version: 66.07
glider: 543
mission: 6
dive: 158
start: 1 3 113 11 32 3
data:
$ID,543
$MISSION,6
$DIVE,158
$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,-8307.8438
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,030113,112204,-4202.735,819.732,33,1.0,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-48.7
$GPS2,030113,113105,-4202.725,819.792,17,1.6,17,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.207,0.121
$KALMAN_X,-88988.9,145.1,108.2,113490.3,-4677.7
$KALMAN_Y,27804.8,-817.7,-370.2,23989.1,2118.2
$MHEAD_RNG_PITCHd_Wd,84.5,5055,-15.0,-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,-140.3,0.0,0.0,0,79,0.00,0.00,-56.38,0.000,2,0.000,0.000,57,3396,2843,0,0,0,0,0,0
$GC,83,-0.50,-146.1,3.1,-3.0,7,104,5.72,0.90,-6.05,0.000,4,0.233,0.091,1462,3942,3071,0,0,0,0,0,0
$GC,384,-0.50,-146.1,49.5,-12.6,54,395,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3390,3074,0,0,0,0,0,0
$GC,631,-0.50,-146.1,79.4,-10.7,95,636,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3931,3075,0,0,0,0,0,0
$GC,896,-0.50,-146.1,109.6,-12.8,132,900,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3372,3076,0,0,0,0,0,0
$GC,1224,-0.50,-146.1,145.7,-11.2,153,1228,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3936,3077,0,0,0,0,0,0
$GC,1489,-0.50,-146.1,177.7,-13.0,168,1493,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3375,3077,0,0,0,0,0,0
$GC,1817,-0.50,-146.1,215.8,-11.8,189,1821,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3937,3077,0,0,0,0,0,0
$GC,2019,-0.50,-146.1,244.3,-14.0,200,2025,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3371,3077,0,0,0,0,0,0
$GC,2350,-0.50,-146.1,285.8,-12.6,217,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3371,3077,0,0,0,0,0,0
$GC,2658,-0.50,-146.1,323.9,-12.6,232,2662,0.00,0.90,0.00,0.000,4,0.000,0.059,1445,3936,3077,0,0,0,0,0,0
$GC,2844,-0.50,-146.1,350.0,-13.2,240,2850,0.00,0.82,0.00,0.000,6,0.000,0.037,1445,3387,3077,0,0,0,0,0,0
$GC,3179,-0.50,-146.1,392.4,-12.6,256,3183,0.00,0.88,0.00,0.000,4,0.000,0.060,1441,3935,3077,0,0,0,0,0,0
$GC,3287,-0.50,-146.1,407.5,-13.6,260,3292,0.08,0.85,0.00,0.000,6,0.147,0.037,1466,3370,3077,0,0,0,0,0,0
$GC,3623,-0.50,-146.1,441.0,-9.6,271,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3370,3077,0,0,0,0,0,0
$GC,3929,-0.50,-146.1,468.0,-8.3,281,3933,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3936,3076,0,0,0,0,0,0
$GC,4115,-0.50,-146.1,483.4,-8.3,286,4118,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3374,3077,0,0,0,0,0,0
$GC,4439,-0.50,-146.1,507.2,-7.2,297,4443,0.00,0.90,0.00,0.000,4,0.000,0.061,1459,3939,3076,0,0,0,0,0,0
$GC,4524,-0.50,-146.1,514.2,-8.2,299,4527,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3376,3076,0,0,0,0,0,0
$GC,4849,-0.50,-146.1,537.8,-7.2,310,4853,0.00,0.90,0.00,0.000,4,0.000,0.060,1455,3942,3075,0,0,0,0,0,0
$GC,5028,-0.50,-146.1,552.4,-8.2,315,5032,0.00,0.85,0.00,0.000,6,0.000,0.038,1455,3378,3075,0,0,0,0,0,0
$GC,5359,-0.50,-146.1,579.9,-8.7,326,5362,0.00,0.88,0.00,0.000,4,0.000,0.060,1451,3928,3074,0,0,0,0,0,0
$GC,5470,-0.50,-146.1,591.3,-10.2,329,5476,0.00,0.82,0.00,0.000,6,0.000,0.038,1451,3382,3074,0,0,0,0,0,0
