version: 66.07
glider: 543
mission: 6
dive: 437
start: 2 27 113 8 56 53
data:
$ID,543
$MISSION,6
$DIVE,437
$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,-9133.7568
$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,47
$R_STBD_OVSHOOT,21
$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
$GPS1,270213,084045,-4241.720,845.994,22,3.9,41,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-49.4
$GPS2,270213,085552,-4241.771,846.040,40,1.3,41,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.163,-0.203
$KALMAN_X,96827.9,-265.3,-227.1,-35746.2,1178.2
$KALMAN_Y,400449.5,362.1,-142.2,-422399.7,750.1
$MHEAD_RNG_PITCHd_Wd,243.8,426227,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-50.50,0.000,2,0.000,0.000,47,3408,2784,0,0,0,0,0,0
$GC,77,-0.54,-146.1,3.2,-4.6,6,97,5.95,2.22,-7.72,0.000,4,0.238,0.044,1444,1991,3073,0,0,0,0,0,0
$GC,136,-0.54,-146.1,9.7,-7.5,13,145,0.00,2.33,0.00,0.000,6,0.000,0.057,1434,3395,3076,0,0,0,0,0,0
$GC,225,-0.54,-146.1,17.8,-10.7,26,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3395,3076,0,0,0,0,0,0
$GC,315,-0.54,-146.1,27.0,-10.5,39,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3395,3076,0,0,0,0,0,0
$GC,397,-0.54,-146.1,36.4,-10.5,52,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3395,3076,0,0,0,0,0,0
$GC,650,-0.54,-146.1,62.2,-10.4,93,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3395,3076,0,0,0,0,0,0
$GC,1004,-0.54,-146.1,95.3,-9.5,154,1011,0.00,0.88,0.00,0.000,4,0.000,0.057,1430,3951,3076,0,0,0,0,0,0
$GC,1149,-0.54,-146.1,109.8,-9.2,168,1153,0.00,0.80,0.00,0.000,6,0.000,0.034,1430,3411,3077,0,0,0,0,0,0
$GC,1485,-0.54,-146.1,140.1,-8.8,189,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3410,3077,0,0,0,0,0,0
$GC,1796,-0.54,-146.1,168.2,-9.2,209,1799,0.00,0.88,0.00,0.000,4,0.000,0.058,1426,3960,3077,0,0,0,0,0,0
$GC,1891,-0.54,-146.1,178.5,-10.4,214,1901,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3406,3078,0,0,0,0,0,0
$GC,2213,-0.54,-146.1,208.9,-9.8,235,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3406,3077,0,0,0,0,0,0
$GC,2524,-0.54,-146.1,239.8,-10.2,255,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3406,3078,0,0,0,0,0,0
$GC,2838,-0.54,-146.1,272.2,-10.1,272,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3406,3077,0,0,0,0,0,0
$GC,3150,-0.54,-146.1,303.0,-9.8,287,3156,0.00,0.88,0.00,0.000,4,0.000,0.058,1422,3955,3077,0,0,0,0,0,0
$GC,3184,-0.54,-146.1,307.0,-10.1,288,3188,0.08,0.82,0.00,0.000,6,0.143,0.033,1446,3407,3077,0,0,0,0,0,0
$GC,3507,-0.54,-146.1,333.9,-8.2,304,3511,0.00,2.12,0.00,0.000,4,0.000,0.028,1446,1977,3077,0,0,0,0,0,0
$GC,3542,-0.54,-146.1,337.0,-8.0,305,3549,0.00,2.30,0.00,0.000,6,0.000,0.053,1437,3405,3077,0,0,0,0,0,0
$GC,3861,-0.54,-146.1,363.0,-8.0,321,3866,0.00,0.85,0.00,0.000,4,0.000,0.057,1433,3947,3076,0,0,0,0,0,0
$GC,3896,-0.54,-146.1,366.2,-8.8,322,3899,0.00,0.82,0.00,0.000,6,0.000,0.033,1433,3399,3076,0,0,0,0,0,0
