version: 66.07
glider: 543
mission: 6
dive: 168
start: 1 5 113 10 48 54
data:
$ID,543
$MISSION,6
$DIVE,168
$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,-8333.0908
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,050113,102905,-4156.303,816.145,28,1.0,28,-24.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-55.3
$GPS2,050113,104754,-4156.317,816.240,17,1.2,17,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.097,-0.107
$KALMAN_X,-74717.0,-557.8,-435.4,95639.4,7169.5
$KALMAN_Y,4132.7,1281.5,545.7,56454.6,-4521.2
$MHEAD_RNG_PITCHd_Wd,247.2,8562,-27.0,-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,-0.76,-48.0,0.0,0.0,0,71,0.00,0.00,-48.92,0.000,2,0.000,0.000,65,3401,2633,0,0,0,0,0,0
$GC,76,-0.79,-90.9,3.2,-3.3,6,94,5.40,0.00,-6.45,0.000,6,0.236,0.000,1373,3401,2847,0,0,0,0,0,0
$GC,175,-0.79,-90.9,17.1,-16.6,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3401,2850,0,0,0,0,0,0
$GC,261,-0.79,-90.9,32.5,-17.5,33,269,0.00,2.20,0.00,0.000,4,0.000,0.032,1375,1980,2850,0,0,0,0,0,0
$GC,315,-0.79,-90.9,41.0,-15.8,41,322,0.00,2.25,0.00,0.000,6,0.000,0.057,1367,3354,2850,0,0,0,0,0,0
$GC,561,-0.79,-90.9,87.0,-17.5,82,568,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3951,2850,0,0,0,0,0,0
$GC,755,-0.79,-90.9,119.1,-15.1,101,759,0.00,0.85,0.00,0.000,6,0.000,0.035,1362,3390,2851,0,0,0,0,0,0
$GC,1088,-0.79,-90.9,162.6,-12.4,122,1091,0.00,0.90,0.00,0.000,4,0.000,0.056,1358,3958,2852,0,0,0,0,0,0
$GC,1223,-0.79,-90.9,181.5,-13.5,129,1230,0.00,0.88,0.00,0.000,6,0.000,0.035,1358,3379,2852,0,0,0,0,0,0
$GC,1543,-0.79,-90.9,222.7,-13.3,150,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3378,2852,0,0,0,0,0,0
$GC,1874,-0.79,-90.9,266.6,-13.2,169,1877,0.00,0.90,0.00,0.000,4,0.000,0.056,1354,3948,2852,0,0,0,0,0,0
$GC,2025,-0.79,-90.9,288.4,-13.8,175,2029,0.00,0.85,0.00,0.000,6,0.000,0.035,1354,3382,2852,0,0,0,0,0,0
$GC,2349,-0.79,-90.9,329.4,-12.4,191,2355,0.00,0.90,0.00,0.000,4,0.000,0.056,1350,3953,2852,0,0,0,0,0,0
$GC,2460,-0.79,-90.9,345.5,-14.6,195,2467,0.08,0.88,0.00,0.000,6,0.188,0.035,1370,3373,2852,0,0,0,0,0,0
$GC,2778,-0.79,-90.9,384.9,-12.7,211,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2852,0,0,0,0,0,0
$GC,3084,-0.79,-90.9,426.0,-13.8,223,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2852,0,0,0,0,0,0
$GC,3391,-0.79,-90.9,470.4,-14.5,233,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2852,0,0,0,0,0,0
$GC,3696,-0.79,-90.9,515.2,-14.5,243,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2852,0,0,0,0,0,0
$GC,4003,-0.79,-90.9,559.4,-14.1,253,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2851,0,0,0,0,0,0
$GC,4310,-0.79,-90.9,600.1,-13.0,263,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2851,0,0,0,0,0,0
$GC,4615,-0.79,-90.9,637.2,-12.0,273,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3373,2850,0,0,0,0,0,0
$GC,4921,-0.79,-90.9,675.8,-12.8,283,4925,0.00,0.93,0.00,0.000,4,0.000,0.059,1368,3956,2849,0,0,0,0,0,0
$GC,5179,-0.79,-90.9,713.2,-14.0,290,5183,0.00,0.88,0.00,0.000,6,0.000,0.037,1369,3378,2848,0,0,0,0,0,0
$GC,5499,-0.79,-90.9,753.2,-12.0,301,5502,0.00,2.10,0.00,0.000,4,0.000,0.033,1369,1959,2847,0,0,0,0,0,0
$GC,5759,-0.79,-90.9,783.0,-11.0,308,5766,0.00,2.28,0.00,0.000,6,0.000,0.054,1359,3383,2846,0,0,0,0,0,0
$GC,6074,-0.79,-90.9,823.6,-12.7,319,6078,0.00,2.15,0.00,0.000,4,0.000,0.034,1359,1966,2846,0,0,0,0,0,0
$GC,6117,-0.79,-90.9,829.1,-11.0,320,6122,0.12,2.30,0.00,0.000,6,0.193,0.059,1378,3389,2846,0,0,0,0,0,0
$GC,6437,-0.79,-90.9,865.8,-11.4,331,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3389,2845,0,0,0,0,0,0
