version: 66.07
glider: 543
mission: 6
dive: 206
start: 1 12 113 22 35 57
data:
$ID,543
$MISSION,6
$DIVE,206
$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,-8423.2617
$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,54
$R_STBD_OVSHOOT,20
$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
$GPS1,120113,222625,-4203.020,903.582,17,0.8,17,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-54.3
$GPS2,120113,223457,-4202.993,903.628,22,1.0,24,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.041,-0.138
$KALMAN_X,-145224.0,624.1,596.4,228587.2,-3977.8
$KALMAN_Y,31765.1,-951.9,-533.9,19835.3,8725.0
$MHEAD_RNG_PITCHd_Wd,221.6,7460,-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,-49.25,0.000,2,0.000,0.000,50,3371,2615,0,0,0,0,0,0
$GC,75,-0.78,-90.0,3.1,-3.4,6,95,5.35,0.98,-7.45,0.000,4,0.224,0.090,1374,3949,2841,0,0,0,0,0,0
$GC,270,-0.78,-90.0,34.3,-17.8,35,278,0.00,0.85,0.00,0.000,6,0.000,0.035,1376,3397,2845,0,0,0,0,0,0
$GC,514,-0.78,-90.0,73.6,-15.8,76,523,0.00,0.90,0.00,0.000,4,0.000,0.057,1373,3954,2846,0,0,0,0,0,0
$GC,783,-0.78,-90.0,116.7,-14.3,110,787,0.00,0.88,0.00,0.000,6,0.000,0.034,1373,3377,2847,0,0,0,0,0,0
$GC,1112,-0.78,-90.0,161.1,-13.6,131,1116,0.00,0.93,0.00,0.000,4,0.000,0.056,1369,3957,2847,0,0,0,0,0,0
$GC,1225,-0.78,-90.0,178.5,-14.6,137,1232,0.00,0.88,0.00,0.000,6,0.000,0.034,1369,3379,2848,0,0,0,0,0,0
$GC,1545,-0.78,-90.0,223.2,-14.2,158,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3379,2848,0,0,0,0,0,0
$GC,1875,-0.78,-90.0,269.5,-14.5,177,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3379,2849,0,0,0,0,0,0
$GC,2182,-0.78,-90.0,313.6,-14.0,192,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3379,2849,0,0,0,0,0,0
$GC,2492,-0.78,-90.0,358.3,-14.3,207,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3379,2849,0,0,0,0,0,0
$GC,2801,-0.78,-90.0,402.5,-14.3,222,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3379,2849,0,0,0,0,0,0
$GC,3106,-0.78,-90.0,445.3,-13.7,232,3112,0.00,2.12,0.00,0.000,4,0.000,0.031,1369,1971,2849,0,0,0,0,0,0
$GC,3163,-0.78,-90.0,452.7,-12.2,233,3167,0.00,2.28,0.00,0.000,6,0.000,0.054,1358,3387,2849,0,0,0,0,0,0
$GC,3478,-0.78,-90.0,495.3,-14.0,243,3481,0.00,0.88,0.00,0.000,4,0.000,0.056,1354,3949,2849,0,0,0,0,0,0
$GC,3715,-0.78,-90.0,531.2,-15.1,250,3721,0.00,0.85,0.00,0.000,6,0.000,0.035,1354,3378,2849,0,0,0,0,0,0
$GC,4058,-0.78,-90.0,579.5,-14.2,261,4062,0.00,0.90,0.00,0.000,4,0.000,0.056,1350,3948,2848,0,0,0,0,0,0
$GC,4190,-0.78,-90.0,599.4,-15.5,264,4198,0.08,0.85,0.00,0.000,6,0.182,0.035,1371,3385,2848,0,0,0,0,0,0
$GC,4503,-0.78,-90.0,641.5,-13.2,275,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3385,2848,0,0,0,0,0,0
$GC,4810,-0.78,-90.0,680.5,-12.6,285,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3385,2847,0,0,0,0,0,0
$GC,5117,-0.78,-90.0,717.7,-11.8,295,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3385,2846,0,0,0,0,0,0
$GC,5422,-0.78,-90.0,753.8,-11.5,305,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3385,2846,0,0,0,0,0,0
$GC,5728,-0.78,-90.0,787.0,-10.7,315,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3385,2845,0,0,0,0,0,0
$GC,6036,-0.78,-90.0,820.8,-11.1,325,6040,0.00,2.15,0.00,0.000,4,0.000,0.032,1371,1957,2844,0,0,0,0,0,0
$GC,6102,-0.78,-90.0,827.6,-9.8,327,6108,0.00,2.33,0.00,0.000,6,0.000,0.054,1362,3381,2844,0,0,0,0,0,0
$GC,6440,-0.78,-90.0,865.0,-11.3,338,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3381,2843,0,0,0,0,0,0
