version: 66.07
glider: 543
mission: 6
dive: 156
start: 1 3 113 3 7 0
data:
$ID,543
$MISSION,6
$DIVE,156
$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,-8301.3164
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,030113,025623,-4201.758,815.685,56,1.2,56,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-43.8
$GPS2,030113,030602,-4201.743,815.596,15,1.2,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.205,-0.025
$KALMAN_X,-82393.8,-863.3,-432.6,102741.7,1067.0
$KALMAN_Y,29621.1,-504.8,-201.0,23501.8,3813.8
$MHEAD_RNG_PITCHd_Wd,121.9,6867,-18.2,-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,-0.55,-100.4,0.0,0.0,0,79,0.00,0.00,-56.38,0.000,2,0.000,0.000,53,3392,2821,0,0,0,0,0,0
$GC,83,-0.58,-146.1,3.0,-2.5,7,104,5.57,0.88,-6.72,0.000,4,0.229,0.078,1438,3942,3070,0,0,0,0,0,0
$GC,113,-0.58,-146.1,9.3,-11.0,10,124,0.00,0.85,0.00,0.000,6,0.000,0.037,1438,3395,3072,0,0,0,0,0,0
$GC,205,-0.58,-146.1,28.3,-21.2,23,216,0.00,0.88,0.00,0.000,4,0.000,0.057,1434,3936,3073,0,0,0,0,0,0
$GC,489,-0.58,-146.1,75.3,-15.7,69,496,0.00,0.85,0.00,0.000,6,0.000,0.037,1434,3381,3074,0,0,0,0,0,0
$GC,837,-0.58,-146.1,122.6,-12.4,109,841,0.00,0.88,0.00,0.000,4,0.000,0.058,1431,3928,3075,0,0,0,0,0,0
$GC,1103,-0.58,-146.1,162.2,-15.2,124,1107,0.00,0.82,0.00,0.000,6,0.000,0.036,1431,3381,3076,0,0,0,0,0,0
$GC,1432,-0.58,-146.1,207.8,-13.5,145,1436,0.00,0.88,0.00,0.000,4,0.000,0.059,1426,3929,3077,0,0,0,0,0,0
$GC,1682,-0.58,-146.1,244.0,-14.2,159,1686,0.00,0.82,0.00,0.000,6,0.000,0.037,1426,3382,3077,0,0,0,0,0,0
$GC,2002,-0.58,-146.1,285.9,-13.2,175,2007,0.00,0.88,0.00,0.000,4,0.000,0.058,1422,3933,3077,0,0,0,0,0,0
$GC,2180,-0.58,-146.1,311.4,-14.2,182,2188,0.00,0.82,0.00,0.000,6,0.000,0.037,1422,3385,3077,0,0,0,0,0,0
$GC,2498,-0.58,-146.1,355.4,-14.6,198,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,1422,3385,3077,0,0,0,0,0,0
$GC,2808,-0.58,-146.1,401.8,-14.9,213,2813,0.00,0.88,0.00,0.000,4,0.000,0.059,1418,3933,3077,0,0,0,0,0,0
$GC,2982,-0.58,-146.1,429.7,-15.9,218,2985,0.00,0.82,0.00,0.000,6,0.000,0.037,1418,3387,3077,0,0,0,0,0,0
$GC,3317,-0.58,-146.1,477.2,-14.2,229,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,1418,3387,3077,0,0,0,0,0,0
$GC,3624,-0.58,-146.1,516.9,-12.6,239,3627,0.00,0.88,0.00,0.000,4,0.000,0.058,1414,3940,3076,0,0,0,0,0,0
$GC,3827,-0.58,-146.1,543.1,-12.5,245,3831,0.08,0.85,0.00,0.000,6,0.164,0.037,1438,3377,3076,0,0,0,0,0,0
$GC,4168,-0.58,-146.1,576.6,-9.6,256,4174,0.00,0.88,0.00,0.000,4,0.000,0.060,1435,3931,3075,0,0,0,0,0,0
$GC,4225,-0.58,-146.1,582.9,-10.7,257,4228,0.00,0.82,0.00,0.000,6,0.000,0.038,1435,3384,3075,0,0,0,0,0,0
$GC,4544,-0.58,-146.1,616.4,-10.6,268,4548,0.00,0.88,0.00,0.000,4,0.000,0.060,1431,3933,3075,0,0,0,0,0,0