$GC,5801,-0.50,-146.1,623.3,-9.9,340,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3382,3074,0,0,0,0,0,0
$GC,6107,-0.50,-146.1,654.5,-10.1,350,6111,0.00,0.88,0.00,0.000,4,0.000,0.062,1447,3930,3073,0,0,0,0,0,0
$GC,6238,-0.50,-146.1,669.2,-11.0,353,6244,0.00,0.82,0.00,0.000,6,0.000,0.038,1447,3385,3072,0,0,0,0,0,0
$GC,6551,-0.50,-146.1,703.3,-10.9,364,6557,0.00,0.88,0.00,0.000,4,0.000,0.061,1443,3933,3072,0,0,0,0,0,0
$GC,6726,-0.50,-146.1,724.1,-10.8,369,6730,0.08,0.85,0.00,0.000,6,0.147,0.038,1467,3373,3071,0,0,0,0,0,0
$GC,7061,-0.50,-146.1,752.9,-8.3,380,7067,0.00,0.90,0.00,0.000,4,0.000,0.063,1465,3935,3070,0,0,0,0,0,0
$GC,7179,-0.50,-146.1,763.5,-8.8,383,7183,0.00,0.85,0.00,0.000,6,0.000,0.039,1464,3375,3070,0,0,0,0,0,0
$GC,7505,-0.50,-146.1,790.0,-8.0,394,7508,0.00,0.90,0.00,0.000,4,0.000,0.063,1460,3936,3070,0,0,0,0,0,0
$GC,7575,-0.50,-146.1,795.8,-8.5,396,7578,0.00,0.85,0.00,0.000,6,0.000,0.039,1460,3376,3070,0,0,0,0,0,0
$GC,7916,-0.50,-146.1,822.4,-7.7,407,7920,0.00,0.90,0.00,0.000,4,0.000,0.063,1456,3936,3069,0,0,0,0,0,0
$GC,8033,-0.50,-146.1,832.8,-8.6,410,8037,0.00,0.85,0.00,0.000,6,0.000,0.039,1456,3378,3069,0,0,0,0,0,0
$GC,8359,-0.50,-146.1,859.0,-8.3,421,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3377,3068,0,0,0,0,0,0
$GC,8665,-0.50,-146.1,884.1,-8.3,431,8670,0.00,0.90,0.00,0.000,4,0.000,0.063,1452,3938,3067,0,0,0,0,0,0
$GC,8783,-0.50,-146.1,895.0,-8.5,434,8786,0.00,0.85,0.00,0.000,6,0.000,0.040,1452,3381,3067,0,0,0,0,0,0
$GC,9107,-0.50,-146.1,923.8,-8.9,445,9111,0.00,0.90,0.00,0.000,4,0.000,0.063,1448,3942,3067,0,0,0,0,0,0
$GC,9168,-0.50,-146.1,929.5,-9.1,446,9176,0.00,0.88,0.00,0.000,6,0.000,0.039,1447,3366,3067,0,0,0,0,0,0
$GC,9481,-0.50,-146.1,956.2,-8.4,457,9487,0.00,0.90,0.00,0.000,4,0.000,0.063,1443,3929,3067,0,0,0,0,0,0
$GC,9676,-0.50,-146.1,974.5,-10.0,462,9680,0.08,0.82,0.00,0.000,6,0.146,0.040,1468,3389,3065,0,0,0,0,0,0
$GC,9996,-0.50,-146.1,998.8,-7.7,473,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3389,3065,0,0,0,0,0,0
$STATE,10022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10022,begin apogee
$GC,10029,-0.14,0.0,1001.2,7.8,474,10182,0.38,0.00,150.23,1.177,6,0.128,0.000,1585,3276,2473,0,0,0,0,0,0
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10184,begin climb
$GC,10187,0.50,146.1,1005.7,0.0,479,10346,0.62,2.50,151.27,1.157,4,0.086,0.034,1806,1853,1870,0,0,0,0,0,0
$GC,10406,0.50,146.1,981.9,12.0,485,10411,0.00,2.45,0.00,0.000,6,0.000,0.052,1806,3261,1859,0,0,0,0,0,0
$GC,10720,0.50,146.1,930.5,16.8,495,10725,0.00,1.15,0.00,0.000,4,0.000,0.058,1806,3951,1852,0,0,0,0,0,0
$GC,10803,0.50,146.1,914.9,18.1,497,10807,0.00,1.08,0.00,0.000,6,0.000,0.034,1811,3260,1851,0,0,0,0,0,0
$GC,11128,0.50,146.1,860.3,16.5,508,11132,0.00,2.17,0.00,0.000,4,0.000,0.037,1821,1865,1850,0,0,0,0,0,0
$GC,11172,0.50,146.1,853.4,14.8,509,11176,0.00,2.30,0.00,0.000,6,0.000,0.052,1821,3279,1848,0,0,0,0,0,0
$GC,11491,0.50,146.1,799.6,16.9,520,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3279,1848,0,0,0,0,0,0
$GC,11797,0.50,146.1,745.6,17.6,530,11801,0.00,2.17,0.00,0.000,4,0.000,0.036,1832,1855,1847,0,0,0,0,0,0
