version: 66.07
glider: 543
mission: 6
dive: 440
start: 2 27 113 16 24 43
data:
$ID,543
$MISSION,6
$DIVE,440
$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,-9144.0127
$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,23
$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
$GPS1,270213,161323,-4241.863,847.238,36,1.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-55.7
$GPS2,270213,162342,-4241.714,847.330,18,1.7,19,-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,-0.232
$KALMAN_X,101717.1,204.2,470.6,-40041.5,792.7
$KALMAN_Y,404812.3,-170.3,468.4,-426742.0,855.8
$MHEAD_RNG_PITCHd_Wd,231.9,426546,-17.6,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-49.35,0.000,2,0.000,0.000,47,3401,2755,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.5,-5.3,6,94,5.78,0.00,-8.40,0.000,6,0.226,0.000,1447,3400,3071,0,0,0,0,0,0
$GC,175,-0.54,-146.1,12.9,-8.3,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3400,3074,0,0,0,0,0,0
$GC,263,-0.54,-146.1,21.8,-11.3,33,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3400,3074,0,0,0,0,0,0
$GC,350,-0.54,-146.1,31.1,-11.0,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3400,3075,0,0,0,0,0,0
$GC,604,-0.54,-146.1,57.0,-9.8,87,611,0.00,2.15,0.00,0.000,4,0.000,0.029,1447,1979,3075,0,0,0,0,0,0
$GC,639,-0.54,-146.1,60.7,-10.0,92,646,0.00,2.28,0.00,0.000,6,0.000,0.056,1438,3396,3075,0,0,0,0,0,0
$GC,999,-0.54,-146.1,94.1,-9.3,153,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3396,3075,0,0,0,0,0,0
$GC,1333,-0.54,-146.1,124.5,-9.3,181,1338,0.00,0.88,0.00,0.000,4,0.000,0.058,1433,3952,3076,0,0,0,0,0,0
$GC,1408,-0.54,-146.1,132.1,-10.0,185,1411,0.00,0.82,0.00,0.000,6,0.000,0.033,1433,3399,3077,0,0,0,0,0,0
$GC,1741,-0.54,-146.1,163.4,-9.0,206,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3399,3077,0,0,0,0,0,0
$GC,2052,-0.54,-146.1,191.3,-9.0,226,2056,0.00,2.10,0.00,0.000,4,0.000,0.028,1433,1980,3077,0,0,0,0,0,0
$GC,2084,-0.54,-146.1,194.4,-9.6,228,2089,0.10,2.30,0.00,0.000,6,0.152,0.054,1448,3403,3077,0,0,0,0,0,0
$GC,2417,-0.54,-146.1,222.9,-8.9,249,2420,0.00,0.88,0.00,0.000,4,0.000,0.057,1446,3958,3077,0,0,0,0,0,0
$GC,2456,-0.54,-146.1,226.9,-9.6,251,2460,0.00,0.82,0.00,0.000,6,0.000,0.033,1446,3405,3077,0,0,0,0,0,0
$GC,2789,-0.54,-146.1,256.6,-8.7,271,2794,0.00,2.15,0.00,0.000,4,0.000,0.028,1445,1972,3077,0,0,0,0,0,0
$GC,2823,-0.54,-146.1,260.1,-8.9,272,2827,0.00,2.30,0.00,0.000,6,0.000,0.054,1435,3399,3077,0,0,0,0,0,0
$GC,3142,-0.54,-146.1,287.8,-8.3,287,3148,0.00,0.88,0.00,0.000,4,0.000,0.057,1431,3954,3077,0,0,0,0,0,0
$GC,3201,-0.54,-146.1,293.5,-9.0,289,3204,0.00,0.82,0.00,0.000,6,0.000,0.033,1431,3402,3076,0,0,0,0,0,0
$GC,3525,-0.54,-146.1,320.3,-8.2,305,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3402,3077,0,0,0,0,0,0
$GC,3834,-0.54,-146.1,346.3,-8.6,320,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3402,3076,0,0,0,0,0,0