$GC,4613,-0.58,-146.1,624.5,-11.6,270,4618,0.00,0.85,0.00,0.000,6,0.000,0.039,1431,3372,3074,0,0,0,0,0,0
$GC,4956,-0.58,-146.1,664.8,-11.9,281,4959,0.00,0.90,0.00,0.000,4,0.000,0.060,1427,3938,3073,0,0,0,0,0,0
$GC,5044,-0.58,-146.1,677.2,-14.3,283,5048,0.00,0.85,0.00,0.000,6,0.000,0.039,1427,3376,3073,0,0,0,0,0,0
$GC,5364,-0.58,-146.1,718.5,-12.8,294,5368,0.00,0.90,0.00,0.000,4,0.000,0.060,1422,3940,3072,0,0,0,0,0,0
$GC,5466,-0.58,-146.1,732.9,-13.9,297,5470,0.00,0.85,0.00,0.000,6,0.000,0.039,1422,3381,3072,0,0,0,0,0,0
$GC,5808,-0.58,-146.1,775.4,-12.1,308,5814,0.00,0.90,0.00,0.000,4,0.000,0.062,1418,3928,3071,0,0,0,0,0,0
$GC,5948,-0.58,-146.1,793.6,-12.6,312,5954,0.00,0.82,0.00,0.000,6,0.000,0.040,1419,3383,3071,0,0,0,0,0,0
$GC,6286,-0.58,-146.1,832.2,-11.2,323,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,1418,3383,3070,0,0,0,0,0,0
$GC,6591,-0.58,-146.1,864.7,-10.6,333,6597,0.00,0.88,0.00,0.000,4,0.000,0.062,1414,3932,3069,0,0,0,0,0,0
$GC,6664,-0.58,-146.1,873.4,-11.0,335,6669,0.08,0.85,0.00,0.000,6,0.165,0.039,1437,3373,3069,0,0,0,0,0,0
$GC,7000,-0.58,-146.1,903.3,-8.7,346,7005,0.00,0.90,0.00,0.000,4,0.000,0.062,1434,3935,3068,0,0,0,0,0,0
$GC,7070,-0.58,-146.1,910.4,-10.3,348,7073,0.00,0.85,0.00,0.000,6,0.000,0.040,1434,3379,3068,0,0,0,0,0,0
$GC,7411,-0.58,-146.1,943.4,-9.6,359,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,1435,3379,3068,0,0,0,0,0,0
$GC,7717,-0.58,-146.1,974.0,-10.2,369,7721,0.00,0.88,0.00,0.000,4,0.000,0.061,1430,3925,3066,0,0,0,0,0,0
$GC,7835,-0.58,-146.1,987.7,-11.8,372,7841,0.00,0.82,0.00,0.000,6,0.000,0.041,1430,3385,3067,0,0,0,0,0,0
$STATE,7974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7974,begin apogee
$GC,7981,-0.14,0.0,1003.1,11.0,377,8133,0.52,0.00,148.57,1.193,6,0.142,0.000,1589,3273,2473,0,0,0,0,0,0
$STATE,8134,end apogee,CONTROL_FINISHED_OK
$STATE,8134,begin climb
$GC,8137,0.58,146.1,1007.1,0.0,382,8297,0.68,2.47,150.07,1.176,4,0.083,0.033,1827,1855,1871,0,0,0,0,0,0
$GC,8315,0.58,146.1,985.1,16.1,387,8319,0.00,2.47,0.00,0.000,6,0.000,0.050,1827,3256,1861,0,0,0,0,0,0
$GC,8633,0.58,146.1,928.4,18.0,398,8637,0.00,1.15,0.00,0.000,4,0.000,0.057,1827,3947,1851,0,0,0,0,0,0
$GC,8689,0.58,146.1,916.9,20.6,399,8692,0.00,1.08,0.00,0.000,6,0.000,0.034,1833,3257,1851,0,0,0,0,0,0
$GC,9007,0.58,146.1,858.1,18.0,410,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3256,1848,0,0,0,0,0,0
$GC,9313,0.58,146.1,802.2,18.3,420,9317,0.00,1.12,0.00,0.000,4,0.000,0.058,1833,3942,1847,0,0,0,0,0,0
$GC,9375,0.58,146.1,789.4,21.1,421,9383,0.00,1.02,0.00,0.000,6,0.000,0.034,1837,3268,1847,0,0,0,0,0,0
$GC,9688,0.58,146.1,728.9,19.2,432,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3269,1846,0,0,0,0,0,0
