version: 66.07
glider: 543
mission: 6
dive: 208
start: 1 13 113 6 54 51
data:
$ID,543
$MISSION,6
$DIVE,208
$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,-8428.127
$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,45
$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
$GPS1,130113,064434,-4203.062,901.064,33,0.8,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-49.8
$GPS2,130113,065353,-4202.909,901.038,21,1.0,21,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.102,-0.157
$KALMAN_X,-141394.4,314.0,-102.1,222248.1,1025.3
$KALMAN_Y,36790.4,-638.6,-403.4,14516.2,9129.4
$MHEAD_RNG_PITCHd_Wd,238.0,5574,-20.5,-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,-0.60,-80.9,0.0,0.0,0,71,0.00,0.00,-49.17,0.000,2,0.000,0.000,49,3401,2609,0,0,0,0,0,0
$GC,76,-0.64,-146.1,3.0,-3.3,6,104,5.55,0.00,-13.82,0.000,6,0.224,0.000,1423,3402,3069,0,0,0,0,0,0
$GC,184,-0.64,-146.1,18.0,-15.8,21,193,0.00,0.85,0.00,0.000,4,0.000,0.059,1420,3926,3071,0,0,0,0,0,0
$GC,232,-0.64,-146.1,26.8,-19.0,27,240,0.00,0.82,0.00,0.000,6,0.000,0.036,1420,3392,3071,0,0,0,0,0,0
$GC,314,-0.64,-146.1,42.4,-18.2,40,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3391,3071,0,0,0,0,0,0
$GC,566,-0.64,-146.1,80.7,-14.0,81,573,0.00,2.17,0.00,0.000,4,0.000,0.031,1420,1968,3072,0,0,0,0,0,0
$GC,662,-0.64,-146.1,91.3,-10.9,97,667,0.00,2.28,0.00,0.000,6,0.000,0.057,1409,3361,3073,0,0,0,0,0,0
$GC,999,-0.64,-146.1,139.1,-14.8,125,1003,0.00,0.93,0.00,0.000,4,0.000,0.057,1405,3949,3073,0,0,0,0,0,0
$GC,1107,-0.64,-146.1,157.0,-16.5,131,1111,0.00,0.88,0.00,0.000,6,0.000,0.035,1405,3369,3073,0,0,0,0,0,0
$GC,1432,-0.64,-146.1,207.4,-15.5,152,1435,0.00,0.93,0.00,0.000,4,0.000,0.056,1401,3954,3074,0,0,0,0,0,0
$GC,1497,-0.64,-146.1,218.7,-16.7,155,1503,0.00,0.88,0.00,0.000,6,0.000,0.034,1401,3373,3074,0,0,0,0,0,0
$GC,1832,-0.64,-146.1,271.9,-15.7,175,1838,0.00,0.90,0.00,0.000,4,0.000,0.056,1397,3946,3074,0,0,0,0,0,0
$GC,1939,-0.64,-146.1,289.9,-16.8,179,1944,0.08,0.85,0.00,0.000,6,0.169,0.034,1419,3382,3075,0,0,0,0,0,0
$GC,2263,-0.64,-146.1,332.7,-12.8,195,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1419,3383,3074,0,0,0,0,0,0
$GC,2571,-0.64,-146.1,372.1,-13.0,210,2575,0.00,0.90,0.00,0.000,4,0.000,0.057,1415,3952,3074,0,0,0,0,0,0
$GC,2644,-0.64,-146.1,382.3,-14.5,213,2648,0.00,0.88,0.00,0.000,6,0.000,0.035,1416,3368,3074,0,0,0,0,0,0
$GC,2976,-0.64,-146.1,426.8,-13.2,226,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,3367,3074,0,0,0,0,0,0
$GC,3282,-0.64,-146.1,467.5,-13.2,236,3285,0.00,0.93,0.00,0.000,4,0.000,0.057,1411,3953,3074,0,0,0,0,0,0
$GC,3377,-0.64,-146.1,481.1,-14.1,238,3383,0.00,0.85,0.00,0.000,6,0.000,0.035,1411,3387,3074,0,0,0,0,0,0
