version: 66.07
glider: 543
mission: 6
dive: 412
start: 2 24 113 20 17 29
data:
$ID,543
$MISSION,6
$DIVE,412
$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,-9049.3223
$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,49
$R_STBD_OVSHOOT,23
$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
$GPS1,240213,200622,-4236.856,839.885,67,1.1,67,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-54.4
$GPS2,240213,201628,-4236.796,839.981,19,0.9,20,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.117,-0.233
$KALMAN_X,61857.2,1031.5,-303.2,-10272.1,837.9
$KALMAN_Y,366206.4,445.5,183.4,-379358.2,1061.1
$MHEAD_RNG_PITCHd_Wd,231.7,434458,-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,-49.22,0.000,2,0.000,0.000,57,3405,2730,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.2,-4.4,6,103,5.62,2.20,-9.18,0.000,4,0.225,0.043,1444,1987,3074,0,0,0,0,0,0
$GC,326,-0.54,-146.1,35.3,-12.4,44,337,0.00,2.30,0.00,0.000,6,0.000,0.054,1435,3397,3075,0,0,0,0,0,0
$GC,585,-0.54,-146.1,64.7,-11.5,85,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3397,3076,0,0,0,0,0,0
$GC,939,-0.54,-146.1,98.8,-8.9,146,946,0.00,2.10,0.00,0.000,4,0.000,0.028,1435,1979,3077,0,0,0,0,0,0
$GC,1039,-0.54,-146.1,107.8,-9.2,153,1046,0.00,2.28,0.00,0.000,6,0.000,0.054,1424,3402,3077,0,0,0,0,0,0
$GC,1359,-0.54,-146.1,138.0,-9.2,174,1363,0.00,0.85,0.00,0.000,4,0.000,0.057,1419,3947,3077,0,0,0,0,0,0
$GC,1466,-0.54,-146.1,149.4,-10.8,180,1471,0.08,0.80,0.00,0.000,6,0.142,0.034,1444,3412,3077,0,0,0,0,0,0
$GC,1797,-0.54,-146.1,177.0,-8.7,201,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3412,3077,0,0,0,0,0,0
$GC,2107,-0.54,-146.1,205.3,-9.3,221,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3412,3077,0,0,0,0,0,0
$GC,2420,-0.54,-146.1,234.6,-9.3,241,2424,0.00,2.12,0.00,0.000,4,0.000,0.028,1444,1974,3077,0,0,0,0,0,0
$GC,2484,-0.54,-146.1,240.6,-8.6,245,2488,0.00,2.30,0.00,0.000,6,0.000,0.053,1435,3408,3077,0,0,0,0,0,0
$GC,2820,-0.54,-146.1,273.1,-9.7,263,2825,0.00,0.85,0.00,0.000,4,0.000,0.058,1431,3950,3077,0,0,0,0,0,0
$GC,2937,-0.54,-146.1,285.8,-10.3,268,2941,0.00,0.82,0.00,0.000,6,0.000,0.033,1431,3396,3077,0,0,0,0,0,0
$GC,3272,-0.54,-146.1,316.9,-8.9,284,3276,0.00,2.10,0.00,0.000,4,0.000,0.027,1430,1973,3077,0,0,0,0,0,0
$GC,3315,-0.54,-146.1,320.6,-8.7,286,3321,0.08,2.33,0.00,0.000,6,0.125,0.054,1446,3401,3077,0,0,0,0,0,0
$GC,3653,-0.54,-146.1,347.7,-7.9,302,3657,0.00,0.88,0.00,0.000,4,0.000,0.057,1444,3958,3077,0,0,0,0,0,0
$GC,3773,-0.54,-146.1,357.5,-8.1,307,3777,0.00,0.82,0.00,0.000,6,0.000,0.034,1444,3403,3077,0,0,0,0,0,0
$GC,4109,-0.54,-146.1,381.2,-7.5,323,4114,0.00,2.12,0.00,0.000,4,0.000,0.026,1443,1967,3077,0,0,0,0,0,0
