version: 66.07
glider: 543
mission: 6
dive: 432
start: 2 26 113 20 37 43
data:
$ID,543
$MISSION,6
$DIVE,432
$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,-9116.7754
$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,48
$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
$GPS1,260213,202658,-4241.357,845.009,37,0.9,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-39.7
$GPS2,260213,203642,-4241.292,845.236,14,1.6,15,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.154,-0.210
$KALMAN_X,88985.5,504.6,79.3,-30084.3,1079.5
$KALMAN_Y,392786.5,148.6,268.2,-414050.1,603.3
$MHEAD_RNG_PITCHd_Wd,241.2,426977,-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,-49.33,0.000,2,0.000,0.000,51,3400,2639,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.1,-4.7,6,105,5.72,0.90,-11.75,0.000,4,0.226,0.089,1441,3948,3071,0,0,0,0,0,0
$GC,190,-0.54,-146.1,22.1,-16.2,22,201,0.00,0.82,0.00,0.000,6,0.000,0.035,1441,3408,3072,0,0,0,0,0,0
$GC,280,-0.54,-146.1,35.3,-11.9,35,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3407,3072,0,0,0,0,0,0
$GC,526,-0.54,-146.1,69.4,-14.3,76,533,0.00,2.15,0.00,0.000,4,0.000,0.029,1441,1972,3073,0,0,0,0,0,0
$GC,551,-0.54,-146.1,73.0,-13.9,80,558,0.00,2.33,0.00,0.000,6,0.000,0.057,1431,3388,3073,0,0,0,0,0,0
$GC,899,-0.54,-146.1,108.8,-9.9,130,901,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3388,3074,0,0,0,0,0,0
$GC,1213,-0.54,-146.1,140.2,-10.0,150,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3388,3075,0,0,0,0,0,0
$GC,1525,-0.54,-146.1,170.7,-9.3,170,1529,0.00,0.90,0.00,0.000,4,0.000,0.057,1426,3958,3075,0,0,0,0,0,0
$GC,1585,-0.54,-146.1,176.9,-9.9,173,1589,0.00,0.85,0.00,0.000,6,0.000,0.033,1426,3394,3075,0,0,0,0,0,0
$GC,1911,-0.54,-146.1,205.0,-8.4,194,1914,0.00,0.90,0.00,0.000,4,0.000,0.058,1422,3958,3075,0,0,0,0,0,0
$GC,1955,-0.54,-146.1,209.0,-9.0,196,1967,0.08,0.85,0.00,0.000,6,0.144,0.034,1447,3397,3075,0,0,0,0,0,0
$GC,2280,-0.54,-146.1,229.5,-5.9,217,2285,0.00,2.15,0.00,0.000,4,0.000,0.028,1447,1974,3075,0,0,0,0,0,0
$GC,2308,-0.54,-146.1,231.6,-6.3,218,2319,0.00,2.33,0.00,0.000,6,0.000,0.056,1437,3395,3075,0,0,0,0,0,0
$GC,2637,-0.54,-146.1,252.2,-6.6,239,2641,0.00,0.88,0.00,0.000,4,0.000,0.057,1433,3952,3075,0,0,0,0,0,0
$GC,2745,-0.54,-146.1,260.3,-7.6,243,2752,0.00,0.82,0.00,0.000,6,0.000,0.033,1433,3398,3075,0,0,0,0,0,0
$GC,3064,-0.54,-146.1,283.2,-7.6,259,3069,0.00,2.12,0.00,0.000,4,0.000,0.028,1433,1980,3075,0,0,0,0,0,0
$GC,3093,-0.54,-146.1,285.8,-7.7,260,3098,0.10,2.30,0.00,0.000,6,0.151,0.054,1448,3405,3075,0,0,0,0,0,0
$GC,3417,-0.54,-146.1,310.3,-8.0,276,3421,0.00,0.85,0.00,0.000,4,0.000,0.057,1445,3949,3074,0,0,0,0,0,0
$GC,3519,-0.54,-146.1,319.8,-9.0,280,3523,0.00,0.82,0.00,0.000,6,0.000,0.034,1446,3400,3074,0,0,0,0,0,0
$GC,3842,-0.54,-146.1,348.8,-9.2,296,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3399,3074,0,0,0,0,0,0
