version: 66.07
glider: 543
mission: 6
dive: 420
start: 2 25 113 15 35 50
data:
$ID,543
$MISSION,6
$DIVE,420
$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,-9076.2041
$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,43
$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
$GPS1,250213,151104,-4238.043,840.778,28,1.0,28,-25.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-56.5
$GPS2,250213,153449,-4237.787,840.863,15,0.6,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.069,-0.251
$KALMAN_X,71337.2,749.3,209.8,-18774.4,497.0
$KALMAN_Y,378317.4,-46.8,205.3,-392835.9,1559.2
$MHEAD_RNG_PITCHd_Wd,220.5,432758,-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,-48.28,0.000,2,0.000,0.000,48,3406,2729,0,0,0,0,0,0
$GC,75,-0.54,-146.1,3.0,-3.5,6,93,5.55,0.00,-10.10,0.000,6,0.215,0.000,1445,3406,3071,0,0,0,0,0,0
$GC,174,-0.54,-146.1,13.4,-10.1,20,182,0.00,0.88,0.00,0.000,4,0.000,0.058,1442,3952,3074,0,0,0,0,0,0
$GC,214,-0.54,-146.1,18.0,-12.0,25,224,0.00,0.82,0.00,0.000,6,0.000,0.035,1442,3407,3074,0,0,0,0,0,0
$GC,303,-0.54,-146.1,28.4,-10.4,38,314,0.00,2.17,0.00,0.000,4,0.000,0.031,1442,1988,3074,0,0,0,0,0,0
$GC,331,-0.54,-146.1,31.4,-11.1,41,339,0.00,2.33,0.00,0.000,6,0.000,0.063,1431,3386,3074,0,0,0,0,0,0
$GC,582,-0.54,-146.1,61.3,-11.6,82,589,0.00,2.10,0.00,0.000,4,0.000,0.030,1431,1988,3075,0,0,0,0,0,0
$GC,615,-0.54,-146.1,64.9,-10.3,87,624,0.08,2.33,0.00,0.000,6,0.129,0.061,1447,3396,3074,0,0,0,0,0,0
$GC,977,-0.54,-146.1,94.8,-7.8,148,984,0.00,2.12,0.00,0.000,4,0.000,0.029,1447,1989,3076,0,0,0,0,0,0
$GC,1070,-0.54,-146.1,102.2,-7.9,161,1074,0.00,2.28,0.00,0.000,6,0.000,0.055,1437,3403,3076,0,0,0,0,0,0
$GC,1392,-0.54,-146.1,132.6,-10.1,181,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3403,3076,0,0,0,0,0,0
$GC,1704,-0.54,-146.1,163.3,-9.8,201,1710,0.00,0.85,0.00,0.000,4,0.000,0.057,1433,3947,3076,0,0,0,0,0,0
$GC,1769,-0.54,-146.1,170.3,-10.3,204,1777,0.00,0.82,0.00,0.000,6,0.000,0.033,1433,3395,3076,0,0,0,0,0,0
$GC,2092,-0.54,-146.1,200.3,-9.2,225,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3395,3076,0,0,0,0,0,0
$GC,2405,-0.54,-146.1,228.6,-9.1,245,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3395,3075,0,0,0,0,0,0
$GC,2719,-0.54,-146.1,259.6,-10.1,264,2722,0.00,0.88,0.00,0.000,4,0.000,0.058,1429,3947,3076,0,0,0,0,0,0
$GC,2784,-0.54,-146.1,266.8,-11.2,266,2792,0.00,0.82,0.00,0.000,6,0.000,0.033,1429,3398,3075,0,0,0,0,0,0
$GC,3102,-0.54,-146.1,298.8,-10.0,282,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3398,3076,0,0,0,0,0,0
$GC,3412,-0.54,-146.1,329.4,-9.7,297,3417,0.00,2.12,0.00,0.000,4,0.000,0.028,1429,1979,3075,0,0,0,0,0,0
$GC,3446,-0.54,-146.1,333.1,-9.5,298,3451,0.12,2.30,0.00,0.000,6,0.150,0.054,1452,3405,3075,0,0,0,0,0,0
$GC,3765,-0.54,-146.1,359.5,-8.1,313,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3406,3074,0,0,0,0,0,0
