version: 66.07
glider: 543
mission: 6
dive: 220
start: 1 15 113 2 54 31
data:
$ID,543
$MISSION,6
$DIVE,220
$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,-8461.3604
$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,28
$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
$GPS1,150113,024535,-4203.691,902.936,27,1.0,27,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-54.8
$GPS2,150113,025331,-4203.724,902.985,18,1.5,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.075,-0.123
$KALMAN_X,-147059.2,154.5,238.4,230381.1,-2863.8
$KALMAN_Y,49307.7,-1008.1,-559.7,1017.0,8838.4
$MHEAD_RNG_PITCHd_Wd,236.4,8028,-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,-49.38,0.000,2,0.000,0.000,63,3386,2636,0,0,0,0,0,0
$GC,75,-0.78,-89.8,3.3,-3.5,6,94,5.35,0.88,-6.65,0.000,4,0.228,0.087,1373,3947,2841,0,0,0,0,0,0
$GC,332,-0.78,-89.8,48.4,-20.1,46,343,0.00,0.85,0.00,0.000,6,0.000,0.034,1373,3390,2843,0,0,0,0,0,0
$GC,582,-0.78,-89.8,89.7,-15.7,87,589,0.00,0.88,0.00,0.000,4,0.000,0.055,1369,3935,2844,0,0,0,0,0,0
$GC,831,-0.78,-89.8,131.1,-16.7,109,835,0.00,0.85,0.00,0.000,6,0.000,0.034,1369,3374,2845,0,0,0,0,0,0
$GC,1162,-0.78,-89.8,182.8,-15.4,130,1166,0.00,0.90,0.00,0.000,4,0.000,0.055,1365,3940,2846,0,0,0,0,0,0
$GC,1269,-0.78,-89.8,201.5,-17.0,136,1273,0.00,0.85,0.00,0.000,6,0.000,0.034,1365,3376,2846,0,0,0,0,0,0
$GC,1603,-0.78,-89.8,253.9,-15.9,157,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3376,2847,0,0,0,0,0,0
$GC,1910,-0.78,-89.8,302.1,-15.5,172,1913,0.00,0.90,0.00,0.000,4,0.000,0.056,1361,3943,2847,0,0,0,0,0,0
$GC,2076,-0.78,-89.8,329.5,-15.9,179,2082,0.00,0.85,0.00,0.000,6,0.000,0.034,1360,3374,2847,0,0,0,0,0,0
$GC,2412,-0.78,-89.8,379.8,-15.0,195,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3374,2847,0,0,0,0,0,0
$GC,2739,-0.78,-89.8,428.9,-14.9,208,2742,0.00,0.90,0.00,0.000,4,0.000,0.055,1356,3941,2847,0,0,0,0,0,0
$GC,2924,-0.78,-89.8,459.1,-16.0,213,2928,0.00,0.85,0.00,0.000,6,0.000,0.034,1356,3375,2847,0,0,0,0,0,0
$GC,3249,-0.78,-89.8,506.0,-14.2,224,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3375,2847,0,0,0,0,0,0
$GC,3556,-0.78,-89.8,549.1,-13.8,234,3559,0.00,0.90,0.00,0.000,4,0.000,0.057,1352,3942,2847,0,0,0,0,0,0
$GC,3814,-0.78,-89.8,589.0,-16.3,241,3818,0.00,0.85,0.00,0.000,6,0.000,0.034,1352,3378,2847,0,0,0,0,0,0
$GC,4132,-0.78,-89.8,633.5,-14.0,252,4136,0.12,0.93,0.00,0.000,4,0.197,0.057,1378,3948,2847,0,0,0,0,0,0
$GC,4316,-0.78,-89.8,658.8,-13.6,257,4320,0.00,0.85,0.00,0.000,6,0.000,0.035,1378,3384,2847,0,0,0,0,0,0
$GC,4641,-0.78,-89.8,698.1,-12.0,268,4645,0.00,0.90,0.00,0.000,4,0.000,0.058,1374,3948,2846,0,0,0,0,0,0
$GC,4815,-0.78,-89.8,721.0,-12.8,273,4818,0.00,0.85,0.00,0.000,6,0.000,0.035,1374,3384,2845,0,0,0,0,0,0
$GC,5151,-0.78,-89.8,759.7,-11.4,284,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3383,2845,0,0,0,0,0,0
$GC,5457,-0.78,-89.8,795.1,-11.6,294,5460,0.00,0.90,0.00,0.000,4,0.000,0.058,1370,3944,2844,0,0,0,0,0,0
$GC,5583,-0.78,-89.8,811.3,-13.0,297,5586,0.00,0.85,0.00,0.000,6,0.000,0.036,1370,3385,2843,0,0,0,0,0,0
$GC,5903,-0.78,-89.8,850.2,-12.1,308,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3385,2842,0,0,0,0,0,0
$GC,6208,-0.78,-89.8,886.7,-12.1,318,6211,0.00,0.90,0.00,0.000,4,0.000,0.059,1366,3947,2842,0,0,0,0,0,0
$GC,6302,-0.78,-89.8,899.4,-14.1,320,6309,0.00,0.88,0.00,0.000,6,0.000,0.037,1366,3371,2842,0,0,0,0,0,0
