version: 66.07
glider: 543
mission: 6
dive: 215
start: 1 14 113 8 34 36
data:
$ID,543
$MISSION,6
$DIVE,215
$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,-8446.6953
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,140113,082422,-4202.015,900.421,40,0.9,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-45.9
$GPS2,140113,083336,-4202.032,900.420,18,1.0,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.097,-0.106
$KALMAN_X,-144408.6,-425.2,-124.5,225189.4,-1940.4
$KALMAN_Y,41487.3,-874.5,-427.3,11703.1,5229.5
$MHEAD_RNG_PITCHd_Wd,162.6,3807,-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,-48.0,0.0,0.0,0,72,0.00,0.00,-49.12,0.000,2,0.000,0.000,53,3392,2648,0,0,0,0,0,0
$GC,76,-0.79,-92.1,3.3,-3.2,6,95,5.25,0.93,-6.32,0.000,4,0.217,0.090,1374,3946,2850,0,0,0,0,0,0
$GC,379,-0.79,-92.1,59.1,-18.2,53,385,0.00,0.85,0.00,0.000,6,0.000,0.034,1374,3390,2853,0,0,0,0,0,0
$GC,617,-0.79,-92.1,97.2,-13.1,94,624,0.00,0.90,0.00,0.000,4,0.000,0.056,1370,3952,2854,0,0,0,0,0,0
$GC,879,-0.79,-92.1,137.5,-15.1,112,883,0.00,0.88,0.00,0.000,6,0.000,0.034,1370,3374,2854,0,0,0,0,0,0
$GC,1206,-0.79,-92.1,183.6,-14.2,133,1212,0.00,0.90,0.00,0.000,4,0.000,0.054,1366,3941,2855,0,0,0,0,0,0
$GC,1409,-0.79,-92.1,216.6,-16.4,144,1415,0.00,0.85,0.00,0.000,6,0.000,0.034,1366,3375,2856,0,0,0,0,0,0
$GC,1745,-0.79,-92.1,267.5,-15.3,164,1749,0.00,0.90,0.00,0.000,4,0.000,0.055,1362,3946,2856,0,0,0,0,0,0
$GC,1818,-0.79,-92.1,279.4,-16.8,167,1822,0.00,0.85,0.00,0.000,6,0.000,0.034,1362,3380,2856,0,0,0,0,0,0
$GC,2153,-0.79,-92.1,331.8,-15.4,183,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3380,2856,0,0,0,0,0,0
$GC,2462,-0.79,-92.1,379.2,-14.9,198,2466,0.00,0.93,0.00,0.000,4,0.000,0.056,1358,3948,2856,0,0,0,0,0,0
$GC,2601,-0.79,-92.1,401.1,-16.3,204,2605,0.00,0.85,0.00,0.000,6,0.000,0.034,1358,3384,2856,0,0,0,0,0,0
$GC,2943,-0.79,-92.1,451.0,-14.5,215,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3384,2856,0,0,0,0,0,0
$GC,3249,-0.79,-92.1,495.4,-14.6,225,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3384,2856,0,0,0,0,0,0
$GC,3556,-0.79,-92.1,538.7,-14.1,235,3560,0.00,0.90,0.00,0.000,4,0.000,0.056,1353,3953,2856,0,0,0,0,0,0
$GC,3650,-0.79,-92.1,553.5,-14.7,237,3657,0.00,0.88,0.00,0.000,6,0.000,0.034,1353,3370,2856,0,0,0,0,0,0
$GC,3965,-0.79,-92.1,597.8,-14.2,248,3969,0.00,0.93,0.00,0.000,4,0.000,0.056,1349,3955,2855,0,0,0,0,0,0
$GC,4044,-0.79,-92.1,610.1,-16.0,250,4048,0.08,0.88,0.00,0.000,6,0.181,0.034,1370,3374,2856,0,0,0,0,0,0
$GC,4374,-0.79,-92.1,655.4,-13.9,261,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3373,2855,0,0,0,0,0,0
$GC,4680,-0.79,-92.1,697.4,-13.6,271,4685,0.00,0.90,0.00,0.000,4,0.000,0.057,1367,3944,2854,0,0,0,0,0,0
$GC,4845,-0.79,-92.1,722.3,-14.1,275,4851,0.00,0.85,0.00,0.000,6,0.000,0.035,1367,3382,2854,0,0,0,0,0,0
$GC,5158,-0.79,-92.1,765.1,-13.3,286,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3383,2853,0,0,0,0,0,0
$GC,5465,-0.79,-92.1,805.2,-13.1,296,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3383,2853,0,0,0,0,0,0
$GC,5770,-0.79,-92.1,845.4,-13.3,306,5776,0.00,0.90,0.00,0.000,4,0.000,0.058,1363,3949,2852,0,0,0,0,0,0
$GC,5876,-0.79,-92.1,860.0,-14.3,309,5879,0.00,0.85,0.00,0.000,6,0.000,0.036,1363,3386,2852,0,0,0,0,0,0
$GC,6217,-0.79,-92.1,905.0,-12.6,320,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3386,2851,0,0,0,0,0,0
$GC,6524,-0.79,-92.1,942.7,-12.2,330,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3386,2850,0,0,0,0,0,0
