version: 66.07
glider: 543
mission: 6
dive: 5
start: 12 9 112 15 2 11
data:
$ID,543
$MISSION,6
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,1030
$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,133
$T_MISSION,148
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7797.1348
$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,1650
$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,3353
$C_ROLL_CLIMB,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,18
$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
$GPS1,091212,145600,-4229.759,804.612,18,0.9,18,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-22.7
$GPS2,091212,150112,-4229.759,804.675,16,1.6,16,-24.9
$SPEED_LIMITS,0.174,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.294,0.019
$KALMAN_X,92.9,170.8,-1.2,3837.6,-89.5
$KALMAN_Y,635.6,270.2,74.2,-461.7,-196.9
$MHEAD_RNG_PITCHd_Wd,111.3,20930,-14.9,-10.025
$D_GRID,400
$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,-0.53,-194.7,0.0,0.0,0,126,0.00,0.00,-103.72,0.000,2,0.000,0.000,70,3357,3116,0,0,0,0,0,0
$GC,130,-0.53,-194.7,3.1,-3.8,13,151,5.75,2.22,-3.42,0.000,4,0.246,0.057,1474,1950,3271,0,0,0,0,0,0
$GC,206,-0.53,-194.7,17.9,-10.5,23,216,0.00,2.33,0.00,0.000,6,0.000,0.063,1465,3347,3271,0,0,0,0,0,0
$GC,300,-0.53,-194.7,29.1,-12.7,36,309,0.00,0.98,0.00,0.000,4,0.000,0.070,1460,3949,3271,0,0,0,0,0,0
$GC,436,-0.53,-194.7,47.6,-12.8,58,445,0.00,0.90,0.00,0.000,6,0.000,0.041,1460,3359,3272,0,0,0,0,0,0
$GC,679,-0.53,-194.7,76.5,-11.1,99,688,0.00,0.95,0.00,0.000,4,0.000,0.067,1456,3954,3271,0,0,0,0,0,0
$GC,814,-0.53,-194.7,92.6,-12.0,121,818,0.00,0.93,0.00,0.000,6,0.000,0.040,1456,3341,3271,0,0,0,0,0,0
$GC,1144,-0.53,-194.7,131.4,-12.0,149,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3341,3271,0,0,0,0,0,0
$GC,1457,-0.53,-194.7,168.6,-12.0,169,1460,0.00,0.98,0.00,0.000,4,0.000,0.067,1452,3956,3271,0,0,0,0,0,0
$GC,1511,-0.53,-194.7,176.0,-12.3,172,1515,0.00,0.90,0.00,0.000,6,0.000,0.040,1451,3356,3271,0,0,0,0,0,0
$GC,1840,-0.53,-194.7,214.9,-12.0,193,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3356,3271,0,0,0,0,0,0
$GC,2158,-0.53,-194.7,253.2,-12.0,213,2162,0.00,0.95,0.00,0.000,4,0.000,0.067,1447,3954,3270,0,0,0,0,0,0
$GC,2260,-0.53,-194.7,267.6,-13.3,217,2264,0.08,0.90,0.00,0.000,6,0.161,0.041,1470,3355,3270,0,0,0,0,0,0
$GC,2584,-0.53,-194.7,301.5,-10.4,233,2589,0.00,0.95,0.00,0.000,4,0.000,0.064,1467,3955,3270,0,0,0,0,0,0
$GC,2671,-0.53,-194.7,311.0,-10.4,236,2680,0.00,0.93,0.00,0.000,6,0.000,0.041,1467,3342,3270,0,0,0,0,0,0
$GC,2989,-0.53,-194.7,341.6,-9.2,252,2993,0.00,0.98,0.00,0.000,4,0.000,0.064,1463,3960,3269,0,0,0,0,0,0
$GC,3110,-0.53,-194.7,354.1,-9.5,257,3114,0.00,0.93,0.00,0.000,6,0.000,0.042,1463,3347,3269,0,0,0,0,0,0
$GC,3439,-0.53,-194.7,385.4,-9.6,273,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3347,3269,0,0,0,0,0,0
$STATE,3601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3601,begin apogee
$GC,3608,-0.14,0.0,401.1,9.3,281,3788,0.45,0.00,176.80,0.877,6,0.131,0.000,1605,3157,2473,0,0,0,0,0,0
$STATE,3789,end apogee,CONTROL_FINISHED_OK
$STATE,3790,begin climb
$GC,3792,0.53,194.7,406.4,0.0,287,3987,0.60,2.35,181.25,0.820,4,0.055,0.037,1836,1750,1665,0,0,0,0,0,0
$GC,4154,0.53,194.7,357.2,14.2,302,4158,0.00,2.35,0.00,0.000,6,0.000,0.052,1836,3173,1654,0,0,0,0,0,0
$GC,4476,0.53,194.7,300.0,18.0,318,4480,0.00,1.25,0.00,0.000,4,0.000,0.057,1836,3947,1650,0,0,0,0,0,0
$GC,4643,0.53,194.7,268.8,19.4,325,4647,0.00,1.23,0.00,0.000,6,0.000,0.035,1841,3137,1648,0,0,0,0,0,0
$GC,4968,0.53,194.7,207.1,18.2,344,4972,0.00,1.30,0.00,0.000,4,0.000,0.057,1842,3947,1648,0,0,0,0,0,0
$GC,5034,0.53,194.7,194.0,19.5,347,5041,0.00,1.20,0.00,0.000,6,0.000,0.036,1848,3145,1648,0,0,0,0,0,0
$GC,5354,0.53,194.7,133.9,18.9,368,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3145,1648,0,0,0,0,0,0
$GC,5679,0.53,194.7,72.6,17.9,404,5686,0.00,2.10,0.00,0.000,4,0.000,0.038,1859,1762,1647,0,0,0,0,0,0
$GC,5704,0.53,194.7,67.8,18.5,408,5715,0.10,2.25,0.00,0.000,6,0.174,0.051,1829,3159,1647,0,0,0,0,0,0
$GC,6090,0.53,194.7,7.8,15.6,469,6098,0.00,1.23,0.00,0.000,4,0.000,0.057,1829,3936,1647,0,0,0,0,0,0
$STATE,6118,end climb,SURFACE_DEPTH_REACHED
$STATE,6118,begin surface coast
$FINISH,0.3,1.026304
$STATE,6139,end surface coast,CONTROL_FINISHED_OK
$STATE,6139,begin surface
$SM_CCo,6155,124.78,0.778,1,0,543,472.69
$SM_GC,0.53,0.00,0.00,124.78,0.000,0.000,0.778,57,3343,543,-4.98,-0.28,472.69
$IRIDIUM_FIX,-4215.72,806.15,091212,141419
$TT8_MAMPS,0.024717
$HUMID,54.92
$INTERNAL_PRESSURE,8.99566
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.1,2.924
$10V_AH,10.3,0.966
$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,11.650,32.225,358.050,124.775,0.000,0.000,0.000,0.000,0.000,0.000,18.979,1112.654,2894.981,524.410,1350.207,485.142,33.349,1110.352,0.000,1485.462,0.000,1.015,0.000
$DEVICE_MAMPS,245.565,69.615,877.455,778.005,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.323,1157.981,784.802,341.327,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,37003,476
$CAP_FILE_SIZE,131344,0
$CFSIZE,259252224,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,091212,164804,-4229.445,805.945,27,1.2,27,-24.9