version: 66.07
glider: 543
mission: 6
dive: 190
start: 1 9 113 16 12 16
data:
$ID,543
$MISSION,6
$DIVE,190
$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,-8385.2051
$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,55
$R_STBD_OVSHOOT,24
$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
$GPS1,090113,160034,-4150.448,850.934,26,1.1,26,-25.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-47.5
$GPS2,090113,161118,-4150.410,850.864,16,1.3,16,-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,-115966.1,493.3,294.2,182342.6,-6599.7
$KALMAN_Y,-2248.7,276.1,6.7,75353.8,1870.3
$MHEAD_RNG_PITCHd_Wd,122.2,21761,-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,22,-0.49,-146.1,0.0,0.0,0,74,0.00,0.00,-49.15,0.000,2,0.000,0.000,53,3382,2622,0,0,0,0,0,0
$GC,78,-0.49,-146.1,3.1,-2.9,6,104,5.78,0.90,-13.85,0.000,4,0.229,0.091,1466,3944,3070,0,0,0,0,0,0
$GC,392,-0.49,-146.1,40.7,-13.6,54,401,0.00,0.85,0.00,0.000,6,0.000,0.036,1466,3393,3072,0,0,0,0,0,0
$GC,638,-0.49,-146.1,72.6,-13.8,95,644,0.00,0.90,0.00,0.000,4,0.000,0.059,1462,3952,3073,0,0,0,0,0,0
$GC,691,-0.49,-146.1,79.4,-11.5,104,699,0.00,0.88,0.00,0.000,6,0.000,0.036,1462,3379,3073,0,0,0,0,0,0
$GC,1038,-0.49,-146.1,116.0,-10.8,147,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3379,3074,0,0,0,0,0,0
$GC,1351,-0.49,-146.1,149.2,-10.8,167,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3379,3074,0,0,0,0,0,0
$GC,1661,-0.49,-146.1,180.9,-10.0,187,1667,0.00,0.90,0.00,0.000,4,0.000,0.058,1458,3946,3075,0,0,0,0,0,0
$GC,1787,-0.49,-146.1,195.3,-11.1,194,1791,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3382,3075,0,0,0,0,0,0
$GC,2119,-0.49,-146.1,233.2,-11.9,215,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3382,3075,0,0,0,0,0,0
$GC,2440,-0.49,-146.1,271.3,-11.6,233,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3382,3075,0,0,0,0,0,0
$GC,2749,-0.49,-146.1,307.3,-11.8,248,2753,0.00,0.90,0.00,0.000,4,0.000,0.058,1454,3947,3075,0,0,0,0,0,0
$GC,2846,-0.49,-146.1,320.2,-13.1,252,2850,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3383,3075,0,0,0,0,0,0
$GC,3175,-0.49,-146.1,358.2,-11.2,268,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3383,3075,0,0,0,0,0,0
$GC,3485,-0.49,-146.1,390.2,-10.2,283,3491,0.00,0.90,0.00,0.000,4,0.000,0.059,1450,3947,3075,0,0,0,0,0,0
$GC,3583,-0.49,-146.1,400.6,-9.6,287,3591,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3383,3075,0,0,0,0,0,0
$GC,3896,-0.49,-146.1,430.7,-9.6,298,3902,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3948,3075,0,0,0,0,0,0
$GC,3958,-0.49,-146.1,437.5,-10.6,299,3966,0.08,0.85,0.00,0.000,6,0.142,0.036,1469,3386,3075,0,0,0,0,0,0
$GC,4273,-0.49,-146.1,464.6,-9.1,310,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3075,0,0,0,0,0,0
$GC,4578,-0.49,-146.1,494.2,-9.8,320,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3387,3075,0,0,0,0,0,0
$GC,4884,-0.49,-146.1,522.9,-9.1,330,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3386,3074,0,0,0,0,0,0
$GC,5192,-0.49,-146.1,548.7,-8.3,340,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3386,3074,0,0,0,0,0,0
$GC,5497,-0.49,-146.1,573.2,-7.7,350,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3386,3073,0,0,0,0,0,0
$GC,5804,-0.49,-146.1,597.3,-8.1,360,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3073,0,0,0,0,0,0
$GC,6110,-0.49,-146.1,623.7,-8.8,370,6114,0.00,0.90,0.00,0.000,4,0.000,0.062,1466,3946,3072,0,0,0,0,0,0
$GC,6199,-0.49,-146.1,632.4,-9.5,372,6203,0.00,0.85,0.00,0.000,6,0.000,0.038,1467,3387,3072,0,0,0,0,0,0
$GC,6519,-0.49,-146.1,663.0,-9.8,383,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3071,0,0,0,0,0,0
$GC,6824,-0.49,-146.1,693.3,-9.7,393,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3070,0,0,0,0,0,0
$GC,7131,-0.49,-146.1,722.1,-9.1,403,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3069,0,0,0,0,0,0
$GC,7439,-0.49,-146.1,748.3,-8.3,413,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3068,0,0,0,0,0,0
$GC,7743,-0.49,-146.1,773.6,-8.4,423,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3387,3068,0,0,0,0,0,0
$GC,8049,-0.49,-146.1,799.7,-8.4,433,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3068,0,0,0,0,0,0
$GC,8357,-0.49,-146.1,825.6,-8.4,443,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3067,0,0,0,0,0,0
$GC,8662,-0.49,-146.1,851.4,-8.4,453,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3066,0,0,0,0,0,0
