version: 66.07
glider: 543
mission: 6
dive: 441
start: 2 27 113 18 48 30
data:
$ID,543
$MISSION,6
$DIVE,441
$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,-9147.3887
$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,60
$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
$GPS1,270213,183734,-4242.035,847.406,36,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-54.9
$GPS2,270213,184729,-4241.938,847.444,16,1.2,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.122,-0.231
$KALMAN_X,103093.3,500.7,-119.4,-40967.8,832.5
$KALMAN_Y,406352.1,-94.8,271.8,-428575.6,842.8
$MHEAD_RNG_PITCHd_Wd,233.0,426153,-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,-49.30,0.000,2,0.000,0.000,73,3399,2761,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.2,-4.3,6,95,5.80,0.00,-8.50,0.000,6,0.235,0.000,1448,3399,3071,0,0,0,0,0,0
$GC,175,-0.54,-146.1,14.9,-11.4,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3399,3074,0,0,0,0,0,0
$GC,263,-0.54,-146.1,23.6,-8.7,33,272,0.00,2.15,0.00,0.000,4,0.000,0.029,1448,1992,3074,0,0,0,0,0,0
$GC,296,-0.54,-146.1,26.3,-8.1,37,306,0.00,2.30,0.00,0.000,6,0.000,0.053,1438,3398,3074,0,0,0,0,0,0
$GC,385,-0.54,-146.1,34.7,-10.1,50,394,0.00,0.88,0.00,0.000,4,0.000,0.058,1434,3951,3074,0,0,0,0,0,0
$GC,437,-0.54,-146.1,40.1,-10.4,58,447,0.00,0.80,0.00,0.000,6,0.000,0.033,1434,3420,3075,0,0,0,0,0,0
$GC,694,-0.54,-146.1,65.7,-9.7,99,700,0.00,2.17,0.00,0.000,4,0.000,0.028,1434,1978,3075,0,0,0,0,0,0
$GC,731,-0.54,-146.1,69.2,-8.9,105,739,0.08,2.33,0.00,0.000,6,0.129,0.057,1448,3393,3075,0,0,0,0,0,0
$GC,1091,-0.54,-146.1,100.1,-8.0,166,1095,0.00,2.12,0.00,0.000,4,0.000,0.028,1448,1974,3076,0,0,0,0,0,0
$GC,1139,-0.54,-146.1,103.9,-7.9,169,1143,0.00,2.33,0.00,0.000,6,0.000,0.056,1438,3406,3076,0,0,0,0,0,0
$GC,1467,-0.54,-146.1,132.4,-8.9,190,1470,0.00,0.88,0.00,0.000,4,0.000,0.057,1434,3962,3076,0,0,0,0,0,0
$GC,1561,-0.54,-146.1,141.3,-9.9,195,1564,0.00,0.85,0.00,0.000,6,0.000,0.033,1434,3393,3077,0,0,0,0,0,0
$GC,1895,-0.54,-146.1,170.7,-8.8,216,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3392,3076,0,0,0,0,0,0
$GC,2205,-0.54,-146.1,198.1,-8.9,236,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3392,3077,0,0,0,0,0,0
$GC,2518,-0.54,-146.1,224.0,-8.0,256,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3392,3076,0,0,0,0,0,0
$GC,2830,-0.54,-146.1,248.1,-7.5,276,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3393,3076,0,0,0,0,0,0
$GC,3151,-0.54,-146.1,271.8,-7.5,292,3155,0.00,2.10,0.00,0.000,4,0.000,0.027,1434,1979,3076,0,0,0,0,0,0
$GC,3180,-0.54,-146.1,274.5,-8.3,293,3185,0.10,2.30,0.00,0.000,6,0.157,0.052,1449,3403,3077,0,0,0,0,0,0
$GC,3498,-0.54,-146.1,297.5,-7.5,308,3501,0.00,0.88,0.00,0.000,4,0.000,0.057,1446,3958,3076,0,0,0,0,0,0
$GC,3638,-0.54,-146.1,309.1,-8.5,314,3642,0.00,0.82,0.00,0.000,6,0.000,0.034,1446,3407,3076,0,0,0,0,0,0
$GC,3972,-0.54,-146.1,335.7,-8.1,330,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3407,3076,0,0,0,0,0,0
