version: 66.07
glider: 543
mission: 6
dive: 192
start: 1 10 113 2 1 51
data:
$ID,543
$MISSION,6
$DIVE,192
$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,-8389.9668
$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,52
$R_STBD_OVSHOOT,32
$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
$GPS1,100113,015035,-4149.262,856.263,34,0.9,34,-25.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-39.8
$GPS2,100113,020053,-4149.191,856.262,17,1.1,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.233,-0.072
$KALMAN_X,-119736.5,727.0,278.2,193257.1,-5977.6
$KALMAN_Y,1710.7,-309.4,75.2,74170.0,3251.5
$MHEAD_RNG_PITCHd_Wd,132.3,20668,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-146.1,0.0,0.0,0,72,0.00,0.00,-49.15,0.000,2,0.000,0.000,51,3393,2643,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.3,6,104,5.70,0.90,-12.85,0.000,4,0.223,0.090,1469,3937,3068,0,0,0,0,0,0
$GC,388,-0.49,-146.1,47.9,-13.1,54,399,0.00,0.85,0.00,0.000,6,0.000,0.037,1469,3387,3071,0,0,0,0,0,0
$GC,637,-0.49,-146.1,77.6,-13.1,95,642,0.00,0.88,0.00,0.000,4,0.000,0.058,1465,3927,3071,0,0,0,0,0,0
$GC,802,-0.49,-146.1,96.3,-10.7,123,810,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3374,3072,0,0,0,0,0,0
$GC,1137,-0.49,-146.1,130.4,-10.1,147,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3374,3073,0,0,0,0,0,0
$GC,1448,-0.49,-146.1,163.1,-10.5,167,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3374,3074,0,0,0,0,0,0
$GC,1761,-0.49,-146.1,197.8,-11.6,187,1766,0.00,0.90,0.00,0.000,4,0.000,0.059,1461,3936,3074,0,0,0,0,0,0
$GC,1871,-0.49,-146.1,210.8,-11.7,193,1875,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3375,3074,0,0,0,0,0,0
$GC,2201,-0.49,-146.1,250.2,-11.7,214,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3375,3073,0,0,0,0,0,0
$GC,2512,-0.49,-146.1,285.3,-11.0,229,2518,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3937,3074,0,0,0,0,0,0
$GC,2633,-0.49,-146.1,299.8,-11.3,234,2636,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3376,3074,0,0,0,0,0,0
$GC,2962,-0.49,-146.1,336.6,-11.1,250,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3375,3073,0,0,0,0,0,0
$GC,3272,-0.49,-146.1,371.6,-11.6,265,3278,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3941,3073,0,0,0,0,0,0
$GC,3323,-0.49,-146.1,377.4,-12.4,267,3326,0.00,0.85,0.00,0.000,6,0.000,0.037,1453,3380,3073,0,0,0,0,0,0
$GC,3655,-0.49,-146.1,414.7,-10.5,281,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3379,3074,0,0,0,0,0,0
$GC,3961,-0.49,-146.1,445.5,-9.9,291,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3379,3073,0,0,0,0,0,0
$GC,4268,-0.49,-146.1,477.7,-10.5,301,4272,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3944,3073,0,0,0,0,0,0
$GC,4421,-0.49,-146.1,495.5,-12.0,305,4425,0.00,0.85,0.00,0.000,6,0.000,0.036,1448,3383,3073,0,0,0,0,0,0
$GC,4746,-0.49,-146.1,532.1,-11.3,316,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3383,3073,0,0,0,0,0,0
$GC,5052,-0.49,-146.1,564.7,-10.4,326,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3383,3073,0,0,0,0,0,0
$GC,5359,-0.49,-146.1,596.6,-10.4,336,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3383,3072,0,0,0,0,0,0
$GC,5665,-0.49,-146.1,627.5,-9.9,346,5670,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3944,3072,0,0,0,0,0,0
$GC,5777,-0.49,-146.1,639.9,-9.8,349,5782,0.08,0.85,0.00,0.000,6,0.145,0.037,1468,3383,3071,0,0,0,0,0,0
$GC,6107,-0.49,-146.1,668.6,-8.8,360,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3383,3070,0,0,0,0,0,0
$GC,6414,-0.49,-146.1,696.1,-9.0,370,6417,0.00,0.88,0.00,0.000,4,0.000,0.062,1466,3928,3070,0,0,0,0,0,0
$GC,6492,-0.49,-146.1,703.9,-10.0,372,6495,0.00,0.85,0.00,0.000,6,0.000,0.038,1466,3370,3070,0,0,0,0,0,0
$GC,6821,-0.49,-146.1,734.8,-9.6,383,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3369,3069,0,0,0,0,0,0
$GC,7129,-0.49,-146.1,764.8,-9.7,393,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3369,3068,0,0,0,0,0,0
$GC,7434,-0.49,-146.1,794.4,-9.4,403,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3369,3068,0,0,0,0,0,0
$GC,7740,-0.49,-146.1,822.8,-9.2,413,7744,0.00,0.90,0.00,0.000,4,0.000,0.061,1462,3927,3067,0,0,0,0,0,0
$GC,7866,-0.49,-146.1,835.2,-10.4,416,7870,0.00,0.82,0.00,0.000,6,0.000,0.039,1462,3386,3067,0,0,0,0,0,0
$GC,8186,-0.49,-146.1,863.1,-8.5,427,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3066,0,0,0,0,0,0
$GC,8490,-0.49,-146.1,888.8,-8.3,437,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3065,0,0,0,0,0,0
