version: 66.07
glider: 543
mission: 6
dive: 154
start: 1 2 113 18 26 35
data:
$ID,543
$MISSION,6
$DIVE,154
$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,-8296.6562
$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,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
$GPS1,020113,181734,-4158.898,814.545,41,0.9,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-48.5
$GPS2,020113,182535,-4158.855,814.587,18,1.0,18,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.039,-0.226
$KALMAN_X,-77722.4,-1063.9,-959.8,97431.8,8279.7
$KALMAN_Y,27071.9,0.7,16.9,30648.4,3315.6
$MHEAD_RNG_PITCHd_Wd,214.6,7746,-15.9,-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,-0.51,-127.0,0.0,0.0,0,79,0.00,0.00,-56.45,0.000,2,0.000,0.000,64,3393,2781,0,0,0,0,0,0
$GC,83,-0.52,-146.1,3.2,-3.7,7,104,5.70,0.90,-7.70,0.000,4,0.236,0.087,1458,3941,3072,0,0,0,0,0,0
$GC,384,-0.52,-146.1,47.3,-13.4,54,395,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3391,3075,0,0,0,0,0,0
$GC,632,-0.52,-146.1,81.2,-12.3,95,637,0.00,2.15,0.00,0.000,4,0.000,0.032,1458,1959,3076,0,0,0,0,0,0
$GC,725,-0.52,-146.1,91.3,-10.1,111,732,0.00,2.33,0.00,0.000,6,0.000,0.057,1447,3376,3076,0,0,0,0,0,0
$GC,1055,-0.52,-146.1,129.5,-11.0,140,1059,0.00,0.90,0.00,0.000,4,0.000,0.057,1443,3946,3077,0,0,0,0,0,0
$GC,1163,-0.52,-146.1,142.3,-11.5,146,1167,0.00,0.85,0.00,0.000,6,0.000,0.037,1443,3383,3078,0,0,0,0,0,0
$GC,1498,-0.52,-146.1,181.7,-13.1,167,1502,0.00,0.93,0.00,0.000,4,0.000,0.057,1439,3958,3079,0,0,0,0,0,0
$GC,1586,-0.52,-146.1,194.2,-13.8,172,1590,0.00,0.88,0.00,0.000,6,0.000,0.036,1438,3377,3078,0,0,0,0,0,0
$GC,1918,-0.52,-146.1,236.4,-12.0,193,1921,0.00,0.93,0.00,0.000,4,0.000,0.058,1434,3959,3079,0,0,0,0,0,0
$GC,2027,-0.52,-146.1,251.0,-12.6,199,2031,0.08,0.88,0.00,0.000,6,0.155,0.036,1459,3380,3078,0,0,0,0,0,0
$GC,2351,-0.52,-146.1,286.1,-11.1,215,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3379,3078,0,0,0,0,0,0
$GC,2659,-0.52,-146.1,319.1,-10.4,230,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3379,3078,0,0,0,0,0,0
$GC,2969,-0.52,-146.1,350.3,-9.5,245,2974,0.00,0.90,0.00,0.000,4,0.000,0.058,1456,3946,3078,0,0,0,0,0,0
$GC,3135,-0.52,-146.1,367.8,-10.1,252,3138,0.00,0.85,0.00,0.000,6,0.000,0.037,1456,3382,3078,0,0,0,0,0,0
$GC,3479,-0.52,-146.1,404.5,-10.5,268,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3381,3078,0,0,0,0,0,0
$GC,3784,-0.52,-146.1,436.8,-10.3,278,3790,0.00,0.90,0.00,0.000,4,0.000,0.059,1452,3950,3078,0,0,0,0,0,0
$GC,3957,-0.52,-146.1,455.1,-10.8,283,3961,0.00,0.85,0.00,0.000,6,0.000,0.037,1452,3384,3078,0,0,0,0,0,0
$GC,4298,-0.52,-146.1,489.3,-9.8,294,4303,0.00,0.90,0.00,0.000,4,0.000,0.059,1448,3952,3077,0,0,0,0,0,0
$GC,4377,-0.52,-146.1,497.5,-10.2,296,4381,0.00,0.88,0.00,0.000,6,0.000,0.037,1448,3372,3077,0,0,0,0,0,0
$GC,4707,-0.52,-146.1,528.9,-9.9,307,4712,0.00,0.93,0.00,0.000,4,0.000,0.059,1443,3956,3077,0,0,0,0,0,0
