version: 66.07
glider: 543
mission: 6
dive: 431
start: 2 26 113 18 12 19
data:
$ID,543
$MISSION,6
$DIVE,431
$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,-9113.3818
$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,61
$R_STBD_OVSHOOT,17
$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
$GPS1,260213,175152,-4241.004,844.145,38,0.9,38,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-49.3
$GPS2,260213,181118,-4240.965,844.604,13,0.9,15,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.109,-0.236
$KALMAN_X,87014.3,528.3,334.5,-29256.0,726.5
$KALMAN_Y,391693.8,100.4,153.3,-412183.8,824.0
$MHEAD_RNG_PITCHd_Wd,229.8,427475,-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,-146.1,0.0,0.0,0,80,0.00,0.00,-58.05,0.000,2,0.000,0.000,44,3390,3022,0,0,0,0,0,0
$GC,85,-0.54,-146.1,3.6,-3.4,7,104,5.75,0.93,-1.12,0.000,4,0.226,0.083,1441,3967,3073,0,0,0,0,0,0
$GC,142,-0.54,-146.1,16.2,-16.2,14,151,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3426,3074,0,0,0,0,0,0
$GC,231,-0.54,-146.1,29.0,-10.5,27,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3427,3075,0,0,0,0,0,0
$GC,312,-0.54,-146.1,38.3,-11.5,40,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3426,3075,0,0,0,0,0,0
$GC,567,-0.54,-146.1,65.2,-11.1,81,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3426,3076,0,0,0,0,0,0
$GC,920,-0.54,-146.1,99.8,-8.0,142,927,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3426,3076,0,0,0,0,0,0
$GC,1242,-0.54,-146.1,128.9,-9.4,163,1248,0.00,2.20,0.00,0.000,4,0.000,0.029,1441,1975,3076,0,0,0,0,0,0
$GC,1354,-0.54,-146.1,138.8,-8.5,169,1358,0.00,2.33,0.00,0.000,6,0.000,0.057,1430,3411,3077,0,0,0,0,0,0
$GC,1679,-0.54,-146.1,170.4,-9.3,190,1682,0.00,0.85,0.00,0.000,4,0.000,0.057,1426,3952,3077,0,0,0,0,0,0
$GC,1770,-0.54,-146.1,179.9,-10.3,195,1774,0.00,0.85,0.00,0.000,6,0.000,0.033,1426,3388,3077,0,0,0,0,0,0
$GC,2095,-0.54,-146.1,210.2,-9.5,216,2098,0.00,0.90,0.00,0.000,4,0.000,0.059,1422,3953,3077,0,0,0,0,0,0
$GC,2184,-0.54,-146.1,218.4,-9.6,221,2188,0.08,0.82,0.00,0.000,6,0.142,0.034,1446,3405,3076,0,0,0,0,0,0
$GC,2517,-0.54,-146.1,243.6,-7.4,242,2521,0.00,2.12,0.00,0.000,4,0.000,0.028,1447,1982,3077,0,0,0,0,0,0
$GC,2558,-0.54,-146.1,246.9,-7.6,244,2566,0.00,2.33,0.00,0.000,6,0.000,0.057,1437,3395,3077,0,0,0,0,0,0
$GC,2883,-0.54,-146.1,273.3,-8.6,261,2888,0.00,0.88,0.00,0.000,4,0.000,0.058,1433,3951,3076,0,0,0,0,0,0
$GC,2988,-0.54,-146.1,283.9,-10.1,265,2992,0.00,0.82,0.00,0.000,6,0.000,0.034,1433,3401,3076,0,0,0,0,0,0
$GC,3313,-0.54,-146.1,314.2,-9.6,281,3319,0.00,2.15,0.00,0.000,4,0.000,0.029,1433,1975,3076,0,0,0,0,0,0
$GC,3353,-0.54,-146.1,318.2,-9.1,282,3362,0.08,2.33,0.00,0.000,6,0.122,0.057,1448,3393,3076,0,0,0,0,0,0
$GC,3672,-0.54,-146.1,343.5,-8.0,298,3675,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3948,3076,0,0,0,0,0,0