$GC,8797,-0.49,-146.1,915.2,-8.7,447,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3065,0,0,0,0,0,0
$GC,9105,-0.49,-146.1,941.8,-8.7,457,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3064,0,0,0,0,0,0
$GC,9409,-0.49,-146.1,967.8,-8.5,467,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3385,3063,0,0,0,0,0,0
$GC,9716,-0.49,-146.1,993.0,-8.1,477,9720,0.00,0.90,0.00,0.000,4,0.000,0.062,1458,3941,3062,0,0,0,0,0,0
$STATE,9791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9791,begin apogee
$GC,9798,-0.14,0.0,1000.3,9.1,479,9949,0.40,0.00,147.55,1.210,6,0.135,0.000,1583,3267,2473,0,0,0,0,0,0
$STATE,9951,end apogee,CONTROL_FINISHED_OK
$STATE,9951,begin climb
$GC,9954,0.49,146.1,1003.5,0.0,484,10112,0.60,0.00,149.98,1.200,6,0.086,0.000,1784,3267,1872,0,0,0,0,0,0
$GC,10414,0.49,146.1,940.5,15.6,499,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3267,1855,0,0,0,0,0,0
$GC,10721,0.49,146.1,892.7,15.7,509,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3267,1852,0,0,0,0,0,0
$GC,11027,0.49,146.1,844.2,16.0,519,11032,0.00,1.10,0.00,0.000,4,0.000,0.058,1784,3928,1851,0,0,0,0,0,0
$GC,11096,0.49,146.1,832.2,17.2,521,11100,0.00,1.02,0.00,0.000,6,0.000,0.034,1790,3263,1850,0,0,0,0,0,0
$GC,11438,0.49,146.1,778.9,15.2,532,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3263,1850,0,0,0,0,0,0
$GC,11744,0.49,146.1,735.1,14.2,542,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3263,1849,0,0,0,0,0,0
$GC,12051,0.49,146.1,691.2,14.5,552,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3263,1848,0,0,0,0,0,0
$GC,12357,0.49,146.1,645.5,15.3,562,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3263,1848,0,0,0,0,0,0
$GC,12663,0.49,146.1,597.0,16.0,572,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3263,1847,0,0,0,0,0,0
$GC,12970,0.49,146.1,547.3,16.5,582,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3263,1847,0,0,0,0,0,0
$GC,13275,0.49,146.1,500.4,15.0,592,13281,0.00,1.10,0.00,0.000,4,0.000,0.057,1789,3936,1847,0,0,0,0,0,0
$GC,13349,0.49,146.1,488.5,16.2,594,13352,0.00,1.00,0.00,0.000,6,0.000,0.032,1795,3268,1847,0,0,0,0,0,0
$GC,13684,0.49,146.1,437.1,15.3,605,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3267,1847,0,0,0,0,0,0
$GC,13992,0.49,146.1,390.2,15.0,616,13996,0.00,1.10,0.00,0.000,4,0.000,0.057,1795,3944,1847,0,0,0,0,0,0
$GC,14066,0.49,146.1,377.9,16.3,619,14072,0.00,1.00,0.00,0.000,6,0.000,0.032,1799,3274,1847,0,0,0,0,0,0
$GC,14396,0.49,146.1,327.2,15.3,635,14398,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3274,1847,0,0,0,0,0,0
$GC,14705,0.49,146.1,276.9,16.6,650,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3274,1847,0,0,0,0,0,0
$GC,15027,0.49,146.1,222.9,16.4,668,15028,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3274,1847,0,0,0,0,0,0
$GC,15339,0.49,146.1,173.8,15.5,688,15343,0.00,2.12,0.00,0.000,4,0.000,0.031,1811,1857,1847,0,0,0,0,0,0
$GC,15379,0.49,146.1,167.7,13.2,690,15387,0.00,2.25,0.00,0.000,6,0.000,0.049,1811,3257,1847,0,0,0,0,0,0
$GC,15701,0.49,146.1,119.2,14.7,711,15706,0.00,1.10,0.00,0.000,4,0.000,0.054,1811,3952,1846,0,0,0,0,0,0
$GC,15791,0.49,146.1,103.8,16.3,716,15794,0.00,1.00,0.00,0.000,6,0.000,0.031,1816,3272,1847,0,0,0,0,0,0
$GC,16150,0.49,146.1,46.1,15.5,773,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3272,1846,0,0,0,0,0,0
$GC,16418,0.49,146.1,4.3,13.0,814,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3272,1846,0,0,0,0,0,0
$STATE,16433,end climb,SURFACE_DEPTH_REACHED
$STATE,16433,begin surface coast
$FINISH,1.1,1.026275
$STATE,16464,end surface coast,CONTROL_FINISHED_OK
$STATE,16465,begin surface
$SM_CCo,16480,49.15,0.695,1,0,1448,250.20
$SM_GC,2.19,0.00,0.00,49.15,0.000,0.000,0.695,46,3400,1448,-4.97,0.57,250.20
$IRIDIUM_FIX,-4135.14,850.70,090113,212158
$TT8_MAMPS,0.025466
$HUMID,55.74
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.8,34.889
$10V_AH,10.1,20.560
$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,11.425,30.625,297.525,49.150,0.000,28.404,25.781,378.517,0.000,0.000,20.019,2020.252,11457.595,398.208,2413.095,861.914,33.367,1251.914,0.000,2209.878,0.000,1.014,0.000
$DEVICE_MAMPS,223.380,90.270,1210.230,694.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.818,1811.954,802.382,357.055,0.000,0.000,0.000,0.000,0.000,0.000
$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,60430,820
$CAP_FILE_SIZE,111970,0
$CFSIZE,259252224,246435840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,100113,063834,-4149.090,858.298,26,1.1,26,-25.1