version: 66.07
glider: 543
mission: 6
dive: 50
start: 12 17 112 0 20 28
data:
$ID,543
$MISSION,6
$DIVE,50
$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,-7956.918
$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,32
$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
$GPS1,171212,001022,-4233.436,822.860,40,1.2,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-35.5
$GPS2,171212,001932,-4233.449,823.003,19,1.0,21,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.151,-0.040
$KALMAN_X,-7421.3,567.0,755.7,35215.1,-6467.3
$KALMAN_Y,75480.4,-1128.5,-697.6,-79940.0,6993.0
$MHEAD_RNG_PITCHd_Wd,130.0,7590,-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,20,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-88.88,0.000,6,0.000,0.000,58,3351,2694,0,0,0,0,0,0
$GC,115,-0.82,-105.1,2.9,-3.3,11,134,5.25,0.98,-6.22,0.000,4,0.226,0.083,1375,3950,2905,0,0,0,0,0,0
$GC,412,-0.82,-105.1,59.6,-18.9,58,423,0.00,0.93,0.00,0.000,6,0.000,0.036,1375,3348,2907,0,0,0,0,0,0
$GC,670,-0.82,-105.1,102.7,-17.1,99,674,0.00,0.95,0.00,0.000,4,0.000,0.057,1371,3943,2907,0,0,0,0,0,0
$GC,937,-0.82,-105.1,152.4,-17.8,114,940,0.00,0.90,0.00,0.000,6,0.000,0.036,1371,3350,2909,0,0,0,0,0,0
$GC,1263,-0.82,-105.1,206.1,-16.5,135,1269,0.00,0.95,0.00,0.000,4,0.000,0.057,1366,3950,2908,0,0,0,0,0,0
$GC,1533,-0.82,-105.1,254.2,-17.5,150,1537,0.00,0.90,0.00,0.000,6,0.000,0.036,1366,3352,2909,0,0,0,0,0,0
$GC,1856,-0.82,-105.1,306.7,-16.4,166,1859,0.00,0.95,0.00,0.000,4,0.000,0.057,1362,3953,2908,0,0,0,0,0,0
$GC,2113,-0.82,-105.1,353.4,-19.3,177,2117,0.00,0.90,0.00,0.000,6,0.000,0.036,1362,3352,2908,0,0,0,0,0,0
$GC,2437,-0.82,-105.1,407.4,-16.4,192,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3352,2908,0,0,0,0,0,0
$GC,2742,-0.82,-105.1,455.9,-15.7,202,2747,0.00,0.95,0.00,0.000,4,0.000,0.057,1358,3954,2908,0,0,0,0,0,0
$GC,2928,-0.82,-105.1,487.4,-16.7,207,2933,0.00,0.90,0.00,0.000,6,0.000,0.037,1358,3354,2908,0,0,0,0,0,0
$GC,3253,-0.82,-105.1,539.2,-15.9,218,3258,0.00,0.95,0.00,0.000,4,0.000,0.059,1353,3944,2908,0,0,0,0,0,0
$GC,3326,-0.82,-105.1,551.9,-17.6,220,3330,0.08,0.88,0.00,0.000,6,0.188,0.037,1374,3359,2908,0,0,0,0,0,0
$GC,3662,-0.82,-105.1,602.4,-15.1,231,3667,0.00,0.93,0.00,0.000,4,0.000,0.059,1371,3949,2907,0,0,0,0,0,0
$GC,3785,-0.82,-105.1,622.8,-16.5,234,3789,0.00,0.90,0.00,0.000,6,0.000,0.037,1371,3351,2907,0,0,0,0,0,0
$GC,4105,-0.82,-105.1,672.7,-15.9,245,4108,0.00,0.95,0.00,0.000,4,0.000,0.060,1367,3953,2907,0,0,0,0,0,0
$GC,4240,-0.82,-105.1,696.4,-16.9,249,4244,0.00,0.90,0.00,0.000,6,0.000,0.038,1367,3354,2906,0,0,0,0,0,0
$GC,4581,-0.82,-105.1,749.5,-15.2,260,4586,0.00,0.95,0.00,0.000,4,0.000,0.061,1362,3942,2906,0,0,0,0,0,0
$GC,4700,-0.82,-105.1,769.3,-16.5,263,4704,0.00,0.90,0.00,0.000,6,0.000,0.037,1362,3346,2906,0,0,0,0,0,0
$GC,5024,-0.82,-105.1,815.7,-14.3,274,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3346,2904,0,0,0,0,0,0
$GC,5330,-0.82,-105.1,860.4,-14.4,284,5334,0.00,0.95,0.00,0.000,4,0.000,0.060,1358,3947,2904,0,0,0,0,0,0
$GC,5408,-0.82,-105.1,873.1,-16.4,286,5412,0.00,0.90,0.00,0.000,6,0.000,0.039,1358,3354,2903,0,0,0,0,0,0
$GC,5739,-0.82,-105.1,920.4,-14.4,297,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3352,2903,0,0,0,0,0,0
