version: 66.07
glider: 543
mission: 6
dive: 171
start: 1 5 113 21 51 35
data:
$ID,543
$MISSION,6
$DIVE,171
$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,-8340.0771
$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,37
$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
$GPS1,050113,214203,-4159.726,813.463,35,1.0,35,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-52.2
$GPS2,050113,215035,-4159.717,813.530,16,1.4,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.097,-0.107
$KALMAN_X,-73084.1,-866.6,-579.3,90769.7,6466.4
$KALMAN_Y,8157.6,-287.7,-13.9,48294.4,2055.0
$MHEAD_RNG_PITCHd_Wd,162.8,8920,-26.9,-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,-48.3,0.0,0.0,0,71,0.00,0.00,-49.35,0.000,2,0.000,0.000,53,3393,2624,0,0,0,0,0,0
$GC,76,-0.78,-91.9,3.2,-3.3,6,95,5.30,0.85,-7.07,0.000,4,0.226,0.088,1370,3936,2849,0,0,0,0,0,0
$GC,376,-0.78,-91.9,64.8,-22.0,53,381,0.00,0.82,0.00,0.000,6,0.000,0.037,1370,3398,2853,0,0,0,0,0,0
$GC,726,-0.78,-91.9,126.7,-15.8,96,730,0.00,0.85,0.00,0.000,4,0.000,0.055,1366,3932,2854,0,0,0,0,0,0
$GC,994,-0.78,-91.9,170.3,-16.0,111,998,0.00,0.85,0.00,0.000,6,0.000,0.036,1366,3370,2855,0,0,0,0,0,0
$GC,1320,-0.78,-91.9,217.7,-14.4,132,1323,0.00,2.10,0.00,0.000,4,0.000,0.031,1366,1973,2856,0,0,0,0,0,0
$GC,1526,-0.78,-91.9,244.0,-12.1,144,1531,0.00,2.25,0.00,0.000,6,0.000,0.054,1356,3362,2857,0,0,0,0,0,0
$GC,1845,-0.78,-91.9,293.3,-15.3,160,1849,0.00,0.93,0.00,0.000,4,0.000,0.056,1351,3953,2857,0,0,0,0,0,0
$GC,2110,-0.78,-91.9,337.1,-16.8,171,2114,0.08,0.85,0.00,0.000,6,0.184,0.036,1373,3387,2857,0,0,0,0,0,0
$GC,2434,-0.78,-91.9,379.8,-13.7,187,2439,0.00,0.90,0.00,0.000,4,0.000,0.056,1370,3958,2857,0,0,0,0,0,0
$GC,2696,-0.78,-91.9,419.2,-15.1,196,2699,0.00,0.88,0.00,0.000,6,0.000,0.036,1370,3378,2857,0,0,0,0,0,0
$GC,3014,-0.78,-91.9,460.4,-13.1,207,3018,0.00,2.10,0.00,0.000,4,0.000,0.032,1370,1957,2857,0,0,0,0,0,0
$GC,3214,-0.78,-91.9,483.4,-11.2,213,3219,0.00,2.30,0.00,0.000,6,0.000,0.055,1359,3379,2857,0,0,0,0,0,0
$GC,3556,-0.78,-91.9,530.7,-14.1,224,3560,0.00,0.93,0.00,0.000,4,0.000,0.057,1355,3956,2856,0,0,0,0,0,0
$GC,3814,-0.78,-91.9,570.0,-15.6,231,3817,0.00,0.88,0.00,0.000,6,0.000,0.037,1355,3376,2856,0,0,0,0,0,0
$GC,4133,-0.78,-91.9,614.1,-14.1,242,4136,0.00,0.90,0.00,0.000,4,0.000,0.056,1350,3949,2856,0,0,0,0,0,0
$GC,4394,-0.78,-91.9,655.1,-16.3,249,4398,0.08,0.85,0.00,0.000,6,0.187,0.037,1372,3387,2855,0,0,0,0,0,0
$GC,4714,-0.78,-91.9,699.6,-13.6,260,4718,0.00,0.88,0.00,0.000,4,0.000,0.058,1369,3944,2855,0,0,0,0,0,0
$GC,4731,-0.78,-91.9,702.5,-13.8,260,4734,0.00,0.85,0.00,0.000,6,0.000,0.038,1369,3383,2854,0,0,0,0,0,0
$GC,5055,-0.78,-91.9,748.2,-13.9,271,5059,0.00,2.12,0.00,0.000,4,0.000,0.034,1369,1965,2853,0,0,0,0,0,0
$GC,5236,-0.78,-91.9,772.0,-12.8,276,5240,0.00,2.25,0.00,0.000,6,0.000,0.057,1358,3379,2853,0,0,0,0,0,0
$GC,5554,-0.78,-91.9,820.8,-15.4,287,5558,0.00,0.93,0.00,0.000,4,0.000,0.060,1354,3953,2852,0,0,0,0,0,0
$GC,5816,-0.78,-91.9,863.2,-15.3,294,5820,0.00,0.88,0.00,0.000,6,0.000,0.038,1353,3378,2851,0,0,0,0,0,0
$GC,6137,-0.78,-91.9,907.9,-13.9,305,6141,0.00,0.90,0.00,0.000,4,0.000,0.058,1350,3946,2850,0,0,0,0,0,0
$GC,6395,-0.78,-91.9,944.9,-13.6,312,6399,0.08,0.85,0.00,0.000,6,0.186,0.039,1371,3389,2850,0,0,0,0,0,0
$GC,6713,-0.78,-91.9,982.0,-11.4,323,6717,0.00,0.90,0.00,0.000,4,0.000,0.060,1368,3955,2849,0,0,0,0,0,0
