version: 66.07
glider: 543
mission: 6
dive: 425
start: 2 26 113 3 28 52
data:
$ID,543
$MISSION,6
$DIVE,425
$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,-9093.0518
$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,28
$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
$GPS1,260213,031747,-4239.741,842.449,26,0.8,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-53.9
$GPS2,260213,032751,-4239.689,842.696,37,0.9,37,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.100,-0.240
$KALMAN_X,77595.6,-122.5,514.1,-21969.1,685.9
$KALMAN_Y,384137.8,278.2,212.9,-402507.1,1023.8
$MHEAD_RNG_PITCHd_Wd,227.7,429527,-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,-49.42,0.000,2,0.000,0.000,52,3411,2743,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.2,-4.5,6,95,5.70,0.90,-8.77,0.000,4,0.225,0.089,1444,3954,3071,0,0,0,0,0,0
$GC,181,-0.54,-146.1,18.3,-14.6,21,192,0.00,0.80,0.00,0.000,6,0.000,0.034,1444,3423,3074,0,0,0,0,0,0
$GC,274,-0.54,-146.1,27.9,-9.1,34,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3423,3074,0,0,0,0,0,0
$GC,358,-0.54,-146.1,36.4,-10.3,47,366,0.00,2.20,0.00,0.000,4,0.000,0.029,1444,1982,3074,0,0,0,0,0,0
$GC,398,-0.54,-146.1,40.5,-9.9,53,405,0.00,2.30,0.00,0.000,6,0.000,0.059,1433,3394,3074,0,0,0,0,0,0
$GC,647,-0.54,-146.1,68.4,-10.3,94,654,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3394,3075,0,0,0,0,0,0
$GC,1019,-0.54,-146.1,102.0,-9.8,155,1022,0.00,0.88,0.00,0.000,4,0.000,0.057,1429,3949,3075,0,0,0,0,0,0
$GC,1126,-0.54,-146.1,113.8,-10.4,161,1130,0.00,0.82,0.00,0.000,6,0.000,0.034,1429,3403,3076,0,0,0,0,0,0
$GC,1453,-0.54,-146.1,145.1,-9.8,182,1456,0.00,2.12,0.00,0.000,4,0.000,0.028,1429,1979,3076,0,0,0,0,0,0
$GC,1487,-0.54,-146.1,148.7,-9.4,184,1493,0.08,2.33,0.00,0.000,6,0.126,0.057,1445,3397,3076,0,0,0,0,0,0
$GC,1818,-0.54,-146.1,176.6,-8.5,205,1824,0.00,0.88,0.00,0.000,4,0.000,0.058,1442,3951,3076,0,0,0,0,0,0
$GC,1894,-0.54,-146.1,183.5,-9.3,209,1897,0.00,0.82,0.00,0.000,6,0.000,0.034,1442,3400,3076,0,0,0,0,0,0
$GC,2226,-0.54,-146.1,213.0,-8.5,230,2230,0.00,2.15,0.00,0.000,4,0.000,0.029,1442,1974,3076,0,0,0,0,0,0
$GC,2278,-0.54,-146.1,216.9,-7.7,233,2282,0.00,2.30,0.00,0.000,6,0.000,0.054,1431,3402,3077,0,0,0,0,0,0
$GC,2605,-0.54,-146.1,245.9,-8.8,254,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3402,3076,0,0,0,0,0,0
$GC,2920,-0.54,-146.1,275.0,-9.4,270,2923,0.00,2.12,0.00,0.000,4,0.000,0.028,1431,1973,3076,0,0,0,0,0,0
$GC,2962,-0.54,-146.1,279.2,-9.1,272,2968,0.08,2.33,0.00,0.000,6,0.124,0.054,1447,3399,3076,0,0,0,0,0,0
$GC,3298,-0.54,-146.1,307.7,-8.6,288,3302,0.00,0.88,0.00,0.000,4,0.000,0.058,1444,3953,3076,0,0,0,0,0,0
$GC,3386,-0.54,-146.1,315.9,-9.7,291,3393,0.00,0.85,0.00,0.000,6,0.000,0.033,1444,3386,3076,0,0,0,0,0,0
$GC,3704,-0.54,-146.1,342.7,-8.0,307,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3386,3076,0,0,0,0,0,0
$GC,4014,-0.54,-146.1,365.9,-7.3,322,4017,0.00,2.10,0.00,0.000,4,0.000,0.028,1444,1973,3076,0,0,0,0,0,0
$GC,4082,-0.54,-146.1,371.0,-7.0,325,4088,0.00,2.33,0.00,0.000,6,0.000,0.053,1433,3400,3075,0,0,0,0,0,0
