version: 66.07
glider: 543
mission: 6
dive: 430
start: 2 26 113 15 37 29
data:
$ID,543
$MISSION,6
$DIVE,430
$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,-9110.0059
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,260213,152236,-4240.459,843.608,26,1.1,26,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-50.9
$GPS2,260213,153628,-4240.570,843.863,41,1.2,42,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.117,-0.233
$KALMAN_X,85035.3,459.9,463.9,-28343.5,865.6
$KALMAN_Y,390911.4,53.1,-146.7,-410324.0,1319.9
$MHEAD_RNG_PITCHd_Wd,231.9,428085,-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,-48.90,0.000,2,0.000,0.000,44,3404,2699,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.0,-4.4,6,104,5.72,0.93,-10.38,0.000,4,0.223,0.093,1445,3950,3073,0,0,0,0,0,0
$GC,177,-0.54,-146.1,15.7,-12.1,20,188,0.00,0.82,0.00,0.000,6,0.000,0.035,1445,3412,3074,0,0,0,0,0,0
$GC,272,-0.54,-146.1,25.3,-10.7,33,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3412,3075,0,0,0,0,0,0
$GC,359,-0.54,-146.1,33.8,-10.8,46,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3412,3075,0,0,0,0,0,0
$GC,610,-0.54,-146.1,62.4,-12.8,87,618,0.00,0.85,0.00,0.000,4,0.000,0.059,1441,3944,3075,0,0,0,0,0,0
$GC,780,-0.54,-146.1,80.8,-8.8,115,786,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3398,3075,0,0,0,0,0,0
$GC,1132,-0.54,-146.1,110.4,-8.0,162,1136,0.00,2.12,0.00,0.000,4,0.000,0.029,1441,1979,3076,0,0,0,0,0,0
$GC,1219,-0.54,-146.1,117.0,-7.7,167,1223,0.00,2.30,0.00,0.000,6,0.000,0.054,1431,3406,3076,0,0,0,0,0,0
$GC,1544,-0.54,-146.1,145.4,-8.7,188,1548,0.00,0.85,0.00,0.000,4,0.000,0.057,1426,3949,3077,0,0,0,0,0,0
$GC,1675,-0.54,-146.1,157.9,-9.6,195,1682,0.00,0.82,0.00,0.000,6,0.000,0.034,1427,3398,3077,0,0,0,0,0,0
$GC,1995,-0.54,-146.1,187.5,-9.6,216,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3398,3077,0,0,0,0,0,0
$GC,2309,-0.54,-146.1,218.5,-10.0,236,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3398,3077,0,0,0,0,0,0
$GC,2622,-0.54,-146.1,249.7,-10.1,256,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,1427,3398,3077,0,0,0,0,0,0
$GC,2946,-0.54,-146.1,282.2,-9.9,272,2950,0.00,2.12,0.00,0.000,4,0.000,0.028,1426,1971,3076,0,0,0,0,0,0
$GC,2981,-0.54,-146.1,285.8,-9.4,273,2988,0.12,2.30,0.00,0.000,6,0.148,0.054,1449,3400,3077,0,0,0,0,0,0
$GC,3300,-0.54,-146.1,311.2,-8.0,289,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3401,3076,0,0,0,0,0,0
$GC,3608,-0.54,-146.1,334.9,-7.6,304,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3400,3076,0,0,0,0,0,0
$GC,3919,-0.54,-146.1,357.2,-7.0,319,3924,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3952,3076,0,0,0,0,0,0
$GC,3990,-0.54,-146.1,362.7,-7.9,322,3996,0.00,0.85,0.00,0.000,6,0.000,0.034,1447,3389,3076,0,0,0,0,0,0
