version: 66.07
glider: 543
mission: 6
dive: 157
start: 1 3 113 7 2 17
data:
$ID,543
$MISSION,6
$DIVE,157
$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,-8305.5107
$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,49
$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
$GPS1,030113,065201,-4202.187,817.382,47,0.9,47,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-49.0
$GPS2,030113,070117,-4202.215,817.412,27,1.7,27,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.226,0.002
$KALMAN_X,-85706.8,-491.6,-310.1,108029.8,-1910.6
$KALMAN_Y,29540.7,-931.1,-391.4,23329.7,4026.8
$MHEAD_RNG_PITCHd_Wd,114.3,5432,-16.2,-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,-0.51,-123.0,0.0,0.0,0,71,0.00,0.00,-49.42,0.000,2,0.000,0.000,48,3383,2654,0,0,0,0,0,0
$GC,76,-0.53,-146.1,3.1,-3.6,6,105,5.75,0.93,-12.35,0.000,4,0.233,0.088,1452,3947,3070,0,0,0,0,0,0
$GC,389,-0.53,-146.1,49.9,-16.9,54,397,0.00,0.85,0.00,0.000,6,0.000,0.037,1452,3394,3073,0,0,0,0,0,0
$GC,634,-0.53,-146.1,85.9,-13.8,95,641,0.00,0.88,0.00,0.000,4,0.000,0.060,1448,3938,3074,0,0,0,0,0,0
$GC,901,-0.53,-146.1,117.8,-11.5,123,905,0.00,0.88,0.00,0.000,6,0.000,0.037,1448,3366,3075,0,0,0,0,0,0
$GC,1227,-0.53,-146.1,153.2,-11.3,144,1230,0.00,0.93,0.00,0.000,4,0.000,0.059,1444,3945,3076,0,0,0,0,0,0
$GC,1439,-0.53,-146.1,178.9,-11.7,156,1445,0.00,0.85,0.00,0.000,6,0.000,0.037,1444,3382,3076,0,0,0,0,0,0
$GC,1774,-0.53,-146.1,216.3,-10.9,177,1778,0.00,0.90,0.00,0.000,4,0.000,0.059,1440,3947,3076,0,0,0,0,0,0
$GC,1945,-0.53,-146.1,237.3,-12.4,186,1954,0.00,0.85,0.00,0.000,6,0.000,0.037,1440,3384,3076,0,0,0,0,0,0
$GC,2270,-0.53,-146.1,276.5,-12.3,204,2273,0.00,0.90,0.00,0.000,4,0.000,0.060,1435,3949,3076,0,0,0,0,0,0
$GC,2501,-0.53,-146.1,309.6,-14.2,214,2505,0.00,0.85,0.00,0.000,6,0.000,0.037,1435,3384,3076,0,0,0,0,0,0
$GC,2836,-0.53,-146.1,352.7,-12.1,230,2839,0.00,0.90,0.00,0.000,4,0.000,0.060,1431,3950,3076,0,0,0,0,0,0
$GC,2933,-0.53,-146.1,365.6,-11.8,234,2937,0.08,0.85,0.00,0.000,6,0.153,0.037,1456,3388,3076,0,0,0,0,0,0
$GC,3261,-0.53,-146.1,396.0,-8.8,250,3265,0.00,0.88,0.00,0.000,4,0.000,0.060,1453,3937,3076,0,0,0,0,0,0
$GC,3346,-0.53,-146.1,404.4,-9.6,253,3350,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3373,3076,0,0,0,0,0,0
$GC,3670,-0.53,-146.1,433.7,-9.4,264,3674,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3940,3076,0,0,0,0,0,0
$GC,3861,-0.53,-146.1,454.0,-10.9,269,3864,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3374,3076,0,0,0,0,0,0
$GC,4179,-0.53,-146.1,487.6,-10.7,280,4183,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3943,3075,0,0,0,0,0,0
$GC,4333,-0.53,-146.1,506.6,-13.0,284,4338,0.00,0.85,0.00,0.000,6,0.000,0.037,1445,3381,3075,0,0,0,0,0,0
$GC,4658,-0.53,-146.1,544.7,-11.4,295,4664,0.00,0.93,0.00,0.000,4,0.000,0.062,1440,3946,3075,0,0,0,0,0,0
$GC,4799,-0.53,-146.1,562.0,-11.8,299,4804,0.00,0.85,0.00,0.000,6,0.000,0.037,1441,3381,3074,0,0,0,0,0,0
$GC,5137,-0.53,-146.1,600.5,-11.5,310,5140,0.00,0.90,0.00,0.000,4,0.000,0.061,1436,3947,3074,0,0,0,0,0,0
