version: 66.07
glider: 543
mission: 6
dive: 48
start: 12 16 112 17 19 2
data:
$ID,543
$MISSION,6
$DIVE,48
$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,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,482.49722
$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,-7950.0264
$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,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,24
$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
$GPS1,161212,170256,-4232.162,820.208,41,6.9,61,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-27.5
$GPS2,161212,171806,-4231.995,820.185,27,1.2,28,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.156,0.001
$KALMAN_X,-3719.6,361.3,-258.3,28891.2,-1736.2
$KALMAN_Y,73372.5,-503.6,154.5,-76620.0,3652.3
$MHEAD_RNG_PITCHd_Wd,114.4,3704,-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,17,begin dive
$GC,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-89.32,0.000,6,0.000,0.000,65,3338,2694,0,0,0,0,0,0
$GC,115,-0.82,-105.6,2.8,-3.2,11,135,5.40,1.00,-6.15,0.000,4,0.240,0.080,1372,3955,2907,0,0,0,0,0,0
$GC,413,-0.82,-105.6,59.8,-19.0,58,424,0.00,0.93,0.00,0.000,6,0.000,0.035,1373,3350,2908,0,0,0,0,0,0
$GC,669,-0.82,-105.6,102.6,-16.2,99,672,0.00,0.95,0.00,0.000,4,0.000,0.056,1370,3949,2909,0,0,0,0,0,0
$GC,935,-0.82,-105.6,151.1,-17.4,114,938,0.00,0.90,0.00,0.000,6,0.000,0.034,1369,3352,2909,0,0,0,0,0,0
$GC,1262,-0.82,-105.6,205.0,-16.5,135,1268,0.00,0.95,0.00,0.000,4,0.000,0.056,1365,3952,2909,0,0,0,0,0,0
$GC,1531,-0.82,-105.6,253.1,-18.2,150,1535,0.00,0.90,0.00,0.000,6,0.000,0.034,1365,3352,2909,0,0,0,0,0,0
$GC,1854,-0.82,-105.6,306.0,-16.4,166,1857,0.00,0.93,0.00,0.000,4,0.000,0.056,1361,3940,2909,0,0,0,0,0,0
$GC,2119,-0.82,-105.6,353.1,-17.3,177,2123,0.00,0.88,0.00,0.000,6,0.000,0.035,1361,3354,2909,0,0,0,0,0,0
$GC,2452,-0.82,-105.6,406.5,-16.2,193,2455,0.00,0.93,0.00,0.000,4,0.000,0.057,1356,3944,2909,0,0,0,0,0,0
$GC,2535,-0.82,-105.6,421.4,-17.3,195,2539,0.00,0.90,0.00,0.000,6,0.000,0.035,1356,3345,2909,0,0,0,0,0,0
$GC,2860,-0.82,-105.6,474.8,-16.4,206,2864,0.12,0.98,0.00,0.000,4,0.203,0.058,1381,3956,2909,0,0,0,0,0,0
$GC,2971,-0.82,-105.6,493.3,-16.7,209,2975,0.00,0.90,0.00,0.000,6,0.000,0.035,1381,3352,2909,0,0,0,0,0,0
$GC,3302,-0.82,-105.6,541.1,-14.4,220,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,1381,3351,2908,0,0,0,0,0,0
$GC,3608,-0.82,-105.6,585.9,-14.4,230,3612,0.00,0.95,0.00,0.000,4,0.000,0.058,1377,3954,2908,0,0,0,0,0,0
$GC,3691,-0.82,-105.6,599.4,-16.2,232,3695,0.00,0.90,0.00,0.000,6,0.000,0.036,1377,3352,2908,0,0,0,0,0,0
$GC,4016,-0.82,-105.6,647.7,-14.8,243,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3351,2907,0,0,0,0,0,0
$GC,4322,-0.82,-105.6,691.8,-14.1,253,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3351,2906,0,0,0,0,0,0
$GC,4628,-0.82,-105.6,734.6,-14.1,263,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3351,2905,0,0,0,0,0,0
$GC,4935,-0.82,-105.6,777.1,-13.8,273,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3352,2904,0,0,0,0,0,0
$GC,5241,-0.82,-105.6,818.4,-13.6,283,5246,0.00,0.98,0.00,0.000,4,0.000,0.060,1373,3953,2903,0,0,0,0,0,0
$GC,5421,-0.82,-105.6,845.2,-14.6,288,5424,0.00,0.90,0.00,0.000,6,0.000,0.038,1372,3355,2903,0,0,0,0,0,0
$GC,5750,-0.82,-105.6,889.6,-13.4,299,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3354,2902,0,0,0,0,0,0
