version: 66.07
glider: 543
mission: 6
dive: 149
start: 1 1 113 19 31 39
data:
$ID,543
$MISSION,6
$DIVE,149
$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,-8285.0098
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,010113,192052,-4155.349,823.039,25,0.8,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-45.0
$GPS2,010113,193041,-4155.443,823.141,20,1.2,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.244,0.002
$KALMAN_X,-90896.2,340.5,280.7,119581.8,2291.6
$KALMAN_Y,18925.9,1175.0,621.3,43307.6,-8461.3
$MHEAD_RNG_PITCHd_Wd,295.4,9482,-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,-146.1,0.0,0.0,0,79,0.00,0.00,-56.15,0.000,2,0.000,0.000,55,3396,2781,0,0,0,0,0,0
$GC,83,-0.49,-146.1,3.4,-3.2,7,104,5.80,0.90,-7.65,0.000,4,0.235,0.090,1466,3940,3072,0,0,0,0,0,0
$GC,240,-0.49,-146.1,27.0,-16.2,29,249,0.00,0.85,0.00,0.000,6,0.000,0.038,1467,3391,3075,0,0,0,0,0,0
$GC,322,-0.49,-146.1,40.1,-13.4,42,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3391,3075,0,0,0,0,0,0
$GC,570,-0.49,-146.1,73.2,-11.8,83,577,0.00,2.20,0.00,0.000,4,0.000,0.033,1467,1958,3075,0,0,0,0,0,0
$GC,646,-0.49,-146.1,79.7,-6.6,96,654,0.00,2.33,0.00,0.000,6,0.000,0.056,1457,3375,3076,0,0,0,0,0,0
$GC,996,-0.49,-146.1,109.2,-9.6,145,1000,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3943,3077,0,0,0,0,0,0
$GC,1181,-0.49,-146.1,129.6,-11.5,155,1185,0.00,0.85,0.00,0.000,6,0.000,0.035,1453,3379,3077,0,0,0,0,0,0
$GC,1506,-0.49,-146.1,166.1,-11.3,176,1509,0.00,0.93,0.00,0.000,4,0.000,0.059,1449,3952,3078,0,0,0,0,0,0
$GC,1596,-0.49,-146.1,176.7,-12.6,181,1599,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3385,3077,0,0,0,0,0,0
$GC,1926,-0.49,-146.1,217.4,-11.9,202,1930,0.00,0.90,0.00,0.000,4,0.000,0.059,1444,3953,3078,0,0,0,0,0,0
$GC,1967,-0.49,-146.1,223.1,-13.0,204,1973,0.08,0.88,0.00,0.000,6,0.153,0.036,1468,3372,3078,0,0,0,0,0,0
$GC,2289,-0.49,-146.1,255.7,-9.9,224,2293,0.00,0.93,0.00,0.000,4,0.000,0.060,1466,3953,3078,0,0,0,0,0,0
$GC,2364,-0.49,-146.1,264.0,-10.5,227,2369,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3386,3078,0,0,0,0,0,0
$GC,2694,-0.49,-146.1,295.9,-9.8,243,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3386,3078,0,0,0,0,0,0
$GC,3002,-0.49,-146.1,326.2,-9.6,258,3006,0.00,0.90,0.00,0.000,4,0.000,0.060,1461,3953,3078,0,0,0,0,0,0
$GC,3050,-0.49,-146.1,331.1,-10.2,260,3054,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3385,3078,0,0,0,0,0,0
$GC,3385,-0.49,-146.1,363.9,-9.8,276,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3078,0,0,0,0,0,0
$GC,3695,-0.49,-146.1,396.5,-10.8,291,3700,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3951,3078,0,0,0,0,0,0
$GC,3821,-0.49,-146.1,412.1,-12.5,295,3826,0.00,0.85,0.00,0.000,6,0.000,0.037,1457,3386,3077,0,0,0,0,0,0
$GC,4140,-0.49,-146.1,448.7,-11.5,306,4146,0.00,0.90,0.00,0.000,4,0.000,0.060,1453,3953,3077,0,0,0,0,0,0
$GC,4219,-0.49,-146.1,458.4,-12.0,308,4222,0.00,0.88,0.00,0.000,6,0.000,0.036,1453,3373,3077,0,0,0,0,0,0
$GC,4549,-0.49,-146.1,494.6,-10.8,319,4554,0.00,0.93,0.00,0.000,4,0.000,0.060,1449,3953,3077,0,0,0,0,0,0
$GC,4667,-0.49,-146.1,508.0,-10.8,322,4671,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3388,3077,0,0,0,0,0,0
$GC,4991,-0.49,-146.1,539.8,-9.4,333,4995,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3953,3076,0,0,0,0,0,0
