,0.000,0.705,52,3399,1450,-4.94,0.57,250.20
$IRIDIUM_FIX,-4143.80,825.41,010113,000004
$TT8_MAMPS,0.025466
$HUMID,56.57
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.1,27.971
$10V_AH,10.1,15.269
$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,11.775,68.125,301.300,46.775,0.000,27.229,41.959,321.857,0.000,0.000,22.828,1759.938,8778.267,414.208,2325.822,789.960,33.364,1302.330,0.000,2090.362,0.000,1.013,0.000
$DEVICE_MAMPS,220.320,82.620,1168.920,705.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.973,1482.537,693.768,316.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,50376,678
$CAP_FILE_SIZE,116986,0
$CFSIZE,259252224,249544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,010113,092053,-4156.400,825.526,39,0.8,39,-24.9