version: 66.07
glider: 543
mission: 6
dive: 223
start: 1 15 113 13 42 45
data:
$ID,543
$MISSION,6
$DIVE,223
$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,-8470.2275
$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,59
$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
$GPS1,150113,133133,-4205.217,900.344,42,1.7,42,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-53.6
$GPS2,150113,134147,-4205.125,900.397,18,1.1,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.129,0.065
$KALMAN_X,-146825.7,164.4,36.8,226818.9,-1753.9
$KALMAN_Y,53113.1,-592.7,-662.1,-5687.3,8845.0
$MHEAD_RNG_PITCHd_Wd,88.3,9508,-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,-49.33,0.000,2,0.000,0.000,48,3366,2653,0,0,0,0,0,0
$GC,76,-0.78,-89.4,3.4,-3.5,6,95,5.40,2.12,-5.47,0.000,4,0.226,0.043,1373,1974,2839,0,0,0,0,0,0
$GC,332,-0.78,-89.4,39.8,-15.4,45,339,0.00,2.30,0.00,0.000,6,0.000,0.053,1364,3387,2842,0,0,0,0,0,0
$GC,576,-0.78,-89.4,81.0,-13.5,86,583,0.00,0.90,0.00,0.000,4,0.000,0.056,1360,3951,2842,0,0,0,0,0,0
$GC,847,-0.78,-89.4,125.6,-17.9,115,851,0.00,0.82,0.00,0.000,6,0.000,0.034,1360,3404,2843,0,0,0,0,0,0
$GC,1172,-0.78,-89.4,176.1,-15.4,136,1175,0.00,0.88,0.00,0.000,4,0.000,0.055,1356,3953,2845,0,0,0,0,0,0
$GC,1434,-0.78,-89.4,218.3,-15.7,151,1438,0.00,0.88,0.00,0.000,6,0.000,0.034,1356,3374,2845,0,0,0,0,0,0
$GC,1771,-0.78,-89.4,266.3,-14.4,171,1775,0.00,0.93,0.00,0.000,4,0.000,0.055,1351,3957,2845,0,0,0,0,0,0
$GC,1966,-0.78,-89.4,298.4,-16.3,179,1971,0.08,0.88,0.00,0.000,6,0.178,0.034,1373,3378,2846,0,0,0,0,0,0
$GC,2290,-0.78,-89.4,343.9,-14.4,195,2295,0.00,2.12,0.00,0.000,4,0.000,0.030,1373,1973,2846,0,0,0,0,0,0
$GC,2343,-0.78,-89.4,351.7,-12.8,197,2347,0.00,2.28,0.00,0.000,6,0.000,0.055,1364,3381,2846,0,0,0,0,0,0
$GC,2666,-0.78,-89.4,400.0,-15.6,213,2671,0.00,0.90,0.00,0.000,4,0.000,0.056,1359,3950,2846,0,0,0,0,0,0
$GC,2736,-0.78,-89.4,411.3,-15.5,215,2739,0.00,0.85,0.00,0.000,6,0.000,0.034,1359,3381,2846,0,0,0,0,0,0
$GC,3077,-0.78,-89.4,461.5,-14.8,226,3082,0.00,0.90,0.00,0.000,4,0.000,0.057,1355,3949,2845,0,0,0,0,0,0
$GC,3184,-0.78,-89.4,478.0,-14.9,229,3187,0.00,0.85,0.00,0.000,6,0.000,0.034,1355,3381,2846,0,0,0,0,0,0
$GC,3519,-0.78,-89.4,526.1,-14.7,240,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3381,2846,0,0,0,0,0,0
$GC,3826,-0.78,-89.4,570.3,-14.5,250,3830,0.00,0.90,0.00,0.000,4,0.000,0.057,1351,3949,2845,0,0,0,0,0,0
$GC,4063,-0.78,-89.4,607.4,-15.2,257,4067,0.08,0.85,0.00,0.000,6,0.178,0.034,1372,3384,2845,0,0,0,0,0,0
$GC,4404,-0.78,-89.4,652.1,-12.7,268,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3384,2844,0,0,0,0,0,0
$GC,4710,-0.78,-89.4,689.3,-12.3,278,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3384,2843,0,0,0,0,0,0
$GC,5018,-0.78,-89.4,725.3,-11.5,288,5022,0.00,0.90,0.00,0.000,4,0.000,0.057,1369,3948,2843,0,0,0,0,0,0
$GC,5149,-0.78,-89.4,742.1,-12.6,291,5155,0.00,0.88,0.00,0.000,6,0.000,0.035,1369,3371,2842,0,0,0,0,0,0
$GC,5462,-0.78,-89.4,779.2,-11.7,302,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3370,2842,0,0,0,0,0,0
$GC,5768,-0.78,-89.4,814.9,-11.6,312,5772,0.00,0.93,0.00,0.000,4,0.000,0.059,1365,3950,2841,0,0,0,0,0,0
$GC,5892,-0.78,-89.4,829.9,-12.3,315,5895,0.00,0.85,0.00,0.000,6,0.000,0.037,1365,3388,2841,0,0,0,0,0,0
$GC,6212,-0.78,-89.4,865.0,-11.1,326,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3388,2840,0,0,0,0,0,0
$GC,6516,-0.78,-89.4,900.2,-11.6,336,6520,0.00,0.90,0.00,0.000,4,0.000,0.059,1361,3951,2839,0,0,0,0,0,0
$GC,6594,-0.78,-89.4,910.6,-14.0,338,6597,0.00,0.88,0.00,0.000,6,0.000,0.037,1361,3377,2838,0,0,0,0,0,0
