version: 66.07
glider: 543
mission: 6
dive: 211
start: 1 13 113 18 15 41
data:
$ID,543
$MISSION,6
$DIVE,211
$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,-8437.1016
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,130113,180604,-4204.433,858.573,33,0.8,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-53.8
$GPS2,130113,181441,-4204.391,858.669,15,1.2,15,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.079,-0.121
$KALMAN_X,-139978.7,-175.5,-121.3,218114.9,2781.3
$KALMAN_Y,41208.6,-1362.0,-425.7,8106.9,9582.8
$MHEAD_RNG_PITCHd_Wd,238.2,8336,-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,-49.47,0.000,2,0.000,0.000,46,3401,2629,0,0,0,0,0,0
$GC,76,-0.79,-96.8,3.1,-2.6,6,95,5.35,2.22,-7.10,0.000,4,0.224,0.044,1372,1962,2871,0,0,0,0,0,0
$GC,157,-0.79,-96.8,12.3,-11.5,17,167,0.00,2.33,0.00,0.000,6,0.000,0.054,1363,3363,2873,0,0,0,0,0,0
$GC,246,-0.79,-96.8,28.6,-19.5,30,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3363,2874,0,0,0,0,0,0
$GC,333,-0.79,-96.8,44.2,-17.2,43,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3363,2874,0,0,0,0,0,0
$GC,578,-0.79,-96.8,84.3,-16.5,84,587,0.00,0.93,0.00,0.000,4,0.000,0.057,1358,3945,2875,0,0,0,0,0,0
$GC,845,-0.79,-96.8,130.1,-17.2,110,849,0.00,0.85,0.00,0.000,6,0.000,0.035,1359,3384,2876,0,0,0,0,0,0
$GC,1172,-0.79,-96.8,180.7,-15.6,131,1178,0.00,0.90,0.00,0.000,4,0.000,0.056,1354,3953,2876,0,0,0,0,0,0
$GC,1308,-0.79,-96.8,203.5,-16.1,138,1316,0.00,0.88,0.00,0.000,6,0.000,0.035,1354,3374,2877,0,0,0,0,0,0
$GC,1631,-0.79,-96.8,250.7,-14.6,159,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,1354,3374,2877,0,0,0,0,0,0
$GC,1938,-0.79,-96.8,296.6,-14.9,174,1941,0.00,0.90,0.00,0.000,4,0.000,0.055,1350,3945,2877,0,0,0,0,0,0
$GC,1996,-0.79,-96.8,306.4,-16.7,176,2000,0.08,0.85,0.00,0.000,6,0.179,0.034,1371,3383,2877,0,0,0,0,0,0
$GC,2319,-0.79,-96.8,352.7,-14.1,192,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3383,2877,0,0,0,0,0,0
$GC,2629,-0.79,-96.8,398.2,-14.6,207,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3383,2877,0,0,0,0,0,0
$GC,2954,-0.79,-96.8,444.6,-14.3,218,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3382,2877,0,0,0,0,0,0
$GC,3260,-0.79,-96.8,487.8,-14.0,228,3264,0.00,0.90,0.00,0.000,4,0.000,0.057,1368,3949,2877,0,0,0,0,0,0
$GC,3518,-0.79,-96.8,526.9,-15.1,235,3521,0.00,0.85,0.00,0.000,6,0.000,0.035,1368,3384,2877,0,0,0,0,0,0
$GC,3836,-0.79,-96.8,569.5,-13.3,246,3840,0.00,0.90,0.00,0.000,4,0.000,0.057,1364,3950,2877,0,0,0,0,0,0
$GC,3875,-0.79,-96.8,575.5,-14.8,247,3879,0.00,0.88,0.00,0.000,6,0.000,0.036,1364,3373,2877,0,0,0,0,0,0
$GC,4211,-0.79,-96.8,621.0,-13.5,258,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2877,0,0,0,0,0,0
$GC,4517,-0.79,-96.8,661.2,-13.2,268,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2876,0,0,0,0,0,0
$GC,4825,-0.79,-96.8,700.3,-12.8,278,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2876,0,0,0,0,0,0
$GC,5130,-0.79,-96.8,739.4,-12.8,288,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2875,0,0,0,0,0,0
$GC,5436,-0.79,-96.8,779.1,-13.0,298,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2875,0,0,0,0,0,0
$GC,5744,-0.79,-96.8,818.0,-12.8,308,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2874,0,0,0,0,0,0
$GC,6049,-0.79,-96.8,858.1,-13.1,318,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3373,2872,0,0,0,0,0,0
$GC,6355,-0.79,-96.8,898.8,-13.3,328,6358,0.00,0.93,0.00,0.000,4,0.000,0.060,1360,3947,2872,0,0,0,0,0,0
