version: 66.07
glider: 543
mission: 6
dive: 213
start: 1 14 113 1 20 59
data:
$ID,543
$MISSION,6
$DIVE,213
$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,-8441.8467
$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,49
$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
$GPS1,140113,011204,-4205.092,858.883,27,1.0,27,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-53.4
$GPS2,140113,011959,-4205.015,858.911,19,1.1,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.124,0.074
$KALMAN_X,-141435.3,-109.6,-125.1,219847.6,-84.5
$KALMAN_Y,42241.8,-650.1,-634.8,5421.4,8325.7
$MHEAD_RNG_PITCHd_Wd,84.4,9407,-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,-49.38,0.000,2,0.000,0.000,56,3377,2613,0,0,0,0,0,0
$GC,75,-0.79,-93.9,3.2,-3.0,6,95,5.22,0.98,-7.60,0.000,4,0.217,0.091,1373,3954,2858,0,0,0,0,0,0
$GC,378,-0.79,-93.9,56.7,-17.4,53,385,0.00,0.88,0.00,0.000,6,0.000,0.036,1373,3385,2861,0,0,0,0,0,0
$GC,616,-0.79,-93.9,89.9,-14.4,94,622,0.00,0.90,0.00,0.000,4,0.000,0.055,1369,3950,2862,0,0,0,0,0,0
$GC,886,-0.79,-93.9,131.2,-16.1,117,890,0.00,0.88,0.00,0.000,6,0.000,0.035,1369,3377,2863,0,0,0,0,0,0
$GC,1212,-0.79,-93.9,179.4,-15.3,138,1216,0.00,0.93,0.00,0.000,4,0.000,0.055,1365,3954,2864,0,0,0,0,0,0
$GC,1481,-0.79,-93.9,224.6,-16.9,153,1485,0.00,0.88,0.00,0.000,6,0.000,0.036,1365,3376,2865,0,0,0,0,0,0
$GC,1815,-0.79,-93.9,276.4,-15.2,172,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3376,2865,0,0,0,0,0,0
$GC,2127,-0.79,-93.9,323.8,-15.5,187,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3376,2865,0,0,0,0,0,0
$GC,2435,-0.79,-93.9,369.3,-14.6,202,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3376,2865,0,0,0,0,0,0
$GC,2753,-0.79,-93.9,413.9,-13.7,216,2756,0.00,0.93,0.00,0.000,4,0.000,0.055,1360,3959,2865,0,0,0,0,0,0
$GC,2911,-0.79,-93.9,437.2,-14.9,220,2917,0.00,0.88,0.00,0.000,6,0.000,0.035,1361,3384,2865,0,0,0,0,0,0
$GC,3231,-0.79,-93.9,482.6,-14.4,231,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3384,2865,0,0,0,0,0,0
$GC,3537,-0.79,-93.9,526.4,-14.0,241,3541,0.00,0.90,0.00,0.000,4,0.000,0.056,1356,3953,2865,0,0,0,0,0,0
$GC,3673,-0.79,-93.9,546.4,-15.7,245,3677,0.00,0.88,0.00,0.000,6,0.000,0.036,1356,3374,2865,0,0,0,0,0,0
$GC,4014,-0.79,-93.9,595.2,-14.1,256,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3374,2865,0,0,0,0,0,0
$GC,4320,-0.79,-93.9,637.0,-13.9,266,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3374,2864,0,0,0,0,0,0
$GC,4627,-0.79,-93.9,678.3,-13.2,276,4631,0.00,0.93,0.00,0.000,4,0.000,0.056,1352,3958,2864,0,0,0,0,0,0
$GC,4824,-0.79,-93.9,708.2,-14.2,281,4830,0.00,0.88,0.00,0.000,6,0.000,0.037,1352,3381,2863,0,0,0,0,0,0
$GC,5137,-0.79,-93.9,751.7,-13.9,292,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3381,2863,0,0,0,0,0,0
$GC,5444,-0.79,-93.9,793.8,-13.7,302,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3381,2862,0,0,0,0,0,0
$GC,5749,-0.79,-93.9,834.5,-12.9,312,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3381,2861,0,0,0,0,0,0
$GC,6056,-0.79,-93.9,872.6,-12.1,322,6060,0.00,0.90,0.00,0.000,4,0.000,0.057,1347,3947,2860,0,0,0,0,0,0
$GC,6111,-0.79,-93.9,880.0,-14.0,323,6115,0.08,0.88,0.00,0.000,6,0.182,0.037,1368,3376,2860,0,0,0,0,0,0
$GC,6429,-0.79,-93.9,915.4,-11.4,334,6433,0.00,2.12,0.00,0.000,4,0.000,0.033,1369,1963,2859,0,0,0,0,0,0