$GC,4152,-0.54,-146.1,376.2,-9.0,311,4158,0.00,0.90,0.00,0.000,4,0.000,0.060,1441,3949,3073,0,0,0,0,0,0
$GC,4206,-0.54,-146.1,381.6,-10.0,313,4209,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3400,3074,0,0,0,0,0,0
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.13,0.0,400.0,8.9,323,4553,0.45,0.00,132.32,0.894,6,0.122,0.000,1580,3281,2473,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4557,0.54,146.1,405.3,0.0,327,4696,0.62,2.28,128.73,0.835,4,0.083,0.026,1808,1849,1869,0,0,0,0,0,0
$GC,4719,0.55,157.2,392.4,9.5,333,4731,0.00,2.40,4.40,0.902,6,0.000,0.045,1808,3280,1835,0,0,0,0,0,0
$GC,5043,0.55,157.2,353.2,12.5,349,5048,0.00,1.08,0.00,0.000,4,0.000,0.053,1808,3947,1839,0,0,0,0,0,0
$GC,5289,0.55,157.2,316.9,14.8,359,5296,0.00,1.00,0.00,0.000,6,0.000,0.028,1814,3266,1838,0,0,0,0,0,0
$GC,5608,0.55,157.2,276.1,12.4,375,5613,0.00,1.10,0.00,0.000,4,0.000,0.053,1814,3958,1838,0,0,0,0,0,0
$GC,5777,0.55,157.2,252.1,15.1,382,5780,0.00,1.00,0.00,0.000,6,0.000,0.029,1819,3276,1838,0,0,0,0,0,0
$GC,6109,0.55,157.2,209.8,12.3,403,6113,0.00,1.08,0.00,0.000,4,0.000,0.053,1819,3954,1837,0,0,0,0,0,0
$GC,6291,0.55,157.2,184.7,13.7,413,6295,0.00,1.00,0.00,0.000,6,0.000,0.029,1824,3274,1837,0,0,0,0,0,0
$GC,6616,0.55,157.2,145.6,11.9,434,6620,0.00,1.08,0.00,0.000,4,0.000,0.053,1824,3958,1837,0,0,0,0,0,0
$GC,6793,0.55,157.2,119.6,14.6,444,6798,0.00,1.00,0.00,0.000,6,0.000,0.028,1829,3274,1836,0,0,0,0,0,0
$GC,7128,0.55,157.2,75.9,11.4,486,7139,0.00,1.08,0.00,0.000,4,0.000,0.053,1829,3953,1836,0,0,0,0,0,0
$GC,7408,0.55,157.2,42.5,12.0,532,7418,0.00,0.98,0.00,0.000,6,0.000,0.028,1834,3290,1836,0,0,0,0,0,0
$GC,7675,0.61,260.2,18.8,5.3,573,7777,0.00,1.08,95.07,0.619,4,0.000,0.049,1834,3962,1404,0,0,0,0,0,0
$STATE,7830,end climb,SURFACE_DEPTH_REACHED
$STATE,7830,begin surface coast
$FINISH,0.9,1.004408
$STATE,7850,end surface coast,CONTROL_FINISHED_OK
$STATE,7850,begin surface
$SM_CCo,7927,0.00,0.000,0,0,1391,265.66
$SM_GC,1.86,4.70,0.00,0.00,0.035,0.000,0.000,45,3401,1391,-4.79,0.03,265.66
$IRIDIUM_FIX,-4227.40,928.22,260213,181830
$TT8_MAMPS,0.025466
$HUMID,58.03
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,69.151
$10V_AH,9.8,50.252
$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,11.675,40.850,360.525,0.000,0.000,25.173,26.419,372.434,0.000,0.000,17.624,1407.056,3900.852,363.296,2087.372,755.451,33.360,1089.591,0.000,1876.871,0.000,1.012,0.000
$DEVICE_MAMPS,226.440,88.740,901.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.879,1459.960,974.393,400.482,0.000,0.000,0.000,0.000,0.000,0.000
$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,43737,596
$CAP_FILE_SIZE,82712,0
$CFSIZE,259252224,229900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260213,225104,-4241.310,845.823,36,1.1,36,-25.1