version: 66.07
glider: 543
mission: 6
dive: 167
start: 1 5 113 6 31 52
data:
$ID,543
$MISSION,6
$DIVE,167
$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,-8328.8398
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,050113,062128,-4155.835,818.232,36,0.8,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-49.0
$GPS2,050113,063054,-4155.859,818.239,24,0.7,24,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.201,-0.057
$KALMAN_X,-76727.0,-184.1,-456.0,100012.4,7222.7
$KALMAN_Y,2929.4,1151.9,746.1,58430.6,-6260.6
$MHEAD_RNG_PITCHd_Wd,279.1,8043,-17.9,-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,-0.55,-103.4,0.0,0.0,0,71,0.00,0.00,-49.22,0.000,2,0.000,0.000,54,3386,2618,0,0,0,0,0,0
$GC,76,-0.57,-146.1,3.0,-3.4,6,104,5.62,0.93,-15.07,0.000,4,0.229,0.089,1441,3947,3070,0,0,0,0,0,0
$GC,388,-0.57,-146.1,48.7,-16.7,54,396,0.00,0.88,0.00,0.000,6,0.000,0.037,1441,3371,3073,0,0,0,0,0,0
$GC,632,-0.57,-146.1,82.7,-13.0,95,637,0.00,0.93,0.00,0.000,4,0.000,0.059,1437,3949,3074,0,0,0,0,0,0
$GC,810,-0.57,-146.1,104.4,-11.3,121,814,0.00,0.88,0.00,0.000,6,0.000,0.036,1436,3372,3074,0,0,0,0,0,0
$GC,1141,-0.57,-146.1,141.4,-11.0,142,1145,0.00,0.90,0.00,0.000,4,0.000,0.059,1432,3935,3075,0,0,0,0,0,0
$GC,1243,-0.57,-146.1,154.2,-12.5,148,1247,0.00,0.82,0.00,0.000,6,0.000,0.036,1432,3387,3075,0,0,0,0,0,0
$GC,1578,-0.57,-146.1,195.3,-12.6,169,1581,0.00,0.88,0.00,0.000,4,0.000,0.058,1428,3936,3076,0,0,0,0,0,0
$GC,1703,-0.57,-146.1,212.6,-13.7,176,1706,0.00,0.85,0.00,0.000,6,0.000,0.035,1428,3372,3076,0,0,0,0,0,0
$GC,2022,-0.57,-146.1,253.7,-12.7,196,2026,0.00,0.90,0.00,0.000,4,0.000,0.058,1424,3939,3076,0,0,0,0,0,0
$GC,2211,-0.57,-146.1,281.5,-14.5,204,2215,0.00,0.85,0.00,0.000,6,0.000,0.036,1424,3374,3076,0,0,0,0,0,0
$GC,2539,-0.57,-146.1,326.8,-14.0,220,2543,0.00,0.90,0.00,0.000,4,0.000,0.058,1420,3941,3076,0,0,0,0,0,0
$GC,2647,-0.57,-146.1,344.1,-15.8,224,2657,0.00,0.85,0.00,0.000,6,0.000,0.036,1420,3374,3076,0,0,0,0,0,0
$GC,2965,-0.57,-146.1,388.6,-13.5,240,2968,0.00,0.90,0.00,0.000,4,0.000,0.059,1416,3941,3076,0,0,0,0,0,0
$GC,3078,-0.57,-146.1,405.3,-14.0,245,3082,0.08,0.85,0.00,0.000,6,0.159,0.035,1440,3375,3077,0,0,0,0,0,0
$GC,3408,-0.57,-146.1,441.5,-10.7,256,3414,0.00,0.90,0.00,0.000,4,0.000,0.059,1436,3941,3076,0,0,0,0,0,0
$GC,3470,-0.57,-146.1,448.7,-11.8,257,3477,0.00,0.85,0.00,0.000,6,0.000,0.036,1436,3378,3076,0,0,0,0,0,0
$GC,3785,-0.57,-146.1,481.9,-10.6,268,3788,0.00,0.90,0.00,0.000,4,0.000,0.059,1432,3945,3076,0,0,0,0,0,0
$GC,3924,-0.57,-146.1,497.9,-10.8,272,3927,0.00,0.85,0.00,0.000,6,0.000,0.036,1432,3381,3075,0,0,0,0,0,0
$GC,4259,-0.57,-146.1,534.9,-11.2,283,4263,0.00,0.90,0.00,0.000,4,0.000,0.060,1428,3948,3075,0,0,0,0,0,0
$GC,4298,-0.57,-146.1,539.9,-12.3,284,4302,0.00,0.85,0.00,0.000,6,0.000,0.037,1428,3382,3075,0,0,0,0,0,0