$GC,6479,-0.79,-93.9,920.9,-10.3,335,6484,0.00,2.33,0.00,0.000,6,0.000,0.055,1359,3380,2859,0,0,0,0,0,0
$GC,6799,-0.79,-93.9,957.6,-11.1,346,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3380,2859,0,0,0,0,0,0
$GC,7105,-0.79,-93.9,993.9,-12.1,356,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3380,2858,0,0,0,0,0,0
$STATE,7165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7165,begin apogee
$GC,7172,-0.14,0.0,1001.1,12.0,358,7272,0.80,0.00,96.55,1.239,6,0.171,0.000,1582,3276,2473,0,0,0,0,0,0
$STATE,7274,end apogee,CONTROL_FINISHED_OK
$STATE,7274,begin climb
$GC,7276,0.79,93.9,1004.1,0.0,361,7379,0.93,0.00,97.57,1.216,6,0.086,0.000,1884,3276,2086,0,0,0,0,0,0
$GC,7682,0.79,93.9,924.0,22.3,375,7686,0.00,1.12,0.00,0.000,4,0.000,0.054,1884,3950,2072,0,0,0,0,0,0
$GC,7920,0.79,93.9,867.6,24.0,382,7924,0.00,1.08,0.00,0.000,6,0.000,0.032,1890,3250,2070,0,0,0,0,0,0
$GC,8262,0.79,93.9,791.9,22.0,393,8265,0.00,1.15,0.00,0.000,4,0.000,0.054,1890,3959,2067,0,0,0,0,0,0
$GC,8439,0.79,93.9,748.3,24.0,398,8443,0.00,1.02,0.00,0.000,6,0.000,0.032,1895,3275,2066,0,0,0,0,0,0
$GC,8770,0.79,93.9,676.9,21.4,409,8773,0.00,1.10,0.00,0.000,4,0.000,0.054,1895,3956,2064,0,0,0,0,0,0
$GC,9029,0.79,93.9,615.4,23.5,416,9032,0.00,1.02,0.00,0.000,6,0.000,0.031,1900,3273,2064,0,0,0,0,0,0
$GC,9349,0.79,93.9,545.6,21.7,427,9353,0.00,1.10,0.00,0.000,4,0.000,0.054,1901,3956,2063,0,0,0,0,0,0
$GC,9522,0.79,93.9,505.0,23.0,432,9525,0.00,1.02,0.00,0.000,6,0.000,0.032,1905,3272,2063,0,0,0,0,0,0
$GC,9863,0.79,93.9,432.0,20.9,443,9869,0.00,1.10,0.00,0.000,4,0.000,0.054,1905,3955,2062,0,0,0,0,0,0
$GC,10124,0.79,93.9,370.4,24.6,452,10127,0.00,1.02,0.00,0.000,6,0.000,0.031,1910,3269,2062,0,0,0,0,0,0
$GC,10447,0.79,93.9,299.0,22.0,468,10451,0.00,1.10,0.00,0.000,4,0.000,0.053,1910,3955,2061,0,0,0,0,0,0
$GC,10541,0.79,93.9,276.7,24.8,472,10544,0.00,1.02,0.00,0.000,6,0.000,0.031,1916,3269,2061,0,0,0,0,0,0
$GC,10872,0.79,93.9,203.0,21.9,491,10878,0.00,1.10,0.00,0.000,4,0.000,0.052,1916,3958,2061,0,0,0,0,0,0
$GC,11123,0.79,93.9,141.2,25.2,505,11127,0.10,1.02,0.00,0.000,6,0.206,0.031,1895,3267,2061,0,0,0,0,0,0
$GC,11453,0.79,93.9,71.6,20.6,541,11458,0.00,1.10,0.00,0.000,4,0.000,0.051,1894,3958,2061,0,0,0,0,0,0
$GC,11737,0.79,93.9,13.2,21.4,587,11747,0.00,1.02,0.00,0.000,6,0.000,0.031,1898,3269,2061,0,0,0,0,0,0
$STATE,11793,end climb,SURFACE_DEPTH_REACHED
$STATE,11793,begin surface coast
$FINISH,1.2,1.026275
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11830,68.35,0.735,1,0,1450,250.20
$SM_GC,1.71,0.00,0.00,68.35,0.000,0.000,0.735,52,3396,1450,-4.94,0.45,250.20
$IRIDIUM_FIX,-4149.58,904.84,130113,181832
$TT8_MAMPS,0.025466
$HUMID,56.18
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.3,37.689
$10V_AH,10.1,22.909
$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,12.050,34.500,194.125,68.350,0.000,39.252,20.117,254.582,0.000,0.000,22.220,1563.920,7689.733,337.811,2111.710,681.778,33.385,1092.553,0.000,1951.956,0.000,1.010,0.000
$DEVICE_MAMPS,217.260,91.035,1238.535,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.139,1325.365,608.150,267.192,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,43900,598
$CAP_FILE_SIZE,94273,0
$CFSIZE,259252224,245116928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140113,044034,-4203.789,900.219,29,1.4,29,-25.1