version: 66.07
glider: 543
mission: 6
dive: 204
start: 1 12 113 15 1 57
data:
$ID,543
$MISSION,6
$DIVE,204
$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,-8418.3926
$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
$GPS1,120113,145134,-4201.593,903.364,35,0.8,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-55.9
$GPS2,120113,150059,-4201.523,903.395,20,0.9,20,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.085,-0.117
$KALMAN_X,-146014.2,844.5,798.9,228632.6,-6555.8
$KALMAN_Y,27453.9,-135.6,-194.2,25701.7,5484.4
$MHEAD_RNG_PITCHd_Wd,169.1,5459,-27.0,-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,-0.76,-48.0,0.0,0.0,0,71,0.00,0.00,-49.00,0.000,2,0.000,0.000,46,3390,2617,0,0,0,0,0,0
$GC,76,-0.78,-88.8,3.3,-3.6,6,95,5.40,0.85,-7.15,0.000,4,0.227,0.084,1370,3939,2838,0,0,0,0,0,0
$GC,379,-0.78,-88.8,49.9,-17.5,53,385,0.00,0.85,0.00,0.000,6,0.000,0.035,1373,3385,2841,0,0,0,0,0,0
$GC,620,-0.78,-88.8,85.6,-13.8,94,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3385,2842,0,0,0,0,0,0
$GC,966,-0.78,-88.8,130.1,-12.5,127,971,0.00,2.17,0.00,0.000,4,0.000,0.031,1379,1961,2843,0,0,0,0,0,0
$GC,1007,-0.78,-88.8,135.6,-10.1,129,1012,0.00,2.28,0.00,0.000,6,0.000,0.057,1370,3372,2843,0,0,0,0,0,0
$GC,1329,-0.78,-88.8,175.6,-12.9,149,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3372,2843,0,0,0,0,0,0
$GC,1641,-0.78,-88.8,216.4,-13.2,169,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3372,2844,0,0,0,0,0,0
$GC,1952,-0.78,-88.8,259.2,-13.9,188,1956,0.00,0.90,0.00,0.000,4,0.000,0.056,1365,3947,2844,0,0,0,0,0,0
$GC,2027,-0.78,-88.8,270.4,-14.7,191,2032,0.00,0.85,0.00,0.000,6,0.000,0.034,1365,3382,2844,0,0,0,0,0,0
$GC,2357,-0.78,-88.8,315.4,-14.0,207,2363,0.00,0.90,0.00,0.000,4,0.000,0.056,1361,3949,2844,0,0,0,0,0,0
$GC,2441,-0.78,-88.8,328.2,-15.5,210,2444,0.00,0.85,0.00,0.000,6,0.000,0.035,1361,3385,2844,0,0,0,0,0,0
$GC,2764,-0.78,-88.8,373.0,-13.6,226,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3384,2844,0,0,0,0,0,0
$GC,3092,-0.78,-88.8,417.2,-13.4,240,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3384,2844,0,0,0,0,0,0
$GC,3397,-0.78,-88.8,455.6,-12.5,250,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3384,2844,0,0,0,0,0,0
$GC,3704,-0.78,-88.8,493.1,-12.0,260,3708,0.00,2.12,0.00,0.000,4,0.000,0.031,1361,1965,2843,0,0,0,0,0,0
$GC,3742,-0.78,-88.8,497.6,-10.8,261,3747,0.12,2.28,0.00,0.000,6,0.190,0.057,1379,3385,2844,0,0,0,0,0,0
$GC,4067,-0.78,-88.8,532.1,-10.7,272,4070,0.00,2.12,0.00,0.000,4,0.000,0.031,1379,1969,2844,0,0,0,0,0,0
$GC,4116,-0.78,-88.8,537.2,-9.7,273,4122,0.00,2.30,0.00,0.000,6,0.000,0.057,1370,3374,2844,0,0,0,0,0,0
$GC,4436,-0.78,-88.8,572.9,-11.5,284,4441,0.00,2.15,0.00,0.000,4,0.000,0.031,1370,1960,2843,0,0,0,0,0,0
$GC,4492,-0.78,-88.8,578.9,-9.6,285,4496,0.00,2.28,0.00,0.000,6,0.000,0.057,1360,3380,2843,0,0,0,0,0,0
$GC,4808,-0.78,-88.8,616.1,-12.2,295,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3380,2842,0,0,0,0,0,0
$GC,5112,-0.78,-88.8,654.2,-12.4,305,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3380,2841,0,0,0,0,0,0
$GC,5419,-0.78,-88.8,691.5,-12.0,315,5423,0.00,2.15,0.00,0.000,4,0.000,0.032,1360,1965,2840,0,0,0,0,0,0
$GC,5516,-0.78,-88.8,701.8,-10.3,318,5520,0.12,2.28,0.00,0.000,6,0.193,0.055,1377,3387,2840,0,0,0,0,0,0
$GC,5851,-0.78,-88.8,737.7,-10.5,329,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3387,2839,0,0,0,0,0,0
$GC,6158,-0.78,-88.8,768.2,-9.8,339,6162,0.00,2.15,0.00,0.000,4,0.000,0.032,1378,1961,2839,0,0,0,0,0,0
$GC,6247,-0.79,-92.8,776.4,-7.9,341,6254,0.00,2.30,0.00,0.000,6,0.000,0.057,1368,3385,2839,0,0,0,0,0,0
$GC,6560,-0.79,-92.8,809.3,-11.1,352,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3385,2838,0,0,0,0,0,0
$GC,6868,-0.79,-92.8,841.9,-10.5,362,6871,0.00,0.90,0.00,0.000,4,0.000,0.058,1364,3953,2837,0,0,0,0,0,0
