version: 66.07
glider: 543
mission: 6
dive: 22
start: 12 12 112 8 40 20
data:
$ID,543
$MISSION,6
$DIVE,22
$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,370
$T_MISSION,385
$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,-7855.9766
$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,51
$R_STBD_OVSHOOT,22
$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
$GPS1,121212,082330,-4234.581,817.458,38,1.7,38,-24.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-25.1
$GPS2,121212,083922,-4234.434,817.703,23,0.8,25,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.134,-0.079
$KALMAN_X,-3029.2,-165.9,96.4,25015.0,238.0
$KALMAN_Y,30970.2,-1426.5,-509.4,-37136.0,9877.5
$MHEAD_RNG_PITCHd_Wd,145.5,8790,-27.1,-9.009
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-87.03,0.000,6,0.000,0.000,71,3356,2694,0,0,0,0,0,0
$GC,115,-0.82,-102.1,2.9,-3.6,11,134,5.35,0.98,-5.72,0.000,4,0.238,0.083,1372,3956,2892,0,0,0,0,0,0
$GC,416,-0.82,-102.1,59.4,-20.4,58,425,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3372,2894,0,0,0,0,0,0
$GC,658,-0.82,-102.1,99.5,-17.0,99,665,0.00,0.93,0.00,0.000,4,0.000,0.057,1368,3950,2894,0,0,0,0,0,0
$GC,924,-0.82,-102.1,147.1,-18.9,115,928,0.00,0.93,0.00,0.000,6,0.000,0.036,1367,3346,2894,0,0,0,0,0,0
$GC,1249,-0.82,-102.1,201.2,-16.6,136,1253,0.00,0.95,0.00,0.000,4,0.000,0.057,1363,3947,2894,0,0,0,0,0,0
$GC,1518,-0.82,-102.1,249.0,-18.6,151,1521,0.00,0.90,0.00,0.000,6,0.000,0.037,1363,3353,2894,0,0,0,0,0,0
$GC,1841,-0.82,-102.1,301.0,-15.9,167,1846,0.00,0.93,0.00,0.000,4,0.000,0.057,1359,3944,2894,0,0,0,0,0,0
$GC,2105,-0.82,-102.1,347.9,-17.4,178,2109,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3345,2894,0,0,0,0,0,0
$GC,2428,-0.82,-102.1,396.7,-15.8,194,2432,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3951,2894,0,0,0,0,0,0
$GC,2692,-0.82,-102.1,440.1,-16.9,202,2697,0.08,0.90,0.00,0.000,6,0.194,0.037,1375,3355,2894,0,0,0,0,0,0
$GC,3013,-0.82,-102.1,486.4,-14.5,213,3016,0.00,0.93,0.00,0.000,4,0.000,0.058,1372,3946,2894,0,0,0,0,0,0
$GC,3270,-0.82,-102.1,529.3,-17.2,220,3274,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3346,2894,0,0,0,0,0,0
$GC,3590,-0.82,-102.1,577.7,-15.0,231,3594,0.00,0.95,0.00,0.000,4,0.000,0.058,1368,3951,2894,0,0,0,0,0,0
$GC,3669,-0.82,-102.1,590.6,-15.9,233,3673,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3353,2894,0,0,0,0,0,0
$GC,4001,-0.82,-102.1,641.6,-15.7,244,4004,0.00,0.98,0.00,0.000,4,0.000,0.060,1363,3955,2893,0,0,0,0,0,0
$GC,4153,-0.82,-102.1,667.2,-16.9,248,4156,0.00,0.93,0.00,0.000,6,0.000,0.037,1363,3344,2893,0,0,0,0,0,0
$GC,4477,-0.82,-102.1,717.3,-15.0,259,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3343,2892,0,0,0,0,0,0
$GC,4783,-0.82,-102.1,760.5,-13.9,269,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3343,2892,0,0,0,0,0,0
$GC,5091,-0.82,-102.1,802.1,-13.5,279,5094,0.00,0.95,0.00,0.000,4,0.000,0.060,1359,3946,2891,0,0,0,0,0,0
$GC,5348,-0.82,-102.1,842.0,-14.0,286,5351,0.00,0.90,0.00,0.000,6,0.000,0.039,1359,3353,2890,0,0,0,0,0,0
$GC,5667,-0.82,-102.1,887.3,-14.1,297,5670,0.00,0.95,0.00,0.000,4,0.000,0.060,1354,3954,2889,0,0,0,0,0,0
$GC,5928,-0.82,-102.1,925.1,-15.1,304,5932,0.08,0.93,0.00,0.000,6,0.205,0.040,1375,3346,2888,0,0,0,0,0,0
$GC,6248,-0.82,-102.1,962.7,-11.8,315,6252,0.00,0.95,0.00,0.000,4,0.000,0.062,1372,3949,2887,0,0,0,0,0,0
