version: 66.07
glider: 543
mission: 6
dive: 426
start: 2 26 113 5 54 12
data:
$ID,543
$MISSION,6
$DIVE,426
$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,-9096.4629
$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,20
$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
$GPS1,260213,054333,-4239.941,842.823,42,0.9,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-52.0
$GPS2,260213,055311,-4239.881,842.923,18,1.0,19,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.115,-0.233
$KALMAN_X,79115.7,-163.2,141.7,-22761.2,760.5
$KALMAN_Y,385602.2,79.3,500.1,-404416.7,626.3
$MHEAD_RNG_PITCHd_Wd,231.4,429209,-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,-146.0,0.0,0.0,0,70,0.00,0.00,-48.53,0.000,2,0.000,0.000,46,3401,2680,0,0,0,0,0,0
$GC,75,-0.54,-146.1,3.0,-5.0,6,104,5.72,2.20,-11.07,0.000,4,0.226,0.045,1447,1992,3073,0,0,0,0,0,0
$GC,120,-0.54,-146.1,8.3,-12.3,11,129,0.00,2.33,0.00,0.000,6,0.000,0.058,1437,3396,3074,0,0,0,0,0,0
$GC,209,-0.54,-146.1,17.3,-11.4,24,218,0.00,2.17,0.00,0.000,4,0.000,0.035,1436,1998,3075,0,0,0,0,0,0
$GC,442,-0.54,-146.1,42.1,-10.1,60,451,0.00,2.28,0.00,0.000,6,0.000,0.054,1426,3394,3075,0,0,0,0,0,0
$GC,689,-0.54,-146.1,72.9,-10.7,101,695,0.00,2.12,0.00,0.000,4,0.000,0.029,1426,1992,3076,0,0,0,0,0,0
$GC,732,-0.54,-146.1,77.0,-8.8,108,741,0.08,2.30,0.00,0.000,6,0.128,0.058,1443,3394,3076,0,0,0,0,0,0
$GC,1080,-0.54,-146.1,108.5,-8.6,157,1085,0.00,0.88,0.00,0.000,4,0.000,0.058,1439,3951,3076,0,0,0,0,0,0
$GC,1191,-0.54,-146.1,119.0,-9.6,163,1195,0.00,0.82,0.00,0.000,6,0.000,0.033,1439,3398,3077,0,0,0,0,0,0
$GC,1524,-0.54,-146.1,148.3,-8.5,184,1529,0.00,2.12,0.00,0.000,4,0.000,0.028,1440,1978,3077,0,0,0,0,0,0
$GC,1581,-0.54,-146.1,153.1,-8.8,187,1585,0.00,2.30,0.00,0.000,6,0.000,0.053,1429,3410,3077,0,0,0,0,0,0
$GC,1908,-0.54,-146.1,184.5,-9.7,208,1912,0.00,0.85,0.00,0.000,4,0.000,0.057,1424,3954,3077,0,0,0,0,0,0
$GC,1961,-0.54,-146.1,190.0,-10.5,211,1965,0.00,0.82,0.00,0.000,6,0.000,0.033,1424,3399,3077,0,0,0,0,0,0
$GC,2294,-0.54,-146.1,223.2,-10.0,232,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3399,3077,0,0,0,0,0,0
$GC,2617,-0.54,-146.1,254.5,-9.3,252,2621,0.00,2.12,0.00,0.000,4,0.000,0.028,1425,1970,3077,0,0,0,0,0,0
$GC,2672,-0.54,-146.1,259.6,-8.9,254,2676,0.15,2.30,0.00,0.000,6,0.145,0.053,1455,3401,3077,0,0,0,0,0,0
$GC,2991,-0.54,-146.1,283.9,-7.6,269,2996,0.00,0.88,0.00,0.000,4,0.000,0.057,1452,3955,3077,0,0,0,0,0,0
$GC,3079,-0.54,-146.1,291.4,-8.3,272,3088,0.00,0.82,0.00,0.000,6,0.000,0.033,1452,3405,3077,0,0,0,0,0,0
$GC,3397,-0.54,-146.1,314.6,-7.2,288,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3405,3077,0,0,0,0,0,0
$GC,3708,-0.54,-146.1,337.3,-7.4,303,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3405,3077,0,0,0,0,0,0
$GC,4016,-0.54,-146.1,360.9,-8.1,318,4020,0.00,2.12,0.00,0.000,4,0.000,0.028,1452,1976,3076,0,0,0,0,0,0
$GC,4091,-0.54,-146.1,366.9,-7.6,321,4096,0.00,2.33,0.00,0.000,6,0.000,0.053,1442,3404,3076,0,0,0,0,0,0
