version: 66.07
glider: 543
mission: 6
dive: 438
start: 2 27 113 11 35 12
data:
$ID,543
$MISSION,6
$DIVE,438
$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,-9137.1963
$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,54
$R_STBD_OVSHOOT,36
$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
$GPS1,270213,110904,-4242.102,846.335,37,1.0,37,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-54.2
$GPS2,270213,113411,-4241.978,846.753,16,1.2,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.211,-0.152
$KALMAN_X,98727.0,-279.3,125.1,-37016.9,1636.5
$KALMAN_Y,401816.8,142.7,-67.7,-424010.7,900.8
$MHEAD_RNG_PITCHd_Wd,259.2,425964,-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,21,-0.54,-146.1,0.0,0.0,0,72,0.00,0.00,-48.83,0.000,2,0.000,0.000,51,3413,2742,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.0,-3.8,6,103,5.50,2.20,-9.52,0.000,4,0.210,0.043,1444,1996,3072,0,0,0,0,0,0
$GC,152,-0.54,-146.1,10.9,-10.9,16,160,0.00,2.28,0.00,0.000,6,0.000,0.054,1435,3382,3073,0,0,0,0,0,0
$GC,241,-0.54,-146.1,21.8,-12.1,29,249,0.00,2.12,0.00,0.000,4,0.000,0.031,1435,2001,3074,0,0,0,0,0,0
$GC,267,-0.54,-146.1,24.1,-8.8,32,276,0.00,2.33,0.00,0.000,6,0.000,0.061,1425,3399,3074,0,0,0,0,0,0
$GC,358,-0.54,-146.1,33.0,-9.7,45,365,0.00,0.88,0.00,0.000,4,0.000,0.057,1420,3953,3074,0,0,0,0,0,0
$GC,423,-0.54,-146.1,39.6,-7.4,55,431,0.08,0.80,0.00,0.000,6,0.152,0.033,1444,3421,3074,0,0,0,0,0,0
$GC,671,-0.54,-146.1,61.3,-10.3,96,682,0.00,2.17,0.00,0.000,4,0.000,0.028,1444,1980,3074,0,0,0,0,0,0
$GC,711,-0.54,-146.1,65.3,-10.5,102,722,0.00,2.35,0.00,0.000,6,0.000,0.057,1434,3410,3074,0,0,0,0,0,0
$GC,1078,-0.54,-146.1,100.2,-7.4,163,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3410,3074,0,0,0,0,0,0
$GC,1387,-0.54,-146.1,123.1,-7.8,183,1392,0.00,0.85,0.00,0.000,4,0.000,0.057,1430,3952,3075,0,0,0,0,0,0
$GC,1500,-0.54,-146.1,133.6,-8.9,189,1504,0.00,0.85,0.00,0.000,6,0.000,0.032,1430,3381,3075,0,0,0,0,0,0
$GC,1826,-0.54,-146.1,162.4,-8.8,210,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3381,3076,0,0,0,0,0,0
$GC,2140,-0.54,-146.1,190.1,-9.1,230,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3381,3076,0,0,0,0,0,0
$GC,2451,-0.54,-146.1,218.4,-9.0,250,2454,0.00,0.90,0.00,0.000,4,0.000,0.057,1426,3952,3075,0,0,0,0,0,0
$GC,2527,-0.54,-146.1,226.1,-10.0,254,2533,0.00,0.82,0.00,0.000,6,0.000,0.033,1426,3399,3075,0,0,0,0,0,0
$GC,2849,-0.54,-146.1,254.1,-8.4,274,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3399,3075,0,0,0,0,0,0
$GC,3159,-0.54,-146.1,280.1,-8.3,289,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3399,3075,0,0,0,0,0,0
$GC,3469,-0.54,-146.1,306.0,-8.6,304,3473,0.00,2.12,0.00,0.000,4,0.000,0.028,1425,1971,3075,0,0,0,0,0,0
$GC,3528,-0.54,-146.1,311.5,-8.5,306,3537,0.10,2.33,0.00,0.000,6,0.121,0.052,1448,3398,3074,0,0,0,0,0,0
$GC,3846,-0.54,-146.1,336.3,-8.0,322,3850,0.00,0.88,0.00,0.000,4,0.000,0.057,1446,3954,3074,0,0,0,0,0,0
$GC,3967,-0.54,-146.1,346.8,-7.7,327,3971,0.00,0.82,0.00,0.000,6,0.000,0.034,1446,3402,3074,0,0,0,0,0,0
