version: 66.07
glider: 543
mission: 6
dive: 153
start: 1 2 113 14 50 3
data:
$ID,543
$MISSION,6
$DIVE,153
$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,-8294.333
$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,33
$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
$GPS1,020113,143928,-4157.973,816.106,41,1.1,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-50.2
$GPS2,020113,144905,-4157.942,816.179,20,1.1,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.100,-0.146
$KALMAN_X,-77902.0,-1022.7,-441.5,99214.8,7587.4
$KALMAN_Y,24439.7,183.1,457.2,34339.1,-275.4
$MHEAD_RNG_PITCHd_Wd,239.2,6495,-21.7,-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,-0.63,-72.4,0.0,0.0,0,74,0.00,0.00,-51.12,0.000,2,0.000,0.000,70,3398,2692,0,0,0,0,0,0
$GC,78,-0.67,-130.5,3.1,-3.8,6,99,5.62,0.85,-8.82,0.000,4,0.243,0.093,1405,3940,3007,0,0,0,0,0,0
$GC,273,-0.67,-130.5,41.2,-17.7,35,279,0.00,0.85,0.00,0.000,6,0.000,0.037,1407,3387,3010,0,0,0,0,0,0
$GC,518,-0.67,-130.5,80.2,-13.6,76,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1407,3387,3011,0,0,0,0,0,0
$GC,860,-0.67,-130.5,131.2,-15.1,112,864,0.00,0.88,0.00,0.000,4,0.000,0.058,1404,3935,3013,0,0,0,0,0,0
$GC,1125,-0.67,-130.5,175.4,-17.1,127,1128,0.00,0.85,0.00,0.000,6,0.000,0.037,1404,3376,3013,0,0,0,0,0,0
$GC,1450,-0.67,-130.5,227.5,-16.1,148,1454,0.00,0.90,0.00,0.000,4,0.000,0.057,1401,3943,3014,0,0,0,0,0,0
$GC,1716,-0.67,-130.5,272.4,-16.2,161,1720,0.00,0.85,0.00,0.000,6,0.000,0.037,1400,3378,3014,0,0,0,0,0,0
$GC,2039,-0.67,-130.5,321.1,-14.8,177,2045,0.00,0.88,0.00,0.000,4,0.000,0.057,1396,3929,3014,0,0,0,0,0,0
$GC,2301,-0.67,-130.5,363.6,-15.2,188,2304,0.00,0.82,0.00,0.000,6,0.000,0.037,1397,3383,3014,0,0,0,0,0,0
$GC,2622,-0.67,-130.5,408.6,-14.0,203,2626,0.00,0.88,0.00,0.000,4,0.000,0.057,1392,3937,3014,0,0,0,0,0,0
$GC,2880,-0.67,-130.5,447.2,-15.3,210,2884,0.00,0.85,0.00,0.000,6,0.000,0.037,1392,3375,3014,0,0,0,0,0,0
$GC,3198,-0.67,-130.5,490.8,-13.6,221,3202,0.00,0.88,0.00,0.000,4,0.000,0.057,1388,3930,3014,0,0,0,0,0,0
$GC,3461,-0.67,-130.5,530.6,-16.0,228,3464,0.00,0.82,0.00,0.000,6,0.000,0.038,1388,3383,3014,0,0,0,0,0,0
$GC,3781,-0.67,-130.5,575.0,-13.7,239,3785,0.12,0.90,0.00,0.000,4,0.190,0.060,1415,3940,3013,0,0,0,0,0,0
$GC,4039,-0.67,-130.5,607.7,-12.8,246,4043,0.00,0.85,0.00,0.000,6,0.000,0.039,1414,3378,3013,0,0,0,0,0,0
$GC,4359,-0.67,-130.5,643.6,-11.5,257,4362,0.00,0.88,0.00,0.000,4,0.000,0.059,1411,3929,3011,0,0,0,0,0,0
$GC,4617,-0.67,-130.5,676.6,-13.8,264,4620,0.00,0.82,0.00,0.000,6,0.000,0.039,1411,3385,3011,0,0,0,0,0,0
$GC,4936,-0.67,-130.5,719.2,-13.8,275,4939,0.00,0.88,0.00,0.000,4,0.000,0.060,1407,3934,3010,0,0,0,0,0,0
$GC,5058,-0.67,-130.5,737.7,-16.0,278,5062,0.00,0.85,0.00,0.000,6,0.000,0.039,1407,3377,3010,0,0,0,0,0,0
$GC,5378,-0.67,-130.5,782.2,-14.0,289,5382,0.00,0.90,0.00,0.000,4,0.000,0.060,1403,3942,3009,0,0,0,0,0,0
$GC,5585,-0.67,-130.5,813.2,-14.0,295,5589,0.00,0.85,0.00,0.000,6,0.000,0.039,1403,3381,3009,0,0,0,0,0,0
$GC,5921,-0.67,-130.5,856.4,-12.7,306,5927,0.00,0.88,0.00,0.000,4,0.000,0.061,1399,3928,3008,0,0,0,0,0,0
$GC,6052,-0.67,-130.5,873.8,-12.9,309,6058,0.00,0.82,0.00,0.000,6,0.000,0.040,1399,3387,3007,0,0,0,0,0,0
$GC,6365,-0.67,-130.5,909.2,-10.6,320,6368,0.00,0.88,0.00,0.000,4,0.000,0.060,1395,3935,3006,0,0,0,0,0,0
$GC,6578,-0.67,-130.5,934.6,-11.7,326,6583,0.00,0.85,0.00,0.000,6,0.000,0.040,1395,3378,3006,0,0,0,0,0,0
$GC,6909,-0.67,-130.5,968.8,-10.5,337,6914,0.00,0.88,0.00,0.000,4,0.000,0.060,1391,3929,3005,0,0,0,0,0,0
$GC,7049,-0.67,-130.5,985.8,-12.7,341,7055,0.00,0.85,0.00,0.000,6,0.000,0.040,1391,3372,3004,0,0,0,0,0,0
