version: 66.07
glider: 543
mission: 6
dive: 414
start: 2 25 113 0 58 25
data:
$ID,543
$MISSION,6
$DIVE,414
$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,-9056.1123
$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,46
$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
$GPS1,250213,004759,-4236.917,840.018,37,1.0,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-52.0
$GPS2,250213,005724,-4236.922,840.045,15,0.9,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.134,-0.223
$KALMAN_X,65221.9,-373.5,337.6,-12776.4,950.2
$KALMAN_Y,368919.9,721.2,165.9,-382555.7,746.8
$MHEAD_RNG_PITCHd_Wd,236.1,434236,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-50.90,0.000,2,0.000,0.000,46,3406,2762,0,0,0,0,0,0
$GC,78,-0.54,-146.1,3.1,-4.7,6,97,5.72,0.00,-8.15,0.000,6,0.226,0.000,1447,3405,3072,0,0,0,0,0,0
$GC,177,-0.54,-146.1,15.5,-9.5,20,186,0.00,0.88,0.00,0.000,4,0.000,0.057,1444,3953,3075,0,0,0,0,0,0
$GC,247,-0.54,-146.1,23.3,-12.3,30,258,0.00,0.82,0.00,0.000,6,0.000,0.034,1444,3409,3075,0,0,0,0,0,0
$GC,335,-0.54,-146.1,32.3,-8.8,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3409,3075,0,0,0,0,0,0
$GC,586,-0.54,-146.1,58.6,-10.7,84,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3409,3076,0,0,0,0,0,0
$GC,823,-0.54,-146.1,83.6,-9.5,125,827,0.00,2.12,0.00,0.000,4,0.000,0.028,1444,1984,3076,0,0,0,0,0,0
$GC,959,-0.54,-146.1,95.6,-8.8,148,966,0.00,2.28,0.00,0.000,6,0.000,0.053,1433,3404,3076,0,0,0,0,0,0
$GC,1300,-0.54,-146.1,124.0,-8.5,175,1304,0.00,0.85,0.00,0.000,4,0.000,0.057,1429,3947,3077,0,0,0,0,0,0
$GC,1353,-0.54,-146.1,129.5,-9.9,178,1357,0.00,0.82,0.00,0.000,6,0.000,0.033,1428,3395,3077,0,0,0,0,0,0
$GC,1688,-0.54,-146.1,162.3,-10.3,199,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3395,3077,0,0,0,0,0,0
$GC,1998,-0.54,-146.1,194.5,-10.4,219,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3395,3077,0,0,0,0,0,0
$GC,2312,-0.54,-146.1,225.6,-9.7,239,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3395,3077,0,0,0,0,0,0
$GC,2634,-0.54,-146.1,255.0,-8.9,259,2639,0.00,0.88,0.00,0.000,4,0.000,0.057,1425,3948,3077,0,0,0,0,0,0
$GC,2673,-0.54,-146.1,259.0,-9.4,260,2681,0.00,0.82,0.00,0.000,6,0.000,0.033,1425,3397,3077,0,0,0,0,0,0
$GC,2992,-0.54,-146.1,286.7,-8.5,276,2996,0.00,2.10,0.00,0.000,4,0.000,0.028,1425,1978,3077,0,0,0,0,0,0
$GC,3027,-0.54,-146.1,290.0,-8.2,277,3034,0.12,2.30,0.00,0.000,6,0.154,0.054,1448,3406,3077,0,0,0,0,0,0
$GC,3346,-0.54,-146.1,312.6,-7.3,293,3351,0.00,0.85,0.00,0.000,4,0.000,0.057,1445,3947,3077,0,0,0,0,0,0
$GC,3404,-0.54,-146.1,317.8,-8.4,295,3408,0.00,0.82,0.00,0.000,6,0.000,0.034,1445,3400,3077,0,0,0,0,0,0
$GC,3728,-0.54,-146.1,342.8,-7.9,311,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3399,3077,0,0,0,0,0,0
$GC,4037,-0.54,-146.1,366.8,-8.1,326,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3399,3076,0,0,0,0,0,0