$GC,6613,-0.79,-96.8,936.0,-14.7,335,6616,0.00,0.85,0.00,0.000,6,0.000,0.037,1360,3388,2871,0,0,0,0,0,0
$GC,6931,-0.79,-96.8,976.0,-12.3,346,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3388,2871,0,0,0,0,0,0
$STATE,7143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7143,begin apogee
$GC,7150,-0.14,0.0,1002.5,12.5,353,7254,0.80,0.00,100.05,1.226,6,0.168,0.000,1584,3273,2472,0,0,0,0,0,0
$STATE,7255,end apogee,CONTROL_FINISHED_OK
$STATE,7255,begin climb
$GC,7258,0.79,96.8,1005.4,0.0,356,7362,0.93,0.00,100.62,1.211,6,0.085,0.000,1887,3274,2077,0,0,0,0,0,0
$GC,7662,0.79,96.8,925.5,22.1,370,7665,0.00,1.12,0.00,0.000,4,0.000,0.056,1887,3952,2060,0,0,0,0,0,0
$GC,7837,0.79,96.8,884.3,24.6,375,7841,0.00,1.08,0.00,0.000,6,0.000,0.032,1893,3253,2059,0,0,0,0,0,0
$GC,8172,0.79,96.8,811.7,21.2,386,8176,0.00,1.15,0.00,0.000,4,0.000,0.054,1893,3956,2056,0,0,0,0,0,0
$GC,8363,0.79,96.8,766.4,23.0,391,8367,0.00,1.05,0.00,0.000,6,0.000,0.032,1897,3259,2055,0,0,0,0,0,0
$GC,8682,0.79,96.8,698.5,21.1,402,8686,0.00,1.12,0.00,0.000,4,0.000,0.054,1898,3953,2054,0,0,0,0,0,0
$GC,8828,0.79,96.8,664.9,23.3,406,8831,0.00,1.02,0.00,0.000,6,0.000,0.031,1903,3271,2053,0,0,0,0,0,0
$GC,9158,0.79,96.8,595.1,21.3,417,9161,0.00,1.10,0.00,0.000,4,0.000,0.054,1903,3953,2052,0,0,0,0,0,0
$GC,9271,0.79,96.8,569.6,24.2,420,9274,0.00,1.02,0.00,0.000,6,0.000,0.031,1908,3270,2052,0,0,0,0,0,0
$GC,9602,0.79,96.8,501.1,20.4,431,9605,0.00,1.10,0.00,0.000,4,0.000,0.054,1908,3952,2051,0,0,0,0,0,0
$GC,9777,0.79,96.8,461.7,23.1,436,9780,0.00,1.02,0.00,0.000,6,0.000,0.031,1913,3268,2051,0,0,0,0,0,0
$GC,10104,0.79,96.8,395.6,19.7,447,10109,0.00,1.10,0.00,0.000,4,0.000,0.054,1913,3956,2050,0,0,0,0,0,0
$GC,10188,0.79,96.8,377.6,22.7,450,10191,0.00,1.02,0.00,0.000,6,0.000,0.031,1918,3269,2050,0,0,0,0,0,0
$GC,10511,0.79,96.8,311.1,20.8,466,10514,0.00,1.10,0.00,0.000,4,0.000,0.054,1918,3955,2049,0,0,0,0,0,0
$GC,10667,0.79,96.8,275.9,23.3,472,10675,0.10,1.02,0.00,0.000,6,0.208,0.031,1897,3262,2049,0,0,0,0,0,0
$GC,10994,0.79,96.8,213.8,19.0,491,10998,0.00,1.10,0.00,0.000,4,0.000,0.053,1896,3952,2049,0,0,0,0,0,0
$GC,11116,0.79,96.8,187.3,21.9,498,11120,0.00,1.00,0.00,0.000,6,0.000,0.031,1900,3273,2049,0,0,0,0,0,0
$GC,11450,0.79,96.8,120.1,21.2,519,11453,0.00,1.08,0.00,0.000,4,0.000,0.052,1900,3953,2049,0,0,0,0,0,0
$GC,11534,0.79,96.8,100.8,22.1,524,11538,0.00,1.00,0.00,0.000,6,0.000,0.031,1906,3273,2048,0,0,0,0,0,0
$GC,11896,0.79,96.8,28.7,18.0,583,11907,0.00,1.10,0.00,0.000,4,0.000,0.053,1904,3961,2049,0,0,0,0,0,0
$STATE,12014,end climb,SURFACE_DEPTH_REACHED
$STATE,12014,begin surface coast
$FINISH,1.1,1.025906
$STATE,12032,end surface coast,CONTROL_FINISHED_OK
$STATE,12032,begin surface
$SM_CCo,12048,67.62,0.728,1,0,1451,250.20
$SM_GC,1.99,0.00,0.00,67.62,0.000,0.000,0.728,55,3381,1451,-4.94,0.03,250.20
$IRIDIUM_FIX,-4149.58,904.84,130113,141423
$TT8_MAMPS,0.025466
$HUMID,56.10
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.3,37.494
$10V_AH,10.1,22.728
$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,12.025,36.500,200.675,67.625,0.000,25.795,35.956,290.039,0.000,0.000,19.862,1569.621,7951.726,352.451,2084.633,684.138,33.360,1098.161,0.000,1875.899,0.000,1.010,0.000
$DEVICE_MAMPS,224.145,65.790,1226.295,727.515,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.106,1319.625,612.248,273.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,43837,603
$CAP_FILE_SIZE,96344,0
$CFSIZE,259252224,245223424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,130113,213904,-4204.927,857.281,40,1.1,40,-25.1