$GC,6057,-0.82,-105.6,929.7,-13.3,309,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3354,2901,0,0,0,0,0,0
$GC,6364,-0.82,-105.6,970.0,-13.1,319,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3353,2900,0,0,0,0,0,0
$STATE,6605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6605,begin apogee
$GC,6612,-0.14,0.0,1002.8,13.4,327,6721,0.77,0.00,100.65,1.815,6,0.174,0.000,1597,3245,2472,0,0,0,0,1,0
$STATE,6722,end apogee,CONTROL_FINISHED_OK
$STATE,6723,begin climb
$GC,6726,0.82,105.6,1005.7,0.0,330,6841,0.93,0.00,106.65,1.795,6,0.080,0.000,1906,3245,2042,0,0,0,0,1,0
$GC,7125,0.82,105.6,922.7,23.9,343,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3245,2037,0,0,0,0,0,0
$GC,7432,0.82,105.6,847.6,24.3,353,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3245,2035,0,0,0,0,0,0
$GC,7737,0.82,105.6,775.5,22.8,363,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3245,2032,0,0,0,0,0,0
$GC,8044,0.82,105.6,706.3,22.8,373,8047,0.00,1.15,0.00,0.000,4,0.000,0.055,1906,3951,2031,0,0,0,0,0,0
$GC,8105,0.82,105.6,691.0,25.3,374,8113,0.00,1.10,0.00,0.000,6,0.000,0.034,1911,3229,2031,0,0,0,0,0,0
$GC,8418,0.82,105.6,620.1,22.7,385,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3229,2030,0,0,0,0,0,0
$GC,8724,0.82,105.6,552.3,21.7,395,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3229,2029,0,0,0,0,0,0
$GC,9032,0.82,105.6,485.6,21.8,405,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3229,2028,0,0,0,0,0,0
$GC,9337,0.82,105.6,418.5,22.0,415,9342,0.00,1.15,0.00,0.000,4,0.000,0.054,1912,3942,2028,0,0,0,0,0,0
$GC,9421,0.82,105.6,397.8,23.7,417,9425,0.00,1.05,0.00,0.000,6,0.000,0.034,1917,3244,2028,0,0,0,0,0,0
$GC,9751,0.82,105.6,322.8,23.3,433,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3245,2027,0,0,0,0,0,0
$GC,10059,0.82,105.6,253.2,22.6,448,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3244,2027,0,0,0,0,0,0
$GC,10377,0.82,105.6,185.5,21.1,468,10380,0.00,1.12,0.00,0.000,4,0.000,0.054,1918,3948,2027,0,0,0,0,0,0
$GC,10470,0.82,105.6,165.0,23.4,473,10473,0.00,1.05,0.00,0.000,6,0.000,0.033,1922,3243,2027,0,0,0,0,0,0
$GC,10792,0.82,105.6,96.0,21.4,494,10799,0.00,2.10,0.00,0.000,4,0.000,0.032,1933,1832,2027,0,0,0,0,0,0
$GC,10817,0.82,105.6,90.0,20.9,498,10828,0.00,2.25,0.00,0.000,6,0.000,0.048,1934,3245,2026,0,0,0,0,0,0
$GC,11197,0.82,105.6,15.2,16.6,559,11207,0.00,1.10,0.00,0.000,4,0.000,0.050,1933,3951,2026,0,0,0,0,0,0
$STATE,11250,end climb,SURFACE_DEPTH_REACHED
$STATE,11250,begin surface coast
$FINISH,0.9,1.026045
$STATE,11265,end surface coast,CONTROL_FINISHED_OK
$STATE,11265,begin surface
$SM_CCo,11282,165.73,0.780,1,0,504,482.50
$SM_GC,1.38,0.00,0.00,165.73,0.000,0.000,0.780,62,3351,504,-4.96,-0.03,482.50
$IRIDIUM_FIX,-4218.64,821.44,161212,171719
$TT8_MAMPS,0.025466
$HUMID,54.13
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,23.0,11.125
$10V_AH,10.1,5.526
$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,12.250,27.975,207.300,165.725,0.000,54.343,72.256,515.278,0.000,0.000,30.127,1431.245,7637.803,463.905,2151.602,674.275,33.350,1131.770,0.000,1663.262,0.000,1.013,0.000
$DEVICE_MAMPS,240.210,79.560,1815.345,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.241,1258.691,586.628,276.105,0.000,0.000,0.000,0.000,0.000,0.000
$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,43568,568
$CAP_FILE_SIZE,89663,0
$CFSIZE,259252224,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,161212,203104,-4231.806,821.453,28,1.2,28,-25.0