version: 66.07
glider: 543
mission: 6
dive: 222
start: 1 15 113 10 4 18
data:
$ID,543
$MISSION,6
$DIVE,222
$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,-8467.042
$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,46
$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
$GPS1,150113,095459,-4204.188,900.569,41,1.0,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-54.2
$GPS2,150113,100318,-4204.120,900.655,18,1.2,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.019,-0.143
$KALMAN_X,-146235.9,380.5,-10.9,226410.0,-1241.2
$KALMAN_Y,52749.9,-741.5,-628.9,-3351.9,10207.5
$MHEAD_RNG_PITCHd_Wd,197.4,7683,-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,-49.38,0.000,2,0.000,0.000,47,3384,2654,0,0,0,0,0,0
$GC,75,-0.78,-86.5,3.5,-3.8,6,94,5.30,0.93,-5.25,0.000,4,0.220,0.082,1370,3951,2828,0,0,0,0,0,0
$GC,377,-0.78,-86.5,56.5,-18.6,53,385,0.00,0.88,0.00,0.000,6,0.000,0.034,1371,3378,2831,0,0,0,0,0,0
$GC,615,-0.78,-86.5,89.1,-13.1,94,621,0.00,0.93,0.00,0.000,4,0.000,0.055,1366,3954,2832,0,0,0,0,0,0
$GC,881,-0.78,-86.5,127.1,-14.9,118,885,0.00,0.88,0.00,0.000,6,0.000,0.034,1366,3374,2833,0,0,0,0,0,0
$GC,1215,-0.78,-86.5,172.6,-13.8,139,1218,0.00,0.93,0.00,0.000,4,0.000,0.054,1362,3958,2834,0,0,0,0,0,0
$GC,1401,-0.78,-86.5,201.7,-15.2,149,1408,0.00,0.85,0.00,0.000,6,0.000,0.034,1362,3389,2834,0,0,0,0,0,0
$GC,1721,-0.78,-86.5,246.4,-13.9,170,1724,0.00,0.90,0.00,0.000,4,0.000,0.055,1358,3957,2835,0,0,0,0,0,0
$GC,1965,-0.78,-86.5,286.2,-16.4,181,1972,0.00,0.88,0.00,0.000,6,0.000,0.034,1358,3371,2835,0,0,0,0,0,0
$GC,2284,-0.78,-86.5,332.5,-14.4,197,2289,0.00,0.93,0.00,0.000,4,0.000,0.055,1354,3955,2835,0,0,0,0,0,0
$GC,2478,-0.78,-86.5,362.1,-15.4,205,2482,0.00,0.85,0.00,0.000,6,0.000,0.034,1354,3385,2835,0,0,0,0,0,0
$GC,2820,-0.78,-86.5,409.6,-13.7,221,2824,0.00,0.90,0.00,0.000,4,0.000,0.056,1350,3955,2835,0,0,0,0,0,0
$GC,3063,-0.78,-86.5,445.0,-15.2,228,3067,0.08,0.88,0.00,0.000,6,0.177,0.034,1371,3372,2835,0,0,0,0,0,0
$GC,3398,-0.78,-86.5,487.1,-12.5,239,3404,0.00,0.93,0.00,0.000,4,0.000,0.056,1368,3956,2835,0,0,0,0,0,0
$GC,3657,-0.78,-86.5,523.7,-13.7,246,3661,0.00,0.88,0.00,0.000,6,0.000,0.034,1368,3371,2835,0,0,0,0,0,0
$GC,3978,-0.78,-86.5,565.8,-13.2,257,3981,0.00,0.93,0.00,0.000,4,0.000,0.057,1364,3956,2834,0,0,0,0,0,0
$GC,4235,-0.78,-86.5,604.0,-15.0,264,4238,0.00,0.85,0.00,0.000,6,0.000,0.034,1364,3386,2834,0,0,0,0,0,0
$GC,4553,-0.78,-86.5,646.5,-13.3,275,4557,0.00,0.90,0.00,0.000,4,0.000,0.057,1360,3952,2833,0,0,0,0,0,0
$GC,4816,-0.78,-86.5,685.3,-15.4,282,4819,0.00,0.85,0.00,0.000,6,0.000,0.035,1360,3388,2832,0,0,0,0,0,0
$GC,5137,-0.78,-86.5,730.0,-14.2,293,5140,0.00,0.90,0.00,0.000,4,0.000,0.057,1356,3955,2832,0,0,0,0,0,0
$GC,5395,-0.78,-86.5,770.1,-15.9,300,5398,0.00,0.88,0.00,0.000,6,0.000,0.034,1355,3370,2830,0,0,0,0,0,0
$GC,5714,-0.78,-86.5,812.9,-12.9,311,5718,0.00,0.93,0.00,0.000,4,0.000,0.057,1351,3951,2830,0,0,0,0,0,0
$GC,5973,-0.78,-86.5,849.7,-14.0,318,5977,0.08,0.85,0.00,0.000,6,0.177,0.036,1372,3392,2829,0,0,0,0,0,0
$GC,6291,-0.78,-86.5,885.2,-10.7,329,6295,0.00,0.88,0.00,0.000,4,0.000,0.059,1370,3943,2828,0,0,0,0,0,0
$GC,6552,-0.78,-86.5,916.4,-11.9,336,6556,0.00,0.85,0.00,0.000,6,0.000,0.036,1370,3384,2828,0,0,0,0,0,0
$GC,6873,-0.78,-86.5,950.3,-10.4,347,6877,0.00,0.90,0.00,0.000,4,0.000,0.059,1366,3948,2827,0,0,0,0,0,0
