version: 66.07
glider: 543
mission: 6
dive: 442
start: 2 27 113 21 12 48
data:
$ID,543
$MISSION,6
$DIVE,442
$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,-9150.8672
$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,42
$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
$GPS1,270213,210154,-4242.234,847.695,33,1.9,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-55.0
$GPS2,270213,211147,-4242.215,847.676,17,0.9,18,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.179,-0.190
$KALMAN_X,104562.2,636.2,-448.1,-41928.6,1379.7
$KALMAN_Y,407862.8,76.3,-97.1,-430399.2,1200.7
$MHEAD_RNG_PITCHd_Wd,248.4,425685,-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,-146.1,0.0,0.0,0,63,0.00,0.00,-41.05,0.000,2,0.000,0.000,53,3411,2535,0,0,0,0,0,0
$GC,67,-0.54,-146.1,3.0,-3.8,5,94,5.80,0.93,-15.68,0.000,4,0.230,0.096,1444,3951,3071,0,0,0,0,0,0
$GC,133,-0.54,-146.1,9.9,-12.5,13,142,0.00,0.82,0.00,0.000,6,0.000,0.034,1444,3408,3074,0,0,0,0,0,0
$GC,222,-0.54,-146.1,22.8,-14.7,26,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3408,3074,0,0,0,0,0,0
$GC,310,-0.54,-146.1,33.3,-8.9,39,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3408,3074,0,0,0,0,0,0
$GC,561,-0.54,-146.1,57.8,-9.0,80,570,0.00,2.17,0.00,0.000,4,0.000,0.029,1444,1972,3075,0,0,0,0,0,0
$GC,613,-0.54,-146.1,62.3,-8.5,88,620,0.00,2.30,0.00,0.000,6,0.000,0.056,1433,3399,3075,0,0,0,0,0,0
$GC,974,-0.54,-146.1,96.5,-9.8,149,977,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3398,3075,0,0,0,0,0,0
$GC,1307,-0.54,-146.1,127.0,-9.2,174,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3398,3076,0,0,0,0,0,0
$GC,1620,-0.54,-146.1,156.3,-9.2,194,1623,0.00,0.88,0.00,0.000,4,0.000,0.058,1429,3951,3077,0,0,0,0,0,0
$GC,1697,-0.54,-146.1,164.3,-10.5,198,1708,0.00,0.82,0.00,0.000,6,0.000,0.034,1429,3400,3077,0,0,0,0,0,0
$GC,2019,-0.54,-146.1,194.7,-9.4,219,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3077,0,0,0,0,0,0
$GC,2332,-0.54,-146.1,223.9,-9.3,239,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3077,0,0,0,0,0,0
$GC,2649,-0.54,-146.1,252.9,-9.1,259,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3077,0,0,0,0,0,0
$GC,2958,-0.54,-146.1,280.3,-8.8,274,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3077,0,0,0,0,0,0
$GC,3268,-0.54,-146.1,307.2,-8.8,289,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3076,0,0,0,0,0,0
$GC,3576,-0.54,-146.1,334.4,-8.9,304,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3400,3076,0,0,0,0,0,0
$GC,3887,-0.54,-146.1,362.0,-8.9,319,3892,0.00,2.17,0.00,0.000,4,0.000,0.028,1429,1975,3076,0,0,0,0,0,0
$GC,3915,-0.54,-146.1,364.9,-8.4,320,3920,0.12,2.30,0.00,0.000,6,0.148,0.052,1452,3402,3076,0,0,0,0,0,0
$GC,4239,-0.54,-146.1,388.5,-7.1,336,4242,0.00,0.88,0.00,0.000,4,0.000,0.058,1449,3955,3075,0,0,0,0,0,0