$GC,6744,-0.79,-90.9,899.5,-10.7,341,6748,0.00,0.90,0.00,0.000,4,0.000,0.060,1375,3959,2844,0,0,0,0,0,0
$GC,6951,-0.79,-90.9,924.6,-12.2,347,6954,0.00,0.88,0.00,0.000,6,0.000,0.038,1375,3382,2844,0,0,0,0,0,0
$GC,7286,-0.79,-90.9,960.9,-10.9,358,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3381,2843,0,0,0,0,0,0
$GC,7592,-0.79,-90.9,994.2,-10.5,368,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3381,2842,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7659,-0.14,0.0,1000.7,10.5,370,7756,0.73,0.00,93.28,1.209,6,0.168,0.000,1582,3271,2473,0,0,0,0,0,0
$STATE,7757,end apogee,CONTROL_FINISHED_OK
$STATE,7757,begin climb
$GC,7760,0.79,90.9,1002.3,0.0,373,7864,0.93,0.00,95.07,1.194,6,0.088,0.000,1885,3271,2096,0,0,0,0,0,0
$GC,8170,0.79,90.9,918.6,22.3,387,8173,0.00,1.12,0.00,0.000,4,0.000,0.055,1885,3955,2083,0,0,0,0,0,0
$GC,8322,0.79,90.9,882.0,23.7,391,8326,0.00,1.08,0.00,0.000,6,0.000,0.033,1890,3254,2082,0,0,0,0,0,0
$GC,8647,0.79,90.9,813.0,20.7,402,8651,0.00,1.12,0.00,0.000,4,0.000,0.055,1890,3947,2080,0,0,0,0,0,0
$GC,8871,0.79,90.9,761.4,22.0,408,8874,0.00,1.02,0.00,0.000,6,0.000,0.033,1895,3267,2079,0,0,0,0,0,0
$GC,9190,0.79,90.9,696.6,20.3,419,9193,0.00,1.10,0.00,0.000,4,0.000,0.056,1895,3952,2077,0,0,0,0,0,0
$GC,9369,0.79,90.9,656.6,23.4,424,9373,0.00,1.02,0.00,0.000,6,0.000,0.033,1900,3265,2077,0,0,0,0,0,0
$GC,9700,0.79,90.9,588.2,20.5,435,9703,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3948,2075,0,0,0,0,0,0
$GC,9878,0.79,90.9,547.4,22.9,440,9882,0.00,1.02,0.00,0.000,6,0.000,0.032,1905,3260,2075,0,0,0,0,0,0
$GC,10209,0.79,90.9,475.9,22.5,451,10213,0.00,1.10,0.00,0.000,4,0.000,0.054,1905,3947,2074,0,0,0,0,0,0
$GC,10362,0.79,90.9,438.6,25.2,455,10368,0.00,1.00,0.00,0.000,6,0.000,0.033,1910,3273,2074,0,0,0,0,0,0
$GC,10679,0.79,90.9,363.6,22.8,468,10682,0.00,1.08,0.00,0.000,4,0.000,0.054,1910,3949,2074,0,0,0,0,0,0
$GC,10911,0.79,90.9,307.4,22.9,478,10915,0.00,1.00,0.00,0.000,6,0.000,0.033,1915,3275,2074,0,0,0,0,0,0
$GC,11231,0.79,90.9,243.8,19.2,494,11234,0.00,1.08,0.00,0.000,4,0.000,0.053,1916,3953,2073,0,0,0,0,0,0
$GC,11499,0.79,90.9,190.0,19.9,509,11503,0.10,1.02,0.00,0.000,6,0.210,0.033,1894,3260,2073,0,0,0,0,0,0
$GC,11831,0.79,90.9,131.4,17.5,530,11834,0.00,1.10,0.00,0.000,4,0.000,0.053,1890,3951,2073,0,0,0,0,0,0
$GC,12098,0.79,90.9,80.9,17.3,556,12107,0.00,1.00,0.00,0.000,6,0.000,0.032,1894,3272,2072,0,0,0,0,0,0
$GC,12471,0.79,90.9,19.1,17.4,617,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3272,2073,0,0,0,0,0,0
$STATE,12560,end climb,SURFACE_DEPTH_REACHED
$STATE,12561,begin surface coast
$FINISH,1.0,1.026164
$STATE,12581,end surface coast,CONTROL_FINISHED_OK
$STATE,12581,begin surface
$SM_CCo,12597,71.25,0.722,1,0,1449,250.20
$SM_GC,1.84,0.00,0.00,71.25,0.000,0.000,0.722,50,3394,1449,-4.95,0.40,250.20
$IRIDIUM_FIX,-4140.91,813.53,050113,101006
$TT8_MAMPS,0.025466
$HUMID,56.41
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.7,31.327
$10V_AH,10.1,17.806
$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,12.050,41.250,188.350,71.250,0.000,112.830,222.718,416.598,0.000,0.000,21.140,1669.070,8327.669,357.303,2692.605,759.611,33.369,1170.422,0.000,2075.480,0.000,1.014,0.000
$DEVICE_MAMPS,236.385,76.500,1208.700,722.160,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.709,1402.402,656.543,295.773,0.000,0.000,0.000,0.000,0.000,0.000
$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,47193,633
$CAP_FILE_SIZE,107623,0
$CFSIZE,259252224,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050113,142128,-4157.740,815.665,38,0.9,38,-24.9