$GC,4168,-0.54,-146.1,386.0,-7.7,325,4172,0.00,2.30,0.00,0.000,6,0.000,0.050,1433,3412,3076,0,0,0,0,0,0
$STATE,4339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4339,begin apogee
$GC,4346,-0.13,0.0,400.3,8.4,333,4480,0.47,0.00,130.80,0.874,6,0.128,0.000,1579,3277,2473,0,0,0,0,0,0
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4484,0.54,146.1,404.7,0.0,337,4623,0.62,2.25,127.85,0.839,4,0.085,0.024,1807,1860,1869,0,0,0,0,0,0
$GC,4659,0.54,146.1,389.7,10.5,344,4664,0.00,2.33,0.00,0.000,6,0.000,0.044,1807,3279,1863,0,0,0,0,0,0
$GC,4988,0.54,146.1,349.2,12.7,360,4992,0.00,1.05,0.00,0.000,4,0.000,0.052,1807,3949,1857,0,0,0,0,0,0
$GC,5254,0.54,146.1,311.4,13.9,371,5258,0.00,1.00,0.00,0.000,6,0.000,0.028,1812,3260,1855,0,0,0,0,0,0
$GC,5578,0.54,146.1,270.1,12.6,387,5583,0.00,1.10,0.00,0.000,4,0.000,0.053,1812,3950,1854,0,0,0,0,0,0
$GC,5841,0.54,146.1,232.6,14.6,400,5845,0.00,0.98,0.00,0.000,6,0.000,0.028,1817,3276,1853,0,0,0,0,0,0
$GC,6176,0.54,146.1,189.8,12.7,421,6180,0.00,1.08,0.00,0.000,4,0.000,0.053,1817,3954,1853,0,0,0,0,0,0
$GC,6336,0.54,146.1,166.5,14.5,430,6340,0.00,0.98,0.00,0.000,6,0.000,0.028,1822,3284,1853,0,0,0,0,0,0
$GC,6663,0.54,146.1,124.7,13.0,451,6667,0.00,1.05,0.00,0.000,4,0.000,0.053,1822,3947,1853,0,0,0,0,0,0
$GC,6895,0.54,146.1,92.3,13.4,470,6902,0.00,0.98,0.00,0.000,6,0.000,0.028,1827,3272,1853,0,0,0,0,0,0
$GC,7257,0.54,146.1,54.8,11.8,531,7263,0.00,2.08,0.00,0.000,4,0.000,0.025,1838,1863,1852,0,0,0,0,0,0
$GC,7355,0.56,173.9,45.9,8.7,546,7380,0.08,2.28,18.45,0.687,6,0.138,0.046,1813,3284,1761,0,0,0,0,0,0
$GC,7630,0.56,173.9,16.7,11.8,589,7641,0.00,1.05,0.00,0.000,4,0.000,0.053,1813,3954,1752,0,0,0,0,0,0
$STATE,7737,end climb,SURFACE_DEPTH_REACHED
$STATE,7737,begin surface coast
$FINISH,1.0,1.026085
$STATE,7774,end surface coast,CONTROL_FINISHED_OK
$STATE,7774,begin surface
$SM_CCo,7790,30.00,0.654,1,0,1534,230.09
$SM_GC,1.45,0.00,0.00,30.00,0.000,0.000,0.654,50,3406,1534,-4.93,0.17,230.09
$IRIDIUM_FIX,-4218.64,839.66,240213,171720
$TT8_MAMPS,0.025466
$HUMID,57.83
$INTERNAL_PRESSURE,9.09332
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.9,67.098
$10V_AH,9.9,48.220
$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,11.600,46.350,277.100,30.000,0.000,26.489,48.096,367.900,0.000,0.000,21.801,1459.745,3666.776,342.443,2211.300,758.988,33.366,1035.237,0.000,1967.540,0.000,1.013,0.000
$DEVICE_MAMPS,224.910,58.140,874.395,654.075,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.198,1483.030,996.994,445.698,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,47178,610
$CAP_FILE_SIZE,82959,0
$CFSIZE,259252224,230879232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,240213,222856,-4236.892,840.269,18,0.7,19,-25.1