version: 66.07
glider: 543
mission: 6
dive: 205
start: 1 12 113 18 53 18
data:
$ID,543
$MISSION,6
$DIVE,205
$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,-8420.7461
$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,51
$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
$GPS1,120113,184422,-4201.912,904.277,38,1.2,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-51.8
$GPS2,120113,185218,-4201.919,904.287,18,1.4,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.050,-0.159
$KALMAN_X,-145741.6,694.6,279.9,230242.7,-4618.0
$KALMAN_Y,29839.7,-442.6,-456.4,23153.5,7359.4
$MHEAD_RNG_PITCHd_Wd,222.6,6889,-23.2,-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,-0.67,-64.0,0.0,0.0,0,71,0.00,0.00,-49.38,0.000,2,0.000,0.000,54,3399,2622,0,0,0,0,0,0
$GC,75,-0.70,-115.1,3.2,-3.9,6,95,5.45,0.93,-10.20,0.000,4,0.224,0.096,1402,3939,2944,0,0,0,0,0,0
$GC,270,-0.70,-115.1,32.8,-17.1,35,278,0.00,0.85,0.00,0.000,6,0.000,0.035,1404,3385,2947,0,0,0,0,0,0
$GC,514,-0.70,-115.1,70.7,-13.7,76,520,0.00,2.15,0.00,0.000,4,0.000,0.031,1408,1965,2948,0,0,0,0,0,0
$GC,572,-0.70,-115.1,77.4,-11.7,85,577,0.00,2.30,0.00,0.000,6,0.000,0.058,1399,3368,2949,0,0,0,0,0,0
$GC,913,-0.70,-115.1,124.2,-13.5,125,919,0.00,0.93,0.00,0.000,4,0.000,0.058,1395,3950,2949,0,0,0,0,0,0
$GC,1025,-0.70,-115.1,139.9,-14.7,131,1029,0.00,0.88,0.00,0.000,6,0.000,0.034,1395,3372,2949,0,0,0,0,0,0
$GC,1356,-0.70,-115.1,186.7,-13.7,152,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,1395,3371,2950,0,0,0,0,0,0
$GC,1668,-0.70,-115.1,230.0,-13.9,172,1671,0.00,0.93,0.00,0.000,4,0.000,0.057,1390,3953,2951,0,0,0,0,0,0
$GC,1770,-0.70,-115.1,245.0,-15.4,178,1773,0.00,0.88,0.00,0.000,6,0.000,0.034,1391,3371,2951,0,0,0,0,0,0
$GC,2088,-0.70,-115.1,288.6,-13.6,194,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,1390,3370,2951,0,0,0,0,0,0
$GC,2398,-0.70,-115.1,330.4,-13.7,209,2403,0.00,0.93,0.00,0.000,4,0.000,0.057,1386,3956,2951,0,0,0,0,0,0
$GC,2541,-0.70,-115.1,351.1,-14.9,215,2544,0.00,0.85,0.00,0.000,6,0.000,0.035,1386,3386,2951,0,0,0,0,0,0
$GC,2875,-0.70,-115.1,397.8,-13.8,231,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3387,2951,0,0,0,0,0,0
$GC,3200,-0.70,-115.1,442.7,-14.1,242,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3386,2951,0,0,0,0,0,0
$GC,3507,-0.70,-115.1,486.2,-13.9,252,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3386,2951,0,0,0,0,0,0
$GC,3814,-0.70,-115.1,527.5,-13.5,262,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3387,2951,0,0,0,0,0,0
$GC,4119,-0.70,-115.1,566.2,-12.5,272,4125,0.00,2.15,0.00,0.000,4,0.000,0.031,1386,1967,2951,0,0,0,0,0,0
$GC,4181,-0.70,-115.1,573.5,-10.9,273,4189,0.12,2.28,0.00,0.000,6,0.185,0.055,1405,3382,2951,0,0,0,0,0,0
$GC,4495,-0.70,-115.1,608.5,-11.4,284,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,1405,3382,2951,0,0,0,0,0,0
$GC,4801,-0.70,-115.1,643.3,-11.6,294,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,1405,3382,2950,0,0,0,0,0,0
$GC,5107,-0.70,-115.1,680.1,-12.3,304,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,1405,3382,2949,0,0,0,0,0,0
$GC,5414,-0.70,-115.1,718.7,-12.6,314,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,1404,3382,2949,0,0,0,0,0,0
$GC,5719,-0.70,-115.1,758.2,-12.9,324,5725,0.00,2.15,0.00,0.000,4,0.000,0.032,1405,1970,2948,0,0,0,0,0,0
$GC,5776,-0.70,-115.1,765.1,-11.3,325,5780,0.00,2.30,0.00,0.000,6,0.000,0.056,1396,3388,2948,0,0,0,0,0,0
$GC,6091,-0.70,-115.1,806.3,-13.5,335,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,1396,3389,2947,0,0,0,0,0,0
$GC,6395,-0.70,-115.1,845.4,-12.7,345,6399,0.00,2.12,0.00,0.000,4,0.000,0.031,1396,1964,2946,0,0,0,0,0,0
$GC,6462,-0.70,-115.1,853.5,-11.2,347,6466,0.00,2.30,0.00,0.000,6,0.000,0.057,1385,3381,2946,0,0,0,0,0,0
