version: 66.07
glider: 543
mission: 6
dive: 209
start: 1 13 113 10 39 5
data:
$ID,543
$MISSION,6
$DIVE,209
$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,-8430.541
$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,50
$R_STBD_OVSHOOT,18
$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
$GPS1,130113,102934,-4203.689,858.869,26,1.1,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-49.1
$GPS2,130113,103805,-4203.643,858.818,16,1.1,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.036,-0.140
$KALMAN_X,-141565.2,-340.3,-32.5,219985.9,839.9
$KALMAN_Y,38598.0,-594.1,-570.7,11481.6,9652.1
$MHEAD_RNG_PITCHd_Wd,190.5,6940,-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,-48.0,0.0,0.0,0,78,0.00,0.00,-51.75,0.000,6,0.000,0.000,54,3386,2671,0,0,0,0,0,0
$GC,82,-0.79,-92.1,3.3,-3.2,7,103,5.43,0.93,-5.40,0.000,4,0.232,0.085,1364,3953,2851,0,0,0,0,0,0
$GC,295,-0.79,-92.1,41.7,-20.5,39,301,0.00,0.85,0.00,0.000,6,0.000,0.034,1366,3396,2853,0,0,0,0,0,0
$GC,543,-0.79,-92.1,86.0,-15.5,80,550,0.00,2.17,0.00,0.000,4,0.000,0.031,1369,1955,2854,0,0,0,0,0,0
$GC,647,-0.79,-92.1,99.8,-13.5,97,652,0.00,2.33,0.00,0.000,6,0.000,0.057,1360,3382,2855,0,0,0,0,0,0
$GC,967,-0.79,-92.1,149.2,-15.5,118,970,0.00,0.90,0.00,0.000,4,0.000,0.055,1355,3954,2855,0,0,0,0,0,0
$GC,1149,-0.79,-92.1,179.4,-15.6,128,1155,0.00,0.88,0.00,0.000,6,0.000,0.034,1355,3372,2856,0,0,0,0,0,0
$GC,1477,-0.79,-92.1,227.3,-14.5,149,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3372,2856,0,0,0,0,0,0
$GC,1798,-0.79,-92.1,274.5,-14.7,167,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3372,2857,0,0,0,0,0,0
$GC,2107,-0.79,-92.1,319.7,-14.6,182,2111,0.00,0.90,0.00,0.000,4,0.000,0.054,1351,3947,2857,0,0,0,0,0,0
$GC,2308,-0.79,-92.1,352.0,-16.7,190,2317,0.08,0.85,0.00,0.000,6,0.182,0.034,1372,3381,2857,0,0,0,0,0,0
$GC,2626,-0.79,-92.1,394.1,-13.6,206,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3381,2857,0,0,0,0,0,0
$GC,2931,-0.79,-92.1,434.5,-13.5,217,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3381,2857,0,0,0,0,0,0
$GC,3237,-0.79,-92.1,474.7,-13.2,227,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3381,2857,0,0,0,0,0,0
$GC,3545,-0.79,-92.1,513.8,-12.8,237,3549,0.00,2.10,0.00,0.000,4,0.000,0.030,1372,1959,2856,0,0,0,0,0,0
$GC,3611,-0.79,-92.1,522.0,-11.0,239,3617,0.00,2.33,0.00,0.000,6,0.000,0.057,1363,3379,2857,0,0,0,0,0,0
$GC,3949,-0.79,-92.1,567.8,-13.5,250,3953,0.00,2.12,0.00,0.000,4,0.000,0.031,1363,1962,2856,0,0,0,0,0,0
$GC,3998,-0.79,-92.1,574.5,-12.3,251,4003,0.00,2.30,0.00,0.000,6,0.000,0.057,1352,3394,2856,0,0,0,0,0,0
$GC,4312,-0.79,-92.1,616.8,-13.6,261,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3394,2855,0,0,0,0,0,0
$GC,4619,-0.79,-92.1,660.4,-14.4,271,4623,0.00,2.15,0.00,0.000,4,0.000,0.031,1352,1962,2855,0,0,0,0,0,0
$GC,4731,-0.79,-92.1,674.7,-11.6,274,4735,0.15,2.30,0.00,0.000,6,0.191,0.055,1377,3386,2855,0,0,0,0,0,0
$GC,5050,-0.79,-92.1,714.3,-12.6,285,5053,0.00,2.12,0.00,0.000,4,0.000,0.031,1376,1958,2854,0,0,0,0,0,0
$GC,5093,-0.79,-92.1,719.8,-11.1,286,5097,0.00,2.30,0.00,0.000,6,0.000,0.059,1367,3386,2854,0,0,0,0,0,0
$GC,5412,-0.79,-92.1,760.8,-13.1,297,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3385,2853,0,0,0,0,0,0
$GC,5718,-0.79,-92.1,798.3,-12.1,307,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3386,2852,0,0,0,0,0,0
$GC,6025,-0.79,-92.1,834.5,-11.6,317,6029,0.00,2.12,0.00,0.000,4,0.000,0.032,1367,1958,2852,0,0,0,0,0,0
$GC,6092,-0.79,-92.1,842.1,-10.1,319,6097,0.00,2.33,0.00,0.000,6,0.000,0.057,1357,3374,2851,0,0,0,0,0,0
$GC,6430,-0.79,-92.1,882.1,-12.0,330,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3374,2851,0,0,0,0,0,0
