version: 66.07
glider: 543
mission: 6
dive: 221
start: 1 15 113 6 28 30
data:
$ID,543
$MISSION,6
$DIVE,221
$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,-8464.5732
$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,54
$R_STBD_OVSHOOT,21
$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
$GPS1,150113,061904,-4203.837,901.933,34,0.9,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-52.5
$GPS2,150113,062730,-4203.788,902.062,18,1.0,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.066,-0.128
$KALMAN_X,-146199.7,248.5,267.9,228139.0,-1502.2
$KALMAN_Y,51158.4,-1111.7,-242.5,-1166.0,9525.8
$MHEAD_RNG_PITCHd_Wd,232.2,7567,-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,-48.0,0.0,0.0,0,64,0.00,0.00,-41.78,0.000,2,0.000,0.000,47,3367,2446,0,0,0,0,0,0
$GC,68,-0.78,-89.1,3.1,-3.6,5,94,5.50,0.95,-13.77,0.000,4,0.231,0.087,1381,3958,2838,0,0,0,0,0,0
$GC,222,-0.78,-89.1,25.2,-18.1,27,232,0.00,0.88,0.00,0.000,6,0.000,0.034,1383,3389,2840,0,0,0,0,0,0
$GC,307,-0.78,-89.1,39.9,-16.2,40,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1383,3389,2841,0,0,0,0,0,0
$GC,556,-0.78,-89.1,77.6,-12.6,81,563,0.00,0.90,0.00,0.000,4,0.000,0.056,1380,3951,2841,0,0,0,0,0,0
$GC,703,-0.78,-89.1,99.4,-14.5,106,711,0.00,0.88,0.00,0.000,6,0.000,0.034,1380,3373,2842,0,0,0,0,0,0
$GC,1026,-0.78,-89.1,143.9,-14.3,127,1030,0.00,0.93,0.00,0.000,4,0.000,0.056,1376,3954,2843,0,0,0,0,0,0
$GC,1141,-0.78,-89.1,163.0,-16.1,133,1148,0.00,0.88,0.00,0.000,6,0.000,0.034,1376,3372,2843,0,0,0,0,0,0
$GC,1461,-0.78,-89.1,210.4,-14.8,154,1465,0.00,0.93,0.00,0.000,4,0.000,0.056,1372,3954,2844,0,0,0,0,0,0
$GC,1596,-0.78,-89.1,233.1,-16.3,161,1603,0.00,0.85,0.00,0.000,6,0.000,0.034,1372,3386,2844,0,0,0,0,0,0
$GC,1921,-0.78,-89.1,280.9,-14.7,179,1926,0.00,0.90,0.00,0.000,4,0.000,0.055,1367,3954,2845,0,0,0,0,0,0
$GC,2040,-0.78,-89.1,299.9,-15.4,184,2044,0.00,0.85,0.00,0.000,6,0.000,0.034,1367,3386,2844,0,0,0,0,0,0
$GC,2369,-0.78,-89.1,345.5,-13.3,200,2373,0.00,0.90,0.00,0.000,4,0.000,0.056,1363,3953,2845,0,0,0,0,0,0
$GC,2410,-0.78,-89.1,351.6,-14.2,201,2417,0.00,0.88,0.00,0.000,6,0.000,0.034,1363,3372,2844,0,0,0,0,0,0
$GC,2728,-0.78,-89.1,394.8,-13.8,217,2734,0.00,0.93,0.00,0.000,4,0.000,0.056,1359,3957,2844,0,0,0,0,0,0
$GC,2876,-0.78,-89.1,417.8,-15.6,222,2879,0.00,0.88,0.00,0.000,6,0.000,0.034,1359,3373,2844,0,0,0,0,0,0
$GC,3205,-0.78,-89.1,464.8,-14.1,233,3209,0.00,0.93,0.00,0.000,4,0.000,0.056,1354,3956,2844,0,0,0,0,0,0
