version: 66.07
glider: 543
mission: 6
dive: 169
start: 1 5 113 14 30 36
data:
$ID,543
$MISSION,6
$DIVE,169
$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,-8335.416
$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,35
$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
$GPS1,050113,142128,-4157.740,815.665,38,0.9,38,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-55.4
$GPS2,050113,142936,-4157.738,815.741,17,1.4,17,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.120,-0.081
$KALMAN_X,-73029.1,-1121.4,-449.1,93848.1,8388.0
$KALMAN_Y,5450.5,569.7,320.9,53455.6,-2410.6
$MHEAD_RNG_PITCHd_Wd,260.9,7205,-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,-48.0,0.0,0.0,0,72,0.00,0.00,-49.45,0.000,2,0.000,0.000,49,3394,2630,0,0,0,0,0,0
$GC,76,-0.78,-89.2,3.1,-3.5,6,95,5.38,2.20,-6.72,0.000,4,0.231,0.044,1379,1964,2838,0,0,0,0,0,0
$GC,215,-0.78,-89.2,19.5,-13.6,26,223,0.00,2.30,0.00,0.000,6,0.000,0.053,1370,3365,2841,0,0,0,0,0,0
$GC,304,-0.78,-89.2,34.5,-18.1,39,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3365,2841,0,0,0,0,0,0
$GC,546,-0.78,-89.2,79.2,-17.9,80,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3365,2841,0,0,0,0,0,0
$GC,897,-0.78,-89.2,126.4,-12.3,117,898,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3365,2842,0,0,0,0,0,0
$GC,1206,-0.78,-89.2,164.0,-12.6,137,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3365,2843,0,0,0,0,0,0
$GC,1520,-0.78,-89.2,205.8,-13.7,157,1524,0.00,0.93,0.00,0.000,4,0.000,0.055,1366,3954,2844,0,0,0,0,0,0
$GC,1665,-0.78,-89.2,228.3,-15.7,165,1669,0.00,0.85,0.00,0.000,6,0.000,0.035,1365,3388,2844,0,0,0,0,0,0
$GC,1995,-0.78,-89.2,279.1,-15.1,183,2001,0.00,0.88,0.00,0.000,4,0.000,0.054,1361,3947,2845,0,0,0,0,0,0
$GC,2138,-0.78,-89.2,301.7,-15.6,189,2142,0.00,0.85,0.00,0.000,6,0.000,0.035,1361,3379,2845,0,0,0,0,0,0
$GC,2473,-0.78,-89.2,349.5,-13.3,205,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3379,2845,0,0,0,0,0,0
$GC,2781,-0.78,-89.2,388.9,-12.3,220,2785,0.00,0.90,0.00,0.000,4,0.000,0.054,1358,3953,2845,0,0,0,0,0,0
$GC,2955,-0.78,-89.2,411.8,-13.6,227,2960,0.00,0.85,0.00,0.000,6,0.000,0.036,1357,3383,2845,0,0,0,0,0,0
$GC,3298,-0.78,-89.2,456.2,-12.9,238,3302,0.00,0.90,0.00,0.000,4,0.000,0.054,1353,3958,2845,0,0,0,0,0,0
$GC,3501,-0.78,-89.2,485.3,-13.6,244,3505,0.00,0.88,0.00,0.000,6,0.000,0.035,1353,3372,2845,0,0,0,0,0,0
$GC,3842,-0.78,-89.2,530.1,-13.0,255,3848,0.00,0.90,0.00,0.000,4,0.000,0.055,1349,3947,2845,0,0,0,0,0,0
$GC,4073,-0.78,-89.2,563.5,-14.5,261,4081,0.08,0.85,0.00,0.000,6,0.187,0.036,1370,3382,2844,0,0,0,0,0,0
$GC,4387,-0.78,-89.2,600.4,-11.6,272,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3382,2844,0,0,0,0,0,0
$GC,4694,-0.78,-89.2,639.6,-13.1,282,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3382,2843,0,0,0,0,0,0
$GC,4999,-0.78,-89.2,681.4,-14.1,292,5004,0.00,0.90,0.00,0.000,4,0.000,0.056,1367,3953,2842,0,0,0,0,0,0
$GC,5089,-0.78,-89.2,696.4,-17.7,294,5095,0.00,0.88,0.00,0.000,6,0.000,0.037,1367,3373,2842,0,0,0,0,0,0
$GC,5409,-0.78,-89.2,746.4,-15.8,305,5415,0.00,0.90,0.00,0.000,4,0.000,0.057,1363,3946,2841,0,0,0,0,0,0
$GC,5538,-0.78,-89.2,767.9,-16.0,308,5545,0.00,0.85,0.00,0.000,6,0.000,0.037,1363,3382,2841,0,0,0,0,0,0
$GC,5852,-0.78,-89.2,812.2,-13.8,319,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3382,2840,0,0,0,0,0,0
$GC,6159,-0.78,-89.2,849.6,-11.6,329,6163,0.00,0.90,0.00,0.000,4,0.000,0.057,1359,3952,2839,0,0,0,0,0,0
$GC,6311,-0.78,-89.2,867.9,-12.3,333,6314,0.00,0.88,0.00,0.000,6,0.000,0.037,1359,3373,2839,0,0,0,0,0,0
$GC,6635,-0.78,-89.2,901.3,-9.8,344,6638,0.00,0.90,0.00,0.000,4,0.000,0.057,1355,3944,2838,0,0,0,0,0,0