$GC,3761,-0.54,-146.1,351.1,-8.3,301,3767,0.00,0.82,0.00,0.000,6,0.000,0.035,1445,3401,3075,0,0,0,0,0,0
$GC,4079,-0.54,-146.1,376.0,-7.6,317,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3401,3075,0,0,0,0,0,0
$STATE,4385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4385,begin apogee
$GC,4393,-0.13,0.0,400.6,8.0,332,4527,0.45,0.00,131.57,0.901,6,0.122,0.000,1586,3285,2473,0,0,0,0,0,0
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4532,0.54,146.1,405.3,0.0,336,4667,0.60,0.00,128.48,0.852,6,0.077,0.000,1797,3285,1877,0,0,0,0,0,0
$GC,4964,0.54,146.1,361.8,11.4,356,4968,0.00,1.08,0.00,0.000,4,0.000,0.053,1797,3953,1859,0,0,0,0,0,0
$GC,5108,0.54,146.1,343.6,12.8,362,5112,0.00,1.02,0.00,0.000,6,0.000,0.028,1802,3257,1858,0,0,0,0,0,0
$GC,5436,0.54,146.1,305.1,11.8,378,5440,0.00,1.10,0.00,0.000,4,0.000,0.054,1802,3948,1855,0,0,0,0,0,0
$GC,5637,0.54,146.1,277.9,13.4,386,5645,0.00,0.98,0.00,0.000,6,0.000,0.029,1807,3282,1855,0,0,0,0,0,0
$GC,5964,0.54,146.1,238.4,12.0,404,5970,0.00,1.08,0.00,0.000,4,0.000,0.054,1807,3958,1854,0,0,0,0,0,0
$GC,6107,0.54,146.1,219.7,13.6,412,6111,0.00,1.00,0.00,0.000,6,0.000,0.029,1812,3272,1853,0,0,0,0,0,0
$GC,6442,0.54,146.1,179.9,11.7,433,6445,0.00,1.08,0.00,0.000,4,0.000,0.053,1812,3949,1853,0,0,0,0,0,0
$GC,6607,0.54,146.1,157.2,13.6,442,6613,0.00,0.98,0.00,0.000,6,0.000,0.029,1817,3284,1853,0,0,0,0,0,0
$GC,6934,0.54,146.1,117.3,12.0,463,6938,0.00,1.08,0.00,0.000,4,0.000,0.054,1818,3959,1853,0,0,0,0,0,0
$GC,7083,0.54,146.1,97.7,14.1,472,7091,0.00,1.00,0.00,0.000,6,0.000,0.029,1822,3275,1852,0,0,0,0,0,0
$GC,7441,0.54,146.1,56.7,10.2,533,7447,0.00,2.10,0.00,0.000,4,0.000,0.027,1834,1857,1852,0,0,0,0,0,0
$GC,7531,0.60,244.7,50.3,5.5,547,7624,0.00,2.28,82.97,0.659,6,0.000,0.047,1834,3288,1469,0,0,0,0,0,0
$GC,7882,0.60,244.7,6.8,11.9,599,7892,0.00,1.05,0.00,0.000,4,0.000,0.057,1834,3944,1459,0,0,0,0,0,0
$STATE,7905,end climb,SURFACE_DEPTH_REACHED
$STATE,7905,begin surface coast
$FINISH,0.8,1.009670
$STATE,7927,end surface coast,CONTROL_FINISHED_OK
$STATE,7927,begin surface
$SM_CCo,8004,0.00,0.000,0,0,1456,249.71
$SM_GC,1.77,4.65,0.00,0.00,0.034,0.000,0.000,52,3401,1456,-4.79,0.03,249.71
$IRIDIUM_FIX,-4224.47,842.99,260213,171704
$TT8_MAMPS,0.025466
$HUMID,57.87
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,69.045
$10V_AH,9.8,50.153
$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,11.600,38.800,343.025,0.000,0.000,111.582,206.453,479.615,0.000,0.000,17.572,1422.345,4130.495,369.704,2471.045,779.833,33.388,1081.209,0.000,1919.031,0.000,1.013,0.000
$DEVICE_MAMPS,226.440,82.620,901.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.884,1459.541,961.015,418.189,0.000,0.000,0.000,0.000,0.000,0.000
$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,43777,605
$CAP_FILE_SIZE,85982,0
$CFSIZE,259252224,229949440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260213,202658,-4241.357,845.009,37,0.9,37,-25.1