$GC,3467,-0.78,-89.1,505.4,-15.7,240,3471,0.00,0.88,0.00,0.000,6,0.000,0.034,1354,3374,2844,0,0,0,0,0,0
$GC,3788,-0.78,-89.1,549.6,-13.4,251,3792,0.00,0.93,0.00,0.000,4,0.000,0.056,1349,3957,2844,0,0,0,0,0,0
$GC,3981,-0.78,-89.1,578.9,-15.4,256,3986,0.08,0.88,0.00,0.000,6,0.181,0.034,1372,3378,2844,0,0,0,0,0,0
$GC,4302,-0.78,-89.1,618.1,-11.9,267,4305,0.00,0.90,0.00,0.000,4,0.000,0.057,1369,3946,2844,0,0,0,0,0,0
$GC,4385,-0.78,-89.1,629.1,-12.6,269,4390,0.00,0.85,0.00,0.000,6,0.000,0.035,1369,3382,2844,0,0,0,0,0,0
$GC,4710,-0.78,-89.1,668.1,-11.9,280,4715,0.00,0.90,0.00,0.000,4,0.000,0.057,1364,3948,2842,0,0,0,0,0,0
$GC,4800,-0.78,-89.1,680.4,-14.0,282,4806,0.00,0.85,0.00,0.000,6,0.000,0.035,1365,3384,2843,0,0,0,0,0,0
$GC,5120,-0.78,-89.1,721.9,-13.2,293,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3384,2842,0,0,0,0,0,0
$GC,5426,-0.78,-89.1,761.0,-12.7,303,5429,0.00,0.90,0.00,0.000,4,0.000,0.059,1360,3948,2841,0,0,0,0,0,0
$GC,5653,-0.78,-89.1,793.0,-14.1,309,5657,0.00,0.88,0.00,0.000,6,0.000,0.036,1360,3370,2841,0,0,0,0,0,0
$GC,5973,-0.78,-89.1,835.2,-13.2,320,5977,0.00,0.93,0.00,0.000,4,0.000,0.058,1356,3949,2840,0,0,0,0,0,0
$GC,6172,-0.78,-89.1,864.5,-14.7,325,6178,0.00,0.85,0.00,0.000,6,0.000,0.036,1356,3388,2840,0,0,0,0,0,0
$GC,6485,-0.78,-89.1,906.3,-13.2,336,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3388,2838,0,0,0,0,0,0
$GC,6791,-0.78,-89.1,945.1,-12.6,346,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3388,2838,0,0,0,0,0,0
$GC,7098,-0.78,-89.1,982.6,-11.7,356,7102,0.00,0.90,0.00,0.000,4,0.000,0.060,1352,3949,2837,0,0,0,0,0,0
$STATE,7227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7227,begin apogee
$GC,7235,-0.14,0.0,1000.1,13.7,359,7334,0.82,0.00,94.00,1.233,6,0.175,0.000,1582,3269,2470,0,0,0,0,0,0
$STATE,7335,end apogee,CONTROL_FINISHED_OK
$STATE,7335,begin climb
$GC,7338,0.78,89.1,1002.7,0.0,363,7434,0.93,0.00,87.97,1.733,6,0.083,0.000,1887,3269,2110,0,0,0,0,1,0
$GC,7729,0.78,89.1,928.0,21.2,376,7732,0.00,1.12,0.00,0.000,4,0.000,0.054,1887,3949,2105,0,0,0,0,0,0
$GC,7767,0.78,89.1,918.9,22.8,377,7771,0.00,1.05,0.00,0.000,6,0.000,0.031,1892,3269,2104,0,0,0,0,0,0
$GC,8103,0.78,89.1,849.0,20.5,388,8107,0.00,1.12,0.00,0.000,4,0.000,0.054,1892,3957,2101,0,0,0,0,0,0
$GC,8301,0.78,89.1,803.6,23.4,393,8310,0.00,1.05,0.00,0.000,6,0.000,0.031,1896,3261,2101,0,0,0,0,0,0
$GC,8614,0.78,89.1,740.5,19.9,404,8618,0.00,1.12,0.00,0.000,4,0.000,0.054,1896,3956,2099,0,0,0,0,0,0
