version: 66.07
glider: 543
mission: 6
dive: 161
start: 1 4 113 2 11 59
data:
$ID,543
$MISSION,6
$DIVE,161
$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,-8314.8652
$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,36
$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
$GPS1,040113,020133,-4200.306,823.627,39,1.4,42,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-50.1
$GPS2,040113,021101,-4200.374,823.756,16,0.9,17,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.014,0.238
$KALMAN_X,-92821.4,619.2,479.6,121860.4,-4755.2
$KALMAN_Y,16764.5,-2.1,-38.8,38216.8,-5011.5
$MHEAD_RNG_PITCHd_Wd,21.4,5216,-15.2,-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,-0.49,-138.2,0.0,0.0,0,71,0.00,0.00,-48.97,0.000,2,0.000,0.000,49,3392,2626,0,0,0,0,0,0
$GC,75,-0.50,-146.1,3.1,-3.5,6,104,5.70,2.22,-13.70,0.000,4,0.226,0.044,1468,1965,3070,0,0,0,0,0,0
$GC,276,-0.50,-146.1,25.4,-13.3,35,286,0.00,2.30,0.00,0.000,6,0.000,0.057,1459,3358,3072,0,0,0,0,0,0
$GC,361,-0.50,-146.1,35.9,-14.2,48,372,0.00,0.95,0.00,0.000,4,0.000,0.060,1455,3947,3072,0,0,0,0,0,0
$GC,430,-0.50,-146.1,46.3,-15.0,58,438,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3396,3073,0,0,0,0,0,0
$GC,673,-0.50,-146.1,78.4,-12.4,99,680,0.00,0.90,0.00,0.000,4,0.000,0.059,1450,3956,3074,0,0,0,0,0,0
$GC,750,-0.50,-146.1,88.0,-12.4,112,756,0.00,0.88,0.00,0.000,6,0.000,0.036,1450,3382,3074,0,0,0,0,0,0
$GC,1089,-0.50,-146.1,127.0,-11.6,144,1093,0.00,0.90,0.00,0.000,4,0.000,0.059,1446,3949,3075,0,0,0,0,0,0
$GC,1189,-0.50,-146.1,140.4,-13.3,149,1196,0.00,0.85,0.00,0.000,6,0.000,0.037,1446,3385,3075,0,0,0,0,0,0
$GC,1509,-0.50,-146.1,181.0,-12.8,170,1512,0.00,0.90,0.00,0.000,4,0.000,0.058,1442,3950,3075,0,0,0,0,0,0
$GC,1668,-0.50,-146.1,202.1,-13.2,179,1672,0.08,0.85,0.00,0.000,6,0.151,0.036,1466,3385,3076,0,0,0,0,0,0
$GC,2000,-0.50,-146.1,237.8,-10.4,200,2004,0.00,0.90,0.00,0.000,4,0.000,0.059,1463,3953,3075,0,0,0,0,0,0
$GC,2132,-0.50,-146.1,252.6,-11.0,207,2139,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3387,3075,0,0,0,0,0,0
$GC,2451,-0.50,-146.1,283.5,-9.8,223,2456,0.00,0.90,0.00,0.000,4,0.000,0.059,1459,3954,3075,0,0,0,0,0,0
$GC,2625,-0.50,-146.1,303.5,-11.6,230,2631,0.00,0.88,0.00,0.000,6,0.000,0.037,1459,3375,3075,0,0,0,0,0,0
$GC,2949,-0.50,-146.1,335.9,-9.8,246,2953,0.00,0.93,0.00,0.000,4,0.000,0.057,1454,3959,3075,0,0,0,0,0,0
$GC,3097,-0.50,-146.1,353.1,-11.0,252,3101,0.00,0.88,0.00,0.000,6,0.000,0.037,1454,3378,3075,0,0,0,0,0,0
