version: 66.07
glider: 543
mission: 6
dive: 212
start: 1 13 113 21 47 41
data:
$ID,543
$MISSION,6
$DIVE,212
$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,-8439.4316
$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,47
$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
$GPS1,130113,213904,-4204.927,857.281,40,1.1,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-48.2
$GPS2,130113,214641,-4204.858,857.409,17,1.1,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.126,-0.071
$KALMAN_X,-140379.0,238.2,-252.6,216521.1,1598.1
$KALMAN_Y,42275.5,-1033.5,-652.6,6075.0,10058.5
$MHEAD_RNG_PITCHd_Wd,144.7,9679,-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,-49.53,0.000,2,0.000,0.000,54,3381,2644,0,0,0,0,0,0
$GC,75,-0.78,-90.5,3.3,-3.4,6,94,5.38,0.95,-6.22,0.000,4,0.229,0.088,1369,3952,2842,0,0,0,0,0,0
$GC,376,-0.78,-90.5,57.5,-18.3,53,384,0.00,0.88,0.00,0.000,6,0.000,0.035,1369,3381,2847,0,0,0,0,0,0
$GC,616,-0.78,-90.5,93.3,-14.5,94,622,0.00,0.93,0.00,0.000,4,0.000,0.056,1365,3956,2848,0,0,0,0,0,0
$GC,881,-0.78,-90.5,136.5,-15.1,114,884,0.00,0.88,0.00,0.000,6,0.000,0.034,1365,3382,2848,0,0,0,0,0,0
$GC,1209,-0.78,-90.5,183.4,-14.3,135,1213,0.00,0.90,0.00,0.000,4,0.000,0.056,1361,3947,2850,0,0,0,0,0,0
$GC,1474,-0.78,-90.5,225.9,-16.6,150,1477,0.00,0.85,0.00,0.000,6,0.000,0.034,1361,3383,2850,0,0,0,0,0,0
$GC,1811,-0.78,-90.5,274.2,-14.5,169,1814,0.00,0.90,0.00,0.000,4,0.000,0.056,1356,3953,2850,0,0,0,0,0,0
$GC,2018,-0.78,-90.5,307.0,-15.3,178,2021,0.00,0.85,0.00,0.000,6,0.000,0.034,1356,3385,2851,0,0,0,0,0,0
$GC,2352,-0.78,-90.5,356.0,-14.3,194,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3385,2850,0,0,0,0,0,0
$GC,2662,-0.78,-90.5,400.4,-14.6,209,2668,0.00,0.90,0.00,0.000,4,0.000,0.055,1352,3953,2851,0,0,0,0,0,0
$GC,2752,-0.78,-90.5,414.9,-15.4,211,2758,0.00,0.88,0.00,0.000,6,0.000,0.034,1352,3371,2851,0,0,0,0,0,0
$GC,3072,-0.78,-90.5,460.6,-14.4,222,3077,0.00,0.93,0.00,0.000,4,0.000,0.056,1348,3956,2850,0,0,0,0,0,0
$GC,3213,-0.78,-90.5,483.2,-15.3,226,3219,0.10,0.88,0.00,0.000,6,0.177,0.035,1375,3378,2851,0,0,0,0,0,0
$GC,3551,-0.78,-90.5,528.5,-13.3,237,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3378,2851,0,0,0,0,0,0
$GC,3856,-0.78,-90.5,567.6,-12.8,247,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3378,2851,0,0,0,0,0,0
$GC,4162,-0.78,-90.5,605.3,-12.1,257,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3378,2850,0,0,0,0,0,0
$GC,4470,-0.78,-90.5,641.6,-11.7,267,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3378,2850,0,0,0,0,0,0
$GC,4775,-0.78,-90.5,678.4,-12.4,277,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3378,2849,0,0,0,0,0,0
$GC,5081,-0.78,-90.5,719.7,-13.6,287,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3378,2849,0,0,0,0,0,0
$GC,5388,-0.78,-90.5,761.6,-13.7,297,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3378,2848,0,0,0,0,0,0
$GC,5694,-0.78,-90.5,802.0,-13.0,307,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3377,2846,0,0,0,0,0,0
$GC,6000,-0.78,-90.5,839.8,-12.2,317,6004,0.00,0.93,0.00,0.000,4,0.000,0.059,1372,3953,2845,0,0,0,0,0,0
$GC,6089,-0.78,-90.5,851.3,-12.9,319,6092,0.00,0.88,0.00,0.000,6,0.000,0.037,1372,3377,2846,0,0,0,0,0,0
$GC,6407,-0.78,-90.5,889.3,-12.2,330,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3377,2845,0,0,0,0,0,0
$GC,6715,-0.78,-90.5,926.7,-12.3,340,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3377,2844,0,0,0,0,0,0
