version: 66.07
glider: 543
mission: 6
dive: 417
start: 2 25 113 8 12 36
data:
$ID,543
$MISSION,6
$DIVE,417
$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,-9066.0889
$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,56
$R_STBD_OVSHOOT,32
$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
$GPS1,250213,080134,-4237.856,839.786,31,1.0,31,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-48.0
$GPS2,250213,081135,-4237.784,839.926,16,1.2,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.239,-0.103
$KALMAN_X,69239.4,-1032.1,-420.9,-15542.8,1895.4
$KALMAN_Y,373276.0,304.9,139.2,-388068.1,684.1
$MHEAD_RNG_PITCHd_Wd,271.9,432632,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-146.1,0.0,0.0,0,70,0.00,0.00,-48.62,0.000,2,0.000,0.000,56,3417,2735,0,0,0,0,0,0
$GC,75,-0.54,-146.1,3.4,-4.5,6,95,5.50,2.22,-8.62,0.000,4,0.213,0.044,1449,1993,3072,0,0,0,0,0,0
$GC,149,-0.54,-146.1,13.4,-10.6,16,160,0.00,2.30,0.00,0.000,6,0.000,0.057,1440,3386,3074,0,0,0,0,0,0
$GC,244,-0.54,-146.1,23.0,-9.5,29,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1440,3385,3074,0,0,0,0,0,0
$GC,332,-0.54,-146.1,33.2,-11.5,42,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1440,3385,3074,0,0,0,0,0,0
$GC,580,-0.54,-146.1,61.7,-11.8,83,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3385,3075,0,0,0,0,0,0
$GC,931,-0.54,-146.1,98.7,-9.6,144,939,0.00,2.10,0.00,0.000,4,0.000,0.028,1440,1990,3076,0,0,0,0,0,0
$GC,994,-0.54,-146.1,104.7,-9.3,149,998,0.00,2.30,0.00,0.000,6,0.000,0.057,1429,3411,3076,0,0,0,0,0,0
$GC,1315,-0.54,-146.1,136.6,-10.2,169,1318,0.00,0.85,0.00,0.000,4,0.000,0.057,1424,3954,3077,0,0,0,0,0,0
$GC,1437,-0.54,-146.1,149.8,-10.4,176,1442,0.08,0.80,0.00,0.000,6,0.142,0.033,1449,3418,3076,0,0,0,0,0,0
$GC,1774,-0.54,-146.1,177.9,-8.8,197,1778,0.00,2.15,0.00,0.000,4,0.000,0.028,1449,1976,3077,0,0,0,0,0,0
$GC,1823,-0.54,-146.1,182.6,-8.2,200,1827,0.00,2.33,0.00,0.000,6,0.000,0.056,1439,3410,3077,0,0,0,0,0,0
$GC,2144,-0.54,-146.1,211.2,-9.0,220,2147,0.00,0.85,0.00,0.000,4,0.000,0.058,1435,3952,3077,0,0,0,0,0,0
$GC,2232,-0.54,-146.1,219.4,-9.2,225,2236,0.00,0.82,0.00,0.000,6,0.000,0.033,1435,3398,3077,0,0,0,0,0,0
$GC,2568,-0.54,-146.1,247.4,-8.0,246,2571,0.00,0.88,0.00,0.000,4,0.000,0.058,1431,3951,3077,0,0,0,0,0,0
$GC,2620,-0.54,-146.1,252.0,-8.7,249,2623,0.00,0.82,0.00,0.000,6,0.000,0.033,1431,3400,3077,0,0,0,0,0,0
$GC,2956,-0.54,-146.1,280.6,-8.7,265,2961,0.00,2.15,0.00,0.000,4,0.000,0.028,1431,1978,3077,0,0,0,0,0,0
$GC,2990,-0.54,-146.1,283.8,-8.2,266,2996,0.08,2.33,0.00,0.000,6,0.125,0.054,1447,3401,3077,0,0,0,0,0,0
$GC,3314,-0.54,-146.1,308.8,-7.7,282,3318,0.00,0.88,0.00,0.000,4,0.000,0.057,1444,3957,3077,0,0,0,0,0,0
$GC,3403,-0.54,-146.1,316.5,-8.5,285,3409,0.00,0.85,0.00,0.000,6,0.000,0.034,1444,3391,3077,0,0,0,0,0,0
$GC,3721,-0.54,-146.1,341.9,-7.8,301,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3391,3076,0,0,0,0,0,0
$GC,4030,-0.54,-146.1,365.9,-7.6,316,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3391,3076,0,0,0,0,0,0
