version: 66.07
glider: 543
mission: 6
dive: 219
start: 1 14 113 23 21 12
data:
$ID,543
$MISSION,6
$DIVE,219
$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,-8458.1963
$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,51
$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
$GPS1,140113,231134,-4202.756,902.650,28,0.9,28,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-50.8
$GPS2,140113,232012,-4202.715,902.567,18,1.6,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.042,-0.138
$KALMAN_X,-147404.3,406.2,287.4,229854.4,-4179.2
$KALMAN_Y,47785.2,-412.7,-338.0,3584.2,7282.0
$MHEAD_RNG_PITCHd_Wd,188.2,6146,-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,-49.08,0.000,2,0.000,0.000,55,3394,2636,0,0,0,0,0,0
$GC,76,-0.78,-90.9,3.3,-3.3,6,95,5.32,0.88,-6.68,0.000,4,0.223,0.088,1371,3951,2846,0,0,0,0,0,0
$GC,306,-0.78,-90.9,42.4,-18.5,41,314,0.00,0.85,0.00,0.000,6,0.000,0.035,1371,3396,2850,0,0,0,0,0,0
$GC,550,-0.78,-90.9,81.6,-12.9,82,556,0.00,2.17,0.00,0.000,4,0.000,0.031,1371,1955,2850,0,0,0,0,0,0
$GC,631,-0.78,-90.9,92.1,-12.2,96,641,0.00,2.35,0.00,0.000,6,0.000,0.056,1361,3379,2850,0,0,0,0,0,0
$GC,978,-0.78,-90.9,143.9,-15.4,123,982,0.00,0.90,0.00,0.000,4,0.000,0.056,1356,3949,2851,0,0,0,0,0,0
$GC,1245,-0.78,-90.9,189.4,-16.6,138,1248,0.00,0.88,0.00,0.000,6,0.000,0.034,1356,3368,2852,0,0,0,0,0,0
$GC,1572,-0.78,-90.9,238.2,-15.2,159,1577,0.00,0.93,0.00,0.000,4,0.000,0.056,1352,3951,2852,0,0,0,0,0,0
$GC,1835,-0.78,-90.9,283.1,-17.3,171,1838,0.00,0.85,0.00,0.000,6,0.000,0.034,1352,3383,2853,0,0,0,0,0,0
$GC,2158,-0.78,-90.9,333.5,-15.4,187,2164,0.00,0.90,0.00,0.000,4,0.000,0.056,1348,3950,2852,0,0,0,0,0,0
$GC,2372,-0.78,-90.9,369.7,-16.6,196,2376,0.10,0.85,0.00,0.000,6,0.181,0.034,1375,3386,2852,0,0,0,0,0,0
$GC,2688,-0.78,-90.9,413.7,-13.2,210,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3386,2853,0,0,0,0,0,0
$GC,2995,-0.78,-90.9,452.9,-12.9,220,2999,0.00,0.90,0.00,0.000,4,0.000,0.057,1372,3953,2852,0,0,0,0,0,0
$GC,3257,-0.78,-90.9,490.7,-15.1,227,3260,0.00,0.88,0.00,0.000,6,0.000,0.034,1372,3370,2852,0,0,0,0,0,0
$GC,3577,-0.78,-90.9,534.5,-13.8,238,3581,0.00,0.93,0.00,0.000,4,0.000,0.057,1368,3953,2852,0,0,0,0,0,0
$GC,3835,-0.78,-90.9,575.0,-15.3,245,3839,0.00,0.85,0.00,0.000,6,0.000,0.034,1368,3385,2853,0,0,0,0,0,0
$GC,4156,-0.78,-90.9,619.7,-13.7,256,4160,0.00,0.90,0.00,0.000,4,0.000,0.057,1364,3951,2852,0,0,0,0,0,0
$GC,4413,-0.78,-90.9,659.3,-14.9,263,4416,0.00,0.85,0.00,0.000,6,0.000,0.035,1364,3385,2852,0,0,0,0,0,0
$GC,4732,-0.78,-90.9,703.6,-13.9,274,4735,0.00,0.90,0.00,0.000,4,0.000,0.057,1360,3952,2852,0,0,0,0,0,0
$GC,4994,-0.78,-90.9,740.9,-14.3,281,4998,0.00,0.88,0.00,0.000,6,0.000,0.035,1360,3371,2851,0,0,0,0,0,0
$GC,5315,-0.78,-90.9,783.0,-12.8,292,5319,0.00,0.93,0.00,0.000,4,0.000,0.057,1356,3952,2850,0,0,0,0,0,0
$GC,5573,-0.78,-90.9,820.0,-14.0,299,5577,0.00,0.85,0.00,0.000,6,0.000,0.035,1356,3388,2849,0,0,0,0,0,0
$GC,5892,-0.78,-90.9,859.2,-12.3,310,5896,0.00,0.90,0.00,0.000,4,0.000,0.058,1351,3953,2848,0,0,0,0,0,0
$GC,6151,-0.78,-90.9,896.1,-14.5,317,6154,0.00,0.88,0.00,0.000,6,0.000,0.036,1351,3376,2848,0,0,0,0,0,0
$GC,6470,-0.78,-90.9,937.3,-12.8,328,6474,0.12,0.93,0.00,0.000,4,0.200,0.058,1377,3944,2847,0,0,0,0,0,0
$GC,6730,-0.78,-90.9,970.8,-13.2,335,6734,0.00,0.85,0.00,0.000,6,0.000,0.037,1377,3385,2846,0,0,0,0,0,0
$STATE,6984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6984,begin apogee