$GC,4812,-0.52,-146.1,540.2,-10.8,310,4816,0.00,0.88,0.00,0.000,6,0.000,0.037,1443,3376,3076,0,0,0,0,0,0
$GC,5153,-0.52,-146.1,577.0,-11.2,321,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3376,3076,0,0,0,0,0,0
$GC,5459,-0.52,-146.1,612.7,-11.7,331,5463,0.00,0.93,0.00,0.000,4,0.000,0.060,1439,3956,3076,0,0,0,0,0,0
$GC,5612,-0.52,-146.1,632.3,-12.7,335,5616,0.00,0.88,0.00,0.000,6,0.000,0.038,1439,3382,3076,0,0,0,0,0,0
$GC,5936,-0.52,-146.1,670.4,-11.3,346,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3381,3074,0,0,0,0,0,0
$GC,6242,-0.52,-146.1,703.7,-10.9,356,6246,0.00,0.93,0.00,0.000,4,0.000,0.060,1434,3961,3074,0,0,0,0,0,0
$GC,6432,-0.52,-146.1,727.1,-12.3,361,6437,0.08,0.88,0.00,0.000,6,0.151,0.038,1459,3383,3074,0,0,0,0,0,0
$GC,6751,-0.52,-146.1,756.6,-8.8,372,6755,0.00,2.12,0.00,0.000,4,0.000,0.033,1459,1957,3073,0,0,0,0,0,0
$GC,6795,-0.52,-146.1,760.5,-8.4,373,6799,0.00,2.30,0.00,0.000,6,0.000,0.054,1450,3396,3073,0,0,0,0,0,0
$GC,7113,-0.52,-146.1,790.0,-9.4,384,7117,0.00,0.88,0.00,0.000,4,0.000,0.060,1445,3951,3072,0,0,0,0,0,0
$GC,7249,-0.52,-146.1,803.9,-10.0,388,7253,0.00,0.88,0.00,0.000,6,0.000,0.038,1446,3371,3072,0,0,0,0,0,0
$GC,7591,-0.52,-146.1,837.3,-9.7,399,7596,0.00,0.93,0.00,0.000,4,0.000,0.060,1441,3952,3071,0,0,0,0,0,0
$GC,7669,-0.52,-146.1,846.3,-11.7,401,7673,0.00,0.85,0.00,0.000,6,0.000,0.039,1441,3388,3071,0,0,0,0,0,0
$GC,8000,-0.52,-146.1,880.4,-10.2,412,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3388,3070,0,0,0,0,0,0
$GC,8306,-0.52,-146.1,910.7,-9.9,422,8309,0.00,0.90,0.00,0.000,4,0.000,0.060,1437,3951,3070,0,0,0,0,0,0
$GC,8389,-0.52,-146.1,920.2,-11.4,424,8393,0.00,0.88,0.00,0.000,6,0.000,0.039,1437,3374,3070,0,0,0,0,0,0
$GC,8713,-0.52,-146.1,954.1,-10.4,435,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3374,3069,0,0,0,0,0,0
$GC,9020,-0.52,-146.1,983.5,-9.1,445,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3374,3068,0,0,0,0,0,0
$STATE,9232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9232,begin apogee
$GC,9239,-0.14,0.0,1002.0,8.6,452,9391,0.50,0.00,149.32,1.180,6,0.141,0.000,1588,3278,2473,0,0,0,0,0,0
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9396,0.52,146.1,1003.0,0.0,457,9555,0.62,2.42,149.45,1.157,4,0.085,0.032,1808,1855,1868,0,0,0,0,0,0
$GC,9606,0.52,146.1,973.9,14.6,463,9612,0.00,2.47,0.00,0.000,6,0.000,0.053,1808,3259,1858,0,0,0,0,0,0
$GC,9934,0.52,146.1,914.9,18.0,474,9937,0.00,1.15,0.00,0.000,4,0.000,0.057,1808,3949,1851,0,0,0,0,0,0
$GC,10036,0.52,146.1,894.9,20.6,477,10040,0.00,1.08,0.00,0.000,6,0.000,0.034,1813,3254,1850,0,0,0,0,0,0
$GC,10378,0.52,146.1,834.5,17.7,488,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3254,1848,0,0,0,0,0,0
$GC,10684,0.52,146.1,782.4,16.7,498,10688,0.00,1.15,0.00,0.000,4,0.000,0.057,1813,3958,1847,0,0,0,0,0,0
$GC,10745,0.52,146.1,771.3,19.0,499,10753,0.00,1.05,0.00,0.000,6,0.000,0.034,1818,3269,1847,0,0,0,0,0,0
$GC,11058,0.52,146.1,717.9,17.3,510,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3269,1846,0,0,0,0,0,0