$GC,4073,-0.54,-146.1,384.6,-8.2,328,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3406,3073,0,0,0,0,0,0
$STATE,4276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4276,begin apogee
$GC,4284,-0.13,0.0,401.2,8.1,338,4418,0.43,0.00,131.07,0.886,6,0.120,0.000,1587,3277,2473,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4419,begin climb
$GC,4422,0.54,146.1,406.0,0.0,342,4560,0.60,2.28,127.78,0.835,4,0.076,0.025,1811,1854,1870,0,0,0,0,0,0
$GC,4583,0.54,150.6,392.6,9.8,348,4588,0.00,2.38,0.00,0.000,6,0.000,0.044,1811,3288,1866,0,0,0,0,0,0
$GC,4902,0.54,150.6,352.7,12.6,363,4907,0.00,1.05,0.00,0.000,4,0.000,0.053,1811,3955,1858,0,0,0,0,0,0
$GC,5164,0.54,150.6,313.8,14.8,374,5167,0.00,1.02,0.00,0.000,6,0.000,0.028,1816,3250,1857,0,0,0,0,0,0
$GC,5487,0.54,150.6,270.9,13.2,390,5490,0.00,1.10,0.00,0.000,4,0.000,0.053,1817,3945,1854,0,0,0,0,0,0
$GC,5752,0.54,150.6,232.7,14.6,403,5755,0.00,0.98,0.00,0.000,6,0.000,0.028,1821,3274,1854,0,0,0,0,0,0
$GC,6077,0.54,150.6,190.6,13.1,424,6081,0.00,1.08,0.00,0.000,4,0.000,0.052,1822,3958,1853,0,0,0,0,0,0
$GC,6269,0.54,150.6,162.6,14.8,434,6277,0.00,0.98,0.00,0.000,6,0.000,0.028,1827,3291,1853,0,0,0,0,0,0
$GC,6592,0.54,150.6,122.5,12.1,455,6596,0.00,1.02,0.00,0.000,4,0.000,0.053,1826,3947,1853,0,0,0,0,0,0
$GC,6795,0.54,150.6,93.2,15.0,471,6801,0.00,0.98,0.00,0.000,6,0.000,0.028,1831,3277,1852,0,0,0,0,0,0
$GC,7148,0.54,150.6,51.3,12.2,532,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3277,1852,0,0,0,0,0,0
$GC,7417,0.54,150.6,21.0,12.5,573,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3277,1852,0,0,0,0,0,0
$GC,7505,0.54,150.6,10.0,11.6,586,7514,0.00,1.05,0.00,0.000,4,0.000,0.052,1832,3947,1851,0,0,0,0,0,0
$STATE,7573,end climb,SURFACE_DEPTH_REACHED
$STATE,7573,begin surface coast
$FINISH,0.9,1.026047
$STATE,7607,end surface coast,CONTROL_FINISHED_OK
$STATE,7607,begin surface
$SM_CCo,7624,39.62,0.675,1,0,1534,230.09
$SM_GC,1.80,0.00,0.00,39.62,0.000,0.000,0.675,71,3418,1534,-4.86,0.51,230.09
$IRIDIUM_FIX,-4221.55,842.99,250213,151527
$TT8_MAMPS,0.025466
$HUMID,57.79
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.8,67.939
$10V_AH,9.8,49.030
$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,11.450,37.700,258.850,39.625,0.000,160.533,257.222,579.869,0.000,0.000,18.894,1413.957,3928.711,356.662,2633.377,768.524,33.373,1016.961,0.000,1878.526,0.000,1.014,0.000
$DEVICE_MAMPS,214.965,62.730,885.870,675.495,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.272,1455.423,975.975,434.018,0.000,0.000,0.000,0.000,0.000,0.000
$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,43868,601
$CAP_FILE_SIZE,84058,0
$CFSIZE,259252224,230490112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,174458,-4238.090,840.862,38,0.8,38,-25.1