version: 66.07
glider: 543
mission: 6
dive: 416
start: 2 25 113 5 49 23
data:
$ID,543
$MISSION,6
$DIVE,416
$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,-9062.6904
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,250213,052713,-4237.361,839.740,18,1.9,18,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-44.7
$GPS2,250213,054822,-4237.410,839.952,39,1.0,40,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.138,-0.220
$KALMAN_X,67987.1,-1240.2,-28.4,-14439.9,1000.3
$KALMAN_Y,372067.8,552.7,28.3,-386303.6,906.4
$MHEAD_RNG_PITCHd_Wd,237.1,433326,-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,-49.00,0.000,2,0.000,0.000,48,3408,2706,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.1,-4.4,6,95,5.68,0.90,-10.00,0.000,4,0.224,0.093,1441,3947,3071,0,0,0,0,0,0
$GC,197,-0.54,-146.1,15.8,-11.9,23,206,0.00,0.80,0.00,0.000,6,0.000,0.034,1441,3420,3074,0,0,0,0,0,0
$GC,287,-0.54,-146.1,24.5,-9.7,36,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3420,3074,0,0,0,0,0,0
$GC,376,-0.54,-146.1,33.9,-11.3,49,383,0.00,2.17,0.00,0.000,4,0.000,0.029,1441,1973,3074,0,0,0,0,0,0
$GC,409,-0.54,-146.1,37.4,-11.0,53,416,0.00,2.33,0.00,0.000,6,0.000,0.060,1431,3397,3074,0,0,0,0,0,0
$GC,660,-0.54,-146.1,65.1,-9.9,94,668,0.00,0.88,0.00,0.000,4,0.000,0.057,1426,3952,3075,0,0,0,0,0,0
$GC,798,-0.54,-146.1,77.9,-9.5,117,807,0.00,0.85,0.00,0.000,6,0.000,0.033,1426,3386,3075,0,0,0,0,0,0
$GC,1155,-0.54,-146.1,110.1,-9.2,166,1159,0.00,2.10,0.00,0.000,4,0.000,0.028,1426,1977,3075,0,0,0,0,0,0
$GC,1215,-0.54,-146.1,115.8,-9.1,169,1223,0.12,2.30,0.00,0.000,6,0.151,0.054,1449,3405,3075,0,0,0,0,0,0
$GC,1537,-0.54,-146.1,141.0,-8.0,190,1541,0.00,0.85,0.00,0.000,4,0.000,0.057,1446,3948,3076,0,0,0,0,0,0
$GC,1599,-0.54,-146.1,147.0,-9.3,193,1606,0.00,0.82,0.00,0.000,6,0.000,0.034,1447,3398,3075,0,0,0,0,0,0
$GC,1919,-0.54,-146.1,174.0,-8.5,214,1923,0.00,2.10,0.00,0.000,4,0.000,0.028,1446,1977,3075,0,0,0,0,0,0
$GC,1960,-0.54,-146.1,177.6,-8.3,216,1967,0.00,2.33,0.00,0.000,6,0.000,0.054,1435,3403,3075,0,0,0,0,0,0
$GC,2283,-0.54,-146.1,206.6,-9.0,237,2287,0.00,0.85,0.00,0.000,4,0.000,0.057,1431,3947,3075,0,0,0,0,0,0
$GC,2357,-0.54,-146.1,213.7,-10.0,241,2360,0.00,0.82,0.00,0.000,6,0.000,0.033,1431,3392,3075,0,0,0,0,0,0
$GC,2690,-0.54,-146.1,243.9,-9.0,262,2694,0.00,2.10,0.00,0.000,4,0.000,0.027,1431,1973,3075,0,0,0,0,0,0
$GC,2731,-0.54,-146.1,248.0,-8.4,264,2740,0.08,2.33,0.00,0.000,6,0.124,0.054,1447,3399,3075,0,0,0,0,0,0
$GC,3061,-0.54,-146.1,275.7,-8.8,281,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3399,3075,0,0,0,0,0,0
$GC,3369,-0.54,-146.1,302.6,-8.5,296,3373,0.00,0.88,0.00,0.000,4,0.000,0.058,1444,3954,3075,0,0,0,0,0,0
$GC,3441,-0.54,-146.1,309.2,-9.1,299,3445,0.00,0.82,0.00,0.000,6,0.000,0.033,1444,3401,3075,0,0,0,0,0,0
$GC,3777,-0.54,-146.1,337.3,-7.8,315,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3401,3075,0,0,0,0,0,0
$GC,4086,-0.54,-146.1,360.9,-7.4,330,4089,0.00,2.12,0.00,0.000,4,0.000,0.028,1444,1971,3074,0,0,0,0,0,0
