version: 66.07
glider: 543
mission: 6
dive: 411
start: 2 24 113 17 57 24
data:
$ID,543
$MISSION,6
$DIVE,411
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,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,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,-9045.9424
$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,65
$R_STBD_OVSHOOT,21
$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
$GPS1,240213,174604,-4236.625,839.256,41,0.9,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-48.9
$GPS2,240213,175623,-4236.579,839.418,16,1.2,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.041,-0.257
$KALMAN_X,59641.4,1617.1,341.7,-10051.3,176.9
$KALMAN_Y,364614.7,335.9,339.1,-377405.2,778.3
$MHEAD_RNG_PITCHd_Wd,214.1,434782,-17.5,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-146.1,0.0,0.0,0,71,0.00,0.00,-49.28,0.000,2,0.000,0.000,41,3385,2710,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.2,-4.5,6,105,5.70,0.95,-10.25,0.000,4,0.226,0.091,1442,3954,3073,0,0,0,0,0,0
$GC,312,-0.54,-146.1,34.1,-12.3,41,318,0.00,0.80,0.00,0.000,6,0.000,0.034,1442,3423,3075,0,0,0,0,0,0
$GC,560,-0.54,-146.1,59.4,-9.5,82,571,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3423,3075,0,0,0,0,0,0
$GC,809,-0.54,-146.1,81.4,-8.9,123,815,0.00,2.17,0.00,0.000,4,0.000,0.028,1442,1979,3075,0,0,0,0,0,0
$GC,890,-0.54,-146.1,87.7,-6.9,137,894,0.00,2.28,0.00,0.000,6,0.000,0.054,1431,3401,3076,0,0,0,0,0,0
$GC,1234,-0.54,-146.1,118.4,-9.3,176,1238,0.00,0.85,0.00,0.000,4,0.000,0.057,1427,3945,3076,0,0,0,0,0,0
$GC,1327,-0.54,-146.1,127.2,-9.3,181,1330,0.00,0.82,0.00,0.000,6,0.000,0.034,1427,3390,3076,0,0,0,0,0,0
$GC,1657,-0.54,-146.1,160.1,-10.4,202,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3390,3076,0,0,0,0,0,0
$GC,1970,-0.54,-146.1,191.6,-9.9,222,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3390,3077,0,0,0,0,0,0
$GC,2282,-0.54,-146.1,222.9,-10.2,242,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3390,3076,0,0,0,0,0,0
$GC,2605,-0.54,-146.1,255.0,-9.8,262,2609,0.00,2.08,0.00,0.000,4,0.000,0.028,1427,1975,3076,0,0,0,0,0,0
$GC,2640,-0.54,-146.1,258.6,-9.7,263,2648,0.12,2.28,0.00,0.000,6,0.152,0.054,1450,3399,3077,0,0,0,0,0,0
$GC,2959,-0.54,-146.1,283.7,-7.8,279,2965,0.00,0.85,0.00,0.000,4,0.000,0.058,1447,3941,3076,0,0,0,0,0,0
$GC,3043,-0.54,-146.1,291.1,-8.0,282,3047,0.00,0.80,0.00,0.000,6,0.000,0.034,1447,3406,3077,0,0,0,0,0,0
$GC,3367,-0.54,-146.1,316.7,-7.9,298,3371,0.00,2.12,0.00,0.000,4,0.000,0.028,1447,1974,3076,0,0,0,0,0,0
$GC,3410,-0.54,-146.1,320.2,-7.7,300,3416,0.00,2.30,0.00,0.000,6,0.000,0.053,1436,3394,3076,0,0,0,0,0,0
$GC,3746,-0.54,-146.1,349.9,-9.2,316,3749,0.00,0.88,0.00,0.000,4,0.000,0.057,1432,3950,3076,0,0,0,0,0,0