$GC,4219,-0.54,-146.1,391.7,-8.0,338,4223,0.00,2.10,0.00,0.000,4,0.000,0.028,1433,1979,3076,0,0,0,0,0,0
$GC,4275,-0.54,-146.1,395.9,-7.1,340,4280,0.10,2.30,0.00,0.000,6,0.155,0.052,1448,3404,3076,0,0,0,0,0,0
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4352,-0.13,0.0,401.0,7.3,343,4488,0.43,0.00,132.48,0.923,6,0.123,0.000,1581,3274,2473,0,0,0,0,0,0
$STATE,4489,end apogee,CONTROL_FINISHED_OK
$STATE,4489,begin climb
$GC,4492,0.54,146.1,405.4,0.0,347,4631,0.62,2.28,128.62,0.868,4,0.083,0.025,1808,1855,1870,0,0,0,0,0,0
$GC,4681,0.54,146.1,389.3,10.6,354,4692,0.00,2.38,0.00,0.000,6,0.000,0.044,1808,3283,1864,0,0,0,0,0,0
$GC,4999,0.54,146.1,351.0,12.1,370,5002,0.00,1.05,0.00,0.000,4,0.000,0.052,1808,3943,1859,0,0,0,0,0,0
$GC,5257,0.54,146.1,316.3,13.2,381,5261,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3261,1858,0,0,0,0,0,0
$GC,5587,0.54,146.1,278.7,11.3,397,5592,0.00,1.10,0.00,0.000,4,0.000,0.054,1814,3955,1855,0,0,0,0,0,0
$GC,5765,0.54,146.1,255.0,13.1,404,5773,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3287,1855,0,0,0,0,0,0
$GC,6099,0.54,146.1,215.2,12.8,425,6102,0.00,1.05,0.00,0.000,4,0.000,0.053,1818,3947,1854,0,0,0,0,0,0
$GC,6212,0.54,146.1,198.3,15.0,431,6219,0.00,0.98,0.00,0.000,6,0.000,0.029,1823,3279,1854,0,0,0,0,0,0
$GC,6532,0.54,146.1,154.0,14.3,452,6535,0.00,1.08,0.00,0.000,4,0.000,0.053,1823,3954,1853,0,0,0,0,0,0
$GC,6668,0.54,146.1,132.3,15.6,459,6674,0.00,0.98,0.00,0.000,6,0.000,0.028,1829,3286,1853,0,0,0,0,0,0
$GC,6995,0.54,146.1,87.4,13.2,490,7002,0.00,1.05,0.00,0.000,4,0.000,0.052,1829,3946,1853,0,0,0,0,0,0
$GC,7195,0.54,146.1,62.0,11.6,523,7200,0.08,0.98,0.00,0.000,6,0.165,0.028,1810,3273,1852,0,0,0,0,0,0
$GC,7563,0.57,197.3,26.5,7.7,584,7606,0.00,0.00,40.15,0.658,6,0.000,0.000,1810,3273,1665,0,0,0,0,0,0
$GC,7686,0.58,215.2,15.7,9.2,601,7703,0.00,1.08,10.57,0.695,4,0.000,0.049,1810,3954,1590,0,0,0,0,0,0
$GC,7785,0.58,215.2,3.3,14.3,615,7793,0.00,0.98,0.00,0.000,6,0.000,0.029,1814,3292,1585,0,0,0,0,0,0
$STATE,7800,end climb,SURFACE_DEPTH_REACHED
$STATE,7800,begin surface coast
$FINISH,0.9,1.026093
$STATE,7831,end surface coast,CONTROL_FINISHED_OK
$STATE,7832,begin surface
$SM_CCo,7847,4.32,0.604,0,0,1536,230.09
$SM_GC,1.73,0.00,0.00,4.32,0.000,0.000,0.604,52,3413,1536,-4.93,0.37,230.09
$IRIDIUM_FIX,-4227.40,846.33,270213,080852
$TT8_MAMPS,0.025466
$HUMID,57.60
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.6,69.683
$10V_AH,9.8,50.773
$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,11.900,37.400,311.825,4.325,0.000,50.969,52.187,541.458,0.000,0.000,42.717,1463.475,3794.540,347.794,2368.197,793.214,33.392,1047.875,0.000,1929.837,0.000,1.017,0.000
$DEVICE_MAMPS,237.915,75.735,922.590,604.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.625,1516.634,1028.079,461.812,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,47103,621
$CAP_FILE_SIZE,86740,0
$CFSIZE,259252224,229642240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270213,110904,-4242.102,846.335,37,1.0,37,-25.1