$GC,6970,-0.79,-92.8,854.6,-12.1,365,6974,0.00,0.88,0.00,0.000,6,0.000,0.037,1364,3375,2837,0,0,0,0,0,0
$GC,7312,-0.79,-92.8,892.5,-10.8,376,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3374,2836,0,0,0,0,0,0
$GC,7618,-0.79,-92.8,925.6,-10.9,386,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3374,2835,0,0,0,0,0,0
$GC,7925,-0.79,-92.8,959.7,-11.6,396,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3374,2834,0,0,0,0,0,0
$GC,8231,-0.79,-92.8,994.1,-11.0,406,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3374,2834,0,0,0,0,0,0
$STATE,8289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8289,begin apogee
$GC,8296,-0.14,0.0,1000.9,11.2,408,8392,0.80,0.00,92.85,1.217,6,0.168,0.000,1588,3276,2473,0,0,0,0,0,0
$STATE,8394,end apogee,CONTROL_FINISHED_OK
$STATE,8394,begin climb
$GC,8397,0.79,92.8,1003.4,0.0,411,8501,0.88,1.17,95.57,1.210,4,0.082,0.054,1883,3942,2090,0,0,0,0,0,0
$GC,8662,0.79,92.8,952.7,23.7,419,8666,0.00,1.08,0.00,0.000,6,0.000,0.031,1889,3258,2079,0,0,0,0,0,0
$GC,9004,0.79,92.8,878.3,21.4,430,9007,0.00,1.15,0.00,0.000,4,0.000,0.054,1889,3955,2073,0,0,0,0,0,0
$GC,9265,0.79,92.8,815.5,25.4,437,9269,0.00,1.05,0.00,0.000,6,0.000,0.032,1894,3266,2072,0,0,0,0,0,0
$GC,9585,0.79,92.8,746.4,21.1,448,9589,0.00,1.10,0.00,0.000,4,0.000,0.054,1894,3946,2070,0,0,0,0,0,0
$GC,9844,0.79,92.8,687.5,21.6,455,9847,0.00,1.02,0.00,0.000,6,0.000,0.032,1899,3261,2069,0,0,0,0,0,0
$GC,10163,0.79,92.8,623.7,20.0,466,10167,0.00,1.12,0.00,0.000,4,0.000,0.054,1899,3958,2068,0,0,0,0,0,0
$GC,10409,0.79,92.8,569.2,21.9,473,10413,0.00,1.02,0.00,0.000,6,0.000,0.031,1904,3273,2067,0,0,0,0,0,0
$GC,10739,0.79,92.8,504.3,19.6,484,10742,0.00,1.08,0.00,0.000,4,0.000,0.054,1904,3945,2066,0,0,0,0,0,0
$GC,10967,0.79,92.8,452.9,22.5,490,10974,0.00,1.00,0.00,0.000,6,0.000,0.031,1909,3272,2066,0,0,0,0,0,0
$GC,11292,0.79,92.8,387.2,20.3,502,11295,0.00,1.08,0.00,0.000,4,0.000,0.054,1909,3947,2065,0,0,0,0,0,0
$GC,11555,0.79,92.8,329.5,21.5,513,11558,0.00,1.02,0.00,0.000,6,0.000,0.031,1915,3258,2065,0,0,0,0,0,0
$GC,11879,0.79,92.8,261.4,21.3,529,11884,0.00,1.10,0.00,0.000,4,0.000,0.054,1915,3948,2064,0,0,0,0,0,0
$GC,12143,0.79,92.8,198.1,23.0,543,12147,0.10,1.00,0.00,0.000,6,0.213,0.031,1894,3268,2064,0,0,0,0,0,0
$GC,12473,0.79,92.8,132.3,20.0,564,12476,0.00,1.10,0.00,0.000,4,0.000,0.053,1890,3957,2064,0,0,0,0,0,0
$GC,12628,0.79,92.8,97.9,21.6,572,12635,0.00,1.02,0.00,0.000,6,0.000,0.031,1894,3264,2064,0,0,0,0,0,0
$GC,13005,0.79,92.8,27.0,18.3,633,13013,0.00,2.12,0.00,0.000,4,0.000,0.030,1905,1856,2064,0,0,0,0,0,0
$GC,13084,0.79,92.8,14.1,14.9,644,13093,0.00,2.28,0.00,0.000,6,0.000,0.048,1905,3276,2063,0,0,0,0,0,0
$STATE,13151,end climb,SURFACE_DEPTH_REACHED
$STATE,13152,begin surface coast
$FINISH,1.1,1.026497
$STATE,13172,end surface coast,CONTROL_FINISHED_OK
$STATE,13172,begin surface
$SM_CCo,13188,71.40,0.731,1,0,1451,250.20
$SM_GC,1.80,0.00,0.00,71.40,0.000,0.000,0.731,54,3398,1451,-4.94,0.51,250.20
$IRIDIUM_FIX,-4146.69,901.52,120113,090924
$TT8_MAMPS,0.025466
$HUMID,55.90
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.4,36.676
$10V_AH,10.1,22.047
$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,12.375,55.375,188.425,71.400,0.000,25.060,46.018,310.974,0.000,0.000,23.085,1721.944,8695.534,326.985,2328.643,754.590,33.363,1164.994,0.000,2084.933,0.000,1.013,0.000
$DEVICE_MAMPS,227.205,84.915,1217.115,730.575,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.960,1431.380,666.779,304.844,0.000,0.000,0.000,0.000,0.000,0.000
$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,47220,657
$CAP_FILE_SIZE,107743,0
$CFSIZE,259252224,245604352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,120113,184422,-4201.912,904.277,38,1.2,38,-25.1