version: 66.07
glider: 543
mission: 6
dive: 186
start: 1 8 113 20 47 48
data:
$ID,543
$MISSION,6
$DIVE,186
$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,-8375.873
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,080113,203323,-4152.596,841.935,37,0.9,37,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-46.3
$GPS2,080113,204650,-4152.559,841.921,23,0.8,24,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,0.028
$KALMAN_X,-106089.6,463.8,430.3,160146.0,-5834.4
$KALMAN_Y,-6408.5,419.4,23.5,75379.6,-650.6
$MHEAD_RNG_PITCHd_Wd,108.5,28444,-14.7,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.49,-146.1,0.0,0.0,0,74,0.00,0.00,-49.33,0.000,2,0.000,0.000,49,3380,2645,0,0,0,0,0,0
$GC,78,-0.49,-146.1,3.0,-3.2,6,107,5.68,0.93,-12.40,0.000,4,0.222,0.087,1466,3941,3071,0,0,0,0,0,0
$GC,393,-0.49,-146.1,45.6,-10.7,54,402,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3388,3073,0,0,0,0,0,0
$GC,635,-0.49,-146.1,76.1,-12.9,95,640,0.00,0.90,0.00,0.000,4,0.000,0.059,1462,3949,3074,0,0,0,0,0,0
$GC,723,-0.49,-146.1,88.5,-13.2,110,730,0.00,0.88,0.00,0.000,6,0.000,0.037,1462,3377,3074,0,0,0,0,0,0
$GC,1051,-0.49,-146.1,127.7,-11.2,141,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3377,3075,0,0,0,0,0,0
$GC,1366,-0.49,-146.1,160.2,-10.4,161,1370,0.00,0.90,0.00,0.000,4,0.000,0.059,1458,3941,3076,0,0,0,0,0,0
$GC,1480,-0.49,-146.1,174.0,-11.6,167,1487,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3380,3076,0,0,0,0,0,0
$GC,1800,-0.49,-146.1,209.7,-11.4,188,1803,0.00,0.93,0.00,0.000,4,0.000,0.061,1454,3946,3076,0,0,0,0,0,0
$GC,1894,-0.49,-146.1,221.5,-12.5,193,1898,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3381,3076,0,0,0,0,0,0
$GC,2227,-0.49,-146.1,259.6,-11.3,213,2230,0.00,0.90,0.00,0.000,4,0.000,0.060,1450,3946,3076,0,0,0,0,0,0
$GC,2305,-0.49,-146.1,269.7,-12.0,216,2308,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3383,3076,0,0,0,0,0,0
$GC,2627,-0.49,-146.1,305.2,-11.2,232,2631,0.00,0.90,0.00,0.000,4,0.000,0.059,1445,3947,3076,0,0,0,0,0,0
$GC,2730,-0.49,-146.1,318.1,-12.6,236,2734,0.08,0.88,0.00,0.000,6,0.142,0.037,1470,3370,3076,0,0,0,0,0,0
$GC,3053,-0.49,-146.1,349.4,-9.4,252,3056,0.00,0.93,0.00,0.000,4,0.000,0.060,1466,3950,3076,0,0,0,0,0,0
$GC,3173,-0.49,-146.1,362.1,-10.3,257,3177,0.00,0.88,0.00,0.000,6,0.000,0.037,1466,3372,3076,0,0,0,0,0,0
$GC,3503,-0.49,-146.1,392.6,-9.0,273,3508,0.00,0.93,0.00,0.000,4,0.000,0.060,1462,3952,3076,0,0,0,0,0,0
$GC,3555,-0.49,-146.1,398.0,-9.2,275,3559,0.00,0.88,0.00,0.000,6,0.000,0.036,1462,3372,3076,0,0,0,0,0,0
$GC,3870,-0.49,-146.1,425.5,-8.9,286,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3372,3076,0,0,0,0,0,0
$GC,4176,-0.49,-146.1,454.3,-9.5,296,4180,0.00,0.93,0.00,0.000,4,0.000,0.060,1458,3950,3075,0,0,0,0,0,0
$GC,4340,-0.49,-146.1,471.9,-10.5,300,4348,0.00,0.88,0.00,0.000,6,0.000,0.037,1458,3375,3075,0,0,0,0,0,0
$GC,4653,-0.49,-146.1,502.3,-9.2,311,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3374,3074,0,0,0,0,0,0
$GC,4959,-0.49,-146.1,531.3,-9.5,321,4963,0.00,0.90,0.00,0.000,4,0.000,0.061,1454,3938,3074,0,0,0,0,0,0