$GC,3420,-0.50,-146.1,387.6,-10.6,268,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3378,3075,0,0,0,0,0,0
$GC,3726,-0.50,-146.1,419.8,-10.1,280,3730,0.00,0.90,0.00,0.000,4,0.000,0.059,1450,3947,3075,0,0,0,0,0,0
$GC,3949,-0.50,-146.1,445.0,-11.1,286,3952,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3382,3075,0,0,0,0,0,0
$GC,4268,-0.50,-146.1,477.6,-10.2,297,4271,0.00,0.90,0.00,0.000,4,0.000,0.059,1447,3951,3075,0,0,0,0,0,0
$GC,4442,-0.50,-146.1,496.5,-10.9,302,4446,0.00,0.85,0.00,0.000,6,0.000,0.037,1446,3386,3075,0,0,0,0,0,0
$GC,4784,-0.50,-146.1,534.5,-11.0,313,4787,0.00,0.90,0.00,0.000,4,0.000,0.059,1442,3953,3074,0,0,0,0,0,0
$GC,4910,-0.50,-146.1,549.7,-13.0,316,4914,0.08,0.88,0.00,0.000,6,0.149,0.037,1466,3375,3074,0,0,0,0,0,0
$GC,5229,-0.50,-146.1,580.2,-9.4,327,5233,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3956,3074,0,0,0,0,0,0
$GC,5394,-0.50,-146.1,597.8,-10.7,331,5402,0.00,0.88,0.00,0.000,6,0.000,0.038,1463,3381,3073,0,0,0,0,0,0
$GC,5707,-0.50,-146.1,628.5,-9.9,342,5711,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3949,3072,0,0,0,0,0,0
$GC,5880,-0.50,-146.1,647.0,-10.8,347,5883,0.00,0.85,0.00,0.000,6,0.000,0.039,1459,3387,3072,0,0,0,0,0,0
$GC,6221,-0.50,-146.1,682.2,-10.4,358,6224,0.00,0.90,0.00,0.000,4,0.000,0.060,1455,3953,3071,0,0,0,0,0,0
$GC,6270,-0.50,-146.1,688.0,-11.7,359,6276,0.00,0.88,0.00,0.000,6,0.000,0.038,1455,3375,3071,0,0,0,0,0,0
$GC,6596,-0.50,-146.1,721.6,-10.3,370,6601,0.00,0.93,0.00,0.000,4,0.000,0.060,1450,3956,3070,0,0,0,0,0,0
$GC,6794,-0.50,-146.1,744.0,-11.0,375,6801,0.00,0.88,0.00,0.000,6,0.000,0.039,1450,3382,3070,0,0,0,0,0,0
$GC,7108,-0.50,-146.1,775.0,-9.5,386,7113,0.00,0.90,0.00,0.000,4,0.000,0.061,1446,3948,3069,0,0,0,0,0,0
$GC,7245,-0.50,-146.1,789.2,-10.4,390,7250,0.00,0.88,0.00,0.000,6,0.000,0.039,1446,3372,3069,0,0,0,0,0,0
$GC,7588,-0.50,-146.1,821.3,-9.4,401,7592,0.00,0.93,0.00,0.000,4,0.000,0.061,1442,3954,3068,0,0,0,0,0,0
$GC,7777,-0.50,-146.1,842.1,-11.2,406,7781,0.08,0.88,0.00,0.000,6,0.147,0.039,1466,3379,3067,0,0,0,0,0,0
$GC,8097,-0.50,-146.1,868.8,-8.5,417,8100,0.00,0.93,0.00,0.000,4,0.000,0.061,1463,3957,3067,0,0,0,0,0,0
$GC,8274,-0.50,-146.1,885.7,-10.6,422,8278,0.00,0.88,0.00,0.000,6,0.000,0.041,1463,3383,3066,0,0,0,0,0,0
$GC,8610,-0.50,-146.1,916.4,-9.2,433,8614,0.00,0.93,0.00,0.000,4,0.000,0.062,1459,3960,3066,0,0,0,0,0,0
$GC,8716,-0.50,-146.1,927.3,-10.6,436,8719,0.00,0.90,0.00,0.000,6,0.000,0.040,1459,3372,3065,0,0,0,0,0,0
$GC,9051,-0.50,-146.1,958.2,-9.1,447,9057,0.00,0.93,0.00,0.000,4,0.000,0.061,1454,3953,3064,0,0,0,0,0,0