$GC,7131,-0.78,-86.5,981.5,-12.6,354,7135,0.00,0.88,0.00,0.000,6,0.000,0.036,1366,3371,2827,0,0,0,0,0,0
$STATE,7325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7325,begin apogee
$GC,7332,-0.14,0.0,1003.0,11.1,361,7426,0.77,0.00,90.20,1.257,6,0.164,0.000,1584,3275,2473,0,0,0,0,0,0
$STATE,7427,end apogee,CONTROL_FINISHED_OK
$STATE,7427,begin climb
$GC,7430,0.78,86.5,1005.0,0.0,364,7532,0.88,2.38,91.22,1.226,4,0.081,0.029,1892,1855,2114,0,0,0,0,0,0
$GC,7555,0.78,86.5,987.4,18.3,367,7562,0.00,2.42,0.00,0.000,6,0.000,0.048,1892,3274,2108,0,0,0,0,0,0
$GC,7868,0.78,86.5,920.0,21.8,378,7872,0.00,1.10,0.00,0.000,4,0.000,0.054,1892,3950,2101,0,0,0,0,0,0
$GC,8048,0.78,86.5,878.2,22.8,383,8051,0.00,1.05,0.00,0.000,6,0.000,0.030,1897,3254,2100,0,0,0,0,0,0
$GC,8377,0.78,86.5,809.4,20.5,394,8381,0.00,1.12,0.00,0.000,4,0.000,0.053,1896,3950,2097,0,0,0,0,0,0
$GC,8553,0.78,86.5,770.3,23.1,399,8556,0.00,1.02,0.00,0.000,6,0.000,0.031,1900,3272,2096,0,0,0,0,0,0
$GC,8888,0.78,86.5,698.9,21.3,410,8892,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3958,2094,0,0,0,0,0,0
$GC,9034,0.78,86.5,664.3,23.8,414,9038,0.00,1.02,0.00,0.000,6,0.000,0.031,1905,3273,2094,0,0,0,0,0,0
$GC,9364,0.78,86.5,592.5,21.5,425,9368,0.00,1.10,0.00,0.000,4,0.000,0.053,1905,3958,2093,0,0,0,0,0,0
$GC,9467,0.78,86.5,568.4,24.4,428,9473,0.00,1.02,0.00,0.000,6,0.000,0.031,1910,3272,2093,0,0,0,0,0,0
$GC,9811,0.78,86.5,493.6,21.6,439,9814,0.00,1.08,0.00,0.000,4,0.000,0.053,1910,3944,2091,0,0,0,0,0,0
$GC,10068,0.78,86.5,434.3,22.7,446,10072,0.00,1.00,0.00,0.000,6,0.000,0.031,1915,3272,2092,0,0,0,0,0,0
$GC,10392,0.78,86.5,368.6,20.1,459,10396,0.00,1.08,0.00,0.000,4,0.000,0.052,1915,3947,2091,0,0,0,0,0,0
$GC,10653,0.78,86.5,307.4,23.0,470,10657,0.10,1.00,0.00,0.000,6,0.204,0.031,1894,3269,2091,0,0,0,0,0,0
$GC,10971,0.78,86.5,245.5,19.5,486,10975,0.00,1.10,0.00,0.000,4,0.000,0.053,1894,3958,2090,0,0,0,0,0,0
$GC,11184,0.78,86.5,199.5,21.8,498,11188,0.00,1.02,0.00,0.000,6,0.000,0.031,1898,3269,2089,0,0,0,0,0,0
$GC,11513,0.78,86.5,138.3,18.5,519,11517,0.00,1.10,0.00,0.000,4,0.000,0.053,1898,3958,2090,0,0,0,0,0,0
$GC,11688,0.78,86.5,102.3,19.6,528,11697,0.00,1.02,0.00,0.000,6,0.000,0.031,1903,3268,2090,0,0,0,0,0,0
$GC,12049,0.78,86.5,36.3,16.7,587,12056,0.00,1.10,0.00,0.000,4,0.000,0.053,1903,3959,2090,0,0,0,0,0,0
$STATE,12232,end climb,SURFACE_DEPTH_REACHED
$STATE,12232,begin surface coast
$FINISH,1.2,1.026289
$STATE,12255,end surface coast,CONTROL_FINISHED_OK
$STATE,12255,begin surface
$SM_CCo,12272,73.60,0.747,1,0,1452,250.20
$SM_GC,1.95,0.00,0.00,73.60,0.000,0.000,0.747,48,3366,1452,-4.96,-0.40,250.20
$IRIDIUM_FIX,-4149.58,901.98,150113,060623
$TT8_MAMPS,0.025466
$HUMID,56.14
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.4,38.662
$10V_AH,10.0,23.771
$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,12.175,46.925,181.425,73.600,0.000,27.778,23.714,282.935,0.000,0.000,20.649,1715.828,7452.690,319.734,2606.727,758.720,33.360,1291.147,0.000,2393.167,0.000,2.879,0.000
$DEVICE_MAMPS,219.555,81.855,1256.895,747.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.183,1341.982,636.779,288.600,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,43811,618
$CAP_FILE_SIZE,113669,0
$CFSIZE,259252224,244604928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,150113,133133,-4205.217,900.344,42,1.7,42,-25.1