version: 66.07
glider: 543
mission: 6
dive: 217
start: 1 14 113 15 46 5
data:
$ID,543
$MISSION,6
$DIVE,217
$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,-8451.4785
$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,64
$R_STBD_OVSHOOT,39
$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
$GPS1,140113,153704,-4202.159,903.137,41,0.8,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-51.5
$GPS2,140113,154505,-4202.013,903.281,18,1.1,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.071,-0.125
$KALMAN_X,-147246.8,767.6,298.5,230301.4,-5392.0
$KALMAN_Y,43283.7,-146.7,-288.8,9066.8,5338.8
$MHEAD_RNG_PITCHd_Wd,175.4,5855,-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,-49.25,0.000,2,0.000,0.000,49,3401,2660,0,0,0,0,0,0
$GC,75,-0.78,-85.7,3.5,-3.9,6,94,5.47,0.88,-4.95,0.000,4,0.231,0.083,1375,3934,2824,0,0,0,0,0,0
$GC,366,-0.78,-85.7,51.9,-16.7,51,374,0.00,0.82,0.00,0.000,6,0.000,0.034,1375,3398,2826,0,0,0,0,0,0
$GC,610,-0.78,-85.7,88.3,-12.6,92,617,0.00,0.85,0.00,0.000,4,0.000,0.054,1371,3928,2827,0,0,0,0,0,0
$GC,805,-0.78,-85.7,116.4,-14.0,113,809,0.00,0.85,0.00,0.000,6,0.000,0.034,1372,3371,2828,0,0,0,0,0,0
$GC,1130,-0.78,-85.7,161.0,-14.0,134,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2829,0,0,0,0,0,0
$GC,1443,-0.78,-85.7,205.2,-14.4,154,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,1756,-0.78,-85.7,249.9,-14.1,174,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,2081,-0.78,-85.7,296.1,-13.8,190,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,2392,-0.78,-85.7,336.4,-12.5,205,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,2700,-0.78,-85.7,373.9,-11.5,220,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,3018,-0.78,-85.7,410.6,-11.3,234,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3371,2830,0,0,0,0,0,0
$GC,3324,-0.78,-85.7,446.1,-11.5,244,3327,0.00,0.88,0.00,0.000,4,0.000,0.054,1367,3924,2830,0,0,0,0,0,0
$GC,3374,-0.78,-85.7,452.2,-11.8,245,3377,0.00,0.82,0.00,0.000,6,0.000,0.035,1367,3379,2831,0,0,0,0,0,0
$GC,3698,-0.78,-85.7,488.7,-11.2,256,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3379,2830,0,0,0,0,0,0
$GC,4004,-0.78,-85.7,524.3,-11.6,266,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3379,2830,0,0,0,0,0,0
$GC,4312,-0.78,-85.7,562.1,-12.4,276,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3379,2830,0,0,0,0,0,0
$GC,4617,-0.78,-85.7,601.6,-13.0,286,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3379,2829,0,0,0,0,0,0
$GC,4923,-0.78,-85.7,643.4,-13.8,296,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3379,2828,0,0,0,0,0,0
$GC,5231,-0.78,-85.7,683.9,-13.0,306,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3379,2827,0,0,0,0,0,0
$GC,5539,-0.78,-85.7,724.4,-13.6,316,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3379,2827,0,0,0,0,0,0
$GC,5842,-0.78,-85.7,764.5,-13.1,326,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3379,2826,0,0,0,0,0,0
$GC,6148,-0.78,-85.7,804.0,-13.1,336,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3378,2825,0,0,0,0,0,0
$GC,6456,-0.78,-85.7,840.7,-11.8,346,6459,0.00,2.12,0.00,0.000,4,0.000,0.031,1367,1962,2825,0,0,0,0,0,0
$GC,6539,-0.78,-85.7,849.6,-9.6,348,6543,0.00,2.25,0.00,0.000,6,0.000,0.053,1357,3373,2825,0,0,0,0,0,0
$GC,6854,-0.78,-85.7,884.3,-11.4,358,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3373,2824,0,0,0,0,0,0
$GC,7159,-0.78,-85.7,918.1,-10.9,368,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3373,2823,0,0,0,0,0,0