$GC,9169,-0.50,-146.1,970.0,-9.3,450,9173,0.00,0.88,0.00,0.000,6,0.000,0.041,1454,3381,3064,0,0,0,0,0,0
$GC,9494,-0.50,-146.1,997.5,-8.2,461,9498,0.00,0.93,0.00,0.000,4,0.000,0.061,1450,3957,3063,0,0,0,0,0,0
$STATE,9519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9519,begin apogee
$GC,9527,-0.14,0.0,1000.0,8.5,461,9675,0.43,0.00,139.70,1.815,6,0.137,0.000,1583,3267,2473,0,0,0,0,1,0
$STATE,9676,end apogee,CONTROL_FINISHED_OK
$STATE,9676,begin climb
$GC,9679,0.50,146.1,1002.0,0.0,466,9840,0.62,2.47,147.73,1.762,4,0.084,0.034,1799,1861,1878,0,0,0,0,1,0
$GC,9906,0.50,146.1,973.4,15.3,473,9910,0.00,2.45,0.00,0.000,6,0.000,0.053,1799,3272,1873,0,0,0,0,0,0
$GC,10241,0.50,146.1,915.6,17.3,484,10245,0.00,2.25,0.00,0.000,4,0.000,0.035,1810,1853,1866,0,0,0,0,0,0
$GC,10270,0.50,146.1,910.9,16.8,485,10274,0.00,2.33,0.00,0.000,6,0.000,0.054,1810,3273,1865,0,0,0,0,0,0
$GC,10605,0.50,146.1,852.3,17.5,496,10611,0.00,2.22,0.00,0.000,4,0.000,0.036,1821,1859,1864,0,0,0,0,0,0
$GC,10645,0.50,146.1,845.8,14.8,497,10650,0.00,2.33,0.00,0.000,6,0.000,0.055,1821,3267,1862,0,0,0,0,0,0
$GC,10983,0.50,146.1,787.6,17.6,508,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3267,1862,0,0,0,0,0,0
$GC,11288,0.50,146.1,735.1,16.6,518,11293,0.00,2.20,0.00,0.000,4,0.000,0.035,1832,1855,1861,0,0,0,0,0,0
$GC,11323,0.50,146.1,729.5,15.3,519,11328,0.12,2.30,0.00,0.000,6,0.175,0.055,1801,3274,1861,0,0,0,0,0,0
$GC,11660,0.50,146.1,679.2,15.1,530,11665,0.00,1.10,0.00,0.000,4,0.000,0.059,1801,3955,1860,0,0,0,0,0,0
$GC,11712,0.50,146.1,670.5,17.3,531,11716,0.00,1.05,0.00,0.000,6,0.000,0.036,1805,3260,1859,0,0,0,0,0,0
$GC,12037,0.50,146.1,618.2,16.1,542,12041,0.00,2.10,0.00,0.000,4,0.000,0.034,1815,1858,1859,0,0,0,0,0,0
$GC,12075,0.50,146.1,612.1,14.3,543,12080,0.00,2.25,0.00,0.000,6,0.000,0.053,1816,3273,1858,0,0,0,0,0,0
$GC,12399,0.50,146.1,558.0,16.8,554,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3273,1858,0,0,0,0,0,0
$GC,12707,0.50,146.1,506.9,16.4,564,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3273,1858,0,0,0,0,0,0
$GC,13012,0.50,146.1,457.4,16.1,574,13017,0.00,2.17,0.00,0.000,4,0.000,0.032,1826,1853,1858,0,0,0,0,0,0
$GC,13040,0.50,146.1,452.9,14.3,574,13048,0.12,2.25,0.00,0.000,6,0.176,0.051,1796,3270,1857,0,0,0,0,0,0
$GC,13353,0.50,146.1,408.3,14.5,585,13357,0.00,1.08,0.00,0.000,4,0.000,0.056,1796,3951,1857,0,0,0,0,0,0
$GC,13409,0.50,146.1,399.3,16.1,586,13413,0.00,1.02,0.00,0.000,6,0.000,0.033,1800,3262,1857,0,0,0,0,0,0