$GC,4346,-0.54,-146.1,391.5,-7.9,341,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3399,3076,0,0,0,0,0,0
$STATE,4446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4446,begin apogee
$GC,4453,-0.13,0.0,399.8,7.9,346,4589,0.45,0.00,130.75,0.873,6,0.122,0.000,1585,3281,2469,0,0,0,0,0,0
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4593,0.54,146.1,404.0,0.0,351,4733,0.60,2.33,128.43,0.848,4,0.076,0.024,1807,1843,1870,0,0,0,0,0,0
$GC,4749,0.54,146.1,391.2,12.6,357,4753,0.00,2.40,0.00,0.000,6,0.000,0.044,1808,3286,1867,0,0,0,0,0,0
$GC,5078,0.54,146.1,348.5,13.0,373,5083,0.00,1.05,0.00,0.000,4,0.000,0.052,1808,3948,1859,0,0,0,0,0,0
$GC,5340,0.54,146.1,310.4,14.2,384,5344,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3262,1857,0,0,0,0,0,0
$GC,5662,0.54,146.1,269.1,12.8,400,5666,0.00,1.10,0.00,0.000,4,0.000,0.054,1813,3952,1855,0,0,0,0,0,0
$GC,5832,0.54,146.1,243.6,15.2,407,5839,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3282,1855,0,0,0,0,0,0
$GC,6152,0.54,146.1,199.2,13.7,428,6155,0.00,1.08,0.00,0.000,4,0.000,0.053,1818,3959,1854,0,0,0,0,0,0
$GC,6327,0.54,146.1,172.9,15.6,438,6333,0.00,1.00,0.00,0.000,6,0.000,0.028,1823,3271,1854,0,0,0,0,0,0
$GC,6661,0.54,146.1,128.4,12.9,459,6666,0.00,1.08,0.00,0.000,4,0.000,0.053,1823,3955,1853,0,0,0,0,0,0
$GC,6836,0.54,146.1,103.2,14.2,468,6845,0.00,0.98,0.00,0.000,6,0.000,0.028,1828,3286,1853,0,0,0,0,0,0
$GC,7189,0.54,154.3,57.6,9.6,527,7196,0.00,1.05,0.00,0.000,4,0.000,0.052,1828,3954,1853,0,0,0,0,0,0
$GC,7248,0.54,154.3,51.0,11.9,536,7257,0.00,0.98,0.00,0.000,6,0.000,0.028,1834,3285,1852,0,0,0,0,0,0
$GC,7507,0.54,154.3,21.3,12.0,577,7516,0.00,1.05,0.00,0.000,4,0.000,0.050,1833,3960,1852,0,0,0,0,0,0
$GC,7609,0.54,154.3,7.7,14.5,592,7621,0.10,1.00,0.90,0.181,6,0.168,0.028,1808,3272,1842,0,0,0,0,0,0
$STATE,7643,end climb,SURFACE_DEPTH_REACHED
$STATE,7643,begin surface coast
$FINISH,0.9,1.016959
$STATE,7670,end surface coast,CONTROL_FINISHED_OK
$STATE,7670,begin surface
$SM_CCo,7687,39.97,0.684,1,0,1532,230.09
$SM_GC,1.63,0.00,0.00,39.97,0.000,0.000,0.684,52,3422,1532,-4.92,0.62,230.09
$IRIDIUM_FIX,-4221.55,839.66,240213,222203
$TT8_MAMPS,0.025466
$HUMID,57.40
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.8,67.305
$10V_AH,9.9,48.416
$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,11.650,32.975,260.075,39.975,0.000,25.392,18.652,361.064,0.000,0.000,19.136,1418.620,3772.340,353.724,2019.643,740.318,33.369,1014.396,0.000,1843.889,0.000,1.012,0.000
$DEVICE_MAMPS,225.675,71.145,872.865,683.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.381,1443.729,973.131,426.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,43706,600
$CAP_FILE_SIZE,80190,0
$CFSIZE,259252224,230789120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,030834,-4237.016,839.785,35,0.9,35,-25.1