version: 66.07
glider: 543
mission: 6
dive: 202
start: 1 12 113 5 1 21
data:
$ID,543
$MISSION,6
$DIVE,202
$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,-8413.5449
$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,54
$R_STBD_OVSHOOT,23
$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
$GPS1,120113,045104,-4159.223,902.401,29,0.9,29,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-55.9
$GPS2,120113,050023,-4159.198,902.388,20,1.1,20,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.047,-0.239
$KALMAN_X,-141915.1,201.6,234.3,224365.8,-4481.1
$KALMAN_Y,22055.7,-563.2,-20.3,35656.4,4831.1
$MHEAD_RNG_PITCHd_Wd,193.9,3606,-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,-146.1,0.0,0.0,0,71,0.00,0.00,-48.97,0.000,2,0.000,0.000,44,3396,2628,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.1,6,103,5.78,0.88,-13.90,0.000,4,0.225,0.090,1467,3945,3068,0,0,0,0,0,0
$GC,293,-0.49,-146.1,28.3,-12.8,38,303,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3392,3071,0,0,0,0,0,0
$GC,380,-0.49,-146.1,38.8,-12.0,51,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3392,3071,0,0,0,0,0,0
$GC,625,-0.49,-146.1,68.5,-11.8,92,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3392,3071,0,0,0,0,0,0
$GC,993,-0.49,-146.1,104.1,-8.9,149,997,0.00,0.88,0.00,0.000,4,0.000,0.058,1463,3940,3072,0,0,0,0,0,0
$GC,1263,-0.49,-146.1,130.8,-10.6,164,1267,0.00,0.85,0.00,0.000,6,0.000,0.035,1463,3376,3073,0,0,0,0,0,0
$GC,1590,-0.49,-146.1,163.2,-10.6,185,1596,0.00,0.90,0.00,0.000,4,0.000,0.058,1459,3941,3073,0,0,0,0,0,0
$GC,1801,-0.49,-146.1,188.2,-11.5,196,1809,0.00,0.85,0.00,0.000,6,0.000,0.034,1459,3376,3074,0,0,0,0,0,0
$GC,2124,-0.49,-146.1,223.1,-10.9,217,2128,0.00,0.90,0.00,0.000,4,0.000,0.058,1455,3943,3074,0,0,0,0,0,0
$GC,2276,-0.49,-146.1,241.9,-12.0,225,2283,0.00,0.85,0.00,0.000,6,0.000,0.035,1455,3379,3074,0,0,0,0,0,0
$GC,2610,-0.49,-146.1,280.3,-11.5,243,2616,0.00,0.90,0.00,0.000,4,0.000,0.058,1450,3945,3074,0,0,0,0,0,0
$GC,2721,-0.49,-146.1,294.3,-12.7,247,2728,0.00,0.85,0.00,0.000,6,0.000,0.034,1450,3382,3074,0,0,0,0,0,0
$GC,3040,-0.49,-146.1,332.2,-11.8,263,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3382,3074,0,0,0,0,0,0
$GC,3348,-0.49,-146.1,368.2,-11.3,278,3352,0.00,0.90,0.00,0.000,4,0.000,0.058,1446,3946,3074,0,0,0,0,0,0
$GC,3517,-0.49,-146.1,386.9,-11.3,285,3521,0.08,0.85,0.00,0.000,6,0.144,0.035,1470,3382,3074,0,0,0,0,0,0
$GC,3840,-0.49,-146.1,413.2,-7.5,298,3843,0.00,0.90,0.00,0.000,4,0.000,0.059,1467,3947,3074,0,0,0,0,0,0
$GC,3942,-0.49,-146.1,421.9,-8.2,301,3946,0.00,0.85,0.00,0.000,6,0.000,0.036,1467,3379,3074,0,0,0,0,0,0
$GC,4286,-0.49,-146.1,449.3,-7.9,312,4290,0.00,0.90,0.00,0.000,4,0.000,0.059,1463,3946,3073,0,0,0,0,0,0
$GC,4458,-0.49,-146.1,464.5,-8.9,317,4462,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3379,3073,0,0,0,0,0,0
$GC,4800,-0.49,-146.1,493.3,-8.6,328,4805,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3943,3073,0,0,0,0,0,0
$GC,4975,-0.49,-146.1,510.4,-9.3,333,4978,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3378,3073,0,0,0,0,0,0
