version: 66.07
glider: 543
mission: 6
dive: 422
start: 2 25 113 20 21 18
data:
$ID,543
$MISSION,6
$DIVE,422
$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,-9082.9277
$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,51
$R_STBD_OVSHOOT,19
$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
$GPS1,250213,201034,-4238.546,841.088,30,1.2,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-59.1
$GPS2,250213,202017,-4238.595,841.149,19,1.1,20,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.088,-0.245
$KALMAN_X,73111.8,669.4,-148.8,-19722.1,537.3
$KALMAN_Y,380466.9,446.5,99.9,-396862.9,620.3
$MHEAD_RNG_PITCHd_Wd,224.8,431312,-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,-146.1,0.0,0.0,0,64,0.00,0.00,-41.70,0.000,2,0.000,0.000,59,3401,2543,0,0,0,0,0,0
$GC,68,-0.54,-146.1,3.1,-3.5,5,95,5.62,0.95,-15.62,0.000,4,0.224,0.091,1443,3962,3071,0,0,0,0,0,0
$GC,272,-0.54,-146.1,26.0,-12.5,35,281,0.00,0.82,0.00,0.000,6,0.000,0.034,1443,3417,3074,0,0,0,0,0,0
$GC,357,-0.54,-146.1,36.7,-11.8,48,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3417,3074,0,0,0,0,0,0
$GC,608,-0.54,-146.1,64.9,-11.3,89,613,0.00,2.12,0.00,0.000,4,0.000,0.030,1443,1987,3074,0,0,0,0,0,0
$GC,700,-0.54,-146.1,73.7,-9.0,104,707,0.00,2.28,0.00,0.000,6,0.000,0.056,1433,3400,3075,0,0,0,0,0,0
$GC,1055,-0.54,-146.1,107.2,-8.9,156,1059,0.00,0.90,0.00,0.000,4,0.000,0.060,1429,3956,3075,0,0,0,0,0,0
$GC,1156,-0.54,-146.1,117.3,-9.6,161,1162,0.00,0.82,0.00,0.000,6,0.000,0.034,1428,3406,3076,0,0,0,0,0,0
$GC,1476,-0.54,-146.1,147.2,-9.7,182,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3407,3076,0,0,0,0,0,0
$GC,1789,-0.54,-146.1,177.9,-9.4,202,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3406,3076,0,0,0,0,0,0
$GC,2102,-0.54,-146.1,206.1,-8.9,222,2106,0.00,2.12,0.00,0.000,4,0.000,0.028,1429,1978,3076,0,0,0,0,0,0
$GC,2143,-0.54,-146.1,210.0,-8.8,224,2151,0.08,2.33,0.00,0.000,6,0.125,0.054,1444,3402,3077,0,0,0,0,0,0
$GC,2466,-0.54,-146.1,234.7,-7.8,245,2472,0.00,0.88,0.00,0.000,4,0.000,0.057,1441,3958,3076,0,0,0,0,0,0
$GC,2514,-0.54,-146.1,239.4,-8.8,247,2521,0.00,0.85,0.00,0.000,6,0.000,0.034,1442,3391,3076,0,0,0,0,0,0
$GC,2849,-0.54,-146.1,266.6,-8.5,266,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3391,3076,0,0,0,0,0,0
$GC,3159,-0.54,-146.1,292.9,-8.2,281,3164,0.00,2.12,0.00,0.000,4,0.000,0.028,1441,1975,3076,0,0,0,0,0,0
$GC,3218,-0.54,-146.1,298.0,-7.8,283,3222,0.00,2.30,0.00,0.000,6,0.000,0.052,1430,3406,3076,0,0,0,0,0,0
$GC,3536,-0.54,-146.1,326.5,-9.2,298,3539,0.00,0.85,0.00,0.000,4,0.000,0.057,1426,3950,3076,0,0,0,0,0,0
$GC,3587,-0.54,-146.1,332.2,-10.2,300,3593,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3400,3076,0,0,0,0,0,0
$GC,3917,-0.54,-146.1,362.7,-9.2,316,3921,0.00,2.15,0.00,0.000,4,0.000,0.028,1426,1971,3076,0,0,0,0,0,0
