version: 66.07
glider: 543
mission: 6
dive: 151
start: 1 2 113 5 4 32
data:
$ID,543
$MISSION,6
$DIVE,151
$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,-8289.6689
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,020113,045300,-4155.678,819.767,44,0.8,44,-24.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-53.0
$GPS2,020113,050334,-4155.684,819.871,40,0.9,40,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.216,-0.114
$KALMAN_X,-82396.2,-398.6,-306.7,107972.2,7543.9
$KALMAN_Y,20881.4,1014.6,625.2,41059.3,-4066.1
$MHEAD_RNG_PITCHd_Wd,267.1,7996,-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,-56.00,0.000,2,0.000,0.000,65,3385,2787,0,0,0,0,0,0
$GC,83,-0.49,-146.1,3.1,-3.4,7,104,5.80,0.93,-8.00,0.000,4,0.238,0.086,1469,3951,3071,0,0,0,0,0,0
$GC,127,-0.49,-146.1,8.7,-10.9,12,137,0.00,0.88,0.00,0.000,6,0.000,0.038,1469,3386,3072,0,0,0,0,0,0
$GC,222,-0.49,-146.1,18.9,-11.3,25,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3387,3073,0,0,0,0,0,0
$GC,310,-0.49,-146.1,29.0,-10.6,38,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3387,3074,0,0,0,0,0,0
$GC,393,-0.49,-146.1,38.8,-12.3,51,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3387,3074,0,0,0,0,0,0
$GC,641,-0.49,-146.1,66.0,-9.9,92,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3074,0,0,0,0,0,0
$GC,1004,-0.49,-146.1,103.3,-10.0,151,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3076,0,0,0,0,0,0
$GC,1314,-0.49,-146.1,136.3,-10.7,171,1320,0.00,0.90,0.00,0.000,4,0.000,0.060,1465,3950,3077,0,0,0,0,0,0
$GC,1413,-0.49,-146.1,148.6,-12.1,176,1421,0.00,0.88,0.00,0.000,6,0.000,0.036,1465,3370,3076,0,0,0,0,0,0
$GC,1737,-0.49,-146.1,186.1,-11.6,197,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3370,3077,0,0,0,0,0,0
$GC,2049,-0.49,-146.1,217.6,-9.4,217,2052,0.00,0.93,0.00,0.000,4,0.000,0.059,1461,3950,3077,0,0,0,0,0,0
$GC,2127,-0.49,-146.1,225.9,-10.2,221,2134,0.00,0.88,0.00,0.000,6,0.000,0.037,1461,3371,3077,0,0,0,0,0,0
$GC,2457,-0.49,-146.1,254.5,-8.3,242,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3372,3077,0,0,0,0,0,0
$GC,2768,-0.49,-146.1,279.5,-8.0,257,2774,0.00,0.93,0.00,0.000,4,0.000,0.059,1457,3954,3077,0,0,0,0,0,0
$GC,2819,-0.49,-146.1,283.8,-9.2,259,2823,0.00,0.85,0.00,0.000,6,0.000,0.037,1457,3388,3077,0,0,0,0,0,0
$GC,3154,-0.49,-146.1,314.0,-8.8,275,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3388,3077,0,0,0,0,0,0
$GC,3464,-0.49,-146.1,338.8,-7.6,290,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3388,3077,0,0,0,0,0,0
$GC,3773,-0.49,-146.1,364.7,-8.8,305,3779,0.00,0.88,0.00,0.000,4,0.000,0.060,1453,3939,3077,0,0,0,0,0,0
$GC,3845,-0.49,-146.1,371.7,-10.0,308,3848,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3375,3077,0,0,0,0,0,0
$GC,4189,-0.49,-146.1,403.5,-9.1,324,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3375,3076,0,0,0,0,0,0
$GC,4494,-0.49,-146.1,431.8,-9.2,334,4500,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3942,3076,0,0,0,0,0,0
$GC,4606,-0.49,-146.1,443.2,-9.7,337,4610,0.00,0.85,0.00,0.000,6,0.000,0.037,1448,3376,3076,0,0,0,0,0,0
$GC,4937,-0.49,-146.1,476.3,-10.3,348,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3375,3076,0,0,0,0,0,0
$GC,5244,-0.49,-146.1,509.2,-10.8,358,5248,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3943,3075,0,0,0,0,0,0
$GC,5287,-0.49,-146.1,514.6,-11.5,359,5292,0.08,0.85,0.00,0.000,6,0.148,0.037,1469,3378,3075,0,0,0,0,0,0