$GC,6745,-0.78,-90.0,900.2,-11.6,348,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3382,2842,0,0,0,0,0,0
$GC,7051,-0.78,-90.0,937.3,-12.3,358,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3381,2842,0,0,0,0,0,0
$GC,7358,-0.78,-90.0,974.2,-12.1,368,7362,0.00,2.15,0.00,0.000,4,0.000,0.032,1362,1957,2841,0,0,0,0,0,0
$GC,7442,-0.78,-90.0,983.5,-11.4,370,7447,0.12,2.30,0.00,0.000,6,0.191,0.054,1379,3382,2841,0,0,0,0,0,0
$STATE,7600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7600,begin apogee
$GC,7607,-0.14,0.0,1000.5,10.9,375,7702,0.73,0.00,87.35,1.777,6,0.165,0.000,1585,3276,2473,0,0,0,0,1,0
$STATE,7704,end apogee,CONTROL_FINISHED_OK
$STATE,7704,begin climb
$GC,7707,0.78,90.0,1002.9,0.0,378,7814,0.93,1.23,93.65,1.740,4,0.080,0.051,1888,3943,2108,0,0,0,0,1,0
$GC,7888,0.78,90.0,971.7,24.9,384,7892,0.00,1.10,0.00,0.000,6,0.000,0.030,1893,3261,2106,0,0,0,0,0,0
$GC,8223,0.78,90.0,896.7,22.3,395,8227,0.00,1.12,0.00,0.000,4,0.000,0.054,1893,3948,2099,0,0,0,0,0,0
$GC,8484,0.78,90.0,833.4,24.0,402,8488,0.00,1.02,0.00,0.000,6,0.000,0.033,1898,3273,2098,0,0,0,0,0,0
$GC,8804,0.78,90.0,765.0,20.9,413,8808,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3953,2096,0,0,0,0,0,0
$GC,9062,0.78,90.0,706.8,23.0,420,9065,0.00,1.02,0.00,0.000,6,0.000,0.032,1901,3272,2094,0,0,0,0,0,0
$GC,9380,0.78,90.0,642.7,20.3,431,9384,0.00,1.10,0.00,0.000,4,0.000,0.054,1901,3955,2093,0,0,0,0,0,0
$GC,9641,0.78,90.0,582.8,24.4,438,9645,0.00,1.02,0.00,0.000,6,0.000,0.031,1906,3272,2092,0,0,0,0,0,0
$GC,9961,0.78,90.0,514.9,21.3,449,9965,0.00,2.12,0.00,0.000,4,0.000,0.031,1917,1852,2091,0,0,0,0,0,0
$GC,10159,0.78,90.0,478.5,17.5,455,10163,0.00,2.28,0.00,0.000,6,0.000,0.048,1917,3282,2090,0,0,0,0,0,0
$GC,10494,0.78,90.0,408.0,20.9,466,10499,0.12,1.05,0.00,0.000,4,0.213,0.051,1888,3951,2089,0,0,0,0,0,0
$GC,10760,0.78,90.0,349.4,21.2,476,10764,0.00,1.02,0.00,0.000,6,0.000,0.032,1892,3264,2089,0,0,0,0,0,0
$GC,11085,0.78,90.0,284.8,19.3,492,11088,0.00,1.10,0.00,0.000,4,0.000,0.054,1892,3950,2089,0,0,0,0,0,0
$GC,11354,0.78,90.0,224.4,22.7,505,11358,0.00,1.00,0.00,0.000,6,0.000,0.031,1896,3275,2089,0,0,0,0,0,0
$GC,11679,0.78,90.0,157.3,20.6,526,11682,0.00,1.08,0.00,0.000,4,0.000,0.053,1897,3953,2089,0,0,0,0,0,0
$GC,11940,0.78,90.0,99.1,21.8,541,11944,0.00,1.02,0.00,0.000,6,0.000,0.031,1901,3261,2089,0,0,0,0,0,0
$GC,12302,0.78,90.0,35.3,17.6,601,12308,0.00,1.10,0.00,0.000,4,0.000,0.053,1901,3948,2089,0,0,0,0,0,0
$STATE,12478,end climb,SURFACE_DEPTH_REACHED
$STATE,12478,begin surface coast
$FINISH,1.0,1.026282
$STATE,12498,end surface coast,CONTROL_FINISHED_OK
$STATE,12498,begin surface
$SM_CCo,12515,71.03,0.730,1,0,1452,250.20
$SM_GC,1.83,0.00,0.00,71.03,0.000,0.000,0.730,55,3380,1452,-4.94,0.00,250.20
$IRIDIUM_FIX,-4146.69,903.93,120113,181835
$TT8_MAMPS,0.024717
$HUMID,56.65
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.4,36.911
$10V_AH,10.1,22.236
$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,12.300,43.700,181.000,71.025,0.000,30.394,49.005,263.811,0.000,0.000,26.906,1657.044,8157.022,338.214,2251.289,704.480,33.363,1131.630,0.000,2038.706,0.000,1.011,0.000
$DEVICE_MAMPS,224.145,89.505,1777.095,729.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.388,1375.761,647.307,295.656,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,47008,631
$CAP_FILE_SIZE,100334,0
$CFSIZE,259252224,245501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,130113,020704,-4203.413,903.821,34,1.0,34,-25.1