version: 66.07
glider: 543
mission: 6
dive: 216
start: 1 14 113 12 7 55
data:
$ID,543
$MISSION,6
$DIVE,216
$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,-8449.0098
$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,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
$GPS1,140113,115908,-4202.492,901.319,19,0.8,20,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-51.8
$GPS2,140113,120655,-4202.487,901.458,21,0.7,22,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.139,-0.040
$KALMAN_X,-146187.5,254.8,173.5,227400.9,-4123.8
$KALMAN_Y,42224.7,-629.4,-153.0,9595.6,5212.4
$MHEAD_RNG_PITCHd_Wd,131.3,5024,-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,-49.47,0.000,2,0.000,0.000,54,3372,2639,0,0,0,0,0,0
$GC,75,-0.78,-89.4,3.2,-3.5,6,94,5.43,0.95,-6.18,0.000,4,0.230,0.083,1374,3951,2840,0,0,0,0,0,0
$GC,376,-0.78,-89.4,56.3,-15.8,53,384,0.00,0.88,0.00,0.000,6,0.000,0.036,1374,3385,2842,0,0,0,0,0,0
$GC,617,-0.78,-89.4,92.3,-14.0,94,623,0.00,0.90,0.00,0.000,4,0.000,0.055,1371,3945,2843,0,0,0,0,0,0
$GC,885,-0.78,-89.4,133.5,-15.5,115,888,0.00,0.88,0.00,0.000,6,0.000,0.035,1370,3374,2844,0,0,0,0,0,0
$GC,1209,-0.78,-89.4,180.6,-14.5,136,1213,0.00,0.93,0.00,0.000,4,0.000,0.055,1366,3954,2845,0,0,0,0,0,0
$GC,1472,-0.78,-89.4,222.9,-16.3,151,1475,0.00,0.88,0.00,0.000,6,0.000,0.034,1366,3378,2845,0,0,0,0,0,0
$GC,1800,-0.78,-89.4,273.1,-15.1,170,1804,0.00,0.90,0.00,0.000,4,0.000,0.054,1362,3949,2846,0,0,0,0,0,0
$GC,1973,-0.78,-89.4,301.2,-16.8,177,1977,0.00,0.85,0.00,0.000,6,0.000,0.035,1362,3385,2846,0,0,0,0,0,0
$GC,2296,-0.78,-89.4,348.4,-14.2,193,2302,0.00,0.90,0.00,0.000,4,0.000,0.055,1358,3956,2846,0,0,0,0,0,0
$GC,2372,-0.78,-89.4,360.5,-15.0,196,2377,0.00,0.88,0.00,0.000,6,0.000,0.035,1357,3377,2846,0,0,0,0,0,0
$GC,2690,-0.78,-89.4,407.2,-14.8,211,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3377,2846,0,0,0,0,0,0
$GC,2997,-0.78,-89.4,450.1,-14.1,221,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3377,2846,0,0,0,0,0,0
$GC,3302,-0.78,-89.4,494.2,-14.6,231,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3377,2846,0,0,0,0,0,0
$GC,3608,-0.78,-89.4,537.2,-14.0,241,3612,0.00,0.90,0.00,0.000,4,0.000,0.054,1353,3951,2846,0,0,0,0,0,0
$GC,3698,-0.78,-89.4,551.3,-16.3,243,3701,0.00,0.88,0.00,0.000,6,0.000,0.035,1353,3370,2846,0,0,0,0,0,0
$GC,4017,-0.78,-89.4,597.4,-14.1,254,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3370,2846,0,0,0,0,0,0
$GC,4323,-0.78,-89.4,639.2,-13.5,264,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3370,2846,0,0,0,0,0,0
$GC,4629,-0.78,-89.4,678.0,-12.3,274,4633,0.00,0.93,0.00,0.000,4,0.000,0.056,1349,3953,2845,0,0,0,0,0,0
$GC,4769,-0.78,-89.4,697.3,-13.4,278,4773,0.08,0.88,0.00,0.000,6,0.181,0.036,1370,3379,2845,0,0,0,0,0,0
$GC,5104,-0.78,-89.4,736.9,-11.8,289,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3379,2844,0,0,0,0,0,0
$GC,5410,-0.78,-89.4,773.9,-12.0,299,5414,0.00,0.90,0.00,0.000,4,0.000,0.057,1367,3946,2843,0,0,0,0,0,0
$GC,5540,-0.78,-89.4,792.0,-14.4,302,5547,0.00,0.88,0.00,0.000,6,0.000,0.036,1367,3370,2843,0,0,0,0,0,0
$GC,5854,-0.78,-89.4,832.1,-12.7,313,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3370,2842,0,0,0,0,0,0
$GC,6160,-0.78,-89.4,870.9,-12.7,323,6163,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3950,2841,0,0,0,0,0,0
$GC,6324,-0.78,-89.4,893.7,-13.7,327,6332,0.00,0.88,0.00,0.000,6,0.000,0.036,1363,3376,2841,0,0,0,0,0,0
$GC,6637,-0.78,-89.4,931.5,-11.9,338,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3376,2841,0,0,0,0,0,0
$GC,6944,-0.78,-89.4,966.9,-11.5,348,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3376,2840,0,0,0,0,0,0