$GC,6991,-0.14,0.0,1000.3,11.2,344,7088,0.73,0.00,88.82,1.772,6,0.164,0.000,1582,3271,2473,0,0,0,0,1,0
$STATE,7090,end apogee,CONTROL_FINISHED_OK
$STATE,7090,begin climb
$GC,7093,0.78,90.9,1002.9,0.0,347,7202,0.90,2.47,94.95,1.732,4,0.083,0.031,1893,1851,2103,0,0,0,0,1,0
$GC,7237,0.78,90.9,983.3,16.7,351,7241,0.00,2.47,0.00,0.000,6,0.000,0.049,1893,3278,2101,0,0,0,0,0,0
$GC,7555,0.78,90.9,917.2,21.2,362,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3278,2095,0,0,0,0,0,0
$GC,7861,0.78,90.9,854.0,20.5,372,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3278,2092,0,0,0,0,0,0
$GC,8169,0.78,90.9,790.5,20.6,382,8172,0.00,1.08,0.00,0.000,4,0.000,0.055,1893,3947,2090,0,0,0,0,0,0
$GC,8244,0.78,90.9,774.0,22.3,384,8248,0.00,1.05,0.00,0.000,6,0.000,0.031,1898,3253,2090,0,0,0,0,0,0
$GC,8579,0.78,90.9,704.1,20.6,395,8583,0.00,1.12,0.00,0.000,4,0.000,0.054,1898,3952,2089,0,0,0,0,0,0
$GC,8653,0.78,90.9,688.1,21.8,397,8656,0.00,1.02,0.00,0.000,6,0.000,0.031,1903,3269,2089,0,0,0,0,0,0
$GC,8988,0.78,90.9,618.0,20.9,408,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3269,2088,0,0,0,0,0,0
$GC,9294,0.78,90.9,553.2,21.1,418,9300,0.00,1.10,0.00,0.000,4,0.000,0.054,1903,3954,2087,0,0,0,0,0,0
$GC,9431,0.78,90.9,522.0,22.4,422,9437,0.00,1.02,0.00,0.000,6,0.000,0.031,1908,3271,2087,0,0,0,0,0,0
$GC,9775,0.78,90.9,448.2,21.3,433,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3271,2086,0,0,0,0,0,0
$GC,10080,0.78,90.9,383.2,20.7,444,10084,0.00,1.10,0.00,0.000,4,0.000,0.054,1909,3958,2085,0,0,0,0,0,0
$GC,10142,0.78,90.9,369.1,22.7,446,10153,0.00,1.02,0.00,0.000,6,0.000,0.031,1914,3272,2085,0,0,0,0,0,0
$GC,10460,0.78,90.9,303.1,21.1,462,10463,0.00,1.08,0.00,0.000,4,0.000,0.052,1914,3950,2084,0,0,0,0,0,0
$GC,10533,0.78,90.9,285.9,23.0,465,10540,0.10,1.00,0.00,0.000,6,0.209,0.031,1893,3269,2084,0,0,0,0,0,0
$GC,10868,0.78,90.9,223.8,18.5,483,10874,0.00,1.10,0.00,0.000,4,0.000,0.052,1892,3958,2084,0,0,0,0,0,0
$GC,10926,0.78,90.9,211.0,20.6,486,10932,0.00,1.02,0.00,0.000,6,0.000,0.031,1896,3270,2084,0,0,0,0,0,0
$GC,11255,0.78,90.9,151.2,18.5,507,11260,0.00,1.08,0.00,0.000,4,0.000,0.053,1896,3950,2084,0,0,0,0,0,0
$GC,11345,0.78,90.9,132.8,20.2,512,11349,0.00,1.00,0.00,0.000,6,0.000,0.030,1901,3273,2084,0,0,0,0,0,0
$GC,11683,0.78,90.9,70.8,16.5,551,11690,0.00,2.15,0.00,0.000,4,0.000,0.029,1912,1854,2084,0,0,0,0,0,0
$GC,11715,0.78,90.9,66.2,14.6,556,11724,0.00,2.28,0.00,0.000,6,0.000,0.048,1913,3271,2084,0,0,0,0,0,0
$STATE,12074,end climb,SURFACE_DEPTH_REACHED
$STATE,12074,begin surface coast
$FINISH,1.2,1.012843
$STATE,12100,end surface coast,CONTROL_FINISHED_OK
$STATE,12100,begin surface
$SM_CCo,12116,71.68,0.738,1,0,1450,250.20
$SM_GC,1.80,0.00,0.00,71.68,0.000,0.000,0.738,64,3386,1450,-4.91,0.17,250.20
$IRIDIUM_FIX,-4149.58,904.39,140113,151516
$TT8_MAMPS,0.025466
$HUMID,55.71
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.3,38.355
$10V_AH,10.0,23.482
$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,12.225,48.450,183.775,71.675,0.000,29.896,46.010,274.854,0.000,0.000,22.327,1658.636,7608.224,322.645,2368.523,758.444,33.357,1207.102,0.000,2147.031,0.000,1.010,0.000
$DEVICE_MAMPS,223.380,87.975,1771.740,738.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.626,1332.624,637.261,294.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,43821,616
$CAP_FILE_SIZE,106577,0
$CFSIZE,259252224,244772864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,150113,024535,-4203.691,902.936,27,1.0,27,-25.1