$GC,4416,-0.54,-146.1,394.7,-8.8,337,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3404,3076,0,0,0,0,0,0
$STATE,4454,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4454,begin apogee
$GC,4461,-0.13,0.0,398.1,8.6,339,4596,0.45,0.00,132.30,0.881,6,0.123,0.000,1581,3273,2473,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4601,0.54,146.1,403.4,0.0,344,4739,0.62,2.22,128.98,0.836,4,0.082,0.026,1809,1859,1869,0,0,0,0,0,0
$GC,4779,0.54,146.1,389.1,10.5,351,4783,0.00,2.35,0.00,0.000,6,0.000,0.045,1808,3285,1862,0,0,0,0,0,0
$GC,5108,0.54,146.1,349.1,12.7,367,5113,0.00,1.05,0.00,0.000,4,0.000,0.052,1809,3948,1855,0,0,0,0,0,0
$GC,5344,0.54,146.1,315.3,14.2,377,5348,0.00,1.00,0.00,0.000,6,0.000,0.028,1814,3263,1854,0,0,0,0,0,0
$GC,5674,0.54,146.1,273.6,12.4,393,5679,0.00,1.10,0.00,0.000,4,0.000,0.053,1814,3954,1852,0,0,0,0,0,0
$GC,5848,0.54,146.1,249.7,13.9,400,5854,0.00,0.98,0.00,0.000,6,0.000,0.029,1819,3283,1852,0,0,0,0,0,0
$GC,6176,0.54,146.1,209.7,11.8,421,6180,0.00,1.08,0.00,0.000,4,0.000,0.054,1819,3958,1851,0,0,0,0,0,0
$GC,6310,0.54,146.1,191.3,13.6,428,6318,0.00,1.00,0.00,0.000,6,0.000,0.028,1824,3274,1851,0,0,0,0,0,0
$GC,6633,0.54,146.1,151.7,12.9,449,6637,0.00,1.08,0.00,0.000,4,0.000,0.054,1825,3957,1851,0,0,0,0,0,0
$GC,6779,0.54,146.1,129.2,15.1,457,6783,0.00,0.98,0.00,0.000,6,0.000,0.028,1829,3290,1851,0,0,0,0,0,0
$GC,7109,0.54,146.1,82.6,13.8,491,7114,0.00,1.05,0.00,0.000,4,0.000,0.054,1830,3958,1851,0,0,0,0,0,0
$GC,7238,0.54,146.1,64.0,14.9,513,7245,0.08,1.00,0.00,0.000,6,0.166,0.028,1811,3271,1851,0,0,0,0,0,0
$GC,7610,0.54,146.1,29.0,11.2,574,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3271,1850,0,0,0,0,0,0
$GC,7701,0.57,198.2,21.5,7.6,587,7751,0.00,1.10,41.08,0.638,4,0.000,0.050,1811,3951,1658,0,0,0,0,0,0
$GC,7824,0.57,198.2,9.6,14.3,604,7835,0.00,1.00,0.00,0.000,6,0.000,0.029,1815,3277,1652,0,0,0,0,0,0
$STATE,7875,end climb,SURFACE_DEPTH_REACHED
$STATE,7875,begin surface coast
$FINISH,0.9,1.017022
$STATE,7903,end surface coast,CONTROL_FINISHED_OK
$STATE,7903,begin surface
$SM_CCo,7919,23.10,0.626,1,0,1533,230.09
$SM_GC,1.32,0.00,0.00,23.10,0.000,0.000,0.626,53,3408,1533,-4.92,0.23,230.09
$IRIDIUM_FIX,-4224.47,843.43,260213,030300
$TT8_MAMPS,0.025466
$HUMID,57.52
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.7,68.524
$10V_AH,9.8,49.636
$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,11.925,49.125,302.350,23.100,0.000,24.696,20.484,370.171,0.000,0.000,21.019,1468.337,3805.334,353.893,2121.844,783.178,33.391,1069.245,0.000,1937.341,0.000,1.012,0.000
$DEVICE_MAMPS,225.675,73.440,880.515,625.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.430,1515.573,1025.957,468.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,47161,615
$CAP_FILE_SIZE,84978,0
$CFSIZE,259252224,230191104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,080735,-4240.183,843.071,14,1.3,14,-25.1