version: 66.07
glider: 543
mission: 6
dive: 429
start: 2 26 113 13 12 29
data:
$ID,543
$MISSION,6
$DIVE,429
$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,-9106.6729
$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,58
$R_STBD_OVSHOOT,25
$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
$GPS1,260213,130122,-4240.365,843.429,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-48.8
$GPS2,260213,131128,-4240.435,843.520,39,1.5,40,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.181,-0.188
$KALMAN_X,83535.0,307.8,211.2,-26903.8,1415.1
$KALMAN_Y,389900.2,-42.7,-290.6,-408822.6,1279.9
$MHEAD_RNG_PITCHd_Wd,249.0,428282,-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,-146.1,0.0,0.0,0,81,0.00,0.00,-58.67,0.000,2,0.000,0.000,50,3413,2938,0,0,0,0,0,0
$GC,86,-0.54,-146.1,3.8,-6.3,7,105,5.78,0.85,-3.12,0.000,4,0.226,0.079,1447,3950,3071,0,0,0,0,0,0
$GC,347,-0.54,-146.1,38.6,-12.0,47,354,0.00,0.80,0.00,0.000,6,0.000,0.035,1447,3423,3073,0,0,0,0,0,0
$GC,596,-0.54,-146.1,62.3,-10.1,88,604,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3423,3074,0,0,0,0,0,0
$GC,951,-0.54,-146.1,94.5,-9.3,149,957,0.00,0.82,0.00,0.000,4,0.000,0.060,1443,3940,3074,0,0,0,0,0,0
$GC,1003,-0.54,-146.1,99.8,-9.8,158,1011,0.00,0.82,0.00,0.000,6,0.000,0.035,1443,3395,3074,0,0,0,0,0,0
$GC,1327,-0.54,-146.1,127.1,-8.3,179,1331,0.00,2.12,0.00,0.000,4,0.000,0.029,1443,1977,3075,0,0,0,0,0,0
$GC,1366,-0.54,-146.1,130.8,-7.7,181,1374,0.00,2.33,0.00,0.000,6,0.000,0.058,1432,3390,3075,0,0,0,0,0,0
$GC,1688,-0.54,-146.1,159.0,-9.1,202,1691,0.00,0.90,0.00,0.000,4,0.000,0.057,1428,3961,3075,0,0,0,0,0,0
$GC,1788,-0.54,-146.1,169.3,-9.7,207,1795,0.00,0.85,0.00,0.000,6,0.000,0.033,1428,3396,3075,0,0,0,0,0,0
$GC,2110,-0.54,-146.1,199.6,-9.7,228,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3396,3075,0,0,0,0,0,0
$GC,2422,-0.54,-146.1,229.5,-9.8,248,2426,0.00,2.10,0.00,0.000,4,0.000,0.028,1428,1981,3075,0,0,0,0,0,0
$GC,2453,-0.54,-146.1,232.6,-9.6,250,2458,0.12,2.33,0.00,0.000,6,0.148,0.056,1450,3414,3075,0,0,0,0,0,0
$GC,2780,-0.54,-146.1,259.4,-8.3,269,2784,0.00,0.85,0.00,0.000,4,0.000,0.057,1447,3955,3075,0,0,0,0,0,0
$GC,2849,-0.54,-146.1,266.1,-9.1,272,2852,0.00,0.82,0.00,0.000,6,0.000,0.034,1448,3405,3075,0,0,0,0,0,0
$GC,3183,-0.54,-146.1,294.8,-8.8,288,3187,0.00,2.12,0.00,0.000,4,0.000,0.028,1448,1975,3075,0,0,0,0,0,0
$GC,3226,-0.54,-146.1,298.5,-8.0,290,3231,0.00,2.33,0.00,0.000,6,0.000,0.054,1437,3397,3075,0,0,0,0,0,0
$GC,3561,-0.54,-146.1,329.0,-9.3,306,3565,0.00,0.88,0.00,0.000,4,0.000,0.057,1433,3952,3074,0,0,0,0,0,0
$GC,3617,-0.54,-146.1,334.4,-10.0,308,3621,0.00,0.82,0.00,0.000,6,0.000,0.034,1433,3400,3074,0,0,0,0,0,0
$GC,3945,-0.54,-146.1,365.2,-9.3,324,3949,0.00,0.90,0.00,0.000,4,0.000,0.060,1429,3951,3074,0,0,0,0,0,0
