version: 66.07
glider: 543
mission: 6
dive: 424
start: 2 26 113 1 9 41
data:
$ID,543
$MISSION,6
$DIVE,424
$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,-9089.71
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,260213,005904,-4239.484,841.978,30,0.9,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-55.5
$GPS2,260213,010840,-4239.484,842.141,21,1.3,21,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.099,-0.240
$KALMAN_X,75935.4,57.8,483.7,-21215.0,700.6
$KALMAN_Y,382881.5,435.4,-206.2,-400610.1,1172.8
$MHEAD_RNG_PITCHd_Wd,227.6,429821,-17.6,-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,-145.7,0.0,0.0,0,71,0.00,0.00,-49.38,0.000,2,0.000,0.000,46,3420,2744,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.3,-5.0,6,95,5.55,0.88,-8.73,0.000,4,0.215,0.094,1443,3934,3071,0,0,0,0,0,0
$GC,231,-0.54,-146.1,21.8,-11.3,28,240,0.00,0.77,0.00,0.000,6,0.000,0.035,1444,3425,3074,0,0,0,0,0,0
$GC,318,-0.54,-146.1,31.8,-11.3,41,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3426,3075,0,0,0,0,0,0
$GC,569,-0.54,-146.1,56.7,-9.6,82,578,0.00,2.20,0.00,0.000,4,0.000,0.029,1443,1975,3075,0,0,0,0,0,0
$GC,615,-0.54,-146.1,61.0,-8.8,89,621,0.00,2.30,0.00,0.000,6,0.000,0.058,1433,3375,3075,0,0,0,0,0,0
$GC,969,-0.54,-146.1,95.3,-9.6,150,977,0.00,0.93,0.00,0.000,4,0.000,0.057,1429,3960,3076,0,0,0,0,0,0
$GC,1053,-0.54,-146.1,104.5,-11.2,160,1061,0.00,0.85,0.00,0.000,6,0.000,0.034,1428,3396,3076,0,0,0,0,0,0
$GC,1376,-0.54,-146.1,136.1,-10.1,181,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3396,3076,0,0,0,0,0,0
$GC,1689,-0.54,-146.1,168.4,-10.6,201,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3396,3076,0,0,0,0,0,0
$GC,2001,-0.54,-146.1,201.0,-10.5,221,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3396,3077,0,0,0,0,0,0
$GC,2314,-0.54,-146.1,232.6,-9.8,241,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3396,3076,0,0,0,0,0,0
$GC,2624,-0.54,-146.1,261.8,-9.1,259,2629,0.00,2.12,0.00,0.000,4,0.000,0.028,1428,1979,3076,0,0,0,0,0,0
$GC,2682,-0.54,-146.1,267.2,-7.8,261,2687,0.12,2.30,0.00,0.000,6,0.150,0.054,1451,3407,3077,0,0,0,0,0,0
$GC,3001,-0.54,-146.1,291.0,-7.4,276,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3407,3076,0,0,0,0,0,0
$GC,3310,-0.54,-146.1,313.7,-7.3,291,3316,0.00,0.85,0.00,0.000,4,0.000,0.058,1449,3949,3076,0,0,0,0,0,0
$GC,3399,-0.54,-146.1,321.4,-9.0,294,3407,0.00,0.82,0.00,0.000,6,0.000,0.034,1449,3402,3076,0,0,0,0,0,0
$GC,3717,-0.54,-146.1,347.5,-8.3,310,3721,0.00,2.12,0.00,0.000,4,0.000,0.028,1449,1977,3076,0,0,0,0,0,0
$GC,3773,-0.54,-146.1,352.4,-8.3,312,3777,0.00,2.30,0.00,0.000,6,0.000,0.054,1438,3401,3076,0,0,0,0,0,0
$GC,4092,-0.54,-146.1,382.5,-9.7,327,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,3400,3076,0,0,0,0,0,0