$GC,5086,-0.49,-146.1,549.7,-10.4,335,5093,0.08,0.88,0.00,0.000,6,0.152,0.037,1469,3371,3076,0,0,0,0,0,0
$GC,5400,-0.49,-146.1,574.0,-7.7,346,5403,0.00,0.93,0.00,0.000,4,0.000,0.061,1465,3952,3075,0,0,0,0,0,0
$GC,5477,-0.49,-146.1,580.9,-8.6,348,5481,0.00,0.88,0.00,0.000,6,0.000,0.038,1466,3373,3075,0,0,0,0,0,0
$GC,5808,-0.49,-146.1,607.2,-8.0,359,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3373,3075,0,0,0,0,0,0
$GC,6115,-0.49,-146.1,631.7,-8.0,369,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3373,3074,0,0,0,0,0,0
$GC,6420,-0.49,-146.1,655.4,-7.9,379,6426,0.00,0.93,0.00,0.000,4,0.000,0.062,1461,3951,3073,0,0,0,0,0,0
$GC,6533,-0.49,-146.1,665.6,-9.2,382,6536,0.00,0.85,0.00,0.000,6,0.000,0.038,1462,3389,3073,0,0,0,0,0,0
$GC,6863,-0.49,-146.1,696.0,-9.9,393,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3389,3072,0,0,0,0,0,0
$GC,7170,-0.49,-146.1,725.0,-9.5,403,7173,0.00,0.90,0.00,0.000,4,0.000,0.062,1457,3951,3071,0,0,0,0,0,0
$GC,7306,-0.49,-146.1,739.0,-10.0,407,7309,0.00,0.88,0.00,0.000,6,0.000,0.038,1457,3373,3071,0,0,0,0,0,0
$GC,7647,-0.49,-146.1,773.6,-10.1,418,7651,0.00,0.93,0.00,0.000,4,0.000,0.062,1453,3950,3070,0,0,0,0,0,0
$GC,7696,-0.49,-146.1,779.2,-11.0,419,7702,0.00,0.88,0.00,0.000,6,0.000,0.039,1453,3371,3070,0,0,0,0,0,0
$GC,8022,-0.49,-146.1,814.1,-10.9,430,8027,0.00,0.93,0.00,0.000,4,0.000,0.063,1448,3949,3070,0,0,0,0,0,0
$GC,8118,-0.49,-146.1,825.8,-11.8,432,8126,0.00,0.85,0.00,0.000,6,0.000,0.039,1448,3388,3069,0,0,0,0,0,0
$GC,8431,-0.49,-146.1,860.1,-10.8,443,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3387,3069,0,0,0,0,0,0
$GC,8737,-0.49,-146.1,891.4,-9.8,453,8741,0.00,0.90,0.00,0.000,4,0.000,0.063,1444,3951,3068,0,0,0,0,0,0
$GC,8787,-0.49,-146.1,896.6,-10.0,454,8791,0.08,0.88,0.00,0.000,6,0.152,0.039,1468,3377,3068,0,0,0,0,0,0
$GC,9111,-0.49,-146.1,922.2,-7.7,465,9115,0.00,0.93,0.00,0.000,4,0.000,0.063,1465,3953,3067,0,0,0,0,0,0
$GC,9206,-0.49,-146.1,930.4,-8.6,467,9212,0.00,0.88,0.00,0.000,6,0.000,0.039,1465,3379,3067,0,0,0,0,0,0
$GC,9519,-0.49,-146.1,956.0,-8.1,478,9523,0.00,0.93,0.00,0.000,4,0.000,0.063,1461,3956,3067,0,0,0,0,0,0
$GC,9593,-0.49,-146.1,962.6,-9.4,480,9597,0.00,0.88,0.00,0.000,6,0.000,0.040,1461,3382,3067,0,0,0,0,0,0
$GC,9929,-0.49,-146.1,991.8,-9.0,491,9933,0.00,0.93,0.00,0.000,4,0.000,0.063,1457,3958,3067,0,0,0,0,0,0
$STATE,10011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10011,begin apogee
$GC,10018,-0.14,0.0,1000.5,10.3,493,10166,0.40,0.00,139.73,1.808,6,0.138,0.000,1583,3263,2473,0,0,0,0,1,0
$STATE,10167,end apogee,CONTROL_FINISHED_OK
$STATE,10168,begin climb
$GC,10171,0.49,146.1,1005.6,0.0,498,10333,0.62,2.50,147.45,1.773,4,0.085,0.033,1799,1857,1878,0,0,0,0,1,0
$GC,10367,0.49,146.1,986.2,12.9,504,10371,0.00,2.53,0.00,0.000,6,0.000,0.052,1799,3279,1875,0,0,0,0,0,0
$GC,10697,0.49,146.1,933.8,16.3,515,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3279,1868,0,0,0,0,0,0
$GC,11003,0.49,146.1,882.2,17.0,525,11007,0.00,1.10,0.00,0.000,4,0.000,0.059,1799,3950,1866,0,0,0,0,0,0
$GC,11041,0.49,146.1,875.0,19.3,526,11045,0.00,1.05,0.00,0.000,6,0.000,0.035,1804,3268,1866,0,0,0,0,0,0
$GC,11377,0.49,146.1,817.7,17.1,537,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3268,1865,0,0,0,0,0,0
$GC,11683,0.49,146.1,766.3,16.6,547,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3268,1864,0,0,0,0,0,0