$GC,4327,-0.54,-146.1,385.8,-6.7,338,4330,0.00,2.10,0.00,0.000,4,0.000,0.028,1447,1979,3076,0,0,0,0,0,0
$GC,4393,-0.54,-146.1,390.5,-7.3,341,4398,0.00,2.30,0.00,0.000,6,0.000,0.054,1436,3404,3076,0,0,0,0,0,0
$STATE,4451,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4451,begin apogee
$GC,4458,-0.13,0.0,395.0,7.6,344,4594,0.47,0.00,130.75,0.900,6,0.124,0.000,1583,3275,2470,0,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4599,0.54,146.1,398.5,0.0,351,4740,0.60,2.28,128.65,0.854,4,0.078,0.025,1805,1858,1870,0,0,0,0,0,0
$GC,4775,0.54,146.1,382.9,10.4,358,4785,0.00,2.38,0.00,0.000,6,0.000,0.045,1805,3282,1864,0,0,0,0,0,0
$GC,5092,0.54,146.1,344.2,12.1,374,5096,0.00,1.08,0.00,0.000,4,0.000,0.053,1805,3957,1859,0,0,0,0,0,0
$GC,5328,0.54,146.1,313.2,13.4,384,5331,0.00,1.02,0.00,0.000,6,0.000,0.028,1811,3258,1857,0,0,0,0,0,0
$GC,5656,0.54,146.1,275.2,11.6,400,5660,0.00,1.12,0.00,0.000,4,0.000,0.054,1811,3960,1855,0,0,0,0,0,0
$GC,5867,0.54,146.1,248.1,13.1,409,5872,0.00,1.00,0.00,0.000,6,0.000,0.028,1816,3280,1854,0,0,0,0,0,0
$GC,6199,0.54,146.1,209.0,11.8,430,6203,0.00,1.08,0.00,0.000,4,0.000,0.054,1816,3962,1854,0,0,0,0,0,0
$GC,6404,0.54,146.1,180.8,14.3,441,6411,0.00,1.00,0.00,0.000,6,0.000,0.028,1821,3280,1853,0,0,0,0,0,0
$GC,6724,0.54,146.1,139.8,12.5,462,6727,0.00,1.08,0.00,0.000,4,0.000,0.053,1821,3958,1852,0,0,0,0,0,0
$GC,6915,0.54,146.1,114.2,13.8,473,6919,0.00,1.00,0.00,0.000,6,0.000,0.029,1826,3273,1853,0,0,0,0,0,0
$GC,7254,0.54,146.1,76.5,11.2,518,7262,0.00,1.08,0.00,0.000,4,0.000,0.053,1826,3950,1852,0,0,0,0,0,0
$GC,7532,0.54,146.1,45.5,11.0,564,7542,0.00,0.98,0.00,0.000,6,0.000,0.030,1831,3287,1852,0,0,0,0,0,0
$GC,7801,0.54,146.1,13.7,10.8,605,7810,0.00,1.05,0.00,0.000,4,0.000,0.054,1831,3955,1852,0,0,0,0,0,0
$STATE,7894,end climb,SURFACE_DEPTH_REACHED
$STATE,7894,begin surface coast
$FINISH,0.9,1.026053
$STATE,7922,end surface coast,CONTROL_FINISHED_OK
$STATE,7922,begin surface
$SM_CCo,7939,39.67,0.683,1,0,1535,230.09
$SM_GC,1.74,0.00,0.00,39.67,0.000,0.000,0.683,45,3390,1535,-4.94,-0.31,230.09
$IRIDIUM_FIX,-4224.47,845.88,260213,151547
$TT8_MAMPS,0.025466
$HUMID,57.71
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.7,68.923
$10V_AH,9.8,50.049
$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,11.700,37.225,259.400,39.675,0.000,52.993,44.081,460.947,0.000,0.000,43.895,1470.565,3889.674,338.995,2337.059,786.260,33.392,1049.100,0.000,1985.440,0.000,1.014,0.000
$DEVICE_MAMPS,223.380,92.565,900.405,683.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.019,1537.716,1035.229,433.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,47121,623
$CAP_FILE_SIZE,83736,0
$CFSIZE,259252224,229994496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,175152,-4241.004,844.145,38,0.9,38,-25.1