version: 66.07
glider: 543
mission: 6
dive: 150
start: 1 2 113 0 17 22
data:
$ID,543
$MISSION,6
$DIVE,150
$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,-8287.3447
$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,53
$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
$GPS1,020113,000721,-4155.586,821.423,28,1.8,43,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-43.8
$GPS2,020113,001624,-4155.588,821.586,18,1.1,18,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.241,-0.037
$KALMAN_X,-86393.6,-166.0,152.6,113601.0,5200.9
$KALMAN_Y,19205.2,1054.0,869.1,42626.1,-6999.8
$MHEAD_RNG_PITCHd_Wd,286.2,8458,-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,-49.22,0.000,2,0.000,0.000,58,3387,2606,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.4,6,104,5.65,0.00,-14.48,0.000,6,0.227,0.000,1469,3386,3070,0,0,0,0,0,0
$GC,184,-0.49,-146.1,15.1,-14.2,21,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3073,0,0,0,0,0,0
$GC,272,-0.49,-146.1,26.7,-13.8,34,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3386,3073,0,0,0,0,0,0
$GC,358,-0.49,-146.1,37.1,-11.8,47,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3387,3073,0,0,0,0,0,0
$GC,605,-0.49,-146.1,67.8,-13.1,88,613,0.00,2.15,0.00,0.000,4,0.000,0.032,1469,1979,3074,0,0,0,0,0,0
$GC,697,-0.49,-146.1,77.0,-8.7,103,702,0.00,2.25,0.00,0.000,6,0.000,0.054,1459,3377,3074,0,0,0,0,0,0
$GC,1051,-0.49,-146.1,110.3,-9.5,152,1055,0.00,0.90,0.00,0.000,4,0.000,0.058,1455,3946,3076,0,0,0,0,0,0
$GC,1159,-0.49,-146.1,123.0,-12.3,158,1162,0.00,0.82,0.00,0.000,6,0.000,0.036,1455,3397,3076,0,0,0,0,0,0
$GC,1493,-0.49,-146.1,164.6,-12.9,179,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3396,3077,0,0,0,0,0,0
$GC,1805,-0.49,-146.1,203.6,-12.2,199,1809,0.00,0.88,0.00,0.000,4,0.000,0.059,1451,3947,3077,0,0,0,0,0,0
$GC,1879,-0.49,-146.1,213.7,-12.9,203,1883,0.00,0.85,0.00,0.000,6,0.000,0.035,1451,3380,3077,0,0,0,0,0,0
$GC,2210,-0.49,-146.1,252.7,-11.4,224,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3380,3077,0,0,0,0,0,0
$GC,2521,-0.49,-146.1,286.1,-10.9,239,2526,0.00,0.93,0.00,0.000,4,0.000,0.060,1447,3947,3077,0,0,0,0,0,0
$GC,2640,-0.49,-146.1,300.0,-11.9,244,2644,0.08,0.85,0.00,0.000,6,0.148,0.035,1471,3380,3077,0,0,0,0,0,0
$GC,2969,-0.49,-146.1,328.2,-8.8,260,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3380,3077,0,0,0,0,0,0
$GC,3278,-0.49,-146.1,357.9,-10.0,275,3284,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3945,3077,0,0,0,0,0,0
$GC,3343,-0.49,-146.1,365.9,-11.8,277,3349,0.00,0.85,0.00,0.000,6,0.000,0.037,1468,3381,3077,0,0,0,0,0,0
$GC,3661,-0.49,-146.1,402.0,-11.8,293,3666,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3946,3077,0,0,0,0,0,0
$GC,3717,-0.49,-146.1,409.8,-13.4,294,3721,0.00,0.85,0.00,0.000,6,0.000,0.036,1464,3376,3076,0,0,0,0,0,0
$GC,4038,-0.49,-146.1,447.4,-11.7,305,4041,0.00,0.90,0.00,0.000,4,0.000,0.059,1460,3945,3077,0,0,0,0,0,0
$GC,4106,-0.49,-146.1,456.0,-12.3,307,4111,0.00,0.85,0.00,0.000,6,0.000,0.037,1460,3379,3076,0,0,0,0,0,0
$GC,4449,-0.49,-146.1,497.2,-11.8,318,4453,0.00,0.90,0.00,0.000,4,0.000,0.060,1456,3946,3076,0,0,0,0,0,0
$GC,4607,-0.49,-146.1,516.4,-11.8,322,4611,0.00,0.85,0.00,0.000,6,0.000,0.037,1455,3382,3076,0,0,0,0,0,0
$GC,4925,-0.49,-146.1,549.6,-10.2,333,4929,0.00,0.90,0.00,0.000,4,0.000,0.060,1451,3948,3075,0,0,0,0,0,0
