version: 66.07
glider: 543
mission: 6
dive: 421
start: 2 25 113 17 55 36
data:
$ID,543
$MISSION,6
$DIVE,421
$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,-9079.5537
$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,39
$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
$GPS1,250213,174458,-4238.090,840.862,38,0.8,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-54.1
$GPS2,250213,175435,-4238.073,840.878,19,1.0,20,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.056,-0.254
$KALMAN_X,72069.1,869.1,-73.2,-19321.6,319.4
$KALMAN_Y,379367.9,214.7,378.9,-394843.1,970.5
$MHEAD_RNG_PITCHd_Wd,217.5,432234,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-49.45,0.000,2,0.000,0.000,70,3419,2757,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.4,-5.0,6,96,5.57,0.90,-8.38,0.000,4,0.223,0.093,1443,3953,3072,0,0,0,0,0,0
$GC,190,-0.54,-146.1,19.4,-12.4,22,200,0.00,0.85,0.00,0.000,6,0.000,0.034,1443,3394,3075,0,0,0,0,0,0
$GC,278,-0.54,-146.1,29.3,-11.8,35,289,0.00,2.15,0.00,0.000,4,0.000,0.030,1443,1982,3075,0,0,0,0,0,0
$GC,326,-0.54,-146.1,33.7,-8.5,41,334,0.00,2.33,0.00,0.000,6,0.000,0.057,1432,3394,3075,0,0,0,0,0,0
$GC,577,-0.54,-146.1,60.8,-10.3,82,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3394,3075,0,0,0,0,0,0
$GC,932,-0.54,-146.1,94.0,-9.1,143,937,0.00,2.12,0.00,0.000,4,0.000,0.028,1432,1970,3076,0,0,0,0,0,0
$GC,1088,-0.54,-146.1,107.5,-8.9,159,1096,0.12,2.30,0.00,0.000,6,0.151,0.052,1455,3407,3076,0,0,0,0,0,0
$GC,1410,-0.54,-146.1,135.1,-8.6,180,1414,0.00,0.85,0.00,0.000,4,0.000,0.057,1452,3946,3077,0,0,0,0,0,0
$GC,1472,-0.54,-146.1,141.1,-9.4,183,1479,0.00,0.82,0.00,0.000,6,0.000,0.034,1452,3398,3077,0,0,0,0,0,0
$GC,1792,-0.54,-146.1,168.2,-8.3,204,1796,0.00,2.12,0.00,0.000,4,0.000,0.028,1452,1970,3077,0,0,0,0,0,0
$GC,1834,-0.54,-146.1,171.6,-7.4,206,1842,0.00,2.33,0.00,0.000,6,0.000,0.055,1441,3392,3077,0,0,0,0,0,0
$GC,2157,-0.54,-146.1,197.7,-8.3,227,2161,0.00,0.88,0.00,0.000,4,0.000,0.057,1438,3949,3077,0,0,0,0,0,0
$GC,2205,-0.54,-146.1,202.1,-9.4,229,2212,0.00,0.82,0.00,0.000,6,0.000,0.033,1437,3398,3078,0,0,0,0,0,0
$GC,2525,-0.54,-146.1,229.7,-8.8,250,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3398,3077,0,0,0,0,0,0
$GC,2847,-0.54,-146.1,258.2,-9.2,269,2851,0.00,2.12,0.00,0.000,4,0.000,0.028,1437,1969,3077,0,0,0,0,0,0
$GC,2891,-0.54,-146.1,262.7,-8.4,271,2895,0.00,2.33,0.00,0.000,6,0.000,0.053,1426,3410,3077,0,0,0,0,0,0
$GC,3214,-0.54,-146.1,293.6,-9.1,287,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3410,3077,0,0,0,0,0,0
$GC,3523,-0.54,-146.1,325.1,-10.1,302,3526,0.00,0.85,0.00,0.000,4,0.000,0.057,1422,3950,3077,0,0,0,0,0,0
$GC,3584,-0.54,-146.1,331.8,-11.2,304,3588,0.08,0.82,0.00,0.000,6,0.139,0.034,1447,3399,3076,0,0,0,0,0,0
$GC,3907,-0.54,-146.1,360.6,-8.6,320,3911,0.00,2.10,0.00,0.000,4,0.000,0.028,1447,1973,3076,0,0,0,0,0,0