$GC,13732,0.50,146.1,348.5,16.0,602,13736,0.00,2.10,0.00,0.000,4,0.000,0.031,1810,1856,1856,0,0,0,0,0,0
$GC,13778,0.50,146.1,341.8,13.2,604,13784,0.00,2.28,0.00,0.000,6,0.000,0.050,1811,3274,1856,0,0,0,0,0,0
$GC,14108,0.50,146.1,288.4,16.4,620,14111,0.00,1.08,0.00,0.000,4,0.000,0.055,1811,3952,1856,0,0,0,0,0,0
$GC,14201,0.50,146.1,271.8,16.9,624,14205,0.00,1.00,0.00,0.000,6,0.000,0.033,1816,3272,1856,0,0,0,0,0,0
$GC,14521,0.50,146.1,219.9,16.0,642,14525,0.00,2.12,0.00,0.000,4,0.000,0.031,1827,1851,1856,0,0,0,0,0,0
$GC,14555,0.50,146.1,214.7,13.4,644,14560,0.12,2.22,0.00,0.000,6,0.174,0.049,1796,3271,1856,0,0,0,0,0,0
$GC,14877,0.50,146.1,171.3,13.8,664,14880,0.00,1.08,0.00,0.000,4,0.000,0.055,1796,3952,1856,0,0,0,0,0,0
$GC,14934,0.50,146.1,162.5,16.0,667,14938,0.00,1.00,0.00,0.000,6,0.000,0.033,1799,3272,1856,0,0,0,0,0,0
$GC,15259,0.50,146.1,115.0,14.2,688,15263,0.00,2.12,0.00,0.000,4,0.000,0.029,1811,1846,1856,0,0,0,0,0,0
$GC,15290,0.50,146.1,110.9,12.8,690,15294,0.00,2.22,0.00,0.000,6,0.000,0.048,1810,3272,1856,0,0,0,0,0,0
$GC,15636,0.50,146.1,58.5,15.2,742,15647,0.00,1.08,0.00,0.000,4,0.000,0.053,1810,3954,1856,0,0,0,0,0,0
$GC,15655,0.50,146.1,55.9,15.0,744,15666,0.00,1.02,0.00,0.000,6,0.000,0.032,1816,3257,1856,0,0,0,0,0,0
$GC,15915,0.50,146.1,20.4,15.2,785,15925,0.00,2.10,0.00,0.000,4,0.000,0.030,1827,1854,1856,0,0,0,0,0,0
$GC,15969,0.50,146.1,14.2,11.3,792,15980,0.00,2.25,0.00,0.000,6,0.000,0.050,1827,3266,1856,0,0,0,0,0,0
$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16056,begin surface coast
$FINISH,1.2,1.015727
$STATE,16087,end surface coast,CONTROL_FINISHED_OK
$STATE,16089,begin surface
$SM_CCo,16105,48.88,0.697,1,0,1450,250.20
$SM_GC,1.77,0.00,0.00,48.88,0.000,0.000,0.697,49,3399,1450,-4.95,0.54,250.20
$IRIDIUM_FIX,-4149.58,829.12,030113,212105
$TT8_MAMPS,0.025466
$HUMID,55.11
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.3,30.286
$10V_AH,10.1,17.011
$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,11.950,95.750,287.425,48.875,0.000,25.116,42.794,323.374,0.000,0.000,19.504,2132.161,10346.603,434.781,2864.737,946.561,33.361,1572.006,0.000,2646.611,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,74.970,1814.580,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.267,1778.135,835.771,367.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,60340,809
$CAP_FILE_SIZE,143416,0
$CFSIZE,259252224,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,040113,064234,-4159.202,824.312,33,0.9,33,-24.9