$GC,5231,-0.53,-146.1,612.9,-13.0,312,5238,0.00,0.85,0.00,0.000,6,0.000,0.037,1436,3381,3073,0,0,0,0,0,0
$GC,5546,-0.53,-146.1,648.4,-11.1,323,5549,0.00,0.90,0.00,0.000,4,0.000,0.061,1432,3946,3073,0,0,0,0,0,0
$GC,5716,-0.53,-146.1,669.1,-11.6,328,5722,0.08,0.85,0.00,0.000,6,0.155,0.038,1457,3382,3072,0,0,0,0,0,0
$GC,6060,-0.53,-146.1,700.8,-8.9,339,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3382,3072,0,0,0,0,0,0
$GC,6365,-0.53,-146.1,728.0,-8.8,349,6371,0.00,0.90,0.00,0.000,4,0.000,0.063,1454,3946,3071,0,0,0,0,0,0
$GC,6525,-0.53,-146.1,742.9,-9.8,353,6528,0.00,0.85,0.00,0.000,6,0.000,0.039,1454,3382,3070,0,0,0,0,0,0
$GC,6844,-0.53,-146.1,769.8,-8.2,364,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3382,3069,0,0,0,0,0,0
$GC,7150,-0.53,-146.1,793.3,-7.3,374,7156,0.00,0.90,0.00,0.000,4,0.000,0.062,1449,3946,3069,0,0,0,0,0,0
$GC,7323,-0.53,-146.1,807.6,-8.1,379,7327,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3381,3069,0,0,0,0,0,0
$GC,7665,-0.53,-146.1,833.4,-7.7,390,7671,0.00,0.90,0.00,0.000,4,0.000,0.062,1446,3944,3068,0,0,0,0,0,0
$GC,7813,-0.53,-146.1,846.6,-8.4,394,7817,0.00,0.85,0.00,0.000,6,0.000,0.039,1446,3387,3068,0,0,0,0,0,0
$GC,8144,-0.53,-146.1,875.0,-8.9,405,8147,0.00,0.90,0.00,0.000,4,0.000,0.063,1441,3949,3067,0,0,0,0,0,0
$GC,8245,-0.53,-146.1,885.1,-10.1,408,8249,0.00,0.88,0.00,0.000,6,0.000,0.040,1442,3371,3067,0,0,0,0,0,0
$GC,8587,-0.53,-146.1,917.3,-9.5,419,8592,0.00,0.93,0.00,0.000,4,0.000,0.063,1437,3948,3067,0,0,0,0,0,0
$GC,8682,-0.53,-146.1,927.3,-10.1,421,8690,0.00,0.85,0.00,0.000,6,0.000,0.039,1437,3387,3067,0,0,0,0,0,0
$GC,8996,-0.53,-146.1,957.6,-9.7,432,9001,0.00,0.90,0.00,0.000,4,0.000,0.063,1433,3947,3066,0,0,0,0,0,0
$GC,9215,-0.53,-146.1,981.6,-12.0,438,9220,0.08,0.85,0.00,0.000,6,0.155,0.040,1457,3389,3065,0,0,0,0,0,0
$STATE,9445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9445,begin apogee
$GC,9452,-0.14,0.0,1002.1,8.8,446,9600,0.43,0.00,139.00,1.823,6,0.132,0.000,1589,3272,2473,0,0,0,0,1,0
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9604,0.53,146.1,1005.8,0.0,451,9765,0.62,2.50,147.45,1.776,4,0.080,0.034,1807,1857,1877,0,0,0,0,1,0
$GC,9816,0.53,146.1,981.8,11.9,457,9822,0.00,2.47,0.00,0.000,6,0.000,0.051,1807,3259,1874,0,0,0,0,0,0
$GC,10136,0.53,146.1,927.6,17.3,468,10142,0.00,1.15,0.00,0.000,4,0.000,0.057,1807,3951,1867,0,0,0,0,0,0
$GC,10232,0.53,146.1,908.6,21.1,470,10240,0.00,1.08,0.00,0.000,6,0.000,0.033,1812,3257,1866,0,0,0,0,0,0
$GC,10545,0.53,146.1,852.3,17.6,481,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3257,1864,0,0,0,0,0,0
$GC,10851,0.53,146.1,800.2,17.0,491,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3257,1863,0,0,0,0,0,0
$GC,11159,0.53,146.1,748.5,16.8,501,11163,0.00,1.12,0.00,0.000,4,0.000,0.058,1812,3951,1863,0,0,0,0,0,0
$GC,11202,0.53,146.1,740.3,18.7,502,11206,0.00,1.02,0.00,0.000,6,0.000,0.034,1817,3272,1863,0,0,0,0,0,0
$GC,11532,0.53,146.1,683.1,17.7,513,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3272,1862,0,0,0,0,0,0
