version: 66.07
glider: 543
mission: 6
dive: 418
start: 2 25 113 10 36 42
data:
$ID,543
$MISSION,6
$DIVE,418
$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,-9069.4688
$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,70
$R_STBD_OVSHOOT,34
$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
$GPS1,250213,102604,-4237.875,839.914,27,1.3,27,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-55.3
$GPS2,250213,103541,-4237.782,840.003,18,1.5,19,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.032,-0.258
$KALMAN_X,70496.4,-406.4,-271.8,-17469.0,2335.3
$KALMAN_Y,374444.2,27.7,88.0,-388904.0,564.5
$MHEAD_RNG_PITCHd_Wd,212.1,432646,-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,-40.97,0.000,2,0.000,0.000,57,3418,2522,0,0,0,0,0,0
$GC,67,-0.54,-146.1,3.0,-4.2,5,96,5.60,0.90,-17.35,0.000,4,0.223,0.094,1442,3949,3071,0,0,0,0,0,0
$GC,177,-0.54,-146.1,14.6,-11.0,20,186,0.00,0.77,0.00,0.000,6,0.000,0.035,1442,3434,3074,0,0,0,0,0,0
$GC,266,-0.54,-146.1,26.4,-14.9,33,274,0.00,2.20,0.00,0.000,4,0.000,0.029,1442,1987,3074,0,0,0,0,0,0
$GC,311,-0.54,-146.1,32.0,-12.1,39,318,0.00,2.30,0.00,0.000,6,0.000,0.059,1432,3394,3074,0,0,0,0,0,0
$GC,560,-0.54,-146.1,60.5,-9.3,80,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3394,3074,0,0,0,0,0,0
$GC,918,-0.54,-146.1,98.2,-9.6,141,925,0.00,2.12,0.00,0.000,4,0.000,0.029,1432,1982,3075,0,0,0,0,0,0
$GC,961,-0.54,-146.1,102.3,-9.0,145,966,0.12,2.30,0.00,0.000,6,0.152,0.056,1455,3404,3075,0,0,0,0,0,0
$GC,1286,-0.54,-146.1,127.0,-7.7,165,1290,0.00,0.85,0.00,0.000,4,0.000,0.057,1452,3946,3076,0,0,0,0,0,0
$GC,1348,-0.54,-146.1,132.9,-8.9,168,1358,0.00,0.82,0.00,0.000,6,0.000,0.034,1452,3396,3076,0,0,0,0,0,0
$GC,1672,-0.54,-146.1,159.7,-8.6,189,1675,0.00,2.10,0.00,0.000,4,0.000,0.028,1452,1980,3076,0,0,0,0,0,0
$GC,1702,-0.54,-146.1,162.4,-8.4,191,1706,0.00,2.30,0.00,0.000,6,0.000,0.054,1441,3407,3077,0,0,0,0,0,0
$GC,2027,-0.54,-146.1,190.4,-8.5,212,2031,0.00,0.85,0.00,0.000,4,0.000,0.057,1437,3952,3077,0,0,0,0,0,0
$GC,2084,-0.54,-146.1,195.2,-9.6,215,2088,0.00,0.82,0.00,0.000,6,0.000,0.034,1437,3398,3077,0,0,0,0,0,0
$GC,2418,-0.54,-146.1,224.0,-8.5,236,2422,0.00,2.10,0.00,0.000,4,0.000,0.028,1437,1978,3076,0,0,0,0,0,0
$GC,2453,-0.54,-146.1,227.2,-8.1,238,2458,0.00,2.33,0.00,0.000,6,0.000,0.054,1426,3402,3076,0,0,0,0,0,0
$GC,2780,-0.54,-146.1,255.9,-9.1,258,2783,0.00,0.88,0.00,0.000,4,0.000,0.057,1422,3959,3076,0,0,0,0,0,0
$GC,2841,-0.54,-146.1,262.0,-9.6,260,2845,0.08,0.85,0.00,0.000,6,0.139,0.034,1447,3391,3076,0,0,0,0,0,0
$GC,3164,-0.54,-146.1,287.4,-7.8,276,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3391,3076,0,0,0,0,0,0
$GC,3475,-0.54,-146.1,311.6,-7.8,291,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3391,3076,0,0,0,0,0,0
$GC,3783,-0.54,-146.1,336.5,-8.4,306,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3391,3076,0,0,0,0,0,0
$GC,4093,-0.54,-146.1,363.6,-8.8,321,4098,0.00,2.12,0.00,0.000,4,0.000,0.028,1447,1973,3076,0,0,0,0,0,0
