version: 66.07
glider: 543
mission: 6
dive: 1
start: 12 9 112 8 2 18
data:
$ID,543
$MISSION,6
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$D_ABORT,200
$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,15
$T_MISSION,30
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52589
$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,472.49722
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7077.1489
$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,1670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,32
$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,720
$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
$GPS1,091212,075636,-4230.040,801.617,14,1.2,14,-24.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-13.4
$GPS2,091212,080125,-4230.038,801.663,16,1.2,16,-24.8
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.306,0.001
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,114.6,25038,-16.5,-11.111
$D_GRID,50
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.58,-194.7,0.0,0.0,0,142,0.00,0.00,-115.32,0.000,6,0.000,0.000,69,2186,3268,0,0,0,0,0,0
$GC,146,-0.58,-194.7,2.6,-4.6,15,164,5.53,2.25,0.00,0.000,4,0.227,0.037,1482,773,3270,0,0,0,0,0,0
$GC,227,-0.58,-194.7,10.0,-7.2,26,238,0.00,2.28,0.00,0.000,6,0.000,0.057,1473,2151,3270,0,0,0,0,0,0
$GC,316,-0.58,-194.7,16.8,-7.5,39,327,0.00,2.33,0.00,0.000,4,0.000,0.063,1463,3586,3270,0,0,0,0,0,0
$GC,607,-0.58,-194.7,49.6,-13.4,85,613,0.00,2.15,0.00,0.000,6,0.000,0.037,1463,2173,3270,0,0,0,0,0,0
$STATE,622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,622,begin apogee
$GC,629,-0.14,0.0,51.9,12.9,87,728,0.47,0.00,89.85,0.873,6,0.118,0.000,1622,2173,2472,0,0,0,0,1,0
$STATE,730,end apogee,CONTROL_FINISHED_OK
$STATE,730,begin climb
$GC,732,0.58,194.7,58.0,0.0,100,902,0.62,2.38,160.38,0.623,4,0.055,0.041,1872,762,1671,0,0,0,0,0,0
$GC,929,0.58,194.7,36.3,16.3,126,939,0.00,2.38,0.00,0.000,6,0.000,0.046,1872,2182,1662,0,0,0,0,0,0
$STATE,1108,end climb,SURFACE_DEPTH_REACHED
$STATE,1108,begin surface coast
$FINISH,0.3,1.025256
$STATE,1124,end surface coast,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$SM_CCo,1139,115.18,0.706,1,0,546,472.69
$SM_GC,0.52,0.00,0.00,115.18,0.000,0.000,0.706,57,2183,546,-5.04,0.42,472.69
$IRIDIUM_FIX,-4212.81,803.26,091212,070728
$TT8_MAMPS,0.025466
$HUMID,51.57
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,17.70
$XPDR_PINGS,7
$24V_AH,24.5,2.030
$10V_AH,10.3,0.636
$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,11.525,13.750,250.225,115.175,0.000,0.000,0.000,0.000,1.750,0.000,19.294,316.179,30.133,360.181,443.164,192.438,29.235,652.150,0.000,517.848,0.000,1.020,0.000
$DEVICE_MAMPS,227.205,63.495,872.865,706.095,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,101.529,454.047,361.663,339.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,10345,155
$CAP_FILE_SIZE,37010,0
$CFSIZE,259252224,258265088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,091212,082436,-4230.045,801.920,36,1.3,36,-24.8