$GC,4385,-0.54,-146.1,399.7,-7.1,342,4388,0.00,0.85,0.00,0.000,6,0.000,0.034,1449,3391,3075,0,0,0,0,0,0
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4401,-0.13,0.0,400.7,7.7,342,4537,0.40,0.00,132.40,0.910,6,0.128,0.000,1576,3274,2473,0,0,0,0,0,0
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4541,0.54,146.1,404.2,0.0,347,4682,0.68,0.00,129.93,0.864,6,0.086,0.000,1800,3274,1869,0,0,0,0,0,0
$GC,4991,0.54,146.1,354.2,12.2,368,4994,0.00,1.10,0.00,0.000,4,0.000,0.053,1800,3958,1859,0,0,0,0,0,0
$GC,5231,0.54,146.1,320.9,13.7,378,5235,0.00,1.02,0.00,0.000,6,0.000,0.028,1805,3258,1857,0,0,0,0,0,0
$GC,5556,0.54,146.1,281.5,11.7,394,5559,0.00,1.12,0.00,0.000,4,0.000,0.053,1805,3960,1855,0,0,0,0,0,0
$GC,5724,0.54,146.1,260.2,12.3,401,5728,0.00,1.00,0.00,0.000,6,0.000,0.028,1810,3274,1854,0,0,0,0,0,0
$GC,6044,0.54,146.1,223.8,11.1,420,6047,0.00,1.08,0.00,0.000,4,0.000,0.053,1811,3958,1854,0,0,0,0,0,0
$GC,6144,0.54,146.1,211.5,11.8,425,6151,0.00,0.98,0.00,0.000,6,0.000,0.028,1816,3289,1854,0,0,0,0,0,0
$GC,6464,0.54,146.1,176.1,11.5,446,6467,0.00,1.05,0.00,0.000,4,0.000,0.052,1816,3951,1853,0,0,0,0,0,0
$GC,6568,0.54,146.1,162.8,13.4,452,6572,0.00,0.98,0.00,0.000,6,0.000,0.028,1821,3283,1853,0,0,0,0,0,0
$GC,6903,0.54,146.1,123.8,11.6,473,6906,0.00,1.08,0.00,0.000,4,0.000,0.053,1821,3959,1853,0,0,0,0,0,0
$GC,7020,0.54,146.1,108.4,12.5,479,7028,0.00,1.00,0.00,0.000,6,0.000,0.028,1826,3273,1852,0,0,0,0,0,0
$GC,7369,0.55,167.6,71.3,9.0,530,7389,0.00,1.10,13.07,0.771,4,0.000,0.050,1826,3959,1785,0,0,0,0,0,0
$GC,7443,0.55,167.6,63.7,10.2,542,7450,0.00,1.00,0.00,0.000,6,0.000,0.028,1831,3274,1781,0,0,0,0,0,0
$GC,7819,0.55,167.6,22.2,10.1,603,7829,0.00,1.10,0.00,0.000,4,0.000,0.053,1831,3959,1780,0,0,0,0,0,0
$GC,7928,0.55,167.6,9.0,14.3,618,7937,0.08,1.00,0.00,0.000,6,0.159,0.029,1813,3278,1779,0,0,0,0,0,0
$STATE,7975,end climb,SURFACE_DEPTH_REACHED
$STATE,7976,begin surface coast
$FINISH,1.0,1.013025
$STATE,8016,end surface coast,CONTROL_FINISHED_OK
$STATE,8017,begin surface
$SM_CCo,8033,32.58,0.691,1,0,1534,230.09
$SM_GC,1.80,0.00,0.00,32.58,0.000,0.000,0.691,45,3414,1534,-4.94,0.40,230.09
$IRIDIUM_FIX,-4227.40,849.22,270213,181847
$TT8_MAMPS,0.025466
$HUMID,57.67
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.6,70.224
$10V_AH,9.8,51.295
$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,11.550,29.075,275.400,32.575,0.000,28.700,22.440,379.089,0.000,0.000,20.611,1477.834,3959.086,384.994,2090.086,758.664,33.364,1021.965,0.000,1901.110,0.000,1.013,0.000
$DEVICE_MAMPS,229.500,95.625,909.585,690.795,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.915,1518.612,1018.481,456.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,47167,631
$CAP_FILE_SIZE,79837,0
$CFSIZE,259252224,229404672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,232833,-4242.384,847.677,24,1.3,32,-25.1