version: 66.07
glider: 543
mission: 6
dive: 187
start: 1 9 113 1 39 9
data:
$ID,543
$MISSION,6
$DIVE,187
$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,-8378.207
$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,29
$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
$GPS1,090113,012634,-4152.154,844.080,35,0.9,35,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-46.0
$GPS2,090113,013811,-4152.153,844.162,17,1.1,17,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,0.031
$KALMAN_X,-108241.5,377.9,170.3,165705.3,-5346.9
$KALMAN_Y,-6259.6,345.1,89.7,75982.5,-1040.8
$MHEAD_RNG_PITCHd_Wd,107.8,26198,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.49,-146.1,0.0,0.0,0,73,0.00,0.00,-48.72,0.000,2,0.000,0.000,51,3397,2636,0,0,0,0,0,0
$GC,77,-0.49,-146.1,3.1,-3.6,6,106,5.82,0.90,-13.25,0.000,4,0.232,0.095,1469,3932,3069,0,0,0,0,0,0
$GC,393,-0.49,-146.1,40.6,-14.5,54,403,0.00,0.82,0.00,0.000,6,0.000,0.037,1469,3394,3072,0,0,0,0,0,0
$GC,642,-0.49,-146.1,73.5,-14.1,95,647,0.00,0.88,0.00,0.000,4,0.000,0.059,1465,3938,3072,0,0,0,0,0,0
$GC,855,-0.49,-146.1,99.2,-11.0,132,864,0.00,0.85,0.00,0.000,6,0.000,0.035,1465,3380,3073,0,0,0,0,0,0
$GC,1185,-0.49,-146.1,134.0,-10.7,154,1188,0.00,0.93,0.00,0.000,4,0.000,0.060,1461,3941,3074,0,0,0,0,0,0
$GC,1311,-0.49,-146.1,148.8,-12.0,161,1315,0.00,0.85,0.00,0.000,6,0.000,0.036,1461,3379,3074,0,0,0,0,0,0
$GC,1636,-0.49,-146.1,184.9,-11.4,182,1640,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3944,3075,0,0,0,0,0,0
$GC,1708,-0.49,-146.1,193.9,-12.7,186,1712,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3380,3075,0,0,0,0,0,0
$GC,2037,-0.49,-146.1,231.2,-11.4,207,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3380,3075,0,0,0,0,0,0
$GC,2354,-0.49,-146.1,268.0,-11.5,225,2357,0.00,0.93,0.00,0.000,4,0.000,0.060,1453,3946,3075,0,0,0,0,0,0
$GC,2432,-0.49,-146.1,277.9,-12.3,228,2435,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3379,3075,0,0,0,0,0,0
$GC,2755,-0.49,-146.1,313.0,-10.9,244,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3379,3075,0,0,0,0,0,0
$GC,3065,-0.49,-146.1,347.5,-11.1,259,3071,0.00,0.90,0.00,0.000,4,0.000,0.058,1448,3945,3075,0,0,0,0,0,0
$GC,3169,-0.49,-146.1,360.4,-11.8,263,3174,0.00,0.85,0.00,0.000,6,0.000,0.036,1449,3379,3075,0,0,0,0,0,0
$GC,3493,-0.49,-146.1,397.2,-11.5,279,3499,0.00,0.90,0.00,0.000,4,0.000,0.059,1444,3946,3075,0,0,0,0,0,0
$GC,3567,-0.49,-146.1,406.6,-12.5,282,3571,0.08,0.85,0.00,0.000,6,0.142,0.036,1470,3380,3075,0,0,0,0,0,0
$GC,3902,-0.49,-146.1,437.7,-9.2,293,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3380,3074,0,0,0,0,0,0
$GC,4209,-0.49,-146.1,466.2,-9.4,303,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3380,3074,0,0,0,0,0,0
$GC,4516,-0.49,-146.1,493.0,-8.5,313,4519,0.00,0.93,0.00,0.000,4,0.000,0.062,1467,3942,3074,0,0,0,0,0,0
$GC,4590,-0.49,-146.1,499.6,-8.3,315,4594,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3381,3074,0,0,0,0,0,0
$GC,4926,-0.49,-146.1,529.0,-8.8,326,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3381,3073,0,0,0,0,0,0