$GC,5617,-0.49,-146.1,543.6,-8.5,370,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3379,3074,0,0,0,0,0,0
$GC,5924,-0.49,-146.1,567.9,-7.6,380,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3378,3073,0,0,0,0,0,0
$GC,6231,-0.49,-146.1,591.1,-7.6,390,6234,0.00,0.90,0.00,0.000,4,0.000,0.061,1466,3943,3073,0,0,0,0,0,0
$GC,6306,-0.49,-146.1,597.2,-8.2,392,6309,0.00,0.85,0.00,0.000,6,0.000,0.038,1466,3383,3073,0,0,0,0,0,0
$GC,6642,-0.49,-146.1,622.2,-7.4,403,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3072,0,0,0,0,0,0
$GC,6949,-0.49,-146.1,645.4,-7.7,413,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3071,0,0,0,0,0,0
$GC,7254,-0.49,-146.1,669.2,-7.8,423,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3071,0,0,0,0,0,0
$GC,7560,-0.49,-146.1,692.7,-7.5,433,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3070,0,0,0,0,0,0
$GC,7867,-0.49,-146.1,716.0,-7.7,443,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3069,0,0,0,0,0,0
$GC,8173,-0.49,-146.1,740.8,-8.3,453,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3069,0,0,0,0,0,0
$GC,8478,-0.49,-146.1,766.5,-8.6,463,8482,0.00,0.90,0.00,0.000,4,0.000,0.062,1462,3944,3068,0,0,0,0,0,0
$GC,8539,-0.49,-146.1,772.5,-8.7,464,8547,0.00,0.85,0.00,0.000,6,0.000,0.039,1462,3384,3068,0,0,0,0,0,0
$GC,8853,-0.49,-146.1,800.2,-8.6,475,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3384,3068,0,0,0,0,0,0
$GC,9159,-0.49,-146.1,826.3,-8.4,485,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3384,3067,0,0,0,0,0,0
$GC,9467,-0.49,-146.1,850.8,-7.7,495,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3384,3067,0,0,0,0,0,0
$GC,9772,-0.49,-146.1,872.2,-6.9,505,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3384,3066,0,0,0,0,0,0
$GC,10078,-0.49,-146.1,892.2,-6.4,515,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3384,3066,0,0,0,0,0,0
$GC,10385,-0.49,-146.1,911.9,-6.6,525,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3384,3065,0,0,0,0,0,0
$GC,10690,-0.49,-146.1,934.2,-7.8,535,10696,0.00,0.90,0.00,0.000,4,0.000,0.063,1458,3941,3064,0,0,0,0,0,0
$GC,10798,-0.49,-146.1,943.7,-8.7,538,10801,0.00,0.88,0.00,0.000,6,0.000,0.041,1458,3370,3064,0,0,0,0,0,0
$GC,11134,-0.49,-146.1,973.4,-9.0,549,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3370,3064,0,0,0,0,0,0
$STATE,11438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11438,begin apogee
$GC,11445,-0.14,0.0,1002.6,9.5,559,11601,0.43,0.00,153.25,1.170,6,0.134,0.000,1588,3277,2473,0,0,0,0,0,0
$STATE,11603,end apogee,CONTROL_FINISHED_OK
$STATE,11603,begin climb
$GC,11606,0.49,146.1,1007.9,0.0,564,11768,0.57,2.50,152.90,1.141,4,0.083,0.033,1795,1848,1868,0,0,0,0,0,0
$GC,11785,0.49,146.1,989.6,13.0,569,11790,0.00,2.53,0.00,0.000,6,0.000,0.052,1795,3270,1859,0,0,0,0,0,0
$GC,12100,0.49,146.1,942.0,15.6,579,12103,0.00,1.12,0.00,0.000,4,0.000,0.059,1795,3942,1849,0,0,0,0,0,0
$GC,12154,0.49,146.1,932.2,17.8,580,12158,0.00,1.08,0.00,0.000,6,0.000,0.035,1800,3257,1849,0,0,0,0,0,0
$GC,12473,0.49,146.1,880.1,16.1,591,12477,0.00,1.15,0.00,0.000,4,0.000,0.059,1800,3953,1847,0,0,0,0,0,0
$GC,12543,0.49,146.1,867.9,18.6,593,12547,0.00,1.05,0.00,0.000,6,0.000,0.036,1805,3272,1846,0,0,0,0,0,0
$GC,12885,0.49,146.1,812.7,15.6,604,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3272,1845,0,0,0,0,0,0
$GC,13191,0.49,146.1,764.7,16.1,614,13194,0.00,1.10,0.00,0.000,4,0.000,0.059,1805,3950,1845,0,0,0,0,0,0
$GC,13252,0.49,146.1,753.6,17.7,615,13260,0.00,1.05,0.00,0.000,6,0.000,0.036,1811,3258,1845,0,0,0,0,0,0