$GC,5311,-0.49,-146.1,543.5,-10.3,344,5316,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3943,3073,0,0,0,0,0,0
$GC,5483,-0.49,-146.1,562.7,-10.8,349,5487,0.00,0.85,0.00,0.000,6,0.000,0.037,1455,3380,3072,0,0,0,0,0,0
$GC,5825,-0.49,-146.1,599.4,-10.6,360,5830,0.00,0.90,0.00,0.000,4,0.000,0.060,1450,3942,3072,0,0,0,0,0,0
$GC,5990,-0.49,-146.1,618.0,-11.8,364,5997,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3382,3071,0,0,0,0,0,0
$GC,6304,-0.49,-146.1,650.8,-10.4,375,6307,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3944,3071,0,0,0,0,0,0
$GC,6500,-0.49,-146.1,672.8,-10.7,380,6507,0.00,0.88,0.00,0.000,6,0.000,0.037,1446,3368,3070,0,0,0,0,0,0
$GC,6814,-0.49,-146.1,705.4,-10.7,391,6818,0.12,0.95,0.00,0.000,4,0.162,0.061,1476,3949,3069,0,0,0,0,0,0
$GC,6964,-0.49,-146.1,720.4,-9.1,395,6970,0.00,0.85,0.00,0.000,6,0.000,0.037,1476,3387,3069,0,0,0,0,0,0
$GC,7293,-0.49,-146.1,750.4,-9.2,406,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3068,0,0,0,0,0,0
$GC,7596,-0.49,-146.1,777.3,-8.6,416,7600,0.00,0.90,0.00,0.000,4,0.000,0.063,1472,3946,3067,0,0,0,0,0,0
$GC,7810,-0.49,-146.1,795.6,-7.9,422,7813,0.00,0.88,0.00,0.000,6,0.000,0.038,1472,3371,3067,0,0,0,0,0,0
$GC,8140,-0.49,-146.1,819.3,-7.0,433,8143,0.00,0.93,0.00,0.000,4,0.000,0.063,1468,3945,3066,0,0,0,0,0,0
$GC,8235,-0.49,-146.1,826.5,-7.5,435,8242,0.00,0.88,0.00,0.000,6,0.000,0.037,1468,3372,3066,0,0,0,0,0,0
$GC,8549,-0.49,-146.1,848.5,-7.1,446,8552,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3946,3065,0,0,0,0,0,0
$GC,8627,-0.49,-146.1,854.7,-8.0,448,8630,0.00,0.88,0.00,0.000,6,0.000,0.038,1463,3374,3065,0,0,0,0,0,0
$GC,8958,-0.49,-146.1,879.4,-7.7,459,8961,0.00,0.93,0.00,0.000,4,0.000,0.062,1459,3951,3064,0,0,0,0,0,0
$GC,9064,-0.49,-146.1,889.0,-8.3,462,9069,0.00,0.88,0.00,0.000,6,0.000,0.038,1459,3377,3064,0,0,0,0,0,0
$GC,9402,-0.49,-146.1,916.6,-8.2,473,9406,0.00,0.93,0.00,0.000,4,0.000,0.063,1455,3949,3063,0,0,0,0,0,0
$GC,9541,-0.49,-146.1,929.0,-9.0,477,9545,0.00,0.88,0.00,0.000,6,0.000,0.038,1455,3378,3063,0,0,0,0,0,0
$GC,9877,-0.49,-146.1,956.1,-8.3,488,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3378,3062,0,0,0,0,0,0
$GC,10182,-0.49,-146.1,982.2,-8.6,498,10186,0.00,0.90,0.00,0.000,4,0.000,0.063,1450,3937,3062,0,0,0,0,0,0
$GC,10355,-0.49,-146.1,999.2,-9.7,503,10358,0.00,0.85,0.00,0.000,6,0.000,0.038,1450,3381,3061,0,0,0,0,0,0
$STATE,10362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10362,begin apogee
$GC,10370,-0.14,0.0,1000.1,9.0,503,10517,0.43,0.00,139.32,1.811,6,0.135,0.000,1583,3270,2473,0,0,0,0,1,0
$STATE,10518,end apogee,CONTROL_FINISHED_OK
$STATE,10519,begin climb
$GC,10521,0.49,146.1,1004.6,0.0,508,10684,0.62,2.47,148.40,1.767,4,0.082,0.031,1798,1858,1878,0,0,0,0,1,0
$GC,10735,0.49,146.1,983.1,10.7,514,10740,0.00,2.50,0.00,0.000,6,0.000,0.052,1798,3266,1873,0,0,0,0,0,0
$GC,11055,0.49,146.1,934.4,15.6,525,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3266,1866,0,0,0,0,0,0
$GC,11361,0.49,146.1,886.0,16.0,535,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3266,1864,0,0,0,0,0,0
