version: 66.07
glider: 543
mission: 6
dive: 427
start: 2 26 113 8 19 12
data:
$ID,543
$MISSION,6
$DIVE,427
$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,-9099.9053
$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,31
$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
$GPS1,260213,080735,-4240.183,843.071,14,1.3,14,-25.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-47.6
$GPS2,260213,081811,-4240.148,843.149,22,0.7,22,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.183,-0.184
$KALMAN_X,80657.4,-73.8,-266.4,-23676.4,1356.1
$KALMAN_Y,387263.8,-63.2,338.8,-406271.1,642.1
$MHEAD_RNG_PITCHd_Wd,250.0,428752,-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,-145.9,0.0,0.0,0,71,0.00,0.00,-49.15,0.000,2,0.000,0.000,53,3408,2750,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.3,-5.2,6,95,5.72,0.90,-8.65,0.000,4,0.228,0.089,1442,3951,3071,0,0,0,0,0,0
$GC,283,-0.54,-146.1,30.0,-12.4,37,289,0.00,0.80,0.00,0.000,6,0.000,0.034,1442,3419,3074,0,0,0,0,0,0
$GC,531,-0.54,-146.1,57.4,-9.4,78,542,0.00,2.20,0.00,0.000,4,0.000,0.030,1442,1976,3074,0,0,0,0,0,0
$GC,583,-0.54,-146.1,62.5,-10.5,85,589,0.00,2.33,0.00,0.000,6,0.000,0.059,1431,3390,3074,0,0,0,0,0,0
$GC,937,-0.54,-146.1,101.7,-10.1,144,941,0.00,2.12,0.00,0.000,4,0.000,0.028,1432,1979,3075,0,0,0,0,0,0
$GC,997,-0.54,-146.1,107.8,-9.6,147,1005,0.12,2.30,0.00,0.000,6,0.150,0.057,1454,3402,3076,0,0,0,0,0,0
$GC,1321,-0.54,-146.1,133.1,-7.1,168,1324,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3959,3076,0,0,0,0,0,0
$GC,1393,-0.54,-146.1,139.0,-7.8,172,1397,0.00,0.85,0.00,0.000,6,0.000,0.034,1451,3390,3076,0,0,0,0,0,0
$GC,1728,-0.54,-146.1,162.0,-6.8,193,1732,0.00,2.10,0.00,0.000,4,0.000,0.028,1451,1980,3077,0,0,0,0,0,0
$GC,1774,-0.54,-146.1,165.2,-6.0,196,1778,0.00,2.30,0.00,0.000,6,0.000,0.056,1440,3402,3077,0,0,0,0,0,0
$GC,2103,-0.54,-146.1,188.9,-7.3,217,2106,0.00,0.88,0.00,0.000,4,0.000,0.057,1436,3958,3077,0,0,0,0,0,0
$GC,2177,-0.54,-146.1,194.9,-8.1,221,2181,0.00,0.82,0.00,0.000,6,0.000,0.034,1436,3405,3077,0,0,0,0,0,0
$GC,2510,-0.54,-146.1,221.3,-8.2,242,2514,0.00,2.12,0.00,0.000,4,0.000,0.028,1436,1975,3077,0,0,0,0,0,0
$GC,2545,-0.54,-146.1,224.6,-8.2,244,2551,0.00,2.33,0.00,0.000,6,0.000,0.056,1425,3393,3077,0,0,0,0,0,0
$GC,2883,-0.54,-146.1,254.7,-9.2,265,2889,0.00,0.88,0.00,0.000,4,0.000,0.057,1421,3952,3076,0,0,0,0,0,0
$GC,3001,-0.54,-146.1,266.4,-10.6,270,3005,0.08,0.82,0.00,0.000,6,0.142,0.033,1446,3399,3077,0,0,0,0,0,0
$GC,3335,-0.54,-146.1,293.4,-8.1,286,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3398,3076,0,0,0,0,0,0
$GC,3646,-0.54,-146.1,318.5,-8.0,301,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3399,3076,0,0,0,0,0,0
$GC,3954,-0.54,-146.1,344.7,-8.6,316,3958,0.00,2.12,0.00,0.000,4,0.000,0.028,1446,1970,3076,0,0,0,0,0,0
$GC,3996,-0.54,-146.1,348.3,-8.0,318,4002,0.00,2.33,0.00,0.000,6,0.000,0.054,1436,3394,3076,0,0,0,0,0,0