$GC,3819,-0.54,-146.1,356.9,-10.0,319,3822,0.00,0.82,0.00,0.000,6,0.000,0.033,1432,3398,3076,0,0,0,0,0,0
$GC,4154,-0.54,-146.1,389.3,-10.0,335,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3398,3076,0,0,0,0,0,0
$STATE,4274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4274,begin apogee
$GC,4282,-0.13,0.0,401.3,9.7,341,4415,0.50,0.00,130.30,0.876,6,0.129,0.000,1585,3279,2473,0,0,0,0,0,0
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4419,0.54,146.1,406.8,0.0,345,4555,0.60,2.20,127.18,0.849,4,0.083,0.024,1806,1857,1870,0,0,0,0,0,0
$GC,4597,0.55,162.7,393.7,9.3,351,4619,0.00,2.35,14.70,0.911,6,0.000,0.045,1806,3288,1805,0,0,0,0,0,0
$GC,4932,0.55,162.7,353.2,12.4,367,4938,0.00,1.05,0.00,0.000,4,0.000,0.053,1807,3950,1797,0,0,0,0,0,0
$GC,5194,0.55,162.7,313.8,14.9,378,5198,0.00,1.00,0.00,0.000,6,0.000,0.028,1811,3262,1796,0,0,0,0,0,0
$GC,5517,0.55,162.7,269.5,13.8,394,5520,0.00,1.10,0.00,0.000,4,0.000,0.053,1812,3953,1795,0,0,0,0,0,0
$GC,5711,0.55,162.7,240.1,15.3,403,5715,0.00,0.98,0.00,0.000,6,0.000,0.028,1817,3281,1795,0,0,0,0,0,0
$GC,6043,0.55,162.7,195.5,13.1,424,6047,0.00,1.08,0.00,0.000,4,0.000,0.053,1816,3957,1794,0,0,0,0,0,0
$GC,6151,0.55,162.7,179.8,14.7,430,6155,0.00,0.98,0.00,0.000,6,0.000,0.028,1822,3287,1794,0,0,0,0,0,0
$GC,6482,0.55,162.7,137.5,12.5,451,6486,0.00,1.05,0.00,0.000,4,0.000,0.054,1822,3950,1794,0,0,0,0,0,0
$GC,6606,0.55,162.7,120.1,13.7,458,6609,0.00,0.98,0.00,0.000,6,0.000,0.029,1826,3280,1794,0,0,0,0,0,0
$GC,6940,0.55,162.7,78.6,11.3,499,6945,0.00,1.08,0.00,0.000,4,0.000,0.053,1827,3954,1793,0,0,0,0,0,0
$GC,7038,0.55,162.7,66.5,14.6,516,7048,0.00,0.98,0.00,0.000,6,0.000,0.028,1832,3287,1793,0,0,0,0,0,0
$GC,7416,0.58,212.6,23.0,7.7,577,7462,0.00,1.12,39.20,0.637,4,0.000,0.055,1832,3960,1600,0,0,0,0,0,0
$STATE,7579,end climb,SURFACE_DEPTH_REACHED
$STATE,7579,begin surface coast
$FINISH,0.7,1.014251
$STATE,7607,end surface coast,CONTROL_FINISHED_OK
$STATE,7607,begin surface
$SM_CCo,7624,5.12,0.620,0,0,1534,230.09
$SM_GC,2.31,0.00,0.00,5.12,0.000,0.000,0.620,58,3406,1534,-4.90,0.17,230.09
$IRIDIUM_FIX,-4218.64,839.22,240213,151535
$TT8_MAMPS,0.025466
$HUMID,58.89
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.9,67.001
$10V_AH,9.9,48.117
$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,11.750,36.900,311.375,5.125,0.000,28.083,46.384,383.542,0.000,0.000,18.677,1422.519,3657.140,325.848,2112.960,736.884,33.379,997.459,0.000,1873.941,0.000,1.013,0.000
$DEVICE_MAMPS,226.440,91.035,911.115,620.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.110,1444.875,975.007,436.907,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,43819,604
$CAP_FILE_SIZE,79498,0
$CFSIZE,259252224,230936576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240213,200622,-4236.856,839.885,67,1.1,67,-25.1