$GC,3994,-0.54,-146.1,370.3,-10.3,326,3999,0.00,0.82,0.00,0.000,6,0.000,0.034,1429,3400,3074,0,0,0,0,0,0
$STATE,4326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4326,begin apogee
$GC,4334,-0.13,0.0,400.7,8.9,342,4469,0.50,0.00,131.75,0.902,6,0.126,0.000,1583,3281,2473,0,0,0,0,0,0
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4470,begin climb
$GC,4473,0.54,146.1,405.6,0.0,346,4612,0.62,2.25,128.38,0.848,4,0.081,0.025,1809,1853,1870,0,0,0,0,0,0
$GC,4623,0.54,146.1,393.2,11.2,352,4628,0.00,2.40,0.00,0.000,6,0.000,0.044,1809,3290,1867,0,0,0,0,0,0
$GC,4942,0.54,146.1,352.8,13.1,367,4947,0.00,1.05,0.00,0.000,4,0.000,0.053,1808,3953,1858,0,0,0,0,0,0
$GC,5173,0.54,146.1,318.7,14.1,377,5179,0.00,1.02,0.00,0.000,6,0.000,0.028,1814,3253,1857,0,0,0,0,0,0
$GC,5510,0.54,146.1,276.2,12.2,393,5515,0.00,1.12,0.00,0.000,4,0.000,0.053,1814,3954,1855,0,0,0,0,0,0
$GC,5771,0.54,146.1,240.7,14.2,405,5775,0.00,0.98,0.00,0.000,6,0.000,0.029,1819,3290,1855,0,0,0,0,0,0
$GC,6102,0.54,146.1,198.8,12.6,426,6105,0.00,1.05,0.00,0.000,4,0.000,0.053,1819,3951,1854,0,0,0,0,0,0
$GC,6283,0.54,146.1,173.5,14.4,436,6286,0.00,0.98,0.00,0.000,6,0.000,0.028,1824,3284,1853,0,0,0,0,0,0
$GC,6617,0.54,146.1,130.0,13.4,457,6621,0.00,1.05,0.00,0.000,4,0.000,0.053,1824,3946,1853,0,0,0,0,0,0
$GC,6831,0.54,146.1,98.3,16.1,469,6836,0.00,0.98,0.00,0.000,6,0.000,0.029,1829,3274,1852,0,0,0,0,0,0
$GC,7186,0.54,158.4,56.0,9.5,530,7194,0.00,1.08,2.47,0.444,4,0.000,0.050,1829,3957,1830,0,0,0,0,0,0
$GC,7474,0.54,158.4,25.7,11.9,576,7483,0.00,1.00,0.00,0.000,6,0.000,0.028,1834,3274,1834,0,0,0,0,0,0
$GC,7563,0.57,192.1,16.1,8.5,589,7599,0.00,1.12,31.27,0.633,4,0.000,0.050,1834,3958,1686,0,0,0,0,0,0
$STATE,7667,end climb,SURFACE_DEPTH_REACHED
$STATE,7667,begin surface coast
$FINISH,0.9,1.024198
$STATE,7693,end surface coast,CONTROL_FINISHED_OK
$STATE,7693,begin surface
$SM_CCo,7709,23.83,0.626,1,0,1534,230.09
$SM_GC,1.64,0.00,0.00,23.83,0.000,0.000,0.626,45,3404,1534,-4.94,0.11,230.09
$IRIDIUM_FIX,-4224.47,842.99,260213,101042
$TT8_MAMPS,0.025466
$HUMID,57.83
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,68.819
$10V_AH,9.8,49.943
$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,11.575,40.550,293.875,23.825,0.000,26.414,19.732,372.857,0.000,0.000,42.576,1449.494,3673.167,347.475,2121.916,759.845,33.393,1037.609,0.000,1927.084,0.000,1.013,0.000
$DEVICE_MAMPS,226.440,78.795,901.935,625.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.356,1454.015,972.150,437.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354472
$DATA_FILE_SIZE,43796,606
$CAP_FILE_SIZE,82701,0
$CFSIZE,259252224,230047744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,152236,-4240.459,843.608,26,1.1,26,-25.1