$GC,5234,-0.49,-146.1,555.1,-8.4,336,5237,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3946,3072,0,0,0,0,0,0
$GC,5345,-0.49,-146.1,565.1,-8.5,339,5349,0.00,0.85,0.00,0.000,6,0.000,0.037,1463,3383,3072,0,0,0,0,0,0
$GC,5675,-0.49,-146.1,593.5,-8.8,350,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3382,3072,0,0,0,0,0,0
$GC,5982,-0.49,-146.1,621.3,-9.3,360,5985,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3946,3072,0,0,0,0,0,0
$GC,6059,-0.49,-146.1,629.5,-10.1,362,6063,0.00,0.88,0.00,0.000,6,0.000,0.038,1459,3370,3071,0,0,0,0,0,0
$GC,6390,-0.49,-146.1,660.4,-9.4,373,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3370,3070,0,0,0,0,0,0
$GC,6697,-0.49,-146.1,688.0,-9.1,383,6701,0.00,0.90,0.00,0.000,4,0.000,0.062,1455,3930,3069,0,0,0,0,0,0
$GC,6791,-0.49,-146.1,697.6,-10.2,385,6798,0.00,0.82,0.00,0.000,6,0.000,0.039,1455,3386,3069,0,0,0,0,0,0
$GC,7104,-0.49,-146.1,726.7,-9.2,396,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3387,3069,0,0,0,0,0,0
$GC,7410,-0.49,-146.1,754.7,-9.2,406,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3386,3068,0,0,0,0,0,0
$GC,7717,-0.49,-146.1,782.7,-9.2,416,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3387,3067,0,0,0,0,0,0
$GC,8024,-0.49,-146.1,810.8,-8.9,426,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3386,3066,0,0,0,0,0,0
$GC,8329,-0.49,-146.1,837.4,-8.8,436,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3386,3065,0,0,0,0,0,0
$GC,8635,-0.49,-146.1,865.3,-9.4,446,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3387,3065,0,0,0,0,0,0
$GC,8943,-0.49,-146.1,895.2,-9.9,456,8946,0.00,0.90,0.00,0.000,4,0.000,0.063,1450,3943,3065,0,0,0,0,0,0
$GC,9046,-0.49,-146.1,906.2,-10.2,459,9049,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3388,3064,0,0,0,0,0,0
$GC,9387,-0.49,-146.1,939.7,-9.9,470,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3388,3064,0,0,0,0,0,0
$GC,9693,-0.49,-146.1,970.2,-9.8,480,9697,0.00,0.88,0.00,0.000,4,0.000,0.063,1446,3930,3063,0,0,0,0,0,0
$GC,9777,-0.49,-146.1,979.1,-10.7,482,9781,0.08,0.85,0.00,0.000,6,0.142,0.040,1470,3376,3063,0,0,0,0,0,0
$STATE,10037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10037,begin apogee
$GC,10044,-0.14,0.0,1000.1,7.9,491,10195,0.38,0.00,147.70,1.210,6,0.128,0.000,1587,3266,2472,0,0,0,0,0,0
$STATE,10196,end apogee,CONTROL_FINISHED_OK
$STATE,10197,begin climb
$GC,10199,0.49,146.1,1003.5,0.0,496,10359,0.57,2.42,149.45,1.201,4,0.083,0.032,1794,1845,1868,0,0,0,0,0,0
$GC,10395,0.49,146.1,982.1,13.3,502,10400,0.00,2.50,0.00,0.000,6,0.000,0.051,1793,3268,1860,0,0,0,0,0,0
$GC,10731,0.49,146.1,927.0,16.6,513,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3268,1853,0,0,0,0,0,0
$GC,11037,0.49,146.1,877.0,16.4,523,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3268,1851,0,0,0,0,0,0
$GC,11344,0.49,146.1,826.5,16.6,533,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3268,1849,0,0,0,0,0,0
$GC,11649,0.49,146.1,775.5,16.8,543,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3268,1848,0,0,0,0,0,0