$GC,4140,-0.54,-146.1,364.8,-6.9,332,4144,0.00,2.30,0.00,0.000,6,0.000,0.052,1433,3404,3074,0,0,0,0,0,0
$STATE,4456,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4456,begin apogee
$GC,4463,-0.13,0.0,389.1,7.8,347,4597,0.47,0.00,129.07,0.881,6,0.127,0.000,1579,3272,2470,0,0,0,0,0,0
$STATE,4598,end apogee,CONTROL_FINISHED_OK
$STATE,4599,begin climb
$GC,4601,0.54,146.1,392.1,0.0,354,4744,0.62,2.28,128.15,0.848,4,0.083,0.024,1808,1851,1870,0,0,0,0,0,0
$GC,4791,0.54,146.1,374.2,10.4,362,4795,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,3288,1866,0,0,0,0,0,0
$GC,5120,0.54,146.1,333.1,12.5,378,5123,0.00,1.05,0.00,0.000,4,0.000,0.052,1808,3951,1860,0,0,0,0,0,0
$GC,5384,0.54,146.1,297.6,13.7,389,5388,0.00,1.00,0.00,0.000,6,0.000,0.028,1813,3263,1858,0,0,0,0,0,0
$GC,5708,0.54,146.1,258.9,12.2,405,5713,0.00,1.10,0.00,0.000,4,0.000,0.052,1813,3954,1857,0,0,0,0,0,0
$GC,5902,0.54,146.1,231.3,14.1,415,5906,0.00,0.98,0.00,0.000,6,0.000,0.028,1818,3282,1857,0,0,0,0,0,0
$GC,6228,0.54,146.1,190.3,12.7,436,6231,0.00,1.05,0.00,0.000,4,0.000,0.053,1818,3945,1856,0,0,0,0,0,0
$GC,6351,0.54,146.1,173.2,15.1,443,6354,0.00,0.98,0.00,0.000,6,0.000,0.029,1823,3274,1856,0,0,0,0,0,0
$GC,6681,0.54,146.1,129.3,13.0,464,6685,0.00,1.08,0.00,0.000,4,0.000,0.053,1824,3952,1855,0,0,0,0,0,0
$GC,6799,0.54,146.1,112.4,14.3,470,6807,0.00,0.98,0.00,0.000,6,0.000,0.028,1829,3283,1855,0,0,0,0,0,0
$GC,7148,0.54,146.1,68.2,10.5,519,7154,0.00,1.05,0.00,0.000,4,0.000,0.053,1829,3943,1855,0,0,0,0,0,0
$GC,7328,0.54,146.1,48.4,12.6,549,7335,0.08,0.98,0.00,0.000,6,0.165,0.028,1810,3273,1855,0,0,0,0,0,0
$GC,7583,0.54,150.3,23.8,9.8,590,7594,0.00,1.08,0.00,0.000,4,0.000,0.053,1810,3951,1854,0,0,0,0,0,0
$GC,7631,0.54,150.3,18.6,10.9,596,7642,0.00,0.98,0.00,0.000,6,0.000,0.029,1813,3284,1854,0,0,0,0,0,0
$GC,7722,0.54,150.3,7.6,11.0,609,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3284,1853,0,0,0,0,0,0
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,1.1,1.026117
$STATE,7797,end surface coast,CONTROL_FINISHED_OK
$STATE,7798,begin surface
$SM_CCo,7814,39.72,0.678,1,0,1534,230.09
$SM_GC,1.72,0.00,0.00,39.72,0.000,0.000,0.678,57,3417,1534,-4.91,0.48,230.09
$IRIDIUM_FIX,-4221.55,836.76,250213,050536
$TT8_MAMPS,0.025466
$HUMID,57.60
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.8,67.516
$10V_AH,9.8,48.623
$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,11.625,47.925,257.225,39.725,0.000,114.726,136.266,580.972,0.000,0.000,42.134,1471.434,3907.872,353.856,2606.747,795.239,33.373,1051.354,0.000,1930.618,0.000,1.013,0.000
$DEVICE_MAMPS,224.145,93.330,881.280,677.790,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.031,1511.926,1024.237,454.668,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,47293,619
$CAP_FILE_SIZE,91294,0
$CFSIZE,259252224,230674432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,250213,080134,-4237.856,839.786,31,1.0,31,-25.1