$GC,11839,0.53,146.1,625.9,19.7,523,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3272,1861,0,0,0,0,0,0
$GC,12146,0.53,146.1,565.7,20.0,533,12150,0.00,2.15,0.00,0.000,4,0.000,0.034,1828,1856,1860,0,0,0,0,0,0
$GC,12195,0.53,146.1,556.3,16.2,534,12200,0.00,2.28,0.00,0.000,6,0.000,0.051,1828,3279,1859,0,0,0,0,0,0
$GC,12509,0.53,146.1,493.4,20.3,544,12512,0.00,1.08,0.00,0.000,4,0.000,0.057,1828,3954,1859,0,0,0,0,0,0
$GC,12580,0.53,146.1,479.0,20.4,546,12584,0.00,1.02,0.00,0.000,6,0.000,0.034,1833,3265,1858,0,0,0,0,0,0
$GC,12921,0.53,146.1,409.6,19.5,557,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3265,1858,0,0,0,0,0,0
$GC,13232,0.53,146.1,351.0,19.0,571,13237,0.00,1.10,0.00,0.000,4,0.000,0.057,1834,3951,1858,0,0,0,0,0,0
$GC,13271,0.53,146.1,342.6,18.8,572,13280,0.10,1.00,0.00,0.000,6,0.187,0.033,1810,3273,1858,0,0,0,0,0,0
$GC,13589,0.53,146.1,288.3,17.1,588,13593,0.00,2.12,0.00,0.000,4,0.000,0.032,1819,1856,1858,0,0,0,0,0,0
$GC,13631,0.53,146.1,281.7,14.0,590,13637,0.00,2.28,0.00,0.000,6,0.000,0.050,1819,3274,1857,0,0,0,0,0,0
$GC,13961,0.53,146.1,224.7,17.2,608,13967,0.00,1.08,0.00,0.000,4,0.000,0.056,1819,3950,1857,0,0,0,0,0,0
$GC,14069,0.53,146.1,204.2,19.5,614,14072,0.00,1.00,0.00,0.000,6,0.000,0.033,1825,3274,1858,0,0,0,0,0,0
$GC,14401,0.53,146.1,145.6,17.4,635,14407,0.00,2.15,0.00,0.000,4,0.000,0.031,1835,1854,1857,0,0,0,0,0,0
$GC,14443,0.53,146.1,138.8,13.4,637,14447,0.12,2.25,0.00,0.000,6,0.177,0.048,1805,3279,1857,0,0,0,0,0,0
$GC,14767,0.53,146.1,93.4,13.8,661,14774,0.00,1.05,0.00,0.000,4,0.000,0.055,1804,3947,1857,0,0,0,0,0,0
$GC,14894,0.53,146.1,74.0,16.2,682,14901,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3267,1857,0,0,0,0,0,0
$GC,15266,0.53,146.1,21.0,16.4,743,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3266,1857,0,0,0,0,0,0
$GC,15358,0.53,146.1,8.0,11.6,756,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3267,1857,0,0,0,0,0,0
$STATE,15407,end climb,SURFACE_DEPTH_REACHED
$STATE,15407,begin surface coast
$FINISH,1.1,1.026166
$STATE,15440,end surface coast,CONTROL_FINISHED_OK
$STATE,15440,begin surface
$SM_CCo,15456,49.62,0.704,1,0,1449,250.20
$SM_GC,1.98,0.00,0.00,49.62,0.000,0.000,0.704,57,3396,1449,-4.93,0.45,250.20
$IRIDIUM_FIX,-4143.80,817.23,030113,020259
$TT8_MAMPS,0.026964
$HUMID,56.14
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.3,29.669
$10V_AH,10.1,16.522
$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,11.825,62.850,286.450,49.625,0.000,25.084,25.164,327.353,0.000,0.000,32.033,2020.631,10020.296,409.618,2744.520,876.113,33.357,1481.508,0.000,2524.475,0.000,1.013,0.000
$DEVICE_MAMPS,233.325,87.975,1822.995,703.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.687,1699.636,775.208,343.191,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,57114,768
$CAP_FILE_SIZE,131287,0
$CFSIZE,259252224,248791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,030113,112204,-4202.735,819.732,33,1.0,33,-24.9