$GC,3690,-0.64,-146.1,522.3,-13.2,249,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,1411,3388,3074,0,0,0,0,0,0
$GC,3997,-0.64,-146.1,562.8,-13.1,259,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,1412,3387,3073,0,0,0,0,0,0
$GC,4302,-0.64,-146.1,602.7,-13.0,269,4308,0.00,0.90,0.00,0.000,4,0.000,0.057,1407,3954,3073,0,0,0,0,0,0
$GC,4372,-0.64,-146.1,612.3,-13.6,271,4376,0.00,0.85,0.00,0.000,6,0.000,0.037,1407,3387,3073,0,0,0,0,0,0
$GC,4714,-0.64,-146.1,656.8,-13.2,282,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,1407,3387,3072,0,0,0,0,0,0
$GC,5020,-0.64,-146.1,698.0,-13.3,292,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,1407,3387,3071,0,0,0,0,0,0
$GC,5327,-0.64,-146.1,737.8,-13.0,302,5331,0.00,2.15,0.00,0.000,4,0.000,0.031,1407,1952,3070,0,0,0,0,0,0
$GC,5366,-0.64,-146.1,742.9,-11.8,303,5371,0.12,2.30,0.00,0.000,6,0.171,0.054,1428,3381,3070,0,0,0,0,0,0
$GC,5691,-0.64,-146.1,778.3,-10.8,314,5694,0.00,0.90,0.00,0.000,4,0.000,0.060,1424,3949,3070,0,0,0,0,0,0
$GC,5785,-0.64,-146.1,789.9,-12.3,316,5792,0.00,0.88,0.00,0.000,6,0.000,0.037,1425,3372,3069,0,0,0,0,0,0
$GC,6098,-0.64,-146.1,824.6,-11.1,327,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3372,3069,0,0,0,0,0,0
$GC,6406,-0.64,-146.1,857.8,-10.7,337,6409,0.00,0.93,0.00,0.000,4,0.000,0.060,1421,3951,3068,0,0,0,0,0,0
$GC,6485,-0.64,-146.1,867.1,-11.6,339,6489,0.00,0.88,0.00,0.000,6,0.000,0.037,1420,3375,3068,0,0,0,0,0,0
$GC,6816,-0.64,-146.1,902.9,-10.8,350,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,1421,3374,3067,0,0,0,0,0,0
$GC,7121,-0.64,-146.1,936.6,-11.0,360,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3374,3066,0,0,0,0,0,0
$GC,7427,-0.64,-146.1,969.3,-10.6,370,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3374,3065,0,0,0,0,0,0
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7739,-0.14,0.0,1001.2,10.4,380,7889,0.55,0.00,146.80,1.222,6,0.145,0.000,1583,3276,2473,0,0,0,0,0,0
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7893,0.64,146.1,1003.4,0.0,385,8052,0.77,2.47,146.43,1.190,4,0.086,0.033,1851,1855,1869,0,0,0,0,0,0
$GC,8069,0.64,146.1,975.5,20.1,390,8074,0.00,2.50,0.00,0.000,6,0.000,0.050,1851,3268,1863,0,0,0,0,0,0
$GC,8388,0.64,146.1,905.3,22.3,401,8391,0.00,1.12,0.00,0.000,4,0.000,0.056,1851,3952,1854,0,0,0,0,0,0
$GC,8505,0.64,146.1,877.1,23.9,404,8510,0.00,1.08,0.00,0.000,6,0.000,0.031,1856,3252,1853,0,0,0,0,0,0
$GC,8830,0.64,146.1,808.6,20.5,415,8836,0.00,1.15,0.00,0.000,4,0.000,0.055,1857,3957,1851,0,0,0,0,0,0
$GC,8949,0.64,146.1,781.4,22.2,418,8952,0.00,1.05,0.00,0.000,6,0.000,0.031,1861,3262,1851,0,0,0,0,0,0
$GC,9273,0.64,146.1,713.1,20.9,429,9276,0.00,1.12,0.00,0.000,4,0.000,0.056,1861,3954,1850,0,0,0,0,0,0
