version: 66.07
glider: 543
mission: 6
dive: 6
start: 12 9 112 16 56 31
data:
$ID,543
$MISSION,6
$DIVE,6
$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,-7800.3125
$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,54
$R_STBD_OVSHOOT,26
$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
$GPS1,091212,164804,-4229.445,805.945,27,1.2,27,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-34.0
$GPS2,091212,165530,-4229.412,806.032,17,1.7,17,-24.9
$SPEED_LIMITS,0.174,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.292,-0.039
$KALMAN_X,-139.9,41.8,-81.1,6147.2,-68.7
$KALMAN_Y,1191.6,176.8,27.6,-242.7,182.9
$MHEAD_RNG_PITCHd_Wd,122.5,19104,-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,-104.12,0.000,2,0.000,0.000,57,3344,3174,0,0,0,0,0,0
$GC,130,-0.53,-194.7,3.5,-4.7,13,151,5.60,2.20,-2.05,0.000,4,0.230,0.054,1479,1961,3271,0,0,0,0,0,0
$GC,223,-0.53,-194.7,21.3,-10.2,26,234,0.00,2.30,0.00,0.000,6,0.000,0.064,1470,3339,3272,0,0,0,0,0,0
$GC,315,-0.53,-194.7,31.8,-12.4,39,322,0.00,1.00,0.00,0.000,4,0.000,0.066,1466,3953,3272,0,0,0,0,0,0
$GC,443,-0.53,-194.7,47.8,-11.9,60,454,0.00,0.90,0.00,0.000,6,0.000,0.042,1466,3373,3272,0,0,0,0,0,0
$GC,689,-0.53,-194.7,73.6,-10.7,101,695,0.00,0.93,0.00,0.000,4,0.000,0.066,1461,3949,3272,0,0,0,0,0,0
$GC,795,-0.53,-194.7,85.1,-10.8,119,800,0.00,0.93,0.00,0.000,6,0.000,0.041,1461,3345,3272,0,0,0,0,0,0
$GC,1130,-0.53,-194.7,121.1,-11.1,156,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3345,3273,0,0,0,0,0,0
$GC,1442,-0.53,-194.7,155.5,-10.8,176,1445,0.00,0.95,0.00,0.000,4,0.000,0.063,1457,3946,3272,0,0,0,0,0,0
$GC,1654,-0.53,-194.7,179.9,-11.1,188,1659,0.00,0.90,0.00,0.000,6,0.000,0.042,1457,3352,3273,0,0,0,0,0,0
$GC,1987,-0.53,-194.7,217.0,-10.9,209,1992,0.00,0.95,0.00,0.000,4,0.000,0.064,1453,3952,3273,0,0,0,0,0,0
$GC,2171,-0.53,-194.7,238.2,-11.7,219,2175,0.00,0.90,0.00,0.000,6,0.000,0.041,1453,3355,3273,0,0,0,0,0,0
$GC,2495,-0.53,-194.7,277.8,-12.2,236,2498,0.00,0.95,0.00,0.000,4,0.000,0.065,1448,3957,3272,0,0,0,0,0,0
$GC,2637,-0.53,-194.7,295.9,-12.7,242,2641,0.00,0.93,0.00,0.000,6,0.000,0.041,1448,3345,3272,0,0,0,0,0,0
$GC,2966,-0.53,-194.7,335.0,-11.7,258,2970,0.00,0.95,0.00,0.000,4,0.000,0.064,1444,3948,3272,0,0,0,0,0,0
$GC,3092,-0.53,-194.7,351.7,-13.1,263,3096,0.08,0.90,0.00,0.000,6,0.152,0.042,1468,3350,3272,0,0,0,0,0,0
$GC,3416,-0.53,-194.7,383.2,-9.6,279,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3350,3272,0,0,0,0,0,0
$STATE,3619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3619,begin apogee
$GC,3626,-0.14,0.0,401.9,8.9,289,3806,0.43,0.00,171.85,1.440,6,0.127,0.000,1604,3143,2473,0,0,0,0,1,0
$STATE,3807,end apogee,CONTROL_FINISHED_OK
$STATE,3807,begin climb
$GC,3810,0.53,194.7,408.1,0.0,295,4000,0.60,2.35,178.77,0.842,4,0.054,0.038,1835,1750,1667,0,0,0,0,0,0
$GC,4038,0.53,194.7,378.9,15.9,303,4043,0.00,2.40,0.00,0.000,6,0.000,0.051,1835,3167,1661,0,0,0,0,0,0
$GC,4356,0.53,194.7,320.0,18.7,318,4360,0.00,2.22,0.00,0.000,4,0.000,0.039,1846,1749,1655,0,0,0,0,0,0
$GC,4422,0.53,194.7,309.3,14.6,321,4426,0.00,2.30,0.00,0.000,6,0.000,0.052,1846,3155,1654,0,0,0,0,0,0
$GC,4751,0.53,194.7,249.1,18.2,337,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3155,1654,0,0,0,0,0,0
$GC,5063,0.53,194.7,192.2,18.1,357,5069,0.00,2.22,0.00,0.000,4,0.000,0.041,1857,1746,1653,0,0,0,0,0,0
$GC,5121,0.53,194.7,182.2,14.6,360,5126,0.12,2.28,0.00,0.000,6,0.197,0.054,1827,3159,1653,0,0,0,0,0,0
$GC,5443,0.53,194.7,130.0,16.9,380,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,3159,1652,0,0,0,0,0,0
$GC,5772,0.53,194.7,72.8,16.5,418,5780,0.00,2.20,0.00,0.000,4,0.000,0.041,1836,1747,1652,0,0,0,0,0,0
$GC,5840,0.53,194.7,63.0,13.0,429,5847,0.00,2.28,0.00,0.000,6,0.000,0.054,1836,3153,1652,0,0,0,0,0,0
$STATE,6208,end climb,SURFACE_DEPTH_REACHED
$STATE,6209,begin surface coast
$FINISH,0.4,1.013259
$STATE,6231,end surface coast,CONTROL_FINISHED_OK
$STATE,6233,begin surface
$SM_CCo,6249,117.90,0.786,1,0,546,472.69
$SM_GC,0.72,0.00,0.00,117.90,0.000,0.000,0.786,61,3373,546,-4.96,0.59,472.69
$IRIDIUM_FIX,-4215.72,803.26,091212,141442
$TT8_MAMPS,0.025466
$HUMID,55.11
$INTERNAL_PRESSURE,8.98589
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.5,3.078
$10V_AH,10.2,1.048
$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,11.525,34.550,350.625,117.900,0.000,36.836,18.497,249.736,0.000,0.000,20.086,1144.417,2920.613,507.831,1689.889,563.215,33.331,1098.558,0.000,1532.218,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,65.790,1439.730,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.179,1190.595,798.071,361.773,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,36994,492
$CAP_FILE_SIZE,66228,0
$CFSIZE,259252224,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,091212,184422,-4229.208,807.449,59,0.9,59,-24.9