$GC,9994,0.58,146.1,668.6,19.8,442,9998,0.00,1.10,0.00,0.000,4,0.000,0.058,1837,3950,1846,0,0,0,0,0,0
$GC,10055,0.58,146.1,654.6,21.7,443,10064,0.00,1.02,0.00,0.000,6,0.000,0.034,1843,3269,1846,0,0,0,0,0,0
$GC,10369,0.58,146.1,591.5,20.1,454,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,3269,1846,0,0,0,0,0,0
$GC,10675,0.58,146.1,531.8,19.7,464,10679,0.00,1.10,0.00,0.000,4,0.000,0.057,1843,3951,1845,0,0,0,0,0,0
$GC,10720,0.58,146.1,521.7,23.1,465,10723,0.00,1.02,0.00,0.000,6,0.000,0.033,1848,3261,1845,0,0,0,0,0,0
$GC,11050,0.58,146.1,452.5,21.2,476,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3261,1845,0,0,0,0,0,0
$GC,11361,0.58,146.1,385.1,21.7,487,11364,0.00,1.10,0.00,0.000,4,0.000,0.055,1848,3947,1845,0,0,0,0,0,0
$GC,11430,0.58,146.1,368.1,24.0,490,11434,0.08,1.00,0.00,0.000,6,0.185,0.033,1831,3272,1845,0,0,0,0,0,0
$GC,11764,0.58,146.1,301.5,19.9,506,11768,0.00,2.12,0.00,0.000,4,0.000,0.032,1840,1860,1845,0,0,0,0,0,0
$GC,11809,0.58,146.1,293.0,15.8,508,11815,0.00,2.28,0.00,0.000,6,0.000,0.050,1840,3276,1843,0,0,0,0,0,0
$GC,12130,0.58,146.1,230.7,19.6,525,12136,0.00,1.08,0.00,0.000,4,0.000,0.056,1840,3955,1843,0,0,0,0,0,0
$GC,12207,0.58,146.1,213.7,21.3,529,12211,0.00,1.02,0.00,0.000,6,0.000,0.032,1846,3267,1843,0,0,0,0,0,0
$GC,12534,0.58,146.1,150.8,19.4,550,12537,0.00,1.08,0.00,0.000,4,0.000,0.054,1846,3944,1843,0,0,0,0,0,0
$GC,12591,0.58,146.1,139.4,21.7,553,12594,0.00,1.00,0.00,0.000,6,0.000,0.032,1851,3269,1843,0,0,0,0,0,0
$GC,12924,0.58,146.1,70.8,19.2,590,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3268,1843,0,0,0,0,0,0
$GC,13304,0.58,146.1,4.5,18.9,651,13313,0.00,2.12,0.00,0.000,4,0.000,0.029,1862,1853,1842,0,0,0,0,0,0
$STATE,13319,end climb,SURFACE_DEPTH_REACHED
$STATE,13320,begin surface coast
$FINISH,1.0,1.019025
$STATE,13342,end surface coast,CONTROL_FINISHED_OK
$STATE,13342,begin surface
$SM_CCo,13360,46.25,0.727,1,0,1449,250.20
$SM_GC,1.75,0.00,0.00,46.25,0.000,0.000,0.727,49,3384,1449,-4.96,0.11,250.20
$IRIDIUM_FIX,-4143.80,813.95,020113,222254
$TT8_MAMPS,0.025466
$HUMID,56.85
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.9,29.493
$10V_AH,10.1,16.405
$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,11.825,54.825,298.650,46.250,0.000,46.279,47.115,311.862,0.000,0.000,20.460,1717.686,8778.172,408.443,2325.680,762.299,33.356,1297.422,0.000,2078.723,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,78.030,1192.635,726.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.039,1437.299,644.059,285.407,0.000,0.000,0.000,0.000,0.000,0.000
$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,47170,656
$CAP_FILE_SIZE,112233,0
$CFSIZE,259252224,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030113,065201,-4202.187,817.382,47,0.9,47,-24.9