$GC,7465,-0.78,-85.7,951.8,-11.1,378,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3373,2823,0,0,0,0,0,0
$GC,7772,-0.78,-85.7,986.9,-11.5,388,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3373,2822,0,0,0,0,0,0
$STATE,7891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7891,begin apogee
$GC,7898,-0.14,0.0,1001.3,11.7,392,7991,0.82,0.00,84.82,1.753,6,0.172,0.000,1585,3280,2473,0,0,0,0,1,0
$STATE,7992,end apogee,CONTROL_FINISHED_OK
$STATE,7992,begin climb
$GC,7995,0.78,85.7,1003.8,0.0,395,8094,0.90,0.00,89.90,1.729,6,0.078,0.000,1883,3280,2123,0,0,0,0,1,0
$GC,8380,0.78,85.7,936.0,19.9,408,8383,0.00,1.10,0.00,0.000,4,0.000,0.053,1883,3945,2119,0,0,0,0,0,0
$GC,8628,0.78,85.7,880.8,21.6,415,8633,0.00,1.05,0.00,0.000,6,0.000,0.031,1888,3258,2117,0,0,0,0,0,0
$GC,8959,0.78,85.7,813.8,20.2,426,8964,0.00,1.12,0.00,0.000,4,0.000,0.054,1888,3950,2115,0,0,0,0,0,0
$GC,9178,0.78,85.7,766.2,20.7,432,9182,0.00,1.02,0.00,0.000,6,0.000,0.031,1894,3269,2114,0,0,0,0,0,0
$GC,9503,0.78,85.7,702.1,19.5,443,9507,0.00,1.10,0.00,0.000,4,0.000,0.053,1893,3951,2112,0,0,0,0,0,0
$GC,9765,0.78,85.7,645.0,22.5,450,9769,0.00,1.02,0.00,0.000,6,0.000,0.031,1899,3268,2112,0,0,0,0,0,0
$GC,10085,0.78,85.7,579.6,20.4,461,10088,0.00,1.10,0.00,0.000,4,0.000,0.052,1898,3954,2110,0,0,0,0,0,0
$GC,10341,0.78,85.7,523.9,20.4,468,10345,0.00,1.02,0.00,0.000,6,0.000,0.031,1904,3269,2110,0,0,0,0,0,0
$GC,10661,0.78,85.7,463.3,18.4,479,10664,0.00,1.10,0.00,0.000,4,0.000,0.053,1904,3955,2110,0,0,0,0,0,0
$GC,10917,0.78,85.7,412.1,19.2,486,10923,0.00,1.02,0.00,0.000,6,0.000,0.031,1909,3268,2109,0,0,0,0,0,0
$GC,11245,0.78,85.7,355.5,17.1,501,11248,0.00,1.10,0.00,0.000,4,0.000,0.053,1909,3955,2109,0,0,0,0,0,0
$GC,11508,0.78,85.7,304.4,19.3,512,11511,0.00,1.02,0.00,0.000,6,0.000,0.031,1914,3267,2108,0,0,0,0,0,0
$GC,11831,0.78,85.7,247.3,17.6,528,11834,0.00,1.08,0.00,0.000,4,0.000,0.052,1914,3945,2108,0,0,0,0,0,0
$GC,12099,0.78,85.7,194.1,19.7,543,12103,0.10,1.00,0.00,0.000,6,0.210,0.031,1894,3269,2108,0,0,0,0,0,0
$GC,12425,0.78,85.7,136.5,18.0,564,12429,0.00,1.08,0.00,0.000,4,0.000,0.052,1893,3947,2108,0,0,0,0,0,0
$GC,12548,0.78,85.7,113.6,19.6,571,12552,0.00,1.00,0.00,0.000,6,0.000,0.031,1895,3273,2108,0,0,0,0,0,0
$GC,12894,0.78,85.7,55.1,14.8,622,12904,0.00,2.15,0.00,0.000,4,0.000,0.028,1907,1850,2108,0,0,0,0,0,0
$GC,13187,0.78,85.7,16.8,12.8,668,13196,0.00,2.28,0.00,0.000,6,0.000,0.045,1907,3280,2107,0,0,0,0,0,0
$GC,13277,0.78,85.7,4.5,13.5,681,13286,0.00,2.15,0.00,0.000,4,0.000,0.027,1918,1845,2107,0,0,0,0,0,0
$STATE,13292,end climb,SURFACE_DEPTH_REACHED
$STATE,13292,begin surface coast
$FINISH,1.2,1.026412
$STATE,13301,end surface coast,CONTROL_FINISHED_OK
$STATE,13302,begin surface
$SM_CCo,13320,73.85,0.732,1,0,1450,250.20
$SM_GC,2.00,0.00,0.00,73.85,0.000,0.000,0.732,60,3376,1450,-4.92,-0.11,250.20
$IRIDIUM_FIX,-4146.69,901.07,140113,121215
$TT8_MAMPS,0.025466
$HUMID,56.14
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.4,38.130
$10V_AH,10.1,23.290
$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,12.275,35.625,174.725,73.850,0.000,26.803,26.208,266.919,0.000,0.000,21.009,1743.651,8858.117,341.877,2206.160,736.419,33.357,1110.763,0.000,2042.908,0.000,2.879,0.000
$DEVICE_MAMPS,231.030,83.385,1753.380,732.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.201,1501.081,710.148,325.525,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,50438,684
$CAP_FILE_SIZE,98824,0
$CFSIZE,259252224,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,140113,193035,-4202.101,904.048,28,1.1,28,-25.1