$GC,11991,0.49,146.1,717.7,15.9,557,11994,0.00,1.12,0.00,0.000,4,0.000,0.058,1804,3959,1863,0,0,0,0,0,0
$GC,12065,0.49,146.1,704.8,18.7,559,12069,0.00,1.05,0.00,0.000,6,0.000,0.034,1810,3265,1862,0,0,0,0,0,0
$GC,12400,0.49,146.1,650.0,16.1,570,12404,0.00,2.15,0.00,0.000,4,0.000,0.034,1820,1855,1862,0,0,0,0,0,0
$GC,12430,0.49,146.1,645.3,15.1,571,12434,0.00,2.30,0.00,0.000,6,0.000,0.053,1820,3284,1861,0,0,0,0,0,0
$GC,12765,0.49,146.1,586.8,18.3,582,12769,0.00,1.05,0.00,0.000,4,0.000,0.057,1820,3943,1861,0,0,0,0,0,0
$GC,12854,0.49,146.1,568.7,19.2,584,12858,0.10,1.02,0.00,0.000,6,0.189,0.034,1798,3257,1861,0,0,0,0,0,0
$GC,13173,0.49,146.1,517.7,16.0,595,13176,0.00,1.12,0.00,0.000,4,0.000,0.057,1798,3955,1861,0,0,0,0,0,0
$GC,13242,0.49,146.1,505.3,18.0,597,13246,0.00,1.02,0.00,0.000,6,0.000,0.034,1801,3267,1861,0,0,0,0,0,0
$GC,13584,0.49,146.1,447.7,17.0,608,13588,0.00,1.10,0.00,0.000,4,0.000,0.056,1801,3953,1859,0,0,0,0,0,0
$GC,13653,0.49,146.1,435.6,18.2,610,13657,0.00,1.02,0.00,0.000,6,0.000,0.034,1807,3265,1860,0,0,0,0,0,0
$GC,13975,0.49,146.1,380.0,17.1,622,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3265,1859,0,0,0,0,0,0
$GC,14287,0.49,146.1,327.4,17.0,637,14292,0.00,1.10,0.00,0.000,4,0.000,0.056,1806,3953,1859,0,0,0,0,0,0
$GC,14358,0.49,146.1,313.5,20.7,640,14362,0.00,1.02,0.00,0.000,6,0.000,0.033,1812,3261,1859,0,0,0,0,0,0
$GC,14692,0.49,146.1,256.0,16.8,656,14695,0.00,1.10,0.00,0.000,4,0.000,0.055,1812,3950,1859,0,0,0,0,0,0
$GC,14792,0.49,146.1,237.1,18.6,661,14798,0.00,1.00,0.00,0.000,6,0.000,0.034,1817,3274,1859,0,0,0,0,0,0
$GC,15111,0.49,146.1,182.4,17.7,682,15117,0.00,1.08,0.00,0.000,4,0.000,0.055,1817,3950,1859,0,0,0,0,0,0
$GC,15168,0.49,146.1,171.9,20.9,685,15172,0.08,1.00,0.00,0.000,6,0.193,0.033,1801,3273,1859,0,0,0,0,0,0
$GC,15500,0.49,146.1,118.6,14.6,706,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3273,1858,0,0,0,0,0,0
$GC,15829,0.49,146.1,70.7,13.4,748,15836,0.00,1.08,0.00,0.000,4,0.000,0.055,1801,3947,1859,0,0,0,0,0,0
$GC,15960,0.49,146.1,51.6,14.1,769,15968,0.00,1.00,0.00,0.000,6,0.000,0.032,1805,3267,1859,0,0,0,0,0,0
$GC,16219,0.49,146.1,19.6,10.3,810,16230,0.00,2.12,0.00,0.000,4,0.000,0.030,1815,1854,1859,0,0,0,0,0,0
$GC,16308,0.51,191.3,11.3,6.6,823,16353,0.00,2.25,35.83,0.617,6,0.000,0.047,1815,3272,1690,0,0,0,0,0,0
$STATE,16373,end climb,SURFACE_DEPTH_REACHED
$STATE,16373,begin surface coast
$FINISH,1.3,1.026132
$STATE,16403,end surface coast,CONTROL_FINISHED_OK
$STATE,16403,begin surface
$SM_CCo,16419,32.40,0.643,1,0,1449,250.20
$SM_GC,1.43,0.00,0.00,32.40,0.000,0.000,0.643,59,3386,1449,-4.92,0.17,250.20
$IRIDIUM_FIX,-4140.91,822.54,010113,141458
$TT8_MAMPS,0.025466
$HUMID,54.88
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,28.458
$10V_AH,10.1,15.634
$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,11.825,71.550,323.000,32.400,0.000,24.905,46.280,341.942,0.000,0.000,22.830,2132.201,10828.146,418.533,2742.014,921.088,33.362,1491.899,0.000,2510.977,0.000,1.013,0.000
$DEVICE_MAMPS,234.855,89.505,1807.695,643.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.588,1809.227,844.768,382.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,60551,835
$CAP_FILE_SIZE,138898,0
$CFSIZE,259252224,249307136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020113,000721,-4155.586,821.423,28,1.8,43,-24.9