$STATE,7199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7200,begin apogee
$GC,7206,-0.14,0.0,1002.9,11.4,346,7341,0.68,0.00,125.93,1.803,6,0.161,0.000,1587,3277,2473,0,0,0,0,1,0
$STATE,7342,end apogee,CONTROL_FINISHED_OK
$STATE,7342,begin climb
$GC,7345,0.67,130.5,1005.0,0.0,350,7490,0.77,2.45,131.77,1.769,4,0.082,0.033,1855,1855,1942,0,0,0,0,1,0
$GC,7532,0.67,130.5,977.9,17.4,356,7537,0.00,2.47,0.00,0.000,6,0.000,0.052,1855,3249,1939,0,0,0,0,0,0
$GC,7874,0.67,130.5,907.8,20.7,367,7878,0.00,1.15,0.00,0.000,4,0.000,0.057,1855,3943,1931,0,0,0,0,0,0
$GC,7949,0.67,130.5,890.8,24.0,369,7953,0.00,1.05,0.00,0.000,6,0.000,0.034,1860,3262,1931,0,0,0,0,0,0
$GC,8284,0.67,130.5,817.4,21.8,380,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3262,1929,0,0,0,0,0,0
$GC,8592,0.67,130.5,750.7,21.6,390,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3262,1927,0,0,0,0,0,0
$GC,8901,0.67,130.5,685.2,21.6,400,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3262,1927,0,0,0,0,0,0
$GC,9203,0.67,130.5,621.9,20.2,410,9207,0.00,1.12,0.00,0.000,4,0.000,0.057,1860,3958,1926,0,0,0,0,0,0
$GC,9286,0.67,130.5,603.5,22.4,412,9289,0.00,1.05,0.00,0.000,6,0.000,0.034,1866,3260,1926,0,0,0,0,0,0
$GC,9610,0.67,130.5,539.6,19.7,423,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,3260,1925,0,0,0,0,0,0
$GC,9917,0.67,130.5,477.6,20.2,433,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,3260,1925,0,0,0,0,0,0
$GC,10224,0.67,130.5,414.0,20.8,443,10228,0.00,1.10,0.00,0.000,4,0.000,0.054,1866,3949,1924,0,0,0,0,0,0
$GC,10315,0.67,130.5,393.4,23.1,446,10319,0.00,1.02,0.00,0.000,6,0.000,0.034,1871,3260,1924,0,0,0,0,0,0
$GC,10650,0.67,130.5,323.8,20.2,462,10653,0.00,1.10,0.00,0.000,4,0.000,0.054,1871,3953,1923,0,0,0,0,0,0
$GC,10746,0.67,130.5,302.2,23.3,466,10750,0.00,1.02,0.00,0.000,6,0.000,0.033,1876,3266,1923,0,0,0,0,0,0
$GC,11076,0.67,130.5,233.9,20.9,483,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,3266,1922,0,0,0,0,0,0
$GC,11388,0.67,130.5,167.6,21.1,503,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,1876,3265,1922,0,0,0,0,0,0
$GC,11700,0.67,130.5,103.1,19.9,523,11706,0.00,1.10,0.00,0.000,4,0.000,0.052,1877,3958,1922,0,0,0,0,0,0
$GC,11777,0.67,130.5,86.0,21.7,534,11788,0.10,1.02,0.00,0.000,6,0.194,0.033,1853,3265,1922,0,0,0,0,0,0
$GC,12154,0.67,130.5,22.2,18.9,595,12163,0.00,2.12,0.00,0.000,4,0.000,0.031,1863,1851,1922,0,0,0,0,0,0
$GC,12217,0.67,130.5,11.0,15.8,604,12228,0.00,2.28,0.00,0.000,6,0.000,0.049,1863,3276,1921,0,0,0,0,0,0
$STATE,12269,end climb,SURFACE_DEPTH_REACHED
$STATE,12269,begin surface coast
$FINISH,1.0,1.012433
$STATE,12290,end surface coast,CONTROL_FINISHED_OK
$STATE,12290,begin surface
$SM_CCo,12306,56.53,0.718,1,0,1449,250.20
$SM_GC,1.45,0.00,0.00,56.53,0.000,0.000,0.718,67,3390,1449,-4.90,0.28,250.20
$IRIDIUM_FIX,-4140.91,816.40,020113,101023
$TT8_MAMPS,0.025466
$HUMID,56.26
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,29.052
$10V_AH,10.1,16.089
$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,12.200,42.750,257.700,56.525,0.000,31.368,44.501,322.658,0.000,0.000,22.746,1645.199,7802.470,365.655,2392.689,737.595,33.359,1258.362,0.000,2125.131,0.000,1.014,0.000
$DEVICE_MAMPS,243.270,92.565,1803.105,717.570,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.725,1330.599,617.683,290.796,0.000,0.000,0.000,0.000,0.000,0.000
$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,47150,614
$CAP_FILE_SIZE,107331,0
$CFSIZE,259252224,249069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020113,181734,-4158.898,814.545,41,0.9,41,-24.9