$GC,4976,-0.49,-146.1,555.2,-10.5,334,4981,0.00,0.85,0.00,0.000,6,0.000,0.037,1451,3383,3075,0,0,0,0,0,0
$GC,5301,-0.49,-146.1,587.4,-10.0,345,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3383,3074,0,0,0,0,0,0
$GC,5608,-0.49,-146.1,617.4,-9.6,355,5612,0.00,0.90,0.00,0.000,4,0.000,0.061,1447,3948,3074,0,0,0,0,0,0
$GC,5753,-0.49,-146.1,632.7,-10.1,359,5757,0.00,0.85,0.00,0.000,6,0.000,0.038,1446,3383,3074,0,0,0,0,0,0
$GC,6083,-0.49,-146.1,664.2,-9.5,370,6089,0.10,0.93,0.00,0.000,4,0.178,0.062,1469,3951,3073,0,0,0,0,0,0
$GC,6140,-0.49,-146.1,669.8,-9.2,371,6144,0.00,0.88,0.00,0.000,6,0.000,0.037,1469,3371,3073,0,0,0,0,0,0
$GC,6461,-0.49,-146.1,696.8,-8.8,382,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3371,3072,0,0,0,0,0,0
$GC,6766,-0.49,-146.1,724.5,-9.2,392,6771,0.00,0.93,0.00,0.000,4,0.000,0.063,1464,3949,3070,0,0,0,0,0,0
$GC,6850,-0.49,-146.1,733.6,-10.2,394,6854,0.00,0.85,0.00,0.000,6,0.000,0.038,1465,3386,3071,0,0,0,0,0,0
$GC,7174,-0.49,-146.1,764.4,-9.4,405,7178,0.00,0.90,0.00,0.000,4,0.000,0.063,1461,3949,3070,0,0,0,0,0,0
$GC,7263,-0.49,-146.1,773.7,-10.6,407,7267,0.00,0.88,0.00,0.000,6,0.000,0.038,1461,3369,3070,0,0,0,0,0,0
$GC,7582,-0.49,-146.1,803.5,-9.0,418,7585,0.00,0.93,0.00,0.000,4,0.000,0.063,1456,3946,3069,0,0,0,0,0,0
$GC,7646,-0.49,-146.1,809.4,-9.9,419,7653,0.00,0.85,0.00,0.000,6,0.000,0.038,1456,3386,3069,0,0,0,0,0,0
$GC,7959,-0.49,-146.1,836.6,-8.4,430,7965,0.00,0.90,0.00,0.000,4,0.000,0.063,1452,3948,3068,0,0,0,0,0,0
$GC,8016,-0.49,-146.1,842.0,-9.4,431,8019,0.00,0.88,0.00,0.000,6,0.000,0.039,1452,3374,3068,0,0,0,0,0,0
$GC,8336,-0.49,-146.1,868.1,-8.0,442,8340,0.00,0.93,0.00,0.000,4,0.000,0.063,1447,3949,3067,0,0,0,0,0,0
$GC,8431,-0.49,-146.1,876.8,-9.1,444,8438,0.00,0.85,0.00,0.000,6,0.000,0.039,1447,3387,3067,0,0,0,0,0,0
$GC,8744,-0.49,-146.1,903.4,-8.8,455,8748,0.10,0.93,0.00,0.000,4,0.178,0.065,1469,3950,3066,0,0,0,0,0,0
$GC,8806,-0.49,-146.1,908.5,-7.7,456,8813,0.00,0.88,0.00,0.000,6,0.000,0.041,1469,3377,3067,0,0,0,0,0,0
$GC,9119,-0.49,-146.1,931.4,-7.8,467,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3377,3066,0,0,0,0,0,0
$GC,9426,-0.49,-146.1,956.5,-8.1,477,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3376,3065,0,0,0,0,0,0
$GC,9733,-0.49,-146.1,981.7,-8.3,487,9736,0.00,0.93,0.00,0.000,4,0.000,0.065,1465,3949,3064,0,0,0,0,0,0
$GC,9821,-0.49,-146.1,990.0,-9.0,489,9825,0.00,0.88,0.00,0.000,6,0.000,0.040,1465,3377,3064,0,0,0,0,0,0
$STATE,9953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9953,begin apogee
$GC,9960,-0.14,0.0,1001.0,8.3,494,10112,0.40,0.00,143.12,1.424,6,0.131,0.000,1588,3266,2473,0,0,0,0,1,0
$STATE,10113,end apogee,CONTROL_FINISHED_OK
$STATE,10113,begin climb
$GC,10116,0.49,146.1,1004.9,0.0,499,10276,0.57,2.53,145.98,1.773,4,0.082,0.034,1794,1847,1879,0,0,0,0,1,0
$GC,10315,0.49,146.1,983.3,12.3,505,10320,0.00,2.53,0.00,0.000,6,0.000,0.053,1794,3274,1875,0,0,0,0,0,0
$GC,10645,0.49,146.1,928.9,17.1,516,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3273,1869,0,0,0,0,0,0
$GC,10952,0.49,146.1,877.3,17.0,526,10956,0.00,2.22,0.00,0.000,4,0.000,0.035,1805,1840,1867,0,0,0,0,0,0
$GC,11007,0.49,146.1,868.8,13.5,527,11014,0.00,2.35,0.00,0.000,6,0.000,0.054,1804,3276,1865,0,0,0,0,0,0
$GC,11320,0.49,146.1,813.5,18.0,538,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3276,1864,0,0,0,0,0,0