$GC,4340,-0.54,-146.1,388.8,-7.5,331,4345,0.00,0.90,0.00,0.000,4,0.000,0.058,1440,3958,3076,0,0,0,0,0,0
$GC,4404,-0.54,-146.1,394.4,-8.5,333,4411,0.00,0.85,0.00,0.000,6,0.000,0.034,1440,3395,3076,0,0,0,0,0,0
$STATE,4450,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4450,begin apogee
$GC,4457,-0.13,0.0,398.0,7.8,336,4592,0.45,0.00,130.90,0.884,6,0.125,0.000,1579,3276,2473,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4596,0.54,146.1,401.6,0.0,341,4736,0.60,2.28,128.52,0.852,4,0.083,0.025,1801,1852,1870,0,0,0,0,0,0
$GC,4754,0.54,146.1,387.8,10.8,347,4759,0.00,2.40,0.00,0.000,6,0.000,0.044,1800,3283,1867,0,0,0,0,0,0
$GC,5084,0.54,146.1,346.1,12.9,363,5089,0.00,1.08,0.00,0.000,4,0.000,0.053,1801,3958,1859,0,0,0,0,0,0
$GC,5345,0.54,146.1,308.5,13.6,374,5348,0.00,1.02,0.00,0.000,6,0.000,0.028,1806,3256,1858,0,0,0,0,0,0
$GC,5667,0.54,146.1,269.6,11.7,390,5671,0.00,1.12,0.00,0.000,4,0.000,0.053,1806,3959,1856,0,0,0,0,0,0
$GC,5937,0.54,146.1,234.5,13.4,403,5940,0.00,1.00,0.00,0.000,6,0.000,0.028,1811,3273,1856,0,0,0,0,0,0
$GC,6262,0.54,146.1,197.9,11.4,424,6266,0.00,1.08,0.00,0.000,4,0.000,0.054,1811,3950,1855,0,0,0,0,0,0
$GC,6472,0.54,146.1,170.1,13.3,436,6478,0.00,0.98,0.00,0.000,6,0.000,0.028,1816,3278,1854,0,0,0,0,0,0
$GC,6801,0.54,146.1,129.7,12.5,457,6806,0.00,1.08,0.00,0.000,4,0.000,0.053,1816,3954,1854,0,0,0,0,0,0
$GC,6999,0.54,146.1,101.9,13.9,468,7003,0.00,0.98,0.00,0.000,6,0.000,0.028,1821,3283,1854,0,0,0,0,0,0
$GC,7353,0.54,153.1,64.1,9.7,527,7357,0.00,2.10,0.00,0.000,4,0.000,0.025,1833,1858,1854,0,0,0,0,0,0
$GC,7406,0.57,196.6,60.0,8.0,535,7452,0.00,2.28,39.58,0.672,6,0.000,0.046,1833,3291,1668,0,0,0,0,0,0
$GC,7700,0.57,196.6,28.2,12.4,581,7710,0.00,1.02,0.00,0.000,4,0.000,0.053,1833,3950,1657,0,0,0,0,0,0
$GC,7850,0.57,196.6,7.6,15.7,603,7859,0.00,0.98,0.00,0.000,6,0.000,0.025,1838,3269,1656,0,0,0,0,0,0
$STATE,7873,end climb,SURFACE_DEPTH_REACHED
$STATE,7873,begin surface coast
$FINISH,1.0,1.026103
$STATE,7897,end surface coast,CONTROL_FINISHED_OK
$STATE,7897,begin surface
$SM_CCo,7912,20.52,0.619,1,0,1532,230.09
$SM_GC,1.59,0.00,0.00,20.52,0.000,0.000,0.619,58,3418,1532,-4.90,0.51,230.09
$IRIDIUM_FIX,-4221.55,839.66,250213,050504
$TT8_MAMPS,0.025466
$HUMID,58.07
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.7,67.616
$10V_AH,9.8,48.724
$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,11.225,46.125,299.000,20.525,0.000,24.737,40.519,373.364,0.000,0.000,18.960,1461.819,3796.512,342.503,2174.463,771.428,33.376,1074.114,0.000,1969.089,0.000,1.012,0.000
$DEVICE_MAMPS,213.435,70.380,883.575,618.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.301,1469.667,983.628,420.213,0.000,0.000,0.000,0.000,0.000,0.000
$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,43952,609
$CAP_FILE_SIZE,86523,0
$CFSIZE,259252224,230633472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,102604,-4237.875,839.914,27,1.3,27,-25.1