$GC,6046,-0.82,-105.1,965.2,-14.3,307,6050,0.00,0.95,0.00,0.000,4,0.000,0.060,1354,3953,2902,0,0,0,0,0,0
$GC,6265,-0.82,-105.1,998.4,-16.6,313,6271,0.08,0.93,0.00,0.000,6,0.197,0.037,1374,3341,2901,0,0,0,0,0,0
$STATE,6274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6274,begin apogee
$GC,6282,-0.14,0.0,1000.2,16.0,313,6391,0.73,0.00,101.07,1.819,6,0.172,0.000,1591,3250,2473,0,0,0,0,1,0
$STATE,6392,end apogee,CONTROL_FINISHED_OK
$STATE,6392,begin climb
$GC,6395,0.82,105.1,1003.6,0.0,317,6511,0.98,0.00,107.12,1.805,6,0.082,0.000,1909,3250,2044,0,0,0,0,1,0
$GC,6805,0.82,105.1,920.1,23.4,331,6809,0.00,1.17,0.00,0.000,4,0.000,0.056,1909,3947,2038,0,0,0,0,0,0
$GC,6849,0.82,105.1,908.6,26.1,332,6852,0.00,1.10,0.00,0.000,6,0.000,0.034,1915,3241,2037,0,0,0,0,0,0
$GC,7178,0.82,105.1,829.6,23.9,343,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3241,2033,0,0,0,0,0,0
$GC,7485,0.82,105.1,758.5,23.1,353,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3241,2032,0,0,0,0,0,0
$GC,7792,0.82,105.1,690.2,22.0,363,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3241,2030,0,0,0,0,0,0
$GC,8097,0.82,105.1,620.3,22.8,373,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3241,2030,0,0,0,0,0,0
$GC,8403,0.82,105.1,550.3,22.7,383,8407,0.00,1.15,0.00,0.000,4,0.000,0.054,1914,3956,2029,0,0,0,0,0,0
$GC,8453,0.82,105.1,537.9,24.6,384,8457,0.00,1.08,0.00,0.000,6,0.000,0.034,1920,3243,2029,0,0,0,0,0,0
$GC,8778,0.82,105.1,464.9,22.5,395,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2028,0,0,0,0,0,0
$GC,9084,0.82,105.1,395.3,22.8,405,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2028,0,0,0,0,0,0
$GC,9395,0.82,105.1,328.5,21.2,420,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2028,0,0,0,0,0,0
$GC,9705,0.82,105.1,261.7,21.9,435,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2027,0,0,0,0,0,0
$GC,10016,0.82,105.1,193.5,22.2,454,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2027,0,0,0,0,0,0
$GC,10328,0.82,105.1,124.6,20.8,474,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2027,0,0,0,0,0,0
$GC,10661,0.82,105.1,54.3,20.5,518,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2027,0,0,0,0,0,0
$GC,10923,0.82,105.1,4.9,18.0,559,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3243,2027,0,0,0,0,0,0
$STATE,10940,end climb,SURFACE_DEPTH_REACHED
$STATE,10940,begin surface coast
$FINISH,1.0,1.013260
$STATE,10960,end surface coast,CONTROL_FINISHED_OK
$STATE,10960,begin surface
$SM_CCo,10977,165.12,0.767,1,0,504,482.50
$SM_GC,1.31,0.00,0.00,165.12,0.000,0.000,0.767,70,3369,504,-4.94,0.45,482.50
$IRIDIUM_FIX,-4215.72,818.13,161212,202010
$TT8_MAMPS,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.9,11.469
$10V_AH,10.1,5.707
$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,12.025,25.200,208.200,165.125,0.000,28.054,44.948,317.259,0.000,0.000,23.249,1440.617,7159.979,467.161,1978.104,651.651,33.347,1167.046,0.000,1738.818,0.000,1.011,0.000
$DEVICE_MAMPS,226.440,83.385,1819.170,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.861,1271.390,607.770,285.145,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,40487,564
$CAP_FILE_SIZE,88290,0
$CFSIZE,259252224,255275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,171212,032734,-4233.382,824.875,38,1.3,38,-25.0