version: 66.07
glider: 543
mission: 6
dive: 218
start: 1 14 113 19 39 48
data:
$ID,543
$MISSION,6
$DIVE,218
$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,-8453.8232
$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
$GPS1,140113,193035,-4202.101,904.048,28,1.1,28,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-53.1
$GPS2,140113,193848,-4201.957,904.051,21,0.9,21,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,-0.137
$KALMAN_X,-147298.4,796.7,265.0,231403.6,-4692.2
$KALMAN_Y,45780.6,52.0,-163.9,6346.2,6117.7
$MHEAD_RNG_PITCHd_Wd,223.2,6649,-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,-49.30,0.000,2,0.000,0.000,59,3377,2652,0,0,0,0,0,0
$GC,75,-0.78,-90.7,3.2,-3.4,6,94,5.38,0.95,-5.93,0.000,4,0.230,0.082,1370,3956,2844,0,0,0,0,0,0
$GC,143,-0.78,-90.7,12.8,-18.3,15,152,0.00,0.88,0.00,0.000,6,0.000,0.036,1369,3392,2846,0,0,0,0,0,0
$GC,232,-0.78,-90.7,28.4,-15.2,28,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3392,2847,0,0,0,0,0,0
$GC,317,-0.78,-90.7,41.9,-16.6,41,324,0.00,2.17,0.00,0.000,4,0.000,0.031,1370,1958,2848,0,0,0,0,0,0
$GC,365,-0.78,-90.7,50.1,-15.2,48,374,0.00,2.38,0.00,0.000,6,0.000,0.060,1359,3380,2848,0,0,0,0,0,0
$GC,613,-0.78,-90.7,88.2,-15.2,89,617,0.00,2.12,0.00,0.000,4,0.000,0.033,1359,1974,2849,0,0,0,0,0,0
$GC,666,-0.78,-90.7,95.1,-13.1,97,671,0.12,2.33,0.00,0.000,6,0.190,0.060,1377,3389,2849,0,0,0,0,0,0
$GC,1001,-0.78,-90.7,143.1,-13.9,122,1004,0.00,0.90,0.00,0.000,4,0.000,0.056,1374,3958,2850,0,0,0,0,0,0
$GC,1186,-0.78,-90.7,172.1,-15.1,132,1194,0.00,0.88,0.00,0.000,6,0.000,0.034,1374,3377,2850,0,0,0,0,0,0
$GC,1507,-0.78,-90.7,216.6,-13.4,153,1513,0.00,0.90,0.00,0.000,4,0.000,0.055,1370,3948,2851,0,0,0,0,0,0
$GC,1583,-0.78,-90.7,227.2,-14.3,157,1586,0.00,0.85,0.00,0.000,6,0.000,0.034,1370,3384,2851,0,0,0,0,0,0
$GC,1903,-0.78,-90.7,269.6,-12.7,175,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3383,2851,0,0,0,0,0,0
$GC,2212,-0.78,-90.7,309.9,-13.2,190,2215,0.00,0.90,0.00,0.000,4,0.000,0.055,1366,3953,2852,0,0,0,0,0,0
$GC,2368,-0.78,-90.7,332.1,-14.7,196,2376,0.00,0.88,0.00,0.000,6,0.000,0.034,1366,3371,2852,0,0,0,0,0,0
$GC,2685,-0.78,-90.7,372.9,-12.8,212,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3370,2852,0,0,0,0,0,0
$GC,3003,-0.78,-90.7,413.5,-12.6,226,3007,0.00,0.93,0.00,0.000,4,0.000,0.055,1361,3958,2851,0,0,0,0,0,0
$GC,3098,-0.78,-90.7,426.5,-13.3,228,3105,0.00,0.85,0.00,0.000,6,0.000,0.034,1361,3387,2851,0,0,0,0,0,0
$GC,3411,-0.78,-90.7,465.4,-12.5,239,3415,0.00,0.90,0.00,0.000,4,0.000,0.055,1357,3956,2851,0,0,0,0,0,0
$GC,3495,-0.78,-90.7,477.6,-14.7,241,3498,0.00,0.88,0.00,0.000,6,0.000,0.035,1357,3376,2852,0,0,0,0,0,0
$GC,3819,-0.78,-90.7,521.3,-13.8,252,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3376,2851,0,0,0,0,0,0
$GC,4126,-0.78,-90.7,564.1,-14.1,262,4130,0.00,0.93,0.00,0.000,4,0.000,0.056,1353,3958,2851,0,0,0,0,0,0
$GC,4289,-0.78,-90.7,590.4,-16.1,266,4298,0.00,0.88,0.00,0.000,6,0.000,0.034,1353,3379,2851,0,0,0,0,0,0
$GC,4603,-0.78,-90.7,636.0,-14.4,277,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3379,2850,0,0,0,0,0,0
$GC,4909,-0.78,-90.7,679.0,-13.9,287,4913,0.00,0.93,0.00,0.000,4,0.000,0.057,1348,3959,2849,0,0,0,0,0,0
$GC,5015,-0.78,-90.7,696.2,-15.7,290,5020,0.08,0.88,0.00,0.000,6,0.184,0.035,1370,3384,2849,0,0,0,0,0,0
$GC,5351,-0.78,-90.7,739.1,-12.2,301,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3384,2849,0,0,0,0,0,0
$GC,5658,-0.78,-90.7,777.4,-12.7,311,5662,0.00,2.15,0.00,0.000,4,0.000,0.031,1369,1956,2848,0,0,0,0,0,0
$GC,5691,-0.78,-90.7,781.9,-11.6,312,5696,0.00,2.33,0.00,0.000,6,0.000,0.057,1360,3384,2848,0,0,0,0,0,0
$GC,6021,-0.78,-90.7,824.3,-13.1,323,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3384,2847,0,0,0,0,0,0
$GC,6328,-0.78,-90.7,863.1,-12.5,333,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3384,2846,0,0,0,0,0,0