$GC,6792,-0.70,-115.1,897.2,-13.2,358,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1385,3379,2946,0,0,0,0,0,0
$GC,7099,-0.70,-115.1,936.1,-12.3,368,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,1385,3380,2945,0,0,0,0,0,0
$GC,7404,-0.70,-115.1,972.2,-11.5,378,7409,0.00,2.20,0.00,0.000,4,0.000,0.033,1385,1955,2944,0,0,0,0,0,0
$GC,7452,-0.70,-115.1,977.2,-10.4,379,7457,0.12,2.33,0.00,0.000,6,0.185,0.057,1404,3386,2944,0,0,0,0,0,0
$STATE,7713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7713,begin apogee
$GC,7720,-0.14,0.0,1002.6,9.6,388,7841,0.62,0.00,117.80,1.234,6,0.155,0.000,1585,3276,2473,0,0,0,0,0,0
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7845,0.70,115.1,1003.7,0.0,392,7971,0.82,1.25,118.00,1.215,4,0.083,0.054,1856,3955,1998,0,0,0,0,0,0
$GC,8010,0.70,115.1,975.5,25.1,397,8014,0.00,1.12,0.00,0.000,6,0.000,0.031,1861,3264,1990,0,0,0,0,0,0
$GC,8329,0.70,115.1,903.8,22.3,408,8333,0.00,1.15,0.00,0.000,4,0.000,0.056,1861,3953,1981,0,0,0,0,0,0
$GC,8496,0.70,115.1,864.1,24.6,412,8503,0.00,1.05,0.00,0.000,6,0.000,0.031,1866,3268,1980,0,0,0,0,0,0
$GC,8810,0.70,115.1,794.9,21.6,423,8815,0.00,1.10,0.00,0.000,4,0.000,0.055,1866,3950,1978,0,0,0,0,0,0
$GC,8922,0.70,115.1,768.1,23.6,426,8926,0.00,1.02,0.00,0.000,6,0.000,0.033,1871,3271,1978,0,0,0,0,0,0
$GC,9252,0.70,115.1,697.6,20.9,437,9256,0.00,1.10,0.00,0.000,4,0.000,0.056,1871,3955,1976,0,0,0,0,0,0
$GC,9398,0.70,115.1,664.2,23.3,441,9402,0.00,1.05,0.00,0.000,6,0.000,0.031,1877,3258,1976,0,0,0,0,0,0
$GC,9729,0.70,115.1,595.4,20.9,452,9734,0.00,1.12,0.00,0.000,4,0.000,0.054,1877,3958,1975,0,0,0,0,0,0
$GC,9901,0.70,115.1,555.9,22.9,457,9905,0.00,1.02,0.00,0.000,6,0.000,0.031,1882,3271,1974,0,0,0,0,0,0
$GC,10243,0.70,115.1,484.3,20.7,468,10248,0.00,1.08,0.00,0.000,4,0.000,0.054,1882,3951,1974,0,0,0,0,0,0
$GC,10402,0.70,115.1,448.8,22.1,472,10406,0.00,1.00,0.00,0.000,6,0.000,0.031,1887,3274,1974,0,0,0,0,0,0
$GC,10722,0.70,115.1,383.3,20.2,484,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3274,1973,0,0,0,0,0,0
$GC,11033,0.70,115.1,321.8,19.4,499,11039,0.00,1.08,0.00,0.000,4,0.000,0.054,1887,3948,1973,0,0,0,0,0,0
$GC,11256,0.70,115.1,271.8,22.3,508,11264,0.00,1.00,0.00,0.000,6,0.000,0.031,1892,3272,1972,0,0,0,0,0,0
$GC,11585,0.70,115.1,205.0,20.9,528,11589,0.12,1.08,0.00,0.000,4,0.221,0.053,1863,3952,1972,0,0,0,0,0,0
$GC,11722,0.70,115.1,176.2,20.3,535,11729,0.00,1.02,0.00,0.000,6,0.000,0.031,1867,3255,1972,0,0,0,0,0,0
$GC,12042,0.70,115.1,114.0,19.2,556,12045,0.00,1.10,0.00,0.000,4,0.000,0.054,1867,3945,1972,0,0,0,0,0,0
$GC,12131,0.70,115.1,94.7,22.0,564,12140,0.00,1.00,0.00,0.000,6,0.000,0.031,1872,3267,1971,0,0,0,0,0,0
$GC,12498,0.70,115.1,26.9,18.7,625,12507,0.00,1.10,0.00,0.000,4,0.000,0.054,1872,3956,1972,0,0,0,0,0,0
$STATE,12623,end climb,SURFACE_DEPTH_REACHED
$STATE,12623,begin surface coast
$FINISH,1.1,1.024978
$STATE,12645,end surface coast,CONTROL_FINISHED_OK
$STATE,12645,begin surface
$SM_CCo,12662,60.90,0.724,1,0,1452,250.20
$SM_GC,1.81,0.00,0.00,60.90,0.000,0.000,0.724,50,3370,1452,-4.95,-0.28,250.20
$IRIDIUM_FIX,-4146.69,901.52,120113,090924
$TT8_MAMPS,0.025466
$HUMID,56.14
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.0,36.788
$10V_AH,10.1,22.141
$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,12.125,50.900,235.800,60.900,0.000,32.816,21.633,257.955,0.000,0.000,20.314,1648.952,8397.470,386.840,2073.524,701.383,33.356,1140.630,0.000,1879.018,0.000,1.010,0.000
$DEVICE_MAMPS,224.145,96.390,1233.945,724.455,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.570,1392.517,660.254,300.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,47270,647
$CAP_FILE_SIZE,99118,0
$CFSIZE,259252224,245555200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,120113,222625,-4203.020,903.582,17,0.8,17,-25.1