$GC,11364,0.52,146.1,660.8,19.2,520,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3269,1846,0,0,0,0,0,0
$GC,11672,0.52,146.1,605.2,17.8,530,11675,0.00,1.10,0.00,0.000,4,0.000,0.058,1818,3948,1846,0,0,0,0,0,0
$GC,11740,0.52,146.1,591.7,20.6,532,11746,0.00,1.02,0.00,0.000,6,0.000,0.034,1823,3264,1846,0,0,0,0,0,0
$GC,12083,0.52,146.1,530.7,17.4,543,12087,0.00,1.10,0.00,0.000,4,0.000,0.057,1823,3948,1845,0,0,0,0,0,0
$GC,12152,0.52,146.1,517.3,20.1,545,12157,0.00,1.00,0.00,0.000,6,0.000,0.034,1829,3275,1845,0,0,0,0,0,0
$GC,12495,0.52,146.1,450.6,19.7,556,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3275,1845,0,0,0,0,0,0
$GC,12812,0.52,146.1,388.4,19.5,567,12816,0.00,1.08,0.00,0.000,4,0.000,0.054,1829,3950,1845,0,0,0,0,0,0
$GC,12892,0.52,146.1,371.6,21.0,570,12896,0.08,1.02,0.00,0.000,6,0.185,0.034,1812,3261,1845,0,0,0,0,0,0
$GC,13214,0.52,146.1,318.2,16.8,586,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3261,1844,0,0,0,0,0,0
$GC,13524,0.52,146.1,268.1,15.9,601,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3261,1844,0,0,0,0,0,0
$GC,13838,0.52,146.1,219.4,15.7,619,13841,0.00,1.10,0.00,0.000,4,0.000,0.054,1812,3952,1844,0,0,0,0,0,0
$GC,13912,0.52,146.1,207.1,16.5,623,13915,0.00,1.00,0.00,0.000,6,0.000,0.033,1815,3275,1844,0,0,0,0,0,0
$GC,14242,0.52,146.1,152.8,16.3,644,14246,0.00,2.12,0.00,0.000,4,0.000,0.031,1826,1855,1844,0,0,0,0,0,0
$GC,14282,0.52,146.1,146.6,13.9,646,14290,0.00,2.28,0.00,0.000,6,0.000,0.047,1826,3281,1844,0,0,0,0,0,0
$GC,14609,0.52,146.1,92.1,16.9,671,14614,0.00,1.05,0.00,0.000,4,0.000,0.053,1826,3949,1844,0,0,0,0,0,0
$GC,14677,0.52,146.1,80.0,19.1,682,14685,0.00,1.00,0.00,0.000,6,0.000,0.033,1831,3269,1844,0,0,0,0,0,0
$GC,15053,0.52,146.1,20.3,12.9,743,15062,0.00,2.12,0.00,0.000,4,0.000,0.032,1842,1862,1844,0,0,0,0,0,0
$GC,15149,0.52,146.1,10.4,10.5,757,15160,0.10,2.22,0.00,0.000,6,0.152,0.045,1811,3269,1843,0,0,0,0,0,0
$STATE,15193,end climb,SURFACE_DEPTH_REACHED
$STATE,15193,begin surface coast
$FINISH,0.9,1.026306
$STATE,15213,end surface coast,CONTROL_FINISHED_OK
$STATE,15213,begin surface
$SM_CCo,15229,46.25,0.716,1,0,1449,250.20
$SM_GC,1.56,0.00,0.00,46.25,0.000,0.000,0.716,49,3383,1449,-4.96,0.08,250.20
$IRIDIUM_FIX,-4140.91,813.53,020113,141459
$TT8_MAMPS,0.025466
$HUMID,56.14
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.0,29.179
$10V_AH,10.1,16.200
$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,11.775,60.825,298.775,46.250,0.000,27.827,19.371,273.881,0.000,0.000,20.277,1963.793,10101.599,396.843,2449.026,855.747,33.361,1350.435,0.000,2311.067,0.000,1.011,0.000
$DEVICE_MAMPS,235.620,87.210,1180.395,716.040,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.692,1697.367,790.048,342.032,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,56961,766
$CAP_FILE_SIZE,121428,0
$CFSIZE,259252224,248991744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020113,224234,-4201.041,813.458,36,1.0,36,-24.9