$GC,9374,0.64,146.1,690.0,23.3,432,9380,0.00,1.02,0.00,0.000,6,0.000,0.031,1867,3269,1849,0,0,0,0,0,0
$GC,9718,0.64,146.1,617.0,21.3,443,9721,0.00,1.10,0.00,0.000,4,0.000,0.054,1867,3954,1848,0,0,0,0,0,0
$GC,9812,0.64,146.1,594.2,23.5,445,9820,0.08,1.02,0.00,0.000,6,0.200,0.031,1852,3265,1848,0,0,0,0,0,0
$GC,10127,0.64,146.1,529.9,20.2,456,10130,0.00,1.10,0.00,0.000,4,0.000,0.055,1851,3948,1847,0,0,0,0,0,0
$GC,10229,0.64,146.1,507.4,23.5,459,10233,0.00,1.02,0.00,0.000,6,0.000,0.031,1854,3255,1847,0,0,0,0,0,0
$GC,10571,0.64,146.1,436.3,20.7,470,10576,0.00,1.12,0.00,0.000,4,0.000,0.054,1855,3957,1847,0,0,0,0,0,0
$GC,10650,0.64,146.1,418.6,22.7,472,10653,0.00,1.00,0.00,0.000,6,0.000,0.031,1860,3279,1847,0,0,0,0,0,0
$GC,10972,0.64,146.1,351.9,20.7,486,10975,0.00,1.08,0.00,0.000,4,0.000,0.053,1860,3956,1846,0,0,0,0,0,0
$GC,11044,0.64,146.1,336.4,21.8,489,11048,0.00,1.02,0.00,0.000,6,0.000,0.031,1865,3262,1847,0,0,0,0,0,0
$GC,11380,0.64,146.1,266.7,20.5,505,11385,0.00,1.12,0.00,0.000,4,0.000,0.052,1865,3964,1846,0,0,0,0,0,0
$GC,11488,0.64,146.1,242.9,23.3,510,11492,0.00,1.02,0.00,0.000,6,0.000,0.030,1870,3272,1846,0,0,0,0,0,0
$GC,11820,0.64,146.1,173.9,20.5,531,11826,0.00,1.10,0.00,0.000,4,0.000,0.054,1870,3958,1846,0,0,0,0,0,0
$GC,11897,0.64,146.1,156.0,22.7,535,11902,0.10,1.02,0.00,0.000,6,0.191,0.030,1848,3265,1846,0,0,0,0,0,0
$GC,12223,0.64,146.1,95.6,19.1,557,12228,0.00,1.10,0.00,0.000,4,0.000,0.053,1848,3954,1846,0,0,0,0,0,0
$GC,12327,0.64,146.1,73.4,19.8,575,12334,0.00,1.00,0.00,0.000,6,0.000,0.030,1851,3273,1846,0,0,0,0,0,0
$GC,12703,0.64,146.1,9.0,18.4,636,12714,0.00,2.15,0.00,0.000,4,0.000,0.031,1862,1857,1846,0,0,0,0,0,0
$STATE,12734,end climb,SURFACE_DEPTH_REACHED
$STATE,12734,begin surface coast
$FINISH,2.0,1.026217
$STATE,12743,end surface coast,CONTROL_FINISHED_OK
$STATE,12743,begin surface
$SM_CCo,12761,48.38,0.694,1,0,1450,250.20
$SM_GC,2.09,0.00,0.00,48.38,0.000,0.000,0.694,55,3385,1450,-4.94,0.17,250.20
$IRIDIUM_FIX,-4146.69,904.39,130113,020211
$TT8_MAMPS,0.025466
$HUMID,56.57
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.8,37.170
$10V_AH,10.1,22.444
$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,11.925,55.925,293.225,48.375,0.000,25.411,43.308,305.070,0.000,0.000,24.119,1642.962,8456.559,402.345,2140.389,731.054,33.367,1222.614,0.000,1879.601,0.000,1.014,0.000
$DEVICE_MAMPS,224.145,71.910,1221.705,693.855,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.641,1382.558,634.959,292.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,47179,641
$CAP_FILE_SIZE,106758,0
$CFSIZE,259252224,245374976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,130113,102934,-4203.689,858.869,26,1.1,26,-25.1