$GC,6354,-0.82,-102.1,977.0,-12.8,318,6357,0.00,0.90,0.00,0.000,6,0.000,0.040,1372,3354,2887,0,0,0,0,0,0
$STATE,6564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6564,begin apogee
$GC,6571,-0.14,0.0,1002.7,12.2,325,6680,0.77,0.00,106.38,1.218,6,0.172,0.000,1598,3145,2473,0,0,0,0,0,0
$STATE,6682,end apogee,CONTROL_FINISHED_OK
$STATE,6682,begin climb
$GC,6685,0.82,102.1,1004.7,0.0,328,6796,0.93,0.00,107.47,1.191,6,0.082,0.000,1906,3144,2057,0,0,0,0,0,0
$GC,7085,0.82,102.1,918.7,24.2,341,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3144,2033,0,0,0,0,0,0
$GC,7390,0.82,102.1,847.1,22.9,351,7394,0.00,1.33,0.00,0.000,4,0.000,0.056,1906,3954,2030,0,0,0,0,0,0
$GC,7493,0.82,102.1,820.2,27.4,354,7497,0.00,1.25,0.00,0.000,6,0.000,0.034,1912,3140,2029,0,0,0,0,0,0
$GC,7834,0.82,102.1,740.5,22.3,365,7839,0.00,1.30,0.00,0.000,4,0.000,0.055,1912,3946,2028,0,0,0,0,0,0
$GC,7939,0.82,102.1,715.2,26.0,368,7942,0.00,1.20,0.00,0.000,6,0.000,0.034,1918,3152,2028,0,0,0,0,0,0
$GC,8280,0.82,102.1,638.9,21.7,379,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3152,2027,0,0,0,0,0,0
$GC,8587,0.82,102.1,573.9,21.0,389,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3152,2026,0,0,0,0,0,0
$GC,8896,0.82,102.1,509.4,21.1,399,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3152,2025,0,0,0,0,0,0
$GC,9198,0.82,102.1,442.3,22.0,409,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3152,2025,0,0,0,0,0,0
$GC,9519,0.82,102.1,373.2,21.3,421,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3152,2024,0,0,0,0,0,0
$GC,9826,0.82,102.1,305.4,21.8,436,9830,0.00,1.27,0.00,0.000,4,0.000,0.055,1918,3951,2023,0,0,0,0,0,0
$GC,9899,0.82,102.1,288.2,24.7,439,9902,0.00,1.20,0.00,0.000,6,0.000,0.034,1924,3147,2023,0,0,0,0,0,0
$GC,10224,0.82,102.1,215.0,21.7,457,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3146,2022,0,0,0,0,0,0
$GC,10538,0.82,102.1,147.6,21.7,477,10541,0.00,1.27,0.00,0.000,4,0.000,0.054,1924,3955,2022,0,0,0,0,0,0
$GC,10612,0.82,102.1,131.1,23.0,481,10615,0.00,1.20,0.00,0.000,6,0.000,0.033,1930,3148,2022,0,0,0,0,0,0
$GC,10952,0.82,102.1,56.1,22.1,524,10961,0.00,1.25,0.00,0.000,4,0.000,0.054,1931,3946,2021,0,0,0,0,0,0
$GC,11163,0.82,102.1,8.1,21.3,557,11173,0.00,1.17,0.00,0.000,6,0.000,0.033,1936,3152,2021,0,0,0,0,0,0
$STATE,11188,end climb,SURFACE_DEPTH_REACHED
$STATE,11188,begin surface coast
$FINISH,0.9,1.001088
$STATE,11206,end surface coast,CONTROL_FINISHED_OK
$STATE,11206,begin surface
$SM_CCo,11223,158.18,0.770,1,0,543,472.69
$SM_GC,1.27,0.00,0.00,158.18,0.000,0.000,0.770,64,3373,543,-4.95,0.57,472.69
$IRIDIUM_FIX,-4218.64,815.66,121212,050556
$TT8_MAMPS,0.025466
$HUMID,54.17
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.6,6.281
$10V_AH,10.2,2.748
$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,12.275,33.500,213.850,158.175,0.000,24.737,27.380,647.912,0.000,0.000,26.714,1482.141,7230.906,455.968,2423.226,710.363,33.351,1212.416,0.000,1852.468,0.000,1.013,0.000
$DEVICE_MAMPS,237.915,82.620,1217.880,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.702,1234.276,581.985,260.212,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,40248,562
$CAP_FILE_SIZE,98965,0
$CFSIZE,259252224,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,121212,115122,-4234.530,819.600,35,0.8,35,-25.0