$GC,4332,-0.54,-146.1,376.7,-8.5,334,4336,0.00,0.88,0.00,0.000,4,0.000,0.057,1432,3952,3075,0,0,0,0,0,0
$STATE,4449,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4449,begin apogee
$GC,4457,-0.13,0.0,387.6,9.9,339,4592,0.47,0.00,131.57,0.893,6,0.126,0.000,1579,3275,2473,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4596,0.54,146.1,392.7,0.0,346,4737,0.62,2.25,128.60,0.841,4,0.082,0.025,1806,1851,1870,0,0,0,0,0,0
$GC,4745,0.54,146.1,381.5,10.2,352,4749,0.00,2.40,0.00,0.000,6,0.000,0.044,1806,3291,1867,0,0,0,0,0,0
$GC,5068,0.54,146.1,342.9,12.0,368,5071,0.00,1.05,0.00,0.000,4,0.000,0.052,1806,3951,1858,0,0,0,0,0,0
$GC,5333,0.54,146.1,305.9,13.9,379,5337,0.00,1.00,0.00,0.000,6,0.000,0.028,1811,3265,1857,0,0,0,0,0,0
$GC,5657,0.54,146.1,265.5,12.4,395,5663,0.00,1.10,0.00,0.000,4,0.000,0.053,1811,3957,1856,0,0,0,0,0,0
$GC,5889,0.54,146.1,234.1,12.9,407,5893,0.00,0.98,0.00,0.000,6,0.000,0.028,1816,3289,1855,0,0,0,0,0,0
$GC,6216,0.54,146.1,197.1,11.5,428,6219,0.00,1.05,0.00,0.000,4,0.000,0.053,1816,3952,1854,0,0,0,0,0,0
$GC,6398,0.54,146.1,173.7,13.3,438,6403,0.00,1.00,0.00,0.000,6,0.000,0.029,1821,3267,1854,0,0,0,0,0,0
$GC,6731,0.54,146.1,133.6,11.5,459,6737,0.00,1.10,0.00,0.000,4,0.000,0.053,1821,3955,1853,0,0,0,0,0,0
$GC,6878,0.54,146.1,115.2,12.9,467,6881,0.00,0.98,0.00,0.000,6,0.000,0.029,1826,3289,1853,0,0,0,0,0,0
$GC,7218,0.54,146.5,77.7,10.0,512,7226,0.00,1.05,0.00,0.000,4,0.000,0.053,1826,3951,1853,0,0,0,0,0,0
$GC,7261,0.54,146.5,72.5,13.1,519,7268,0.00,0.98,0.00,0.000,6,0.000,0.029,1831,3283,1853,0,0,0,0,0,0
$GC,7627,0.54,146.5,37.8,10.6,580,7635,0.00,1.05,0.00,0.000,4,0.000,0.051,1831,3948,1852,0,0,0,0,0,0
$GC,7736,0.54,146.5,24.3,13.6,597,7747,0.10,0.98,0.00,0.000,6,0.163,0.029,1806,3279,1852,0,0,0,0,0,0
$GC,7828,0.55,156.7,13.6,9.6,610,7840,0.00,1.08,1.80,0.202,4,0.000,0.052,1806,3948,1832,0,0,0,0,0,0
$STATE,7931,end climb,SURFACE_DEPTH_REACHED
$STATE,7931,begin surface coast
$FINISH,1.0,1.026101
$STATE,7980,end surface coast,CONTROL_FINISHED_OK
$STATE,7980,begin surface
$SM_CCo,7996,40.92,0.685,1,0,1533,230.09
$SM_GC,1.69,0.00,0.00,40.92,0.000,0.000,0.685,45,3398,1533,-4.94,-0.06,230.09
$IRIDIUM_FIX,-4224.47,842.99,260213,050540
$TT8_MAMPS,0.025466
$HUMID,58.11
$INTERNAL_PRESSURE,9.09332
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.7,68.623
$10V_AH,9.8,49.742
$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,11.775,49.825,261.975,40.925,0.000,25.495,28.462,417.565,0.000,0.000,24.061,1512.380,3788.142,335.753,2256.015,793.867,33.391,1054.551,0.000,2042.672,0.000,1.013,0.000
$DEVICE_MAMPS,227.970,88.740,892.755,685.440,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.821,1569.421,1043.813,454.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354484
$DATA_FILE_SIZE,47172,632
$CAP_FILE_SIZE,87142,0
$CFSIZE,259252224,230137856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,103434,-4240.374,843.330,37,1.2,37,-25.1