$GC,6735,-0.79,-92.1,918.4,-11.6,340,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3374,2850,0,0,0,0,0,0
$GC,7041,-0.79,-92.1,954.3,-11.7,350,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3374,2849,0,0,0,0,0,0
$GC,7348,-0.79,-92.1,989.9,-11.5,360,7352,0.00,2.10,0.00,0.000,4,0.000,0.033,1357,1963,2848,0,0,0,0,0,0
$STATE,7443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7443,begin apogee
$GC,7451,-0.14,0.0,1000.2,10.4,363,7550,0.85,0.00,89.88,1.769,6,0.172,0.000,1582,3270,2473,0,0,0,0,1,0
$STATE,7551,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7554,0.79,92.1,1002.7,0.0,366,7659,0.93,0.00,96.22,1.733,6,0.084,0.000,1883,3270,2097,0,0,0,0,1,0
$GC,7962,0.79,92.1,926.5,20.9,380,7965,0.00,1.12,0.00,0.000,4,0.000,0.054,1883,3953,2090,0,0,0,0,0,0
$GC,8180,0.79,92.1,876.0,23.0,386,8186,0.00,1.05,0.00,0.000,6,0.000,0.031,1888,3264,2089,0,0,0,0,0,0
$GC,8506,0.79,92.1,809.2,20.3,397,8511,0.00,1.12,0.00,0.000,4,0.000,0.055,1888,3954,2086,0,0,0,0,0,0
$GC,8750,0.79,92.1,755.3,22.0,404,8753,0.00,1.02,0.00,0.000,6,0.000,0.032,1893,3273,2085,0,0,0,0,0,0
$GC,9085,0.79,92.1,686.6,20.5,415,9089,0.00,1.10,0.00,0.000,4,0.000,0.054,1893,3958,2083,0,0,0,0,0,0
$GC,9318,0.79,92.1,633.9,22.1,421,9324,0.00,1.05,0.00,0.000,6,0.000,0.032,1898,3256,2083,0,0,0,0,0,0
$GC,9631,0.79,92.1,569.7,19.9,432,9636,0.00,1.12,0.00,0.000,4,0.000,0.054,1898,3955,2082,0,0,0,0,0,0
$GC,9890,0.79,92.1,512.4,21.3,439,9894,0.00,1.02,0.00,0.000,6,0.000,0.031,1904,3267,2082,0,0,0,0,0,0
$GC,10209,0.79,92.1,449.6,19.5,450,10213,0.00,1.10,0.00,0.000,4,0.000,0.054,1904,3952,2081,0,0,0,0,0,0
$GC,10400,0.79,92.1,408.4,20.9,455,10404,0.00,1.00,0.00,0.000,6,0.000,0.031,1909,3274,2081,0,0,0,0,0,0
$GC,10723,0.79,92.1,347.1,19.4,470,10727,0.00,1.08,0.00,0.000,4,0.000,0.054,1909,3948,2080,0,0,0,0,0,0
$GC,10874,0.79,92.1,314.3,21.9,476,10880,0.00,1.00,0.00,0.000,6,0.000,0.032,1914,3274,2080,0,0,0,0,0,0
$GC,11198,0.79,92.1,249.1,20.1,492,11202,0.00,1.08,0.00,0.000,4,0.000,0.054,1914,3950,2080,0,0,0,0,0,0
$GC,11374,0.79,92.1,209.2,22.3,502,11379,0.10,1.02,0.00,0.000,6,0.209,0.031,1893,3255,2080,0,0,0,0,0,0
$GC,11706,0.79,92.1,147.6,18.5,523,11710,0.00,1.12,0.00,0.000,4,0.000,0.053,1892,3958,2080,0,0,0,0,0,0
$GC,11851,0.79,92.1,117.7,19.5,531,11855,0.00,1.00,0.00,0.000,6,0.000,0.031,1896,3279,2080,0,0,0,0,0,0
$GC,12198,0.79,92.1,57.1,17.2,578,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3278,2080,0,0,0,0,0,0
$GC,12457,0.79,92.1,13.3,17.6,619,12468,0.00,2.15,0.00,0.000,4,0.000,0.030,1907,1853,2079,0,0,0,0,0,0
$GC,12502,0.79,92.1,6.0,17.6,624,12512,0.00,2.28,0.00,0.000,6,0.000,0.050,1907,3267,2077,0,0,0,0,0,0
$STATE,12518,end climb,SURFACE_DEPTH_REACHED
$STATE,12518,begin surface coast
$FINISH,1.3,1.026203
$STATE,12541,end surface coast,CONTROL_FINISHED_OK
$STATE,12541,begin surface
$SM_CCo,12557,69.88,0.724,1,0,1450,250.20
$SM_GC,1.71,0.00,0.00,69.88,0.000,0.000,0.724,54,3389,1450,-4.94,0.25,250.20
$IRIDIUM_FIX,-4149.58,901.52,130113,060657
$TT8_MAMPS,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,37.295
$10V_AH,10.1,22.539
$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,12.525,57.875,186.100,69.875,0.000,29.972,23.094,289.999,0.000,0.000,19.158,1641.422,8225.227,361.095,2191.948,729.139,33.361,1160.736,0.000,2004.577,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,88.740,1768.680,723.690,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.401,1393.096,637.845,294.264,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,47176,629
$CAP_FILE_SIZE,102472,0
$CFSIZE,259252224,245321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,130113,141058,-4204.653,859.802,38,1.3,38,-25.1