$GC,4283,-0.54,-146.1,362.1,-8.6,345,4288,0.00,0.88,0.00,0.000,4,0.000,0.058,1442,3954,3076,0,0,0,0,0,0
$GC,4336,-0.54,-146.1,367.3,-9.5,347,4340,0.00,0.85,0.00,0.000,6,0.000,0.034,1442,3391,3076,0,0,0,0,0,0
$STATE,4458,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4458,begin apogee
$GC,4465,-0.13,0.0,377.3,8.5,353,4601,0.45,0.00,132.07,0.894,6,0.125,0.000,1580,3272,2473,0,0,0,0,0,0
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4605,0.54,146.1,383.1,0.0,360,4746,0.62,2.25,128.65,0.855,4,0.083,0.025,1807,1851,1870,0,0,0,0,0,0
$GC,4758,0.54,148.3,371.4,9.9,366,4762,0.00,2.40,0.00,0.000,6,0.000,0.044,1807,3290,1866,0,0,0,0,0,0
$GC,5076,0.54,148.3,335.8,11.3,381,5082,0.00,1.05,0.00,0.000,4,0.000,0.052,1807,3953,1858,0,0,0,0,0,0
$GC,5337,0.54,148.3,300.9,13.8,392,5341,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3264,1857,0,0,0,0,0,0
$GC,5660,0.54,148.3,262.3,11.8,408,5663,0.00,1.10,0.00,0.000,4,0.000,0.053,1813,3953,1855,0,0,0,0,0,0
$GC,5783,0.54,148.3,246.2,13.3,414,5787,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3284,1855,0,0,0,0,0,0
$GC,6117,0.54,148.3,205.4,12.5,435,6121,0.00,1.08,0.00,0.000,4,0.000,0.053,1818,3959,1853,0,0,0,0,0,0
$GC,6199,0.54,148.3,193.6,13.8,439,6205,0.00,1.00,0.00,0.000,6,0.000,0.028,1823,3272,1854,0,0,0,0,0,0
$GC,6518,0.54,148.3,154.5,11.8,460,6522,0.00,1.08,0.00,0.000,4,0.000,0.053,1823,3951,1853,0,0,0,0,0,0
$GC,6656,0.54,148.3,136.8,13.2,468,6660,0.00,0.98,0.00,0.000,6,0.000,0.028,1828,3280,1853,0,0,0,0,0,0
$GC,6990,0.54,148.3,98.4,11.1,489,6996,0.00,1.08,0.00,0.000,4,0.000,0.052,1828,3960,1852,0,0,0,0,0,0
$GC,7165,0.54,154.7,77.7,9.7,519,7173,0.00,1.00,1.10,0.175,6,0.000,0.028,1833,3273,1843,0,0,0,0,0,0
$GC,7528,0.54,154.7,40.3,12.3,580,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3273,1847,0,0,0,0,0,0
$GC,7791,0.54,154.7,8.7,12.9,621,7801,0.00,1.08,0.00,0.000,4,0.000,0.053,1833,3955,1847,0,0,0,0,0,0
$STATE,7834,end climb,SURFACE_DEPTH_REACHED
$STATE,7834,begin surface coast
$FINISH,1.0,1.001104
$STATE,7868,end surface coast,CONTROL_FINISHED_OK
$STATE,7868,begin surface
$SM_CCo,7885,39.53,0.704,1,0,1533,230.09
$SM_GC,1.72,0.00,0.00,39.53,0.000,0.000,0.704,54,3411,1533,-4.92,0.31,230.09
$IRIDIUM_FIX,-4227.40,849.22,270213,161641
$TT8_MAMPS,0.025466
$HUMID,58.30
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.6,70.125
$10V_AH,9.8,51.193
$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,11.700,41.650,261.825,39.525,0.000,26.704,23.808,383.105,0.000,0.000,18.884,1489.372,3789.406,338.037,2127.905,786.810,33.368,1029.916,0.000,1968.030,0.000,1.012,0.000
$DEVICE_MAMPS,234.855,61.200,894.285,703.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.363,1541.331,1043.234,449.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354532
$DATA_FILE_SIZE,47149,632
$CAP_FILE_SIZE,84428,0
$CFSIZE,259252224,229449728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,210154,-4242.234,847.695,33,1.9,33,-25.1