$GC,13565,0.49,146.1,701.5,16.5,626,13570,0.00,1.12,0.00,0.000,4,0.000,0.058,1811,3951,1845,0,0,0,0,0,0
$GC,13618,0.49,146.1,691.8,18.8,627,13621,0.00,1.02,0.00,0.000,6,0.000,0.035,1816,3274,1845,0,0,0,0,0,0
$GC,13943,0.49,146.1,635.7,17.0,638,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3273,1845,0,0,0,0,0,0
$GC,14248,0.49,146.1,585.0,16.6,648,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3273,1844,0,0,0,0,0,0
$GC,14555,0.49,146.1,535.0,16.2,658,14558,0.00,1.10,0.00,0.000,4,0.000,0.058,1816,3953,1844,0,0,0,0,0,0
$GC,14616,0.49,146.1,523.6,17.6,659,14624,0.00,1.02,0.00,0.000,6,0.000,0.034,1821,3269,1843,0,0,0,0,0,0
$GC,14929,0.49,146.1,470.7,17.0,670,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3269,1844,0,0,0,0,0,0
$GC,15235,0.49,146.1,418.8,16.7,680,15239,0.00,1.10,0.00,0.000,4,0.000,0.057,1821,3953,1843,0,0,0,0,0,0
$GC,15280,0.49,146.1,410.9,17.1,681,15284,0.10,1.02,0.00,0.000,6,0.181,0.034,1798,3266,1843,0,0,0,0,0,0
$GC,15613,0.49,146.1,360.7,15.6,696,15617,0.00,1.10,0.00,0.000,4,0.000,0.057,1798,3952,1842,0,0,0,0,0,0
$GC,15654,0.49,146.1,353.4,17.9,697,15661,0.00,1.02,0.00,0.000,6,0.000,0.034,1801,3263,1843,0,0,0,0,0,0
$GC,15972,0.49,146.1,301.3,16.5,713,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3263,1842,0,0,0,0,0,0
$GC,16282,0.49,146.1,251.1,16.2,728,16285,0.00,1.10,0.00,0.000,4,0.000,0.057,1801,3951,1842,0,0,0,0,0,0
$GC,16327,0.49,146.1,242.5,16.9,730,16338,0.00,1.00,0.00,0.000,6,0.000,0.033,1807,3275,1842,0,0,0,0,0,0
$GC,16651,0.49,146.1,188.9,16.7,751,16654,0.00,1.08,0.00,0.000,4,0.000,0.056,1806,3950,1842,0,0,0,0,0,0
$GC,16706,0.49,146.1,178.4,17.5,754,16709,0.00,1.00,0.00,0.000,6,0.000,0.033,1812,3275,1843,0,0,0,0,0,0
$GC,17034,0.49,146.1,122.5,17.5,775,17038,0.00,1.08,0.00,0.000,4,0.000,0.056,1811,3947,1842,0,0,0,0,0,0
$GC,17088,0.49,146.1,112.0,18.7,778,17092,0.00,1.00,0.00,0.000,6,0.000,0.033,1817,3272,1842,0,0,0,0,0,0
$GC,17438,0.49,146.1,58.6,15.2,829,17444,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3272,1842,0,0,0,0,0,0
$GC,17689,0.49,146.1,25.0,12.2,870,17700,0.00,1.08,0.00,0.000,4,0.000,0.055,1817,3949,1843,0,0,0,0,0,0
$GC,17736,0.49,146.1,17.4,16.3,876,17747,0.08,1.02,0.00,0.000,6,0.182,0.033,1800,3256,1842,0,0,0,0,0,0
$GC,17831,0.49,146.1,3.1,13.2,889,17839,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3256,1841,0,0,0,0,0,0
$STATE,17846,end climb,SURFACE_DEPTH_REACHED
$STATE,17846,begin surface coast
$FINISH,1.0,1.026120
$STATE,17877,end surface coast,CONTROL_FINISHED_OK
$STATE,17877,begin surface
$SM_CCo,17893,46.50,0.721,1,0,1452,250.20
$SM_GC,1.84,0.00,0.00,46.50,0.000,0.000,0.721,65,3402,1452,-4.90,0.62,250.20
$IRIDIUM_FIX,-4140.91,819.26,020113,000043
$TT8_MAMPS,0.025466
$HUMID,55.71
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.0,28.753
$10V_AH,10.1,15.875
$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,11.525,46.450,306.150,46.500,0.000,26.153,52.400,356.026,0.000,0.000,42.991,2212.068,12347.386,436.669,2642.584,938.854,33.369,1415.863,0.000,2412.275,0.000,1.014,0.000
$DEVICE_MAMPS,237.915,85.680,1169.685,720.630,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.952,1967.832,885.650,396.658,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,63856,895
$CAP_FILE_SIZE,132486,0
$CFSIZE,259252224,249163776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020113,100458,-4156.883,817.628,38,0.8,38,-24.9