$GC,8968,-0.49,-146.1,876.5,-8.2,463,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3065,0,0,0,0,0,0
$GC,9276,-0.49,-146.1,901.5,-8.3,473,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3387,3065,0,0,0,0,0,0
$GC,9581,-0.49,-146.1,927.1,-8.3,483,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3065,0,0,0,0,0,0
$GC,9887,-0.49,-146.1,952.4,-8.1,493,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3387,3064,0,0,0,0,0,0
$GC,10194,-0.49,-146.1,976.9,-8.0,503,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3387,3063,0,0,0,0,0,0
$STATE,10497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10497,begin apogee
$GC,10504,-0.14,0.0,1001.4,8.1,513,10656,0.40,0.00,148.45,1.205,6,0.131,0.000,1589,3275,2474,0,0,0,0,0,0
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10660,0.49,146.1,1004.9,0.0,518,10819,0.57,2.47,148.32,1.190,4,0.081,0.031,1796,1853,1870,0,0,0,0,0,0
$GC,10855,0.49,146.1,984.0,12.4,524,10860,0.00,2.47,0.00,0.000,6,0.000,0.051,1796,3266,1861,0,0,0,0,0,0
$GC,11191,0.49,146.1,931.1,16.0,535,11197,0.00,1.15,0.00,0.000,4,0.000,0.058,1796,3954,1854,0,0,0,0,0,0
$GC,11248,0.49,146.1,920.9,18.2,536,11252,0.00,1.08,0.00,0.000,6,0.000,0.034,1800,3260,1853,0,0,0,0,0,0
$GC,11567,0.49,146.1,867.8,16.9,547,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3260,1851,0,0,0,0,0,0
$GC,11873,0.49,146.1,817.0,16.4,557,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1850,0,0,0,0,0,0
$GC,12179,0.49,146.1,764.3,17.4,567,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1849,0,0,0,0,0,0
$GC,12486,0.49,146.1,711.9,17.0,577,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1848,0,0,0,0,0,0
$GC,12791,0.49,146.1,661.5,16.2,587,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1848,0,0,0,0,0,0
$GC,13098,0.49,146.1,612.6,15.8,597,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1847,0,0,0,0,0,0
$GC,13405,0.49,146.1,566.0,15.1,607,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1847,0,0,0,0,0,0
$GC,13710,0.49,146.1,521.2,14.8,617,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1847,0,0,0,0,0,0
$GC,14016,0.49,146.1,476.0,14.9,627,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1847,0,0,0,0,0,0
$GC,14323,0.49,146.1,430.3,15.1,637,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1847,0,0,0,0,0,0
$GC,14642,0.49,146.1,382.4,14.9,649,14643,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3261,1846,0,0,0,0,0,0
$GC,14950,0.49,146.1,336.3,15.3,664,14954,0.00,1.12,0.00,0.000,4,0.000,0.056,1801,3956,1846,0,0,0,0,0,0
$GC,14991,0.49,146.1,329.2,17.1,665,14998,0.00,1.02,0.00,0.000,6,0.000,0.032,1805,3271,1846,0,0,0,0,0,0
$GC,15309,0.49,146.1,277.2,16.7,681,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3271,1846,0,0,0,0,0,0
$GC,15618,0.49,146.1,227.2,15.9,698,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3272,1846,0,0,0,0,0,0
$GC,15931,0.49,146.1,177.8,15.7,718,15932,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3271,1846,0,0,0,0,0,0
$GC,16243,0.49,146.1,126.7,16.7,738,16247,0.00,2.12,0.00,0.000,4,0.000,0.031,1817,1856,1847,0,0,0,0,0,0
$GC,16283,0.49,146.1,120.9,13.5,740,16292,0.00,2.28,0.00,0.000,6,0.000,0.048,1817,3272,1847,0,0,0,0,0,0
$GC,16621,0.49,146.1,66.0,13.0,785,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3272,1847,0,0,0,0,0,0
$GC,16996,0.49,146.1,11.5,16.0,846,17006,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3272,1846,0,0,0,0,0,0
$STATE,17052,end climb,SURFACE_DEPTH_REACHED
$STATE,17052,begin surface coast
$FINISH,1.2,1.013792
$STATE,17081,end surface coast,CONTROL_FINISHED_OK
$STATE,17081,begin surface
$SM_CCo,17097,51.17,0.689,1,0,1453,250.20
$SM_GC,1.77,0.00,0.00,51.17,0.000,0.000,0.689,47,3389,1453,-4.96,0.25,250.20
$IRIDIUM_FIX,-4135.14,847.84,090113,111142
$TT8_MAMPS,0.025466
$HUMID,55.00
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.8,34.577
$10V_AH,10.1,20.325
$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,11.550,26.325,296.775,51.175,0.000,26.770,23.605,416.396,0.000,0.000,19.162,2059.033,12100.254,395.001,2375.793,864.989,33.371,1215.604,0.000,2174.036,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,91.035,1204.875,688.500,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.795,1880.153,837.029,373.767,0.000,0.000,0.000,0.000,0.000,0.000
$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,63707,858
$CAP_FILE_SIZE,109953,0
$CFSIZE,259252224,246566912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,090113,205934,-4150.113,853.540,43,0.9,43,-25.1