$GC,6924,-0.78,-89.4,952.0,-12.6,349,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3376,2838,0,0,0,0,0,0
$GC,7230,-0.78,-89.4,990.3,-11.8,359,7233,0.00,0.93,0.00,0.000,4,0.000,0.059,1357,3953,2837,0,0,0,0,0,0
$STATE,7301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7301,begin apogee
$GC,7309,-0.14,0.0,1000.0,13.0,361,7404,0.80,0.00,86.75,1.769,6,0.174,0.000,1580,3272,2473,0,0,0,0,1,0
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7408,0.78,89.4,1003.1,0.0,364,7518,0.90,2.47,93.47,1.734,4,0.083,0.031,1891,1857,2109,0,0,0,0,1,0
$GC,7547,0.78,89.4,984.4,17.9,368,7551,0.00,2.47,0.00,0.000,6,0.000,0.049,1891,3268,2107,0,0,0,0,0,0
$GC,7871,0.78,89.4,913.3,22.9,379,7874,0.00,1.12,0.00,0.000,4,0.000,0.054,1891,3952,2100,0,0,0,0,0,0
$GC,7965,0.78,89.4,889.7,24.9,381,7971,0.00,1.05,0.00,0.000,6,0.000,0.031,1897,3262,2099,0,0,0,0,0,0
$GC,8278,0.78,89.4,820.1,21.9,392,8282,0.00,1.12,0.00,0.000,4,0.000,0.053,1896,3954,2097,0,0,0,0,0,0
$GC,8415,0.78,89.4,788.2,23.5,396,8418,0.00,1.02,0.00,0.000,6,0.000,0.031,1900,3273,2097,0,0,0,0,0,0
$GC,8756,0.78,89.4,715.1,21.3,407,8760,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3958,2094,0,0,0,0,0,0
$GC,8818,0.78,89.4,701.1,23.7,408,8825,0.00,1.02,0.00,0.000,6,0.000,0.031,1905,3273,2094,0,0,0,0,0,0
$GC,9131,0.78,89.4,635.6,20.9,419,9137,0.00,1.10,0.00,0.000,4,0.000,0.054,1905,3958,2094,0,0,0,0,0,0
$GC,9227,0.78,89.4,613.7,24.9,421,9235,0.00,1.02,0.00,0.000,6,0.000,0.031,1910,3271,2094,0,0,0,0,0,0
$GC,9541,0.78,89.4,547.5,21.0,432,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3271,2092,0,0,0,0,0,0
$GC,9847,0.78,89.4,483.2,20.7,442,9850,0.00,1.08,0.00,0.000,4,0.000,0.052,1910,3951,2091,0,0,0,0,0,0
$GC,10098,0.78,89.4,426.7,22.9,449,10101,0.00,1.02,0.00,0.000,6,0.000,0.031,1915,3261,2091,0,0,0,0,0,0
$GC,10426,0.78,89.4,358.9,20.8,463,10431,0.00,1.10,0.00,0.000,4,0.000,0.052,1915,3950,2090,0,0,0,0,0,0
$GC,10477,0.78,89.4,348.1,23.0,465,10481,0.10,1.00,0.00,0.000,6,0.200,0.031,1895,3273,2090,0,0,0,0,0,0
$GC,10812,0.78,89.4,282.0,20.3,481,10817,0.00,1.10,0.00,0.000,4,0.000,0.052,1894,3961,2090,0,0,0,0,0,0
$GC,10908,0.78,89.4,261.3,23.0,485,10911,0.00,1.02,0.00,0.000,6,0.000,0.031,1898,3272,2090,0,0,0,0,0,0
$GC,11240,0.78,89.4,193.9,20.0,505,11246,0.00,1.08,0.00,0.000,4,0.000,0.053,1898,3948,2090,0,0,0,0,0,0
$GC,11334,0.78,89.4,173.0,21.1,510,11340,0.00,1.00,0.00,0.000,6,0.000,0.030,1903,3272,2090,0,0,0,0,0,0
$GC,11662,0.78,89.4,110.1,19.4,531,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3272,2090,0,0,0,0,0,0
$GC,12008,0.78,89.4,46.4,16.7,583,12015,0.00,1.10,0.00,0.000,4,0.000,0.053,1903,3961,2090,0,0,0,0,0,0
$STATE,12248,end climb,SURFACE_DEPTH_REACHED
$STATE,12248,begin surface coast
$FINISH,1.1,1.022952
$STATE,12273,end surface coast,CONTROL_FINISHED_OK
$STATE,12273,begin surface
$SM_CCo,12290,72.25,0.746,1,0,1449,250.20
$SM_GC,1.92,0.00,0.00,72.25,0.000,0.000,0.746,52,3370,1449,-4.94,-0.28,250.20
$IRIDIUM_FIX,-4149.58,859.11,150113,090910
$TT8_MAMPS,0.025466
$HUMID,55.90
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.4,38.786
$10V_AH,10.0,23.867
$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,12.300,50.550,180.225,72.250,0.000,106.627,18.586,266.809,0.000,0.000,20.322,1637.109,8025.973,323.021,2275.404,722.045,33.356,1147.369,0.000,2021.361,0.000,1.010,0.000
$DEVICE_MAMPS,226.440,58.905,1769.445,745.875,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.009,1371.807,652.289,309.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,47126,623
$CAP_FILE_SIZE,104014,0
$CFSIZE,259252224,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,150113,171004,-4204.174,902.096,29,1.1,29,-25.1