$GC,4298,-0.54,-146.1,372.5,-8.0,343,4303,0.00,2.15,0.00,0.000,4,0.000,0.028,1446,1971,3073,0,0,0,0,0,0
$GC,4362,-0.54,-146.1,378.0,-8.1,345,4369,0.00,2.30,0.00,0.000,6,0.000,0.052,1435,3403,3073,0,0,0,0,0,0
$STATE,4449,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4449,begin apogee
$GC,4456,-0.13,0.0,385.1,8.4,350,4596,0.47,0.00,130.95,0.914,6,0.128,0.000,1580,3273,2468,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4600,0.54,146.1,390.1,0.0,357,4740,0.62,2.28,128.07,0.852,4,0.079,0.025,1810,1852,1870,0,0,0,0,0,0
$GC,4799,0.54,146.1,372.4,10.2,365,4806,0.00,2.33,0.00,0.000,6,0.000,0.044,1811,3283,1862,0,0,0,0,0,0
$GC,5117,0.54,146.1,334.6,11.8,381,5123,0.00,1.05,0.00,0.000,4,0.000,0.052,1810,3947,1857,0,0,0,0,0,0
$GC,5248,0.54,146.1,316.6,13.5,386,5259,0.00,1.00,0.00,0.000,6,0.000,0.028,1815,3262,1856,0,0,0,0,0,0
$GC,5566,0.54,146.1,277.9,12.4,402,5570,0.00,1.10,0.00,0.000,4,0.000,0.052,1815,3954,1853,0,0,0,0,0,0
$GC,5684,0.54,146.1,261.7,14.4,407,5688,0.00,0.98,0.00,0.000,6,0.000,0.028,1820,3282,1853,0,0,0,0,0,0
$GC,6005,0.54,146.1,218.1,13.7,426,6009,0.00,1.08,0.00,0.000,4,0.000,0.053,1820,3958,1852,0,0,0,0,0,0
$GC,6148,0.54,146.1,196.1,15.2,434,6154,0.00,1.00,0.00,0.000,6,0.000,0.028,1826,3273,1852,0,0,0,0,0,0
$GC,6476,0.54,146.1,151.4,13.8,455,6482,0.00,1.08,0.00,0.000,4,0.000,0.052,1825,3950,1852,0,0,0,0,0,0
$GC,6630,0.54,146.1,128.1,15.3,463,6637,0.00,0.98,0.00,0.000,6,0.000,0.028,1830,3281,1852,0,0,0,0,0,0
$GC,6962,0.54,146.1,84.7,12.2,498,6971,0.00,1.08,0.00,0.000,4,0.000,0.053,1830,3958,1852,0,0,0,0,0,0
$GC,7238,0.54,146.1,47.5,11.9,544,7248,0.10,0.98,0.00,0.000,6,0.156,0.028,1805,3287,1851,0,0,0,0,0,0
$GC,7499,0.58,212.2,25.1,7.0,585,7558,0.00,1.12,54.42,0.654,4,0.000,0.056,1805,3958,1603,0,0,0,0,0,0
$GC,7599,0.62,274.2,19.1,7.2,598,7659,0.00,1.00,52.40,0.655,6,0.000,0.028,1808,3286,1348,0,0,0,0,0,0
$GC,7742,0.62,274.2,4.4,11.8,617,7751,0.00,1.08,0.00,0.000,4,0.000,0.053,1808,3953,1337,0,0,0,0,0,0
$STATE,7758,end climb,SURFACE_DEPTH_REACHED
$STATE,7758,begin surface coast
$FINISH,0.8,1.026145
$STATE,7780,end surface coast,CONTROL_FINISHED_OK
$STATE,7780,begin surface
$SM_CCo,7857,0.00,0.000,0,0,1334,279.64
$SM_GC,1.65,4.57,0.00,0.00,0.031,0.000,0.000,53,3399,1334,-4.78,0.00,279.64
$IRIDIUM_FIX,-4230.32,846.78,270213,111150
$TT8_MAMPS,0.025466
$HUMID,57.48
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.7,69.823
$10V_AH,9.8,50.884
$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,11.450,48.250,365.850,0.000,0.000,166.457,206.761,681.354,0.000,0.000,19.690,1442.938,3979.124,365.592,2669.312,910.378,33.369,1120.777,0.000,1941.659,0.000,1.014,0.000
$DEVICE_MAMPS,210.375,61.200,914.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.945,1532.058,1043.698,486.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354556
$DATA_FILE_SIZE,46929,622
$CAP_FILE_SIZE,91964,0
$CFSIZE,259252224,229588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270213,134707,-4241.859,846.978,20,0.8,20,-25.1