$GC,6830,-0.79,-92.1,978.8,-11.8,340,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3386,2849,0,0,0,0,0,0
$STATE,7041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7041,begin apogee
$GC,7048,-0.14,0.0,1003.4,11.3,347,7148,0.80,0.00,91.40,1.750,6,0.168,0.000,1587,3273,2473,0,0,0,0,1,0
$STATE,7150,end apogee,CONTROL_FINISHED_OK
$STATE,7150,begin climb
$GC,7152,0.79,92.1,1005.5,0.0,350,7263,0.88,2.42,95.70,1.742,4,0.078,0.030,1892,1853,2098,0,0,0,0,1,0
$GC,7297,0.79,92.1,984.5,18.6,354,7301,0.00,2.47,0.00,0.000,6,0.000,0.047,1892,3272,2097,0,0,0,0,0,0
$GC,7610,0.79,92.1,919.1,20.9,364,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3273,2091,0,0,0,0,0,0
$GC,7918,0.79,92.1,855.0,20.8,374,7922,0.00,1.10,0.00,0.000,4,0.000,0.052,1892,3954,2089,0,0,0,0,0,0
$GC,8029,0.79,92.1,829.8,22.8,377,8032,0.00,1.05,0.00,0.000,6,0.000,0.031,1897,3258,2088,0,0,0,0,0,0
$GC,8358,0.79,92.1,761.6,20.5,388,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3258,2086,0,0,0,0,0,0
$GC,8665,0.79,92.1,699.8,20.1,398,8669,0.00,1.12,0.00,0.000,4,0.000,0.054,1898,3956,2085,0,0,0,0,0,0
$GC,8754,0.79,92.1,679.7,22.8,400,8757,0.00,1.02,0.00,0.000,6,0.000,0.031,1903,3269,2085,0,0,0,0,0,0
$GC,9073,0.79,92.1,613.4,20.7,411,9076,0.00,1.10,0.00,0.000,4,0.000,0.053,1903,3958,2084,0,0,0,0,0,0
$GC,9276,0.79,92.1,566.0,23.9,417,9280,0.00,1.02,0.00,0.000,6,0.000,0.031,1908,3269,2084,0,0,0,0,0,0
$GC,9618,0.79,92.1,496.2,20.3,428,9623,0.00,1.10,0.00,0.000,4,0.000,0.054,1908,3958,2083,0,0,0,0,0,0
$GC,9748,0.79,92.1,467.4,23.7,431,9754,0.00,1.02,0.00,0.000,6,0.000,0.031,1913,3272,2083,0,0,0,0,0,0
$GC,10061,0.79,92.1,402.9,20.7,442,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3271,2082,0,0,0,0,0,0
$GC,10382,0.79,92.1,339.9,19.3,457,10388,0.00,1.10,0.00,0.000,4,0.000,0.053,1913,3958,2082,0,0,0,0,0,0
$GC,10627,0.79,92.1,286.9,22.7,467,10634,0.08,1.02,0.00,0.000,6,0.210,0.031,1898,3265,2082,0,0,0,0,0,0
$GC,10951,0.79,92.1,226.2,19.2,485,10955,0.00,1.10,0.00,0.000,4,0.000,0.053,1898,3952,2081,0,0,0,0,0,0
$GC,11110,0.79,92.1,192.2,21.2,494,11114,0.00,1.00,0.00,0.000,6,0.000,0.031,1901,3275,2081,0,0,0,0,0,0
$GC,11443,0.79,92.1,126.8,19.8,515,11449,0.00,1.08,0.00,0.000,4,0.000,0.054,1901,3951,2081,0,0,0,0,0,0
$GC,11596,0.79,92.1,93.9,21.7,526,11603,0.00,1.00,0.00,0.000,6,0.000,0.031,1906,3273,2081,0,0,0,0,0,0
$GC,11960,0.79,92.1,29.8,16.7,587,11968,0.00,1.08,0.00,0.000,4,0.000,0.053,1906,3952,2081,0,0,0,0,0,0
$STATE,12104,end climb,SURFACE_DEPTH_REACHED
$STATE,12104,begin surface coast
$FINISH,1.3,1.026910
$STATE,12117,end surface coast,CONTROL_FINISHED_OK
$STATE,12117,begin surface
$SM_CCo,12133,70.68,0.741,1,0,1449,250.20
$SM_GC,1.85,0.00,0.00,70.68,0.000,0.000,0.741,54,3372,1449,-4.94,-0.23,250.20
$IRIDIUM_FIX,-4149.58,858.66,140113,040441
$TT8_MAMPS,0.025466
$HUMID,56.02
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.4,37.914
$10V_AH,10.1,23.097
$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,12.100,37.750,187.100,70.675,0.000,24.916,44.476,317.400,0.000,0.000,20.531,1580.801,8001.871,331.962,2160.940,692.697,33.360,1098.823,0.000,1925.517,0.000,1.010,0.000
$DEVICE_MAMPS,217.260,89.505,1750.320,741.285,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.046,1335.654,620.772,288.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,43872,610
$CAP_FILE_SIZE,97766,0
$CFSIZE,259252224,245002240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,140113,115908,-4202.492,901.319,19,0.8,20,-25.1