$GC,4634,-0.57,-146.1,578.8,-11.7,295,4640,0.00,0.90,0.00,0.000,4,0.000,0.060,1424,3949,3074,0,0,0,0,0,0
$GC,4713,-0.57,-146.1,589.2,-13.4,297,4717,0.00,0.85,0.00,0.000,6,0.000,0.037,1424,3383,3074,0,0,0,0,0,0
$GC,5043,-0.57,-146.1,628.3,-11.9,308,5048,0.00,0.88,0.00,0.000,4,0.000,0.060,1420,3934,3073,0,0,0,0,0,0
$GC,5160,-0.57,-146.1,643.7,-12.9,311,5164,0.00,0.85,0.00,0.000,6,0.000,0.037,1420,3373,3073,0,0,0,0,0,0
$GC,5485,-0.57,-146.1,682.8,-12.0,322,5488,0.00,0.90,0.00,0.000,4,0.000,0.060,1416,3940,3072,0,0,0,0,0,0
$GC,5568,-0.57,-146.1,694.0,-13.2,324,5572,0.08,0.85,0.00,0.000,6,0.163,0.037,1439,3381,3072,0,0,0,0,0,0
$GC,5892,-0.57,-146.1,729.2,-10.8,335,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3381,3071,0,0,0,0,0,0
$GC,6198,-0.57,-146.1,762.1,-10.8,345,6202,0.00,0.90,0.00,0.000,4,0.000,0.061,1436,3943,3070,0,0,0,0,0,0
$GC,6277,-0.57,-146.1,771.6,-12.0,347,6280,0.00,0.85,0.00,0.000,6,0.000,0.037,1436,3382,3070,0,0,0,0,0,0
$GC,6607,-0.57,-146.1,807.3,-10.8,358,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3382,3070,0,0,0,0,0,0
$GC,6914,-0.57,-146.1,839.9,-10.6,368,6918,0.00,0.90,0.00,0.000,4,0.000,0.061,1432,3942,3069,0,0,0,0,0,0
$GC,6983,-0.57,-146.1,847.8,-11.4,370,6988,0.00,0.85,0.00,0.000,6,0.000,0.038,1431,3382,3069,0,0,0,0,0,0
$GC,7326,-0.57,-146.1,882.2,-9.6,381,7329,0.00,0.90,0.00,0.000,4,0.000,0.062,1428,3942,3068,0,0,0,0,0,0
$GC,7394,-0.57,-146.1,889.3,-10.3,383,7399,0.00,0.85,0.00,0.000,6,0.000,0.039,1428,3383,3068,0,0,0,0,0,0
$GC,7737,-0.57,-146.1,922.5,-9.8,394,7741,0.00,0.90,0.00,0.000,4,0.000,0.062,1424,3944,3067,0,0,0,0,0,0
$GC,7820,-0.57,-146.1,931.2,-9.7,396,7823,0.00,0.85,0.00,0.000,6,0.000,0.038,1424,3386,3067,0,0,0,0,0,0
$GC,8146,-0.57,-146.1,962.9,-9.8,407,8149,0.00,0.90,0.00,0.000,4,0.000,0.062,1420,3948,3066,0,0,0,0,0,0
$GC,8225,-0.57,-146.1,971.6,-11.6,409,8229,0.00,0.88,0.00,0.000,6,0.000,0.039,1420,3373,3065,0,0,0,0,0,0
$STATE,8521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8521,begin apogee
$GC,8529,-0.14,0.0,1002.6,10.5,419,8677,0.55,0.00,140.40,1.809,6,0.148,0.000,1583,3277,2473,0,0,0,0,1,0
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8679,begin climb
$GC,8681,0.57,146.1,1005.5,0.0,424,8843,0.70,2.50,147.75,1.772,4,0.085,0.033,1821,1858,1877,0,0,0,0,1,0
$GC,8909,0.57,146.1,975.8,14.1,431,8913,0.00,2.45,0.00,0.000,6,0.000,0.052,1822,3263,1873,0,0,0,0,0,0
$GC,9244,0.57,146.1,914.6,17.9,442,9248,0.00,1.12,0.00,0.000,4,0.000,0.057,1822,3941,1867,0,0,0,0,0,0
$GC,9316,0.57,146.1,901.0,19.2,444,9320,0.00,1.05,0.00,0.000,6,0.000,0.034,1826,3263,1866,0,0,0,0,0,0
$GC,9652,0.57,146.1,843.9,16.7,455,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,3263,1864,0,0,0,0,0,0
