version: 66.07
glider: 543
mission: 6
dive: 413
start: 2 24 113 22 39 39
data:
$ID,543
$MISSION,6
$DIVE,413
$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,-9052.7803
$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,47
$R_STBD_OVSHOOT,25
$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
$GPS1,240213,222856,-4236.892,840.269,18,0.7,19,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-45.5
$GPS2,240213,223838,-4236.823,840.379,25,0.7,27,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.199,-0.168
$KALMAN_X,64118.8,293.7,-345.6,-11207.4,1589.5
$KALMAN_Y,368041.8,577.8,31.0,-381221.2,1382.8
$MHEAD_RNG_PITCHd_Wd,254.8,434464,-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,-49.25,0.000,2,0.000,0.000,50,3406,2736,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.3,-5.1,6,95,5.72,0.93,-9.20,0.000,4,0.228,0.087,1443,3961,3071,0,0,0,0,0,0
$GC,168,-0.54,-146.1,14.1,-11.5,19,179,0.00,0.85,0.00,0.000,6,0.000,0.034,1443,3407,3074,0,0,0,0,0,0
$GC,260,-0.54,-146.1,25.9,-15.5,32,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3407,3075,0,0,0,0,0,0
$GC,351,-0.54,-146.1,37.6,-13.2,45,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3407,3075,0,0,0,0,0,0
$GC,596,-0.54,-146.1,64.1,-10.9,86,602,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3407,3075,0,0,0,0,0,0
$GC,945,-0.54,-146.1,99.1,-8.8,147,951,0.00,2.15,0.00,0.000,4,0.000,0.029,1443,1984,3075,0,0,0,0,0,0
$GC,1145,-0.54,-146.1,116.2,-8.0,160,1151,0.00,2.30,0.00,0.000,6,0.000,0.052,1432,3401,3076,0,0,0,0,0,0
$GC,1483,-0.54,-146.1,145.2,-8.8,181,1486,0.00,0.88,0.00,0.000,4,0.000,0.057,1428,3958,3077,0,0,0,0,0,0
$GC,1553,-0.54,-146.1,152.0,-9.3,185,1557,0.00,0.85,0.00,0.000,6,0.000,0.033,1428,3388,3077,0,0,0,0,0,0
$GC,1887,-0.54,-146.1,183.4,-9.7,206,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3388,3077,0,0,0,0,0,0
$GC,2197,-0.54,-146.1,213.6,-9.6,226,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3388,3077,0,0,0,0,0,0
$GC,2509,-0.54,-146.1,243.0,-9.0,246,2512,0.00,0.90,0.00,0.000,4,0.000,0.058,1424,3954,3076,0,0,0,0,0,0
$GC,2555,-0.54,-146.1,247.6,-9.8,248,2564,0.03,0.82,0.00,0.000,6,0.179,0.032,1433,3403,3077,0,0,0,0,0,0
$GC,2884,-0.54,-146.1,276.7,-8.8,265,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3403,3077,0,0,0,0,0,0
$GC,3193,-0.54,-146.1,305.5,-9.1,280,3196,0.00,0.88,0.00,0.000,4,0.000,0.058,1430,3954,3077,0,0,0,0,0,0
$GC,3241,-0.54,-146.1,310.3,-10.1,282,3247,0.00,0.82,0.00,0.000,6,0.000,0.034,1430,3399,3076,0,0,0,0,0,0
$GC,3577,-0.54,-146.1,341.6,-9.3,298,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3399,3077,0,0,0,0,0,0
$GC,3887,-0.54,-146.1,371.0,-9.4,313,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3399,3076,0,0,0,0,0,0
$GC,4196,-0.54,-146.1,399.6,-9.3,328,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3399,3076,0,0,0,0,0,0
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4217,begin apogee
$GC,4224,-0.13,0.0,401.6,9.4,329,4367,0.50,0.00,135.52,1.321,6,0.129,0.000,1583,3280,2474,0,0,0,0,1,0
$STATE,4369,end apogee,CONTROL_FINISHED_OK
$STATE,4369,begin climb
$GC,4372,0.54,146.1,406.9,0.0,334,4511,0.62,2.30,131.73,0.819,4,0.080,0.024,1807,1855,1872,0,0,0,0,0,0
$GC,4538,0.54,146.1,393.4,10.6,339,4543,0.00,2.45,0.00,0.000,6,0.000,0.044,1807,3287,1868,0,0,0,0,0,0
$GC,4874,0.54,146.1,350.7,12.9,355,4879,0.00,1.05,0.00,0.000,4,0.000,0.052,1807,3949,1862,0,0,0,0,0,0
$GC,5119,0.54,146.1,315.8,14.5,365,5126,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3259,1860,0,0,0,0,0,0
$GC,5438,0.54,146.1,276.0,12.7,381,5443,0.00,1.10,0.00,0.000,4,0.000,0.054,1812,3949,1859,0,0,0,0,0,0
$GC,5673,0.54,146.1,240.3,15.4,392,5680,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3280,1859,0,0,0,0,0,0
$GC,5996,0.54,146.1,195.8,14.0,413,6000,0.00,1.05,0.00,0.000,4,0.000,0.051,1818,3951,1857,0,0,0,0,0,0
$GC,6159,0.54,146.1,170.4,15.0,422,6164,0.00,0.98,0.00,0.000,6,0.000,0.028,1822,3283,1857,0,0,0,0,0,0
$GC,6486,0.54,146.1,125.4,13.4,443,6490,0.00,1.08,0.00,0.000,4,0.000,0.053,1823,3958,1857,0,0,0,0,0,0
$GC,6757,0.54,146.1,87.1,13.2,469,6762,0.00,1.00,0.00,0.000,6,0.000,0.029,1828,3273,1856,0,0,0,0,0,0
$GC,7117,0.54,146.1,49.1,10.6,530,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3273,1855,0,0,0,0,0,0
$GC,7375,0.54,146.1,20.3,12.3,571,7385,0.00,1.08,0.00,0.000,4,0.000,0.052,1828,3954,1855,0,0,0,0,0,0
$STATE,7527,end climb,SURFACE_DEPTH_REACHED
$STATE,7527,begin surface coast
$FINISH,0.9,1.026072
$STATE,7559,end surface coast,CONTROL_FINISHED_OK
$STATE,7559,begin surface
$SM_CCo,7576,39.92,0.675,1,0,1533,230.09
$SM_GC,1.55,0.00,0.00,39.92,0.000,0.000,0.675,47,3406,1533,-4.94,0.17,230.09
$IRIDIUM_FIX,-4218.64,839.66,240213,171720
$TT8_MAMPS,0.025466
$HUMID,57.67
$INTERNAL_PRESSURE,9.09332
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.1,67.211
$10V_AH,9.9,48.319
$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,11.650,26.400,267.250,39.925,0.000,25.926,19.937,368.520,0.000,0.000,28.844,1412.151,3624.477,350.749,2077.002,746.615,33.367,1010.075,0.000,1894.545,0.000,1.012,0.000
$DEVICE_MAMPS,227.970,87.210,1321.155,675.495,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.518,1441.322,976.877,441.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,43876,598
$CAP_FILE_SIZE,77083,0
$CFSIZE,259252224,230842368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,250213,004759,-4236.917,840.018,37,1.0,37,-25.1