$GC,4413,-0.54,-146.1,396.3,-7.8,341,4418,0.00,2.15,0.00,0.000,4,0.000,0.028,1433,1969,3075,0,0,0,0,0,0
$STATE,4444,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4444,begin apogee
$GC,4453,-0.13,0.0,399.3,8.0,342,4588,0.50,0.00,131.98,0.881,6,0.129,0.000,1580,3280,2473,0,0,0,0,0,0
$STATE,4590,end apogee,CONTROL_FINISHED_OK
$STATE,4590,begin climb
$GC,4592,0.54,146.1,402.6,0.0,347,4733,0.62,2.30,128.85,0.846,4,0.083,0.026,1807,1852,1869,0,0,0,0,0,0
$GC,4756,0.54,146.1,387.2,10.7,353,4762,0.00,2.40,0.00,0.000,6,0.000,0.044,1807,3283,1865,0,0,0,0,0,0
$GC,5081,0.54,146.1,345.4,13.0,369,5086,0.00,1.08,0.00,0.000,4,0.000,0.053,1808,3958,1858,0,0,0,0,0,0
$GC,5281,0.54,146.1,317.6,13.2,377,5290,0.00,1.02,0.00,0.000,6,0.000,0.028,1813,3258,1857,0,0,0,0,0,0
$GC,5599,0.54,146.1,280.1,11.9,393,5605,0.00,1.10,0.00,0.000,4,0.000,0.053,1814,3947,1856,0,0,0,0,0,0
$GC,5786,0.54,146.1,255.1,13.2,401,5790,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3279,1855,0,0,0,0,0,0
$GC,6116,0.54,146.1,214.9,12.5,421,6119,0.00,1.08,0.00,0.000,4,0.000,0.053,1818,3953,1854,0,0,0,0,0,0
$GC,6237,0.54,146.1,197.9,14.1,428,6241,0.00,0.98,0.00,0.000,6,0.000,0.028,1822,3286,1854,0,0,0,0,0,0
$GC,6572,0.54,146.1,155.1,12.7,449,6575,0.00,1.08,0.00,0.000,4,0.000,0.054,1823,3960,1854,0,0,0,0,0,0
$GC,6738,0.54,146.1,130.9,14.6,458,6744,0.00,1.00,0.00,0.000,6,0.000,0.028,1828,3277,1854,0,0,0,0,0,0
$GC,7063,0.54,146.1,90.0,11.8,488,7069,0.00,1.08,0.00,0.000,4,0.000,0.053,1828,3954,1853,0,0,0,0,0,0
$GC,7178,0.54,146.1,73.3,15.2,507,7185,0.08,0.98,0.00,0.000,6,0.166,0.029,1810,3286,1853,0,0,0,0,0,0
$GC,7543,0.56,187.8,40.0,8.1,568,7585,0.00,1.08,31.30,0.653,4,0.000,0.053,1810,3952,1701,0,0,0,0,0,0
$GC,7668,0.56,187.8,26.8,13.4,586,7679,0.00,1.00,0.00,0.000,6,0.000,0.030,1814,3278,1697,0,0,0,0,0,0
$GC,7764,0.58,211.7,17.6,8.9,599,7789,0.00,0.00,16.35,0.655,6,0.000,0.000,1814,3278,1603,0,0,0,0,0,0
$GC,7870,0.59,229.9,6.1,9.2,614,7886,0.00,1.08,10.00,0.650,4,0.000,0.054,1814,3960,1531,0,0,0,0,0,0
$STATE,7893,end climb,SURFACE_DEPTH_REACHED
$STATE,7893,begin surface coast
$FINISH,0.8,1.022584
$STATE,7924,end surface coast,CONTROL_FINISHED_OK
$STATE,7924,begin surface
$SM_CCo,8001,0.00,0.000,0,0,1524,233.03
$SM_GC,1.72,4.68,0.00,0.00,0.044,0.000,0.000,47,3401,1524,-4.77,0.03,233.03
$IRIDIUM_FIX,-4221.55,842.99,260213,010113
$TT8_MAMPS,0.025466
$HUMID,58.07
$INTERNAL_PRESSURE,9.09332
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.7,68.425
$10V_AH,9.8,49.534
$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,11.725,52.450,318.475,0.000,0.000,28.993,21.166,374.747,0.000,0.000,38.876,1474.493,3844.890,340.019,2161.226,788.886,33.385,1077.989,0.000,1966.118,0.000,1.012,0.000
$DEVICE_MAMPS,224.910,88.740,880.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.146,1509.137,1013.809,454.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,47100,621
$CAP_FILE_SIZE,87672,0
$CFSIZE,259252224,230236160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260213,054333,-4239.941,842.823,42,0.9,42,-25.1