$GC,9958,0.57,146.1,792.7,16.9,465,9962,0.00,2.17,0.00,0.000,4,0.000,0.035,1838,1855,1863,0,0,0,0,0,0
$GC,9982,0.57,146.1,788.8,15.8,465,9989,0.00,2.30,0.00,0.000,6,0.000,0.054,1838,3275,1862,0,0,0,0,0,0
$GC,10297,0.57,146.1,730.9,18.7,476,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3275,1862,0,0,0,0,0,0
$GC,10602,0.57,146.1,671.8,19.5,486,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3274,1861,0,0,0,0,0,0
$GC,10908,0.57,146.1,612.5,19.7,496,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3274,1860,0,0,0,0,0,0
$GC,11215,0.57,146.1,553.1,19.7,506,11219,0.00,1.08,0.00,0.000,4,0.000,0.056,1838,3947,1860,0,0,0,0,0,0
$GC,11253,0.57,146.1,544.4,21.6,507,11257,0.00,1.02,0.00,0.000,6,0.000,0.033,1843,3262,1859,0,0,0,0,0,0
$GC,11589,0.57,146.1,475.0,20.8,518,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3262,1859,0,0,0,0,0,0
$GC,11895,0.57,146.1,411.4,20.6,528,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3262,1859,0,0,0,0,0,0
$GC,12205,0.57,146.1,348.4,20.1,542,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3262,1858,0,0,0,0,0,0
$GC,12516,0.57,146.1,288.5,19.0,557,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,3262,1858,0,0,0,0,0,0
$GC,12829,0.57,146.1,229.2,18.6,574,12835,0.00,1.10,0.00,0.000,4,0.000,0.056,1843,3946,1858,0,0,0,0,0,0
$GC,12874,0.57,146.1,220.1,19.7,576,12885,0.00,1.00,0.00,0.000,6,0.000,0.033,1848,3272,1858,0,0,0,0,0,0
$GC,13198,0.57,146.1,159.5,19.1,597,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3272,1858,0,0,0,0,0,0
$GC,13510,0.57,146.1,99.0,19.1,617,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3272,1858,0,0,0,0,0,0
$GC,13869,0.57,146.1,35.3,16.0,678,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3272,1858,0,0,0,0,0,0
$STATE,14067,end climb,SURFACE_DEPTH_REACHED
$STATE,14068,begin surface coast
$FINISH,1.2,1.026162
$STATE,14093,end surface coast,CONTROL_FINISHED_OK
$STATE,14093,begin surface
$SM_CCo,14109,49.25,0.712,1,0,1450,250.20
$SM_GC,1.83,0.00,0.00,49.25,0.000,0.000,0.712,65,3401,1450,-4.90,0.59,250.20
$IRIDIUM_FIX,-4140.91,819.26,050113,020216
$TT8_MAMPS,0.025466
$HUMID,56.73
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.3,31.210
$10V_AH,10.1,17.704
$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,11.750,47.650,288.150,49.250,0.000,28.038,32.625,320.769,0.000,0.000,27.077,1819.234,9370.987,394.139,2355.647,789.062,33.366,1280.521,0.000,2121.858,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,88.740,1809.225,712.215,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.431,1564.066,714.255,324.716,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,53755,711
$CAP_FILE_SIZE,113031,0
$CFSIZE,259252224,248090624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050113,102905,-4156.303,816.145,28,1.0,28,-24.9