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6871,-0.14,0.0,1000.6,13.0,327,6969,0.73,0.00,94.68,1.201,6,0.173,0.000,1577,3262,2473,0,0,0,0,0,0
$STATE,6970,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6974,0.78,91.9,1003.2,0.0,330,7079,0.93,2.33,95.72,1.181,4,0.093,0.033,1893,1852,2093,0,0,0,0,0,0
$GC,7334,0.78,91.9,941.3,18.7,341,7339,0.00,2.38,0.00,0.000,6,0.000,0.050,1892,3277,2079,0,0,0,0,0,0
$GC,7676,0.78,91.9,866.5,22.6,352,7680,0.00,2.20,0.00,0.000,4,0.000,0.034,1902,1844,2075,0,0,0,0,0,0
$GC,7758,0.78,91.9,849.7,18.7,354,7763,0.00,2.30,0.00,0.000,6,0.000,0.051,1902,3278,2075,0,0,0,0,0,0
$GC,8073,0.78,91.9,780.2,22.2,364,8077,0.00,2.17,0.00,0.000,4,0.000,0.034,1913,1854,2073,0,0,0,0,0,0
$GC,8106,0.78,91.9,772.6,21.1,365,8110,0.00,2.28,0.00,0.000,6,0.000,0.052,1912,3269,2072,0,0,0,0,0,0
$GC,8436,0.78,91.9,699.4,22.5,376,8439,0.00,2.17,0.00,0.000,4,0.000,0.034,1922,1850,2072,0,0,0,0,0,0
$GC,8504,0.78,91.9,685.3,19.9,378,8508,0.12,2.28,0.00,0.000,6,0.205,0.052,1894,3271,2071,0,0,0,0,0,0
$GC,8834,0.78,91.9,614.3,21.6,389,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3271,2070,0,0,0,0,0,0
$GC,9141,0.78,91.9,549.4,21.3,399,9145,0.00,2.12,0.00,0.000,4,0.000,0.032,1903,1843,2070,0,0,0,0,0,0
$GC,9221,0.78,91.9,533.9,18.6,401,9225,0.00,2.28,0.00,0.000,6,0.000,0.050,1903,3271,2069,0,0,0,0,0,0
$GC,9540,0.78,91.9,463.9,22.4,412,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3272,2069,0,0,0,0,0,0
$GC,9845,0.78,91.9,395.9,22.0,422,9851,0.00,2.17,0.00,0.000,4,0.000,0.032,1914,1846,2068,0,0,0,0,0,0
$GC,9902,0.78,91.9,384.1,19.0,424,9906,0.00,2.28,0.00,0.000,6,0.000,0.049,1914,3280,2067,0,0,0,0,0,0
$GC,10220,0.78,91.9,313.3,22.4,439,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3280,2067,0,0,0,0,0,0
$GC,10540,0.78,91.9,242.4,21.7,455,10546,0.00,2.20,0.00,0.000,4,0.000,0.032,1925,1837,2067,0,0,0,0,0,0
$GC,10587,0.78,91.9,232.4,18.5,457,10595,0.15,2.25,0.00,0.000,6,0.203,0.047,1890,3273,2067,0,0,0,0,0,0
$GC,10909,0.78,91.9,170.4,19.0,478,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,3274,2066,0,0,0,0,0,0
$GC,11221,0.78,91.9,113.2,17.3,498,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3273,2066,0,0,0,0,0,0
$GC,11553,0.78,91.9,60.0,16.9,546,11564,0.00,2.17,0.00,0.000,4,0.000,0.031,1900,1833,2066,0,0,0,0,0,0
$GC,11753,0.78,91.9,30.2,14.8,578,11761,0.00,2.28,0.00,0.000,6,0.000,0.048,1900,3264,2066,0,0,0,0,0,0
$STATE,11908,end climb,SURFACE_DEPTH_REACHED
$STATE,11908,begin surface coast
$FINISH,0.9,1.024803
$STATE,11930,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,11947,70.55,0.709,1,0,1450,250.20
$SM_GC,1.84,0.00,0.00,70.55,0.000,0.000,0.709,52,3388,1450,-4.94,0.23,250.20
$IRIDIUM_FIX,-4143.80,816.81,050113,181820
$TT8_MAMPS,0.025466
$HUMID,55.47
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.6,31.652
$10V_AH,10.1,18.089
$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,12.325,66.875,190.400,70.550,0.000,26.024,52.784,278.270,0.000,0.000,18.649,1637.201,7501.101,314.129,2368.374,721.433,33.372,1184.511,0.000,2126.504,0.000,1.012,0.000
$DEVICE_MAMPS,226.440,87.975,1201.050,709.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.642,1320.748,629.544,286.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,43685,605
$CAP_FILE_SIZE,106112,0
$CFSIZE,259252224,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060113,011322,-4201.045,813.810,42,0.9,42,-24.9