$GC,11826,0.50,146.1,740.5,16.1,531,11831,0.12,2.28,0.00,0.000,6,0.180,0.053,1802,3279,1847,0,0,0,0,0,0
$GC,12162,0.50,146.1,684.6,17.2,542,12165,0.00,1.08,0.00,0.000,4,0.000,0.060,1801,3946,1847,0,0,0,0,0,0
$GC,12250,0.50,146.1,668.2,17.9,544,12254,0.00,1.02,0.00,0.000,6,0.000,0.034,1805,3264,1847,0,0,0,0,0,0
$GC,12569,0.50,146.1,613.0,17.6,555,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3264,1847,0,0,0,0,0,0
$GC,12875,0.50,146.1,558.0,17.9,565,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3264,1846,0,0,0,0,0,0
$GC,13183,0.50,146.1,502.7,17.7,575,13187,0.00,1.10,0.00,0.000,4,0.000,0.057,1805,3947,1846,0,0,0,0,0,0
$GC,13251,0.50,146.1,489.8,20.2,577,13256,0.00,1.02,0.00,0.000,6,0.000,0.034,1809,3261,1846,0,0,0,0,0,0
$GC,13594,0.50,146.1,430.9,16.9,588,13598,0.00,1.10,0.00,0.000,4,0.000,0.057,1810,3945,1846,0,0,0,0,0,0
$GC,13654,0.50,146.1,419.6,18.5,589,13661,0.00,1.00,0.00,0.000,6,0.000,0.034,1815,3272,1846,0,0,0,0,0,0
$GC,13974,0.50,146.1,366.7,17.2,603,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3272,1846,0,0,0,0,0,0
$GC,14280,0.50,146.1,313.1,17.5,618,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3273,1846,0,0,0,0,0,0
$GC,14590,0.50,146.1,261.7,16.7,633,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3273,1846,0,0,0,0,0,0
$GC,14905,0.50,146.1,208.5,16.8,652,14909,0.00,2.10,0.00,0.000,4,0.000,0.032,1826,1860,1846,0,0,0,0,0,0
$GC,14940,0.50,146.1,202.9,15.1,654,14946,0.08,2.28,0.00,0.000,6,0.155,0.050,1802,3277,1846,0,0,0,0,0,0
$GC,15272,0.50,146.1,151.0,16.7,675,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3277,1845,0,0,0,0,0,0
$GC,15579,0.50,146.1,97.4,17.0,695,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3276,1845,0,0,0,0,0,0
$GC,15939,0.50,146.1,42.0,13.0,756,15950,0.00,1.08,0.00,0.000,4,0.000,0.057,1802,3954,1845,0,0,0,0,0,0
$GC,16059,0.50,146.1,24.9,14.4,774,16070,0.00,1.02,0.00,0.000,6,0.000,0.034,1805,3262,1845,0,0,0,0,0,0
$GC,16148,0.50,146.1,11.5,14.7,787,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3262,1845,0,0,0,0,0,0
$STATE,16215,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FINISH,1.1,1.006193
$STATE,16244,end surface coast,CONTROL_FINISHED_OK
$STATE,16244,begin surface
$SM_CCo,16260,50.97,0.689,1,0,1451,250.20
$SM_GC,1.94,0.00,0.00,50.97,0.000,0.000,0.689,52,3388,1451,-4.95,0.25,250.20
$IRIDIUM_FIX,-4149.58,814.78,030113,060617
$TT8_MAMPS,0.025466
$HUMID,56.06
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.9,29.799
$10V_AH,10.1,16.639
$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,11.850,60.550,301.500,50.975,0.000,27.903,21.350,313.701,0.000,0.000,19.612,2086.629,10753.202,412.072,2703.721,900.066,33.365,1468.658,0.000,2515.883,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,91.035,1177.335,688.500,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.318,1731.710,779.731,362.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,60581,801
$CAP_FILE_SIZE,133467,0
$CFSIZE,259252224,248713216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,030113,160523,-4202.412,822.081,41,0.8,41,-24.9