$GC,8698,0.78,89.1,722.1,22.6,406,8701,0.00,1.02,0.00,0.000,6,0.000,0.031,1901,3273,2098,0,0,0,0,0,0
$GC,9022,0.78,89.1,656.3,20.1,417,9026,0.00,1.08,0.00,0.000,4,0.000,0.053,1901,3949,2097,0,0,0,0,0,0
$GC,9117,0.78,89.1,634.7,22.4,419,9124,0.00,1.02,0.00,0.000,6,0.000,0.031,1906,3262,2097,0,0,0,0,0,0
$GC,9430,0.78,89.1,567.4,21.4,430,9434,0.00,1.10,0.00,0.000,4,0.000,0.052,1906,3952,2096,0,0,0,0,0,0
$GC,9532,0.78,89.1,543.4,24.2,433,9536,0.00,1.00,0.00,0.000,6,0.000,0.030,1911,3275,2096,0,0,0,0,0,0
$GC,9873,0.78,89.1,467.8,22.1,444,9879,0.00,1.08,0.00,0.000,4,0.000,0.053,1912,3951,2095,0,0,0,0,0,0
$GC,10010,0.78,89.1,435.7,24.4,448,10015,0.00,1.00,0.00,0.000,6,0.000,0.031,1917,3275,2095,0,0,0,0,0,0
$GC,10347,0.78,89.1,364.0,21.5,461,10351,0.00,1.08,0.00,0.000,4,0.000,0.052,1917,3950,2094,0,0,0,0,0,0
$GC,10535,0.78,89.1,319.1,22.6,469,10541,0.10,1.00,0.00,0.000,6,0.206,0.031,1896,3270,2094,0,0,0,0,0,0
$GC,10866,0.78,89.1,256.8,19.1,485,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3270,2093,0,0,0,0,0,0
$GC,11188,0.78,89.1,194.9,19.2,505,11194,0.00,1.08,0.00,0.000,4,0.000,0.052,1895,3951,2093,0,0,0,0,0,0
$GC,11420,0.78,89.1,144.2,21.4,518,11423,0.00,1.00,0.00,0.000,6,0.000,0.030,1899,3273,2093,0,0,0,0,0,0
$GC,11749,0.78,89.1,77.9,20.1,550,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2093,0,0,0,0,0,0
$GC,12125,0.78,89.1,13.1,16.0,611,12135,0.00,1.08,0.00,0.000,4,0.000,0.053,1899,3947,2093,0,0,0,0,0,0
$STATE,12189,end climb,SURFACE_DEPTH_REACHED
$STATE,12189,begin surface coast
$FINISH,1.3,1.026184
$STATE,12210,end surface coast,CONTROL_FINISHED_OK
$STATE,12210,begin surface
$SM_CCo,12228,72.65,0.758,1,0,1451,250.20
$SM_GC,2.03,0.00,0.00,72.65,0.000,0.000,0.758,48,3384,1451,-4.96,0.11,250.20
$IRIDIUM_FIX,-4149.58,901.52,150113,020252
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.6,38.563
$10V_AH,10.1,23.670
$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,12.375,43.950,181.975,72.650,0.000,39.706,42.448,260.854,0.000,0.000,20.622,1653.043,7787.812,363.884,2291.776,721.050,33.382,1211.769,0.000,2070.604,0.000,1.012,0.000
$DEVICE_MAMPS,231.030,87.210,1732.725,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.548,1368.701,656.650,305.616,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,47174,623
$CAP_FILE_SIZE,105576,0
$CFSIZE,259252224,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,150113,095459,-4204.188,900.569,41,1.0,41,-25.1