$GC,4128,-0.54,-146.1,366.9,-8.8,322,4132,0.00,2.30,0.00,0.000,6,0.000,0.051,1437,3407,3076,0,0,0,0,0,0
$GC,4446,-0.54,-146.1,396.1,-9.3,337,4452,0.00,0.85,0.00,0.000,4,0.000,0.057,1433,3951,3075,0,0,0,0,0,0
$STATE,4455,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4455,begin apogee
$GC,4463,-0.13,0.0,397.5,9.5,337,4598,0.45,0.00,131.23,0.881,6,0.127,0.000,1577,3272,2473,0,0,0,0,0,0
$STATE,4599,end apogee,CONTROL_FINISHED_OK
$STATE,4599,begin climb
$GC,4602,0.54,146.1,402.5,0.0,342,4741,0.62,2.28,128.05,0.838,4,0.083,0.024,1804,1862,1870,0,0,0,0,0,0
$GC,4787,0.54,146.1,387.5,10.2,349,4791,0.00,2.33,0.00,0.000,6,0.000,0.045,1804,3290,1864,0,0,0,0,0,0
$GC,5116,0.54,146.1,344.8,13.2,365,5121,0.00,1.05,0.00,0.000,4,0.000,0.052,1804,3953,1858,0,0,0,0,0,0
$GC,5360,0.54,146.1,306.9,15.1,375,5367,0.00,1.00,0.00,0.000,6,0.000,0.028,1810,3267,1856,0,0,0,0,0,0
$GC,5679,0.54,146.1,262.4,14.2,391,5684,0.00,1.10,0.00,0.000,4,0.000,0.054,1810,3958,1854,0,0,0,0,0,0
$GC,5875,0.54,146.1,232.6,16.0,401,5879,0.00,0.98,0.00,0.000,6,0.000,0.028,1815,3289,1854,0,0,0,0,0,0
$GC,6206,0.54,146.1,187.3,13.1,422,6211,0.00,1.05,0.00,0.000,4,0.000,0.052,1815,3952,1853,0,0,0,0,0,0
$GC,6334,0.54,146.1,169.4,15.2,429,6337,0.00,0.98,0.00,0.000,6,0.000,0.029,1820,3283,1853,0,0,0,0,0,0
$GC,6665,0.54,146.1,127.0,12.6,450,6668,0.00,1.08,0.00,0.000,4,0.000,0.053,1820,3958,1852,0,0,0,0,0,0
$GC,6814,0.54,146.1,105.6,15.2,458,6822,0.00,1.00,0.00,0.000,6,0.000,0.028,1825,3273,1852,0,0,0,0,0,0
$GC,7169,0.54,146.1,62.7,12.2,513,7175,0.00,2.10,0.00,0.000,4,0.000,0.026,1836,1874,1852,0,0,0,0,0,0
$GC,7200,0.54,147.0,59.6,10.0,518,7210,0.10,2.25,0.00,0.000,6,0.131,0.047,1804,3282,1850,0,0,0,0,0,0
$GC,7456,0.56,180.4,35.7,8.5,559,7487,0.00,1.08,23.83,0.657,4,0.000,0.051,1803,3953,1732,0,0,0,0,0,0
$GC,7634,0.58,207.8,17.8,8.8,586,7661,0.00,0.98,20.12,0.642,6,0.000,0.030,1807,3294,1621,0,0,0,0,0,0
$GC,7741,0.63,288.3,7.4,6.3,601,7799,0.00,0.00,55.88,0.617,2,0.000,0.000,1806,3294,1351,0,0,0,0,0,0
$STATE,7800,end climb,SURFACE_DEPTH_REACHED
$STATE,7801,begin surface coast
$FINISH,1.1,1.026026
$STATE,7838,end surface coast,CONTROL_FINISHED_OK
$STATE,7838,begin surface
$SM_CCo,7914,0.00,0.000,0,0,1336,279.15
$SM_GC,1.82,4.70,0.00,0.00,0.044,0.000,0.000,50,3410,1336,-4.78,0.28,279.15
$IRIDIUM_FIX,-4221.55,839.66,250213,080859
$TT8_MAMPS,0.025466
$HUMID,57.20
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.8,67.721
$10V_AH,9.9,48.825
$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,11.675,50.200,359.100,0.000,0.000,28.158,21.081,365.065,0.000,0.000,20.801,1447.584,3838.201,353.891,2083.812,770.669,33.359,1076.544,0.000,1901.472,0.000,1.013,0.000
$DEVICE_MAMPS,222.615,94.095,881.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.827,1488.145,1012.940,450.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,47262,613
$CAP_FILE_SIZE,85932,0
$CFSIZE,259252224,230584320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,250213,124952,-4238.137,840.636,38,1.0,38,-25.1