$GC,7020,-0.78,-90.5,963.0,-11.5,350,7025,0.00,0.93,0.00,0.000,4,0.000,0.059,1368,3954,2843,0,0,0,0,0,0
$GC,7082,-0.78,-90.5,970.7,-12.0,351,7088,0.00,0.88,0.00,0.000,6,0.000,0.037,1368,3380,2843,0,0,0,0,0,0
$STATE,7362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7362,begin apogee
$GC,7369,-0.14,0.0,1001.4,10.6,361,7466,0.77,0.00,93.78,1.231,6,0.169,0.000,1585,3269,2473,0,0,0,0,0,0
$STATE,7467,end apogee,CONTROL_FINISHED_OK
$STATE,7467,begin climb
$GC,7470,0.78,90.5,1002.9,0.0,364,7568,0.93,0.00,94.03,1.212,6,0.085,0.000,1889,3269,2104,0,0,0,0,0,0
$GC,7851,0.78,90.5,925.3,22.2,377,7855,0.00,1.12,0.00,0.000,4,0.000,0.055,1889,3949,2086,0,0,0,0,0,0
$GC,8083,0.78,90.5,868.1,25.0,383,8090,0.00,1.08,0.00,0.000,6,0.000,0.031,1894,3248,2083,0,0,0,0,0,0
$GC,8397,0.78,90.5,798.3,21.8,394,8402,0.00,1.15,0.00,0.000,4,0.000,0.054,1894,3953,2081,0,0,0,0,0,0
$GC,8655,0.78,90.5,735.6,23.8,401,8659,0.00,1.02,0.00,0.000,6,0.000,0.032,1899,3272,2081,0,0,0,0,0,0
$GC,8976,0.78,90.5,667.7,20.7,412,8979,0.00,1.10,0.00,0.000,4,0.000,0.054,1899,3958,2079,0,0,0,0,0,0
$GC,9182,0.78,90.5,620.1,23.3,418,9186,0.00,1.02,0.00,0.000,6,0.000,0.032,1904,3272,2079,0,0,0,0,0,0
$GC,9517,0.78,90.5,548.4,21.6,429,9523,0.00,1.10,0.00,0.000,4,0.000,0.054,1904,3957,2077,0,0,0,0,0,0
$GC,9776,0.78,90.5,487.2,22.3,436,9780,0.00,1.02,0.00,0.000,6,0.000,0.031,1910,3272,2077,0,0,0,0,0,0
$GC,10097,0.78,90.5,418.1,21.7,447,10100,0.00,1.10,0.00,0.000,4,0.000,0.054,1910,3958,2075,0,0,0,0,0,0
$GC,10319,0.78,90.5,365.4,23.6,455,10326,0.00,1.02,0.00,0.000,6,0.000,0.031,1915,3268,2075,0,0,0,0,0,0
$GC,10638,0.78,90.5,296.9,21.3,471,10643,0.00,1.10,0.00,0.000,4,0.000,0.054,1915,3955,2074,0,0,0,0,0,0
$GC,10789,0.78,90.5,262.2,22.4,477,10794,0.10,1.02,0.00,0.000,6,0.208,0.031,1894,3263,2074,0,0,0,0,0,0
$GC,11119,0.78,90.5,198.1,19.8,497,11123,0.00,1.10,0.00,0.000,4,0.000,0.053,1892,3954,2073,0,0,0,0,0,0
$GC,11337,0.78,90.5,148.5,22.2,509,11345,0.00,1.00,0.00,0.000,6,0.000,0.031,1896,3275,2073,0,0,0,0,0,0
$GC,11666,0.78,90.5,82.0,20.0,540,11677,0.00,1.08,0.00,0.000,4,0.000,0.053,1896,3950,2073,0,0,0,0,0,0
$GC,11947,0.78,90.5,28.2,19.5,586,11957,0.00,1.00,0.00,0.000,6,0.000,0.030,1901,3268,2073,0,0,0,0,0,0
$GC,12036,0.78,90.5,10.6,19.6,599,12046,0.00,1.10,0.00,0.000,4,0.000,0.054,1901,3955,2073,0,0,0,0,0,0
$STATE,12077,end climb,SURFACE_DEPTH_REACHED
$STATE,12078,begin surface coast
$FINISH,1.2,1.013163
$STATE,12101,end surface coast,CONTROL_FINISHED_OK
$STATE,12101,begin surface
$SM_CCo,12118,70.12,0.735,1,0,1451,250.20
$SM_GC,1.78,0.00,0.00,70.12,0.000,0.000,0.735,56,3377,1451,-4.93,-0.08,250.20
$IRIDIUM_FIX,-4149.58,904.84,130113,181832
$TT8_MAMPS,0.025466
$HUMID,55.86
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.4,37.590
$10V_AH,10.1,22.819
$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,12.125,33.475,187.800,70.125,0.000,24.634,20.473,252.255,0.000,0.000,19.839,1587.162,7912.662,349.982,2126.767,680.043,33.385,1131.031,0.000,1941.037,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,87.975,1230.885,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.696,1319.727,613.555,271.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,43812,607
$CAP_FILE_SIZE,96412,0
$CFSIZE,259252224,245170176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140113,011204,-4205.092,858.883,27,1.0,27,-25.1