$GC,3947,-0.54,-146.1,365.6,-9.2,317,3952,0.12,2.33,0.00,0.000,6,0.150,0.054,1449,3408,3076,0,0,0,0,0,0
$GC,4265,-0.54,-146.1,388.4,-7.0,332,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3408,3075,0,0,0,0,0,0
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4455,-0.13,0.0,401.5,7.2,341,4590,0.43,0.00,131.98,0.887,6,0.121,0.000,1583,3279,2473,0,0,0,0,0,0
$STATE,4591,end apogee,CONTROL_FINISHED_OK
$STATE,4591,begin climb
$GC,4594,0.54,146.1,404.9,0.0,345,4727,0.62,0.00,128.77,0.839,6,0.079,0.000,1802,3279,1877,0,0,0,0,0,0
$GC,5025,0.54,146.1,354.9,12.8,365,5031,0.00,1.08,0.00,0.000,4,0.000,0.053,1802,3950,1859,0,0,0,0,0,0
$GC,5281,0.54,146.1,317.8,13.9,376,5285,0.00,1.00,0.00,0.000,6,0.000,0.028,1808,3265,1857,0,0,0,0,0,0
$GC,5610,0.54,146.1,276.3,12.4,392,5614,0.00,1.10,0.00,0.000,4,0.000,0.054,1807,3955,1854,0,0,0,0,0,0
$GC,5829,0.54,146.1,246.4,13.2,401,5836,0.00,0.98,0.00,0.000,6,0.000,0.028,1813,3287,1854,0,0,0,0,0,0
$GC,6149,0.54,146.1,208.7,11.8,422,6153,0.00,1.08,0.00,0.000,4,0.000,0.053,1812,3960,1854,0,0,0,0,0,0
$GC,6340,0.54,146.1,182.3,14.5,432,6348,0.00,1.00,0.00,0.000,6,0.000,0.029,1818,3278,1854,0,0,0,0,0,0
$GC,6661,0.54,146.1,140.3,13.1,453,6666,0.00,1.08,0.00,0.000,4,0.000,0.053,1817,3954,1853,0,0,0,0,0,0
$GC,6828,0.54,146.1,115.9,15.1,462,6834,0.00,0.98,0.00,0.000,6,0.000,0.028,1823,3286,1853,0,0,0,0,0,0
$GC,7171,0.54,146.1,74.4,11.6,506,7178,0.00,1.08,0.00,0.000,4,0.000,0.054,1823,3960,1852,0,0,0,0,0,0
$GC,7285,0.54,146.1,61.2,11.8,525,7292,0.00,1.00,0.00,0.000,6,0.000,0.028,1828,3277,1852,0,0,0,0,0,0
$GC,7660,0.54,146.1,23.9,10.7,586,7670,0.00,1.08,0.00,0.000,4,0.000,0.054,1828,3958,1852,0,0,0,0,0,0
$STATE,7848,end climb,SURFACE_DEPTH_REACHED
$STATE,7848,begin surface coast
$FINISH,0.9,1.022622
$STATE,7874,end surface coast,CONTROL_FINISHED_OK
$STATE,7875,begin surface
$SM_CCo,7891,39.60,0.676,1,0,1534,230.09
$SM_GC,1.90,0.00,0.00,39.60,0.000,0.000,0.676,56,3407,1534,-4.91,0.20,230.09
$IRIDIUM_FIX,-4224.47,840.10,250213,171704
$TT8_MAMPS,0.025466
$HUMID,57.56
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.7,68.130
$10V_AH,9.8,49.235
$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,11.550,37.075,260.750,39.600,0.000,27.486,20.747,370.889,0.000,0.000,22.035,1468.684,3828.851,369.188,2096.963,762.874,33.376,1013.990,0.000,1939.658,0.000,1.012,0.000
$DEVICE_MAMPS,224.145,91.035,887.400,676.260,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.297,1522.352,1010.434,455.186,0.000,0.000,0.000,0.000,0.000,0.000
$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,47373,618
$CAP_FILE_SIZE,80099,0
$CFSIZE,259252224,230391808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,223442,-4239.091,841.634,26,2.0,26,-25.1