$GC,6729,-0.78,-89.2,911.3,-10.9,346,6736,0.00,0.85,0.00,0.000,6,0.000,0.037,1355,3381,2838,0,0,0,0,0,0
$GC,7043,-0.78,-89.2,941.1,-9.1,357,7046,0.00,0.90,0.00,0.000,4,0.000,0.058,1350,3950,2837,0,0,0,0,0,0
$GC,7137,-0.78,-89.2,951.0,-10.1,359,7145,0.08,0.85,0.00,0.000,6,0.189,0.037,1372,3389,2837,0,0,0,0,0,0
$GC,7451,-0.78,-89.2,978.5,-9.0,370,7454,0.00,0.90,0.00,0.000,4,0.000,0.059,1369,3957,2836,0,0,0,0,0,0
$GC,7568,-0.78,-89.2,991.2,-12.0,373,7574,0.00,0.88,0.00,0.000,6,0.000,0.038,1369,3381,2836,0,0,0,0,0,0
$STATE,7678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7678,begin apogee
$GC,7685,-0.14,0.0,1002.4,10.1,377,7782,0.75,0.00,93.68,1.211,6,0.164,0.000,1585,3270,2473,0,0,0,0,0,0
$STATE,7783,end apogee,CONTROL_FINISHED_OK
$STATE,7783,begin climb
$GC,7786,0.78,89.2,1004.2,0.0,380,7890,0.90,0.00,94.20,1.206,6,0.085,0.000,1882,3270,2102,0,0,0,0,0,0
$GC,8195,0.78,89.2,929.0,19.8,394,8198,0.00,1.10,0.00,0.000,4,0.000,0.056,1882,3942,2089,0,0,0,0,0,0
$GC,8297,0.78,89.2,907.0,21.9,397,8300,0.00,1.05,0.00,0.000,6,0.000,0.033,1888,3256,2088,0,0,0,0,0,0
$GC,8638,0.78,89.2,838.4,20.1,408,8643,0.00,1.12,0.00,0.000,4,0.000,0.055,1888,3948,2085,0,0,0,0,0,0
$GC,8837,0.78,89.2,792.2,24.0,413,8843,0.00,1.02,0.00,0.000,6,0.000,0.033,1893,3271,2084,0,0,0,0,0,0
$GC,9150,0.78,89.2,720.8,23.2,424,9156,0.00,1.10,0.00,0.000,4,0.000,0.055,1893,3956,2083,0,0,0,0,0,0
$GC,9186,0.78,89.2,711.9,25.8,425,9189,0.00,1.02,0.00,0.000,6,0.000,0.033,1898,3272,2083,0,0,0,0,0,0
$GC,9527,0.78,89.2,633.4,22.6,436,9532,0.00,1.10,0.00,0.000,4,0.000,0.055,1898,3955,2082,0,0,0,0,0,0
$GC,9681,0.78,89.2,596.7,23.9,440,9685,0.00,1.02,0.00,0.000,6,0.000,0.032,1903,3269,2082,0,0,0,0,0,0
$GC,10005,0.78,89.2,527.3,20.6,451,10009,0.00,1.10,0.00,0.000,4,0.000,0.054,1903,3954,2081,0,0,0,0,0,0
$GC,10262,0.78,89.2,469.7,22.3,458,10266,0.00,1.02,0.00,0.000,6,0.000,0.033,1908,3268,2081,0,0,0,0,0,0
$GC,10581,0.78,89.2,406.4,20.1,469,10585,0.00,1.10,0.00,0.000,4,0.000,0.054,1908,3958,2080,0,0,0,0,0,0
$GC,10707,0.78,89.2,377.9,22.5,474,10710,0.00,1.02,0.00,0.000,6,0.000,0.033,1914,3272,2079,0,0,0,0,0,0
$GC,11030,0.78,89.2,308.5,21.2,490,11033,0.00,1.08,0.00,0.000,4,0.000,0.054,1914,3948,2079,0,0,0,0,0,0
$GC,11289,0.78,89.2,247.4,24.4,502,11295,0.10,1.02,0.00,0.000,6,0.207,0.033,1892,3258,2079,0,0,0,0,0,0
$GC,11628,0.78,89.2,183.0,18.4,523,11632,0.00,1.10,0.00,0.000,4,0.000,0.053,1892,3953,2078,0,0,0,0,0,0
$GC,11806,0.78,89.2,145.5,20.4,533,11809,0.00,1.00,0.00,0.000,6,0.000,0.033,1896,3275,2078,0,0,0,0,0,0
$GC,12130,0.78,89.2,82.5,19.3,564,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3275,2078,0,0,0,0,0,0
$GC,12504,0.78,89.2,11.8,16.9,625,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3275,2078,0,0,0,0,0,0
$STATE,12555,end climb,SURFACE_DEPTH_REACHED
$STATE,12555,begin surface coast
$FINISH,1.4,1.026144
$STATE,12579,end surface coast,CONTROL_FINISHED_OK
$STATE,12579,begin surface
$SM_CCo,12595,71.68,0.727,1,0,1453,250.20
$SM_GC,1.85,0.00,0.00,71.68,0.000,0.000,0.727,52,3393,1453,-4.94,0.37,250.20
$IRIDIUM_FIX,-4138.02,744.09,050113,101054
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.6,31.424
$10V_AH,10.1,17.904
$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,12.125,41.175,187.875,71.675,0.000,27.137,42.064,259.258,0.000,0.000,20.097,1686.885,8063.162,363.414,2306.155,744.617,33.360,1220.189,0.000,2127.639,0.000,1.009,0.000
$DEVICE_MAMPS,231.030,75.735,1210.995,726.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.625,1411.688,659.508,292.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,47240,635
$CAP_FILE_SIZE,106714,0
$CFSIZE,259252224,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050113,180304,-4158.561,814.690,34,0.8,34,-24.9