$STATE,7248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7248,begin apogee
$GC,7255,-0.14,0.0,1002.2,11.6,358,7351,0.80,0.00,92.53,1.248,6,0.169,0.000,1586,3277,2472,0,0,0,0,0,0
$STATE,7352,end apogee,CONTROL_FINISHED_OK
$STATE,7353,begin climb
$GC,7355,0.78,89.4,1004.3,0.0,361,7453,0.90,0.00,93.80,1.223,6,0.081,0.000,1885,3277,2108,0,0,0,0,0,0
$GC,7736,0.78,89.4,931.4,21.4,374,7740,0.00,1.10,0.00,0.000,4,0.000,0.054,1885,3944,2089,0,0,0,0,0,0
$GC,7863,0.78,89.4,902.5,23.8,377,7866,0.00,1.05,0.00,0.000,6,0.000,0.031,1890,3259,2088,0,0,0,0,0,0
$GC,8184,0.78,89.4,833.0,21.4,388,8187,0.00,1.12,0.00,0.000,4,0.000,0.054,1890,3950,2085,0,0,0,0,0,0
$GC,8286,0.78,89.4,808.4,24.2,391,8290,0.00,1.02,0.00,0.000,6,0.000,0.032,1895,3273,2085,0,0,0,0,0,0
$GC,8627,0.78,89.4,736.1,20.7,402,8630,0.00,1.10,0.00,0.000,4,0.000,0.053,1896,3956,2083,0,0,0,0,0,0
$GC,8677,0.78,89.4,724.8,22.0,403,8682,0.00,1.02,0.00,0.000,6,0.000,0.031,1900,3273,2083,0,0,0,0,0,0
$GC,9002,0.78,89.4,658.2,20.6,414,9007,0.00,1.10,0.00,0.000,4,0.000,0.053,1900,3957,2082,0,0,0,0,0,0
$GC,9126,0.78,89.4,630.7,22.2,417,9130,0.00,1.02,0.00,0.000,6,0.000,0.031,1905,3273,2082,0,0,0,0,0,0
$GC,9444,0.78,89.4,566.9,20.1,428,9448,0.00,1.10,0.00,0.000,4,0.000,0.053,1905,3958,2080,0,0,0,0,0,0
$GC,9580,0.78,89.4,536.6,22.7,432,9584,0.00,1.02,0.00,0.000,6,0.000,0.031,1910,3272,2080,0,0,0,0,0,0
$GC,9922,0.78,89.4,466.9,20.3,443,9928,0.00,1.08,0.00,0.000,4,0.000,0.052,1910,3946,2080,0,0,0,0,0,0
$GC,10046,0.78,89.4,439.5,21.2,446,10050,0.00,1.00,0.00,0.000,6,0.000,0.031,1916,3272,2080,0,0,0,0,0,0
$GC,10370,0.78,89.4,375.2,19.6,459,10374,0.00,1.08,0.00,0.000,4,0.000,0.051,1916,3949,2079,0,0,0,0,0,0
$GC,10449,0.78,89.4,357.3,22.8,462,10453,0.10,1.02,0.00,0.000,6,0.207,0.031,1895,3257,2079,0,0,0,0,0,0
$GC,10771,0.78,89.4,296.3,19.0,478,10775,0.00,1.10,0.00,0.000,4,0.000,0.051,1894,3948,2078,0,0,0,0,0,0
$GC,10859,0.78,89.4,277.9,21.0,481,10866,0.00,1.00,0.00,0.000,6,0.000,0.031,1898,3276,2078,0,0,0,0,0,0
$GC,11184,0.78,89.4,215.8,18.8,500,11187,0.00,1.08,0.00,0.000,4,0.000,0.052,1898,3951,2078,0,0,0,0,0,0
$GC,11249,0.78,89.4,201.9,21.6,503,11256,0.00,1.02,0.00,0.000,6,0.000,0.031,1903,3263,2078,0,0,0,0,0,0
$GC,11570,0.78,89.4,141.4,18.9,524,11573,0.00,1.10,0.00,0.000,4,0.000,0.051,1903,3952,2078,0,0,0,0,0,0
$GC,11682,0.78,89.4,117.1,20.5,530,11687,0.00,1.02,0.00,0.000,6,0.000,0.031,1908,3265,2078,0,0,0,0,0,0
$GC,12023,0.78,89.4,57.1,16.5,580,12034,0.00,1.10,0.00,0.000,4,0.000,0.051,1908,3954,2078,0,0,0,0,0,0
$GC,12323,0.78,89.4,3.3,17.1,626,12332,0.00,1.02,0.00,0.000,6,0.000,0.029,1914,3247,2076,0,0,0,0,0,0
$STATE,12339,end climb,SURFACE_DEPTH_REACHED
$STATE,12339,begin surface coast
$FINISH,1.3,1.012319
$STATE,12370,end surface coast,CONTROL_FINISHED_OK
$STATE,12370,begin surface
$SM_CCo,12386,74.12,0.734,1,0,1450,250.20
$SM_GC,2.06,0.00,0.00,74.12,0.000,0.000,0.734,50,3401,1450,-4.95,0.59,250.20
$IRIDIUM_FIX,-4149.58,901.52,140113,080834
$TT8_MAMPS,0.025466
$HUMID,55.47
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.4,38.012
$10V_AH,10.1,23.191
$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,12.450,39.725,186.325,74.125,0.000,26.327,21.553,256.070,0.000,0.000,25.028,1639.959,8112.111,352.440,2119.777,714.493,33.384,1125.812,0.000,1952.177,0.000,1.010,0.000
$DEVICE_MAMPS,230.265,83.385,1247.715,734.400,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.417,1374.232,647.659,297.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,46991,632
$CAP_FILE_SIZE,100391,0
$CFSIZE,259252224,244940800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140113,153704,-4202.159,903.137,41,0.8,41,-25.1