$GC,5135,-0.49,-146.1,548.5,-9.6,326,5138,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3378,3073,0,0,0,0,0,0
$GC,5476,-0.49,-146.1,582.5,-9.9,337,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3378,3073,0,0,0,0,0,0
$GC,5783,-0.49,-146.1,613.6,-10.3,347,5787,0.00,0.90,0.00,0.000,4,0.000,0.061,1450,3942,3072,0,0,0,0,0,0
$GC,5920,-0.49,-146.1,628.8,-11.1,351,5924,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3384,3072,0,0,0,0,0,0
$GC,6262,-0.49,-146.1,664.3,-10.1,362,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3384,3071,0,0,0,0,0,0
$GC,6568,-0.49,-146.1,694.8,-9.9,372,6572,0.00,0.90,0.00,0.000,4,0.000,0.062,1446,3946,3070,0,0,0,0,0,0
$GC,6639,-0.49,-146.1,702.0,-10.5,374,6644,0.10,0.88,0.00,0.000,6,0.139,0.039,1478,3373,3070,0,0,0,0,0,0
$GC,6981,-0.49,-146.1,728.7,-7.5,385,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3373,3069,0,0,0,0,0,0
$GC,7288,-0.49,-146.1,751.5,-7.5,395,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3373,3068,0,0,0,0,0,0
$GC,7597,-0.49,-146.1,774.3,-7.2,405,7601,0.00,0.93,0.00,0.000,4,0.000,0.063,1475,3950,3068,0,0,0,0,0,0
$GC,7670,-0.49,-146.1,780.5,-7.6,407,7674,0.00,0.88,0.00,0.000,6,0.000,0.040,1474,3379,3068,0,0,0,0,0,0
$GC,8006,-0.49,-146.1,805.8,-7.7,418,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3379,3067,0,0,0,0,0,0
$GC,8312,-0.49,-146.1,829.5,-7.8,428,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3379,3066,0,0,0,0,0,0
$GC,8619,-0.49,-146.1,853.7,-7.9,438,8623,0.00,0.93,0.00,0.000,4,0.000,0.063,1471,3953,3065,0,0,0,0,0,0
$GC,8730,-0.49,-146.1,863.3,-9.3,441,8734,0.00,0.88,0.00,0.000,6,0.000,0.040,1471,3382,3065,0,0,0,0,0,0
$GC,9060,-0.49,-146.1,889.2,-7.8,452,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3382,3065,0,0,0,0,0,0
$GC,9366,-0.49,-146.1,913.2,-7.8,462,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3382,3064,0,0,0,0,0,0
$GC,9674,-0.49,-146.1,937.8,-8.0,472,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3382,3063,0,0,0,0,0,0
$GC,9979,-0.49,-146.1,962.5,-8.1,482,9984,0.00,0.93,0.00,0.000,4,0.000,0.063,1466,3953,3062,0,0,0,0,0,0
$GC,10035,-0.49,-146.1,967.6,-8.9,483,10038,0.00,0.88,0.00,0.000,6,0.000,0.040,1467,3383,3062,0,0,0,0,0,0
$GC,10355,-0.49,-146.1,994.1,-8.3,494,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3383,3062,0,0,0,0,0,0
$STATE,10444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10444,begin apogee
$GC,10451,-0.14,0.0,1001.8,8.4,497,10599,0.40,0.00,139.45,1.824,6,0.129,0.000,1588,3272,2473,0,0,0,0,1,0
$STATE,10600,end apogee,CONTROL_FINISHED_OK
$STATE,10600,begin climb
$GC,10603,0.49,146.1,1005.8,0.0,502,10761,0.60,0.00,149.35,1.781,6,0.079,0.000,1787,3272,1877,0,0,0,0,1,0
$GC,11062,0.49,146.1,941.0,16.4,517,11066,0.00,2.28,0.00,0.000,4,0.000,0.034,1798,1846,1867,0,0,0,0,0,0
$GC,11117,0.49,146.1,932.7,13.4,518,11124,0.00,2.38,0.00,0.000,6,0.000,0.053,1798,3272,1865,0,0,0,0,0,0
$GC,11430,0.49,146.1,879.3,17.3,529,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1864,0,0,0,0,0,0