$GC,3953,-0.54,-146.1,364.7,-7.9,322,3958,0.00,2.33,0.00,0.000,6,0.000,0.054,1437,3397,3077,0,0,0,0,0,0
$GC,4283,-0.54,-146.1,393.3,-8.8,338,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3397,3076,0,0,0,0,0,0
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4369,-0.13,0.0,400.6,8.9,342,4504,0.47,0.00,132.20,0.882,6,0.123,0.000,1584,3280,2473,0,0,0,0,0,0
$STATE,4505,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4509,0.54,146.1,405.7,0.0,346,4643,0.60,0.00,128.35,0.839,6,0.075,0.000,1798,3280,1877,0,0,0,0,0,0
$GC,4945,0.54,146.1,361.5,11.4,365,4950,0.00,1.08,0.00,0.000,4,0.000,0.053,1798,3958,1858,0,0,0,0,0,0
$GC,5138,0.54,146.1,336.0,14.3,373,5142,0.00,1.02,0.00,0.000,6,0.000,0.028,1803,3255,1857,0,0,0,0,0,0
$GC,5462,0.54,146.1,297.5,12.1,389,5468,0.00,1.12,0.00,0.000,4,0.000,0.054,1803,3958,1854,0,0,0,0,0,0
$GC,5676,0.54,146.1,268.6,13.8,398,5680,0.00,0.98,0.00,0.000,6,0.000,0.028,1808,3293,1854,0,0,0,0,0,0
$GC,5996,0.54,146.1,229.3,12.5,416,5999,0.00,1.05,0.00,0.000,4,0.000,0.054,1808,3954,1854,0,0,0,0,0,0
$GC,6170,0.54,146.1,204.9,14.8,426,6176,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3269,1854,0,0,0,0,0,0
$GC,6504,0.54,146.1,162.0,12.6,447,6510,0.00,1.10,0.00,0.000,4,0.000,0.053,1813,3958,1853,0,0,0,0,0,0
$GC,6680,0.54,146.1,137.9,13.9,456,6689,0.00,1.00,0.00,0.000,6,0.000,0.028,1819,3276,1853,0,0,0,0,0,0
$GC,7002,0.54,146.1,96.2,12.7,479,7007,0.00,1.08,0.00,0.000,4,0.000,0.053,1819,3952,1852,0,0,0,0,0,0
$GC,7263,0.55,164.5,67.5,9.2,523,7276,0.00,0.98,5.18,0.785,6,0.000,0.029,1824,3285,1807,0,0,0,0,0,0
$GC,7644,0.55,164.5,32.6,10.7,585,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3285,1808,0,0,0,0,0,0
$GC,7911,0.56,181.8,5.2,9.2,626,7937,0.00,1.08,13.93,0.634,4,0.000,0.054,1824,3952,1726,0,0,0,0,0,0
$STATE,7944,end climb,SURFACE_DEPTH_REACHED
$STATE,7944,begin surface coast
$FINISH,1.0,1.006213
$STATE,7977,end surface coast,CONTROL_FINISHED_OK
$STATE,7977,begin surface
$SM_CCo,7994,27.33,0.631,1,0,1532,230.09
$SM_GC,1.47,0.00,0.00,27.33,0.000,0.000,0.631,60,3401,1532,-4.90,0.03,230.09
$IRIDIUM_FIX,-4221.55,839.66,250213,151552
$TT8_MAMPS,0.025466
$HUMID,58.07
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.8,68.035
$10V_AH,9.9,49.134
$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,11.600,41.475,279.650,27.325,0.000,24.614,22.458,367.266,0.000,0.000,21.723,1502.640,3829.090,361.773,2136.554,780.948,33.378,1048.025,0.000,1962.906,0.000,1.012,0.000
$DEVICE_MAMPS,223.380,93.330,882.045,631.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.490,1529.253,1034.281,479.193,0.000,0.000,0.000,0.000,0.000,0.000
$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,47246,635
$CAP_FILE_SIZE,83751,0
$CFSIZE,259252224,230436864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,201034,-4238.546,841.088,30,1.2,30,-25.1