$GC,6615,-0.78,-89.8,936.5,-11.7,331,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3371,2841,0,0,0,0,0,0
$GC,6923,-0.78,-89.8,973.6,-12.2,341,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3371,2840,0,0,0,0,0,0
$STATE,7164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7164,begin apogee
$GC,7171,-0.14,0.0,1001.7,11.2,349,7268,0.77,0.00,93.65,1.246,6,0.168,0.000,1582,3276,2473,0,0,0,0,0,0
$STATE,7269,end apogee,CONTROL_FINISHED_OK
$STATE,7269,begin climb
$GC,7272,0.78,89.8,1003.8,0.0,352,7377,0.93,0.00,95.62,1.213,6,0.084,0.000,1887,3275,2099,0,0,0,0,0,0
$GC,7682,0.78,89.8,921.1,22.2,366,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,3276,2087,0,0,0,0,0,0
$GC,7990,0.78,89.8,853.3,21.6,376,7994,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3935,2084,0,0,0,0,0,0
$GC,8101,0.78,89.8,826.6,24.7,379,8104,0.00,1.02,0.00,0.000,6,0.000,0.031,1892,3257,2083,0,0,0,0,0,0
$GC,8430,0.78,89.8,757.2,21.1,390,8436,0.00,1.12,0.00,0.000,4,0.000,0.054,1892,3952,2081,0,0,0,0,0,0
$GC,8590,0.78,89.8,719.7,23.4,394,8594,0.00,1.02,0.00,0.000,6,0.000,0.031,1897,3269,2081,0,0,0,0,0,0
$GC,8908,0.78,89.8,652.0,20.7,405,8912,0.00,1.08,0.00,0.000,4,0.000,0.054,1897,3938,2080,0,0,0,0,0,0
$GC,9136,0.78,89.8,598.9,23.4,411,9139,0.00,1.00,0.00,0.000,6,0.000,0.031,1901,3272,2080,0,0,0,0,0,0
$GC,9456,0.78,89.8,530.0,21.4,422,9459,0.00,1.08,0.00,0.000,4,0.000,0.053,1902,3942,2079,0,0,0,0,0,0
$GC,9539,0.78,89.8,510.1,24.0,424,9545,0.00,1.00,0.00,0.000,6,0.000,0.031,1907,3273,2078,0,0,0,0,0,0
$GC,9865,0.78,89.8,439.9,22.0,435,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3273,2078,0,0,0,0,0,0
$GC,10186,0.78,89.8,374.3,20.4,447,10189,0.00,1.08,0.00,0.000,4,0.000,0.053,1907,3944,2077,0,0,0,0,0,0
$GC,10282,0.78,89.8,351.3,24.4,451,10286,0.00,1.00,0.00,0.000,6,0.000,0.031,1912,3272,2077,0,0,0,0,0,0
$GC,10611,0.78,89.8,284.6,19.6,467,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3272,2076,0,0,0,0,0,0
$GC,10920,0.78,89.8,223.3,19.9,484,10924,0.00,2.12,0.00,0.000,4,0.000,0.030,1923,1857,2076,0,0,0,0,0,0
$GC,10959,0.78,89.8,216.1,17.8,486,10969,0.10,2.28,0.00,0.000,6,0.174,0.047,1894,3272,2074,0,0,0,0,0,0
$GC,11286,0.78,89.8,155.4,19.6,507,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3272,2075,0,0,0,0,0,0
$GC,11611,0.78,89.8,90.9,19.9,532,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3272,2075,0,0,0,0,0,0
$GC,11984,0.78,89.8,23.8,18.8,593,11994,0.00,1.08,0.00,0.000,4,0.000,0.052,1894,3952,2074,0,0,0,0,0,0
$STATE,12083,end climb,SURFACE_DEPTH_REACHED
$STATE,12083,begin surface coast
$FINISH,1.1,1.026242
$STATE,12101,end surface coast,CONTROL_FINISHED_OK
$STATE,12101,begin surface
$SM_CCo,12118,72.55,0.735,1,0,1451,250.20
$SM_GC,1.94,0.00,0.00,72.55,0.000,0.000,0.735,47,3367,1451,-4.96,-0.37,250.20
$IRIDIUM_FIX,-4146.69,901.07,140113,232354
$TT8_MAMPS,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.3,38.453
$10V_AH,10.1,23.573
$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,12.300,34.450,189.275,72.550,0.000,36.379,20.296,256.356,0.000,0.000,20.479,1589.977,7963.705,349.645,2068.347,705.580,33.385,1103.443,0.000,1926.431,0.000,1.010,0.000
$DEVICE_MAMPS,227.970,87.210,1246.185,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.727,1349.428,620.101,284.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,43878,610
$CAP_FILE_SIZE,95386,0
$CFSIZE,259252224,244727808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,150113,061904,-4203.837,901.933,34,0.9,34,-25.1