$GC,11956,0.49,146.1,725.9,16.0,553,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3268,1848,0,0,0,0,0,0
$GC,12263,0.49,146.1,677.0,15.9,563,12267,0.00,2.17,0.00,0.000,4,0.000,0.034,1804,1848,1847,0,0,0,0,0,0
$GC,12301,0.49,146.1,671.4,12.7,564,12305,0.00,2.30,0.00,0.000,6,0.000,0.052,1805,3273,1847,0,0,0,0,0,0
$GC,12625,0.49,146.1,618.6,16.8,575,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3274,1846,0,0,0,0,0,0
$GC,12933,0.49,146.1,567.1,16.7,585,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3274,1846,0,0,0,0,0,0
$GC,13238,0.49,146.1,515.5,16.8,595,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3274,1846,0,0,0,0,0,0
$GC,13544,0.49,146.1,463.8,16.8,605,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3274,1846,0,0,0,0,0,0
$GC,13851,0.49,146.1,413.0,16.2,615,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3273,1846,0,0,0,0,0,0
$GC,14171,0.49,146.1,362.0,15.9,629,14176,0.00,2.20,0.00,0.000,4,0.000,0.031,1815,1840,1845,0,0,0,0,0,0
$GC,14222,0.49,146.1,354.7,13.6,631,14226,0.00,2.30,0.00,0.000,6,0.000,0.050,1816,3281,1845,0,0,0,0,0,0
$GC,14551,0.49,146.1,298.4,17.7,647,14556,0.00,1.05,0.00,0.000,4,0.000,0.055,1816,3946,1845,0,0,0,0,0,0
$GC,14609,0.49,146.1,286.4,20.3,649,14613,0.00,1.02,0.00,0.000,6,0.000,0.032,1821,3252,1844,0,0,0,0,0,0
$GC,14939,0.49,146.1,227.6,17.5,667,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3252,1844,0,0,0,0,0,0
$GC,15254,0.49,146.1,172.6,17.5,687,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3252,1844,0,0,0,0,0,0
$GC,15566,0.49,146.1,118.9,16.3,707,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3252,1844,0,0,0,0,0,0
$GC,15901,0.49,146.1,62.7,16.5,751,15906,0.00,1.12,0.00,0.000,4,0.000,0.053,1821,3954,1844,0,0,0,0,0,0
$GC,15991,0.49,146.1,45.4,18.7,766,16000,0.10,1.02,0.00,0.000,6,0.177,0.031,1797,3257,1844,0,0,0,0,0,0
$GC,16261,0.49,146.1,7.7,11.1,807,16269,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3257,1845,0,0,0,0,0,0
$STATE,16315,end climb,SURFACE_DEPTH_REACHED
$STATE,16315,begin surface coast
$FINISH,1.0,1.026174
$STATE,16393,end surface coast,CONTROL_FINISHED_OK
$STATE,16394,begin surface
$SM_CCo,16410,49.33,0.697,1,0,1451,250.20
$SM_GC,1.75,0.00,0.00,49.33,0.000,0.000,0.697,53,3377,1451,-4.94,-0.08,250.20
$IRIDIUM_FIX,-4132.26,1044.63,080113,202013
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.8,34.123
$10V_AH,10.1,19.970
$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,11.500,41.225,297.150,49.325,0.000,102.451,23.983,332.698,0.000,0.000,19.753,2043.018,11361.929,393.353,2495.615,867.007,33.367,1272.408,0.000,2235.079,0.000,1.015,0.000
$DEVICE_MAMPS,231.795,94.860,1210.230,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.609,1826.921,845.233,390.230,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353880
$DATA_FILE_SIZE,60587,827
$CAP_FILE_SIZE,116708,0
$CFSIZE,259252224,246767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,090113,061458,-4151.656,846.544,43,0.8,43,-25.0