$GC,11627,0.49,146.1,761.9,16.6,548,11631,0.00,2.20,0.00,0.000,4,0.000,0.035,1815,1849,1863,0,0,0,0,0,0
$GC,11649,0.49,146.1,758.1,13.6,548,11657,0.00,2.33,0.00,0.000,6,0.000,0.054,1815,3268,1863,0,0,0,0,0,0
$GC,11963,0.49,146.1,705.7,17.1,559,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3268,1863,0,0,0,0,0,0
$GC,12269,0.49,146.1,654.6,16.6,569,12273,0.00,2.17,0.00,0.000,4,0.000,0.034,1826,1844,1862,0,0,0,0,0,0
$GC,12290,0.49,146.1,650.9,15.3,569,12298,0.12,2.30,0.00,0.000,6,0.181,0.052,1797,3281,1862,0,0,0,0,0,0
$GC,12605,0.49,146.1,603.4,16.1,580,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3281,1861,0,0,0,0,0,0
$GC,12914,0.49,146.1,552.4,16.8,590,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3281,1861,0,0,0,0,0,0
$GC,13216,0.49,146.1,501.2,16.8,600,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3281,1860,0,0,0,0,0,0
$GC,13522,0.49,146.1,450.4,16.3,610,13526,0.00,2.15,0.00,0.000,4,0.000,0.033,1806,1843,1860,0,0,0,0,0,0
$GC,13555,0.49,146.1,445.2,14.3,611,13559,0.00,2.28,0.00,0.000,6,0.000,0.050,1806,3273,1859,0,0,0,0,0,0
$GC,13875,0.49,146.1,396.0,15.2,622,13878,0.00,1.08,0.00,0.000,4,0.000,0.056,1806,3946,1859,0,0,0,0,0,0
$GC,13936,0.49,146.1,386.1,15.9,624,13947,0.00,1.02,0.00,0.000,6,0.000,0.033,1811,3256,1859,0,0,0,0,0,0
$GC,14254,0.49,146.1,341.4,14.0,640,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3256,1859,0,0,0,0,0,0
$GC,14564,0.49,146.1,294.7,15.7,655,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3256,1859,0,0,0,0,0,0
$GC,14884,0.49,146.1,242.0,16.6,671,14889,0.00,1.10,0.00,0.000,4,0.000,0.056,1811,3943,1859,0,0,0,0,0,0
$GC,14948,0.49,146.1,229.5,18.6,674,14955,0.00,1.00,0.00,0.000,6,0.000,0.033,1817,3269,1859,0,0,0,0,0,0
$GC,15271,0.49,146.1,174.0,17.4,695,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3269,1859,0,0,0,0,0,0
$GC,15583,0.49,146.1,118.9,17.8,715,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3269,1859,0,0,0,0,0,0
$GC,15914,0.49,146.1,63.8,15.9,759,15920,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3269,1859,0,0,0,0,0,0
$GC,16290,0.49,146.1,13.4,17.0,820,16301,0.00,2.15,0.00,0.000,4,0.000,0.031,1827,1849,1859,0,0,0,0,0,0
$GC,16318,0.49,146.1,9.0,16.4,823,16329,0.10,2.28,0.00,0.000,6,0.152,0.048,1797,3275,1859,0,0,0,0,0,0
$STATE,16357,end climb,SURFACE_DEPTH_REACHED
$STATE,16357,begin surface coast
$FINISH,1.0,1.014583
$STATE,16381,end surface coast,CONTROL_FINISHED_OK
$STATE,16381,begin surface
$SM_CCo,16396,50.47,0.708,1,0,1451,250.20
$SM_GC,1.68,0.00,0.00,50.47,0.000,0.000,0.708,66,3385,1451,-4.90,0.14,250.20
$IRIDIUM_FIX,-4140.91,831.13,010113,191921
$TT8_MAMPS,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.3,28.619
$10V_AH,10.1,15.751
$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,11.800,66.425,289.100,50.475,0.000,21.619,22.816,325.618,0.000,0.000,20.394,2087.910,11041.106,437.103,2522.463,903.678,33.363,1422.249,0.000,2375.287,0.000,1.013,0.000
$DEVICE_MAMPS,227.205,94.095,1773.270,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.586,1807.109,830.560,384.231,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,60497,831
$CAP_FILE_SIZE,130562,0
$CFSIZE,259252224,249241600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020113,045300,-4155.678,819.767,44,0.8,44,-24.9