$GC,11668,0.49,146.1,838.3,15.6,545,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3266,1863,0,0,0,0,0,0
$GC,11973,0.49,146.1,791.7,15.2,555,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3266,1862,0,0,0,0,0,0
$GC,12280,0.49,146.1,745.2,15.2,565,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3266,1861,0,0,0,0,0,0
$GC,12587,0.49,146.1,697.3,15.6,575,12591,0.00,2.17,0.00,0.000,4,0.000,0.033,1808,1844,1860,0,0,0,0,0,0
$GC,12642,0.49,146.1,689.3,12.8,576,12649,0.00,2.30,0.00,0.000,6,0.000,0.053,1808,3274,1859,0,0,0,0,0,0
$GC,12955,0.49,146.1,638.5,16.8,587,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3274,1858,0,0,0,0,0,0
$GC,13262,0.49,146.1,588.1,16.5,597,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3274,1858,0,0,0,0,0,0
$GC,13567,0.49,146.1,539.2,15.8,607,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1858,0,0,0,0,0,0
$GC,13874,0.49,146.1,490.2,15.9,617,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1858,0,0,0,0,0,0
$GC,14181,0.49,146.1,440.1,16.7,627,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1857,0,0,0,0,0,0
$GC,14498,0.49,146.1,388.8,16.1,638,14499,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1857,0,0,0,0,0,0
$GC,14808,0.49,146.1,339.4,15.6,653,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1856,0,0,0,0,0,0
$GC,15116,0.49,146.1,291.3,15.4,668,15120,0.00,2.17,0.00,0.000,4,0.000,0.030,1820,1835,1856,0,0,0,0,0,0
$GC,15175,0.49,146.1,283.4,12.0,670,15184,0.00,2.33,0.00,0.000,6,0.000,0.050,1820,3270,1856,0,0,0,0,0,0
$GC,15498,0.49,146.1,231.4,16.1,688,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3271,1856,0,0,0,0,0,0
$GC,15810,0.49,146.1,179.8,16.8,708,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3270,1856,0,0,0,0,0,0
$GC,16123,0.49,146.1,126.9,17.1,728,16124,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3271,1856,0,0,0,0,0,0
$GC,16451,0.49,146.1,70.4,18.1,766,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3271,1856,0,0,0,0,0,0
$GC,16830,0.49,146.1,12.9,15.8,827,16838,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3271,1856,0,0,0,0,0,0
$STATE,16897,end climb,SURFACE_DEPTH_REACHED
$STATE,16897,begin surface coast
$FINISH,1.1,1.025494
$STATE,16923,end surface coast,CONTROL_FINISHED_OK
$STATE,16923,begin surface
$SM_CCo,16939,48.42,0.708,1,0,1451,250.20
$SM_GC,1.79,0.00,0.00,48.42,0.000,0.000,0.708,48,3389,1451,-4.96,0.28,250.20
$IRIDIUM_FIX,-4140.91,903.47,110113,232357
$TT8_MAMPS,0.025466
$HUMID,55.86
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.3,36.443
$10V_AH,10.1,21.826
$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,11.800,47.775,287.725,48.425,0.000,25.796,42.679,307.251,0.000,0.000,23.043,2161.315,11204.413,411.519,2836.953,935.670,33.366,1484.024,0.000,2662.044,0.000,1.013,0.000
$DEVICE_MAMPS,224.910,90.270,1810.755,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.088,1852.962,836.513,371.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,60360,841
$CAP_FILE_SIZE,132793,0
$CFSIZE,259252224,245702656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,120113,094554,-4200.833,901.195,38,0.9,38,-25.1