$GC,11737,0.49,146.1,828.5,16.4,539,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3272,1862,0,0,0,0,0,0
$GC,12043,0.49,146.1,779.0,15.8,549,12048,0.00,1.10,0.00,0.000,4,0.000,0.058,1798,3952,1862,0,0,0,0,0,0
$GC,12099,0.49,146.1,768.8,17.8,550,12103,0.00,1.05,0.00,0.000,6,0.000,0.034,1803,3258,1861,0,0,0,0,0,0
$GC,12419,0.49,146.1,714.9,16.9,561,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3258,1860,0,0,0,0,0,0
$GC,12724,0.49,146.1,661.2,17.4,571,12730,0.00,1.12,0.00,0.000,4,0.000,0.058,1803,3953,1859,0,0,0,0,0,0
$GC,12820,0.49,146.1,642.7,19.9,573,12828,0.00,1.02,0.00,0.000,6,0.000,0.034,1808,3272,1860,0,0,0,0,0,0
$GC,13134,0.49,146.1,588.9,17.0,584,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3272,1859,0,0,0,0,0,0
$GC,13440,0.49,146.1,538.4,16.2,594,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3272,1859,0,0,0,0,0,0
$GC,13747,0.49,146.1,487.6,16.7,604,13751,0.00,1.10,0.00,0.000,4,0.000,0.057,1808,3955,1858,0,0,0,0,0,0
$GC,13827,0.49,146.1,473.1,18.1,606,13830,0.00,1.02,0.00,0.000,6,0.000,0.033,1813,3272,1858,0,0,0,0,0,0
$GC,14158,0.49,146.1,415.4,17.4,617,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,14477,0.49,146.1,359.1,17.9,631,14479,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,14786,0.49,146.1,304.6,17.6,646,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3272,1857,0,0,0,0,0,0
$GC,15096,0.49,146.1,250.6,17.5,661,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3272,1857,0,0,0,0,0,0
$GC,15413,0.49,146.1,195.9,17.4,681,15419,0.00,1.08,0.00,0.000,4,0.000,0.056,1814,3946,1857,0,0,0,0,0,0
$GC,15468,0.49,146.1,185.3,18.4,684,15472,0.00,1.00,0.00,0.000,6,0.000,0.032,1819,3269,1857,0,0,0,0,0,0
$GC,15802,0.49,146.1,125.9,18.6,705,15803,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1857,0,0,0,0,0,0
$GC,16131,0.49,146.1,68.0,14.7,747,16137,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1857,0,0,0,0,0,0
$GC,16510,0.49,146.1,9.9,14.8,808,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3269,1857,0,0,0,0,0,0
$STATE,16555,end climb,SURFACE_DEPTH_REACHED
$STATE,16555,begin surface coast
$FINISH,1.2,1.026220
$STATE,16579,end surface coast,CONTROL_FINISHED_OK
$STATE,16579,begin surface
$SM_CCo,16595,48.65,0.714,1,0,1452,250.20
$SM_GC,2.02,0.00,0.00,48.65,0.000,0.000,0.714,52,3396,1452,-4.95,0.45,250.20
$IRIDIUM_FIX,-4135.14,839.28,080113,111130
$TT8_MAMPS,0.025466
$HUMID,55.82
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.3,33.989
$10V_AH,10.1,19.854
$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,11.500,40.175,288.800,48.650,0.000,70.087,143.217,344.724,0.000,0.000,27.197,2058.729,11463.692,431.495,2638.894,862.040,33.367,1322.416,0.000,2258.814,0.000,1.013,0.000
$DEVICE_MAMPS,221.850,87.210,1823.760,713.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.456,1775.066,785.489,343.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,60506,817
$CAP_FILE_SIZE,120809,0
$CFSIZE,259252224,246824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090113,012634,-4152.154,844.080,35,0.9,35,-25.0