$GC,6635,-0.78,-90.7,900.0,-11.7,343,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3384,2845,0,0,0,0,0,0
$GC,6940,-0.78,-90.7,936.2,-11.8,353,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3385,2845,0,0,0,0,0,0
$GC,7246,-0.78,-90.7,972.7,-12.0,363,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3384,2844,0,0,0,0,0,0
$STATE,7488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7488,begin apogee
$GC,7495,-0.14,0.0,1001.2,11.6,371,7593,0.80,0.00,94.60,1.237,6,0.173,0.000,1582,3276,2473,0,0,0,0,0,0
$STATE,7595,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7597,0.78,90.7,1003.6,0.0,374,7702,0.93,2.35,94.57,1.220,4,0.085,0.028,1897,1846,2100,0,0,0,0,0,0
$GC,7719,0.78,90.7,986.9,19.4,377,7723,0.00,2.45,0.00,0.000,6,0.000,0.048,1897,3270,2094,0,0,0,0,0,0
$GC,8037,0.78,90.7,920.3,21.1,388,8041,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3948,2084,0,0,0,0,0,0
$GC,8140,0.78,90.7,896.6,24.2,391,8144,0.00,1.08,0.00,0.000,6,0.000,0.031,1902,3248,2084,0,0,0,0,0,0
$GC,8481,0.78,90.7,823.9,21.0,402,8486,0.00,1.15,0.00,0.000,4,0.000,0.054,1902,3956,2081,0,0,0,0,0,0
$GC,8691,0.78,90.7,774.2,23.8,408,8694,0.00,1.05,0.00,0.000,6,0.000,0.031,1906,3258,2081,0,0,0,0,0,0
$GC,9026,0.78,90.7,700.9,21.8,419,9030,0.00,1.12,0.00,0.000,4,0.000,0.054,1906,3958,2079,0,0,0,0,0,0
$GC,9135,0.78,90.7,675.6,25.0,422,9139,0.00,1.02,0.00,0.000,6,0.000,0.031,1912,3273,2079,0,0,0,0,0,0
$GC,9471,0.78,90.7,601.8,21.6,433,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3273,2078,0,0,0,0,0,0
$GC,9778,0.78,90.7,537.4,21.0,443,9782,0.00,1.08,0.00,0.000,4,0.000,0.053,1912,3948,2077,0,0,0,0,0,0
$GC,9917,0.78,90.7,505.3,22.6,447,9921,0.00,1.02,0.00,0.000,6,0.000,0.031,1917,3262,2077,0,0,0,0,0,0
$GC,10253,0.78,90.7,436.0,20.3,458,10257,0.00,1.10,0.00,0.000,4,0.000,0.054,1917,3951,2076,0,0,0,0,0,0
$GC,10389,0.78,90.7,405.2,23.3,462,10394,0.10,1.02,0.00,0.000,6,0.211,0.031,1896,3260,2076,0,0,0,0,0,0
$GC,10717,0.78,90.7,343.6,18.9,477,10722,0.00,1.10,0.00,0.000,4,0.000,0.053,1896,3950,2075,0,0,0,0,0,0
$GC,10828,0.78,90.7,319.7,21.6,481,10835,0.00,1.00,0.00,0.000,6,0.000,0.032,1900,3276,2075,0,0,0,0,0,0
$GC,11146,0.78,90.7,259.1,19.0,497,11152,0.00,1.08,0.00,0.000,4,0.000,0.054,1900,3952,2075,0,0,0,0,0,0
$GC,11310,0.78,90.7,226.2,20.9,506,11316,0.00,1.02,0.00,0.000,6,0.000,0.031,1905,3263,2075,0,0,0,0,0,0
$GC,11643,0.78,90.7,164.3,18.0,527,11649,0.00,1.10,0.00,0.000,4,0.000,0.054,1905,3951,2074,0,0,0,0,0,0
$GC,11779,0.78,90.7,136.7,19.5,534,11788,0.00,1.00,0.00,0.000,6,0.000,0.031,1909,3273,2075,0,0,0,0,0,0
$GC,12112,0.78,90.7,75.2,18.9,569,12117,0.00,1.08,0.00,0.000,4,0.000,0.052,1909,3953,2075,0,0,0,0,0,0
$GC,12138,0.78,90.7,69.8,20.0,573,12146,0.00,1.00,0.00,0.000,6,0.000,0.031,1914,3273,2075,0,0,0,0,0,0
$STATE,12519,end climb,SURFACE_DEPTH_REACHED
$STATE,12519,begin surface coast
$FINISH,1.3,1.026349
$STATE,12542,end surface coast,CONTROL_FINISHED_OK
$STATE,12542,begin surface
$SM_CCo,12558,72.30,0.734,1,0,1450,250.20
$SM_GC,1.92,0.00,0.00,72.30,0.000,0.000,0.734,55,3393,1450,-4.94,0.37,250.20
$IRIDIUM_FIX,-4149.58,904.39,140113,151516
$TT8_MAMPS,0.025466
$HUMID,56.89
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.4,38.230
$10V_AH,10.1,23.386
$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,12.275,52.025,189.175,72.300,0.000,27.734,22.431,279.980,0.000,0.000,23.532,1652.379,8249.377,344.590,2146.028,741.347,33.361,1148.238,0.000,1976.342,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,83.385,1237.005,734.400,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.175,1422.967,664.881,303.681,0.000,0.000,0.000,0.000,0.000,0.000
$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,47006,637
$CAP_FILE_SIZE,104397,0
$CFSIZE,259252224,244830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140113,231134,-4202.756,902.650,28,0.9,28,-25.1