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4280,-0.13,0.0,401.0,10.2,336,4415,0.47,0.00,131.30,0.887,6,0.124,0.000,1585,3269,2473,0,0,0,0,0,0
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4419,0.54,146.1,407.2,0.0,340,4558,0.60,2.25,128.93,0.855,4,0.078,0.025,1807,1863,1871,0,0,0,0,0,0
$GC,4592,0.55,164.9,395.5,9.2,347,4615,0.00,2.35,17.02,0.890,6,0.000,0.044,1806,3287,1798,0,0,0,0,0,0
$GC,4928,0.55,164.9,355.1,12.4,363,4933,0.00,1.05,0.00,0.000,4,0.000,0.053,1806,3951,1788,0,0,0,0,0,0
$GC,5190,0.55,164.9,316.9,14.7,374,5193,0.00,1.00,0.00,0.000,6,0.000,0.028,1812,3265,1786,0,0,0,0,0,0
$GC,5513,0.55,164.9,275.9,12.6,390,5517,0.00,1.10,0.00,0.000,4,0.000,0.054,1812,3954,1784,0,0,0,0,0,0
$GC,5632,0.55,164.9,259.3,13.2,395,5636,0.00,0.98,0.00,0.000,6,0.000,0.028,1817,3286,1784,0,0,0,0,0,0
$GC,5953,0.55,164.9,216.4,13.4,414,5956,0.00,1.05,0.00,0.000,4,0.000,0.054,1817,3947,1784,0,0,0,0,0,0
$GC,6066,0.55,164.9,199.4,15.8,420,6076,0.00,0.98,0.00,0.000,6,0.000,0.029,1822,3279,1783,0,0,0,0,0,0
$GC,6390,0.55,164.9,155.3,13.9,441,6394,0.00,1.08,0.00,0.000,4,0.000,0.054,1822,3954,1783,0,0,0,0,0,0
$GC,6552,0.55,164.9,129.4,16.1,450,6558,0.00,1.00,0.00,0.000,6,0.000,0.028,1827,3272,1783,0,0,0,0,0,0
$GC,6884,0.55,164.9,84.6,12.8,484,6891,0.00,1.08,0.00,0.000,4,0.000,0.052,1827,3948,1783,0,0,0,0,0,0
$GC,7099,0.55,164.9,53.0,11.5,520,7110,0.00,0.98,0.00,0.000,6,0.000,0.029,1832,3283,1782,0,0,0,0,0,0
$GC,7359,0.55,164.9,24.8,10.8,561,7368,0.00,1.05,0.00,0.000,4,0.000,0.053,1832,3949,1782,0,0,0,0,0,0
$GC,7518,0.55,164.9,5.7,12.3,585,7530,0.08,1.00,0.00,0.000,6,0.169,0.029,1815,3269,1782,0,0,0,0,0,0
$STATE,7539,end climb,SURFACE_DEPTH_REACHED
$STATE,7539,begin surface coast
$FINISH,1.1,1.026061
$STATE,7565,end surface coast,CONTROL_FINISHED_OK
$STATE,7565,begin surface
$SM_CCo,7581,32.67,0.657,1,0,1535,230.09
$SM_GC,1.58,0.00,0.00,32.67,0.000,0.000,0.657,53,3411,1535,-4.92,0.31,230.09
$IRIDIUM_FIX,-4224.47,840.54,250213,222255
$TT8_MAMPS,0.025466
$HUMID,58.78
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,68.326
$10V_AH,9.8,49.431
$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,11.400,35.775,277.250,32.675,0.000,27.073,18.832,365.942,0.000,0.000,22.760,1400.283,3701.406,367.918,2002.445,730.032,33.381,1002.773,0.000,1809.891,0.000,1.013,0.000
$DEVICE_MAMPS,214.965,94.095,889.695,657.135,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.517,1438.949,961.146,423.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,43774,591
$CAP_FILE_SIZE,77800,0
$CFSIZE,259252224,230301696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,031747,-4239.741,842.449,26,0.8,26,-25.1