version: 66.07
glider: 543
mission: 6
dive: 479
start: 3 7 113 1 39 4
data:
$ID,543
$MISSION,6
$DIVE,479
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$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,15
$T_MISSION,30
$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,150
$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,230
$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,-9280.7773
$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,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,33
$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
$GPS1,070313,012135,-4236.409,939.937,35,0.9,36,-25.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-58.0
$GPS2,070313,013807,-4236.289,939.897,21,1.1,22,-25.4
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,FLOAT
$TGT_LATLONG,-4234.355,942.252
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.272,-0.004
$KALMAN_X,162362.1,-53.1,-727.8,-27438.8,44.8
$KALMAN_Y,472100.3,-161.9,-899.4,-482599.8,326.1
$MHEAD_RNG_PITCHd_Wd,116.2,4810,-18.9,-11.111
$D_GRID,50
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-146.1,0.0,0.0,0,64,0.00,0.00,-41.35,0.000,2,0.000,0.000,65,3412,2510,0,0,0,0,0,0
$GC,68,-0.58,-146.1,3.1,-4.0,5,105,5.90,0.90,-17.45,0.000,4,0.238,0.094,1431,3937,3072,0,0,0,0,0,0
$GC,353,-0.58,-146.1,36.9,-11.9,48,361,0.00,0.80,0.00,0.000,6,0.000,0.034,1431,3414,3074,0,0,0,0,0,0
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,490,-0.13,0.0,50.4,10.4,69,623,0.47,0.00,122.95,0.630,6,0.143,0.000,1576,3280,2468,0,0,0,0,0,0
$STATE,626,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,629,0.58,146.1,55.7,0.0,87,766,0.70,1.12,123.03,0.606,4,0.096,0.054,1809,3947,1870,0,0,0,0,0,0
$GC,879,0.60,188.1,37.7,9.0,123,917,0.00,1.02,32.10,0.606,6,0.000,0.028,1814,3261,1701,0,0,0,0,0,0
$GC,1176,0.60,188.1,12.4,11.8,168,1187,0.00,1.10,0.00,0.000,4,0.000,0.054,1814,3942,1693,0,0,0,0,0,0
$STATE,1253,end climb,SURFACE_DEPTH_REACHED
$STATE,1253,begin surface coast
$FINISH,1.1,1.026137
$STATE,1279,end surface coast,CONTROL_FINISHED_OK
$STATE,1279,begin surface
$SM_CCo,1295,24.05,0.588,1,0,1535,230.09
$SM_GC,1.89,0.00,0.00,24.05,0.000,0.000,0.588,54,3382,1535,-4.92,-0.51,230.09
$IRIDIUM_FIX,-4221.55,942.17,070313,010133
$TT8_MAMPS,0.025466
$HUMID,53.26
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.1,75.780
$10V_AH,9.7,55.945
$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,11.725,5.950,278.075,24.050,0.000,57.492,101.963,550.021,0.000,0.000,23.747,388.482,106.154,252.431,1211.245,348.865,33.372,540.696,0.000,586.844,0.000,1.014,0.000
$DEVICE_MAMPS,237.915,94.095,630.360,588.285,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.527,475.936,412.894,367.150,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,13743,183
$CAP_FILE_SIZE,30934,0
$CFSIZE,259252224,226762752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070313,020205,-4236.118,939.804,15,1.0,16,-25.4