$GC,4143,-0.54,-146.1,373.3,-8.9,335,4149,0.00,2.15,0.00,0.000,4,0.000,0.028,1431,1974,3076,0,0,0,0,0,0
$GC,4178,-0.54,-146.1,376.4,-7.8,336,4183,0.12,2.30,0.00,0.000,6,0.147,0.052,1453,3402,3076,0,0,0,0,0,0
$STATE,4452,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4452,begin apogee
$GC,4459,-0.13,0.0,395.8,6.9,349,4595,0.43,0.00,132.62,0.907,6,0.124,0.000,1586,3272,2474,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4600,0.54,146.1,400.1,0.0,356,4740,0.60,2.28,128.90,0.844,4,0.079,0.025,1807,1853,1869,0,0,0,0,0,0
$GC,4804,0.55,157.7,382.4,9.5,365,4821,0.00,2.35,10.35,0.942,6,0.000,0.045,1807,3286,1825,0,0,0,0,0,0
$GC,5132,0.55,157.7,342.6,12.4,381,5138,0.00,1.05,0.00,0.000,4,0.000,0.053,1807,3950,1817,0,0,0,0,0,0
$GC,5355,0.55,157.7,312.4,13.3,390,5363,0.00,1.00,0.00,0.000,6,0.000,0.028,1812,3264,1815,0,0,0,0,0,0
$GC,5672,0.55,157.7,273.8,12.5,406,5676,0.00,1.10,0.00,0.000,4,0.000,0.053,1812,3953,1814,0,0,0,0,0,0
$GC,5812,0.55,157.7,254.3,14.5,412,5815,0.00,1.00,0.00,0.000,6,0.000,0.028,1817,3266,1814,0,0,0,0,0,0
$GC,6138,0.55,157.7,213.2,12.4,432,6141,0.00,1.10,0.00,0.000,4,0.000,0.053,1817,3954,1813,0,0,0,0,0,0
$GC,6262,0.55,157.7,196.1,14.9,439,6266,0.00,0.98,0.00,0.000,6,0.000,0.028,1822,3283,1812,0,0,0,0,0,0
$GC,6593,0.55,157.7,151.3,13.7,460,6596,0.00,1.08,0.00,0.000,4,0.000,0.053,1822,3958,1811,0,0,0,0,0,0
$GC,6716,0.55,157.7,132.9,14.2,467,6720,0.00,1.00,0.00,0.000,6,0.000,0.028,1827,3273,1811,0,0,0,0,0,0
$GC,7045,0.55,157.7,91.3,12.7,495,7054,0.00,1.08,0.00,0.000,4,0.000,0.053,1828,3950,1811,0,0,0,0,0,0
$GC,7179,0.55,157.7,72.9,13.1,517,7184,0.00,0.98,0.00,0.000,6,0.000,0.028,1832,3279,1810,0,0,0,0,0,0
$GC,7543,0.55,157.7,32.7,11.7,578,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3279,1810,0,0,0,0,0,0
$STATE,7803,end climb,SURFACE_DEPTH_REACHED
$STATE,7803,begin surface coast
$FINISH,1.0,1.014953
$STATE,7836,end surface coast,CONTROL_FINISHED_OK
$STATE,7836,begin surface
$SM_CCo,7852,35.60,0.679,1,0,1533,230.09
$SM_GC,1.72,0.00,0.00,35.60,0.000,0.000,0.679,74,3399,1533,-4.86,-0.03,230.09
$IRIDIUM_FIX,-4224.47,846.33,270213,131321
$TT8_MAMPS,0.025466
$HUMID,57.75
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.7,70.027
$10V_AH,9.8,51.089
$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,11.625,38.175,271.875,35.600,0.000,33.985,22.701,398.630,0.000,0.000,20.679,1470.511,3817.999,339.972,2119.534,770.809,33.362,1021.410,0.000,1924.410,0.000,1.012,0.000
$DEVICE_MAMPS,226.440,85.680,942.480,678.555,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.022,1521.440,1029.165,461.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,47135,623
$CAP_FILE_SIZE,81800,0
$CFSIZE,259252224,229502976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,183734,-4242.035,847.406,36,0.9,36,-25.1