version: 66.07
glider: 543
mission: 6
dive: 428
start: 2 26 113 10 45 18
data:
$ID,543
$MISSION,6
$DIVE,428
$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,-9103.2764
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,260213,103434,-4240.374,843.330,37,1.2,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-46.5
$GPS2,260213,104417,-4240.395,843.401,17,1.3,18,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.221,-0.136
$KALMAN_X,82204.5,130.9,-210.4,-25139.4,1748.2
$KALMAN_Y,388718.9,-101.9,-62.3,-407740.7,958.6
$MHEAD_RNG_PITCHd_Wd,263.6,428336,-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,-145.3,0.0,0.0,0,70,0.00,0.00,-48.53,0.000,2,0.000,0.000,45,3399,2696,0,0,0,0,0,0
$GC,75,-0.54,-146.1,3.5,-5.9,6,94,5.65,0.93,-9.73,0.000,4,0.221,0.087,1441,3955,3071,0,0,0,0,0,0
$GC,214,-0.54,-146.1,20.0,-8.5,26,222,0.00,0.82,0.00,0.000,6,0.000,0.034,1440,3413,3075,0,0,0,0,0,0
$GC,307,-0.54,-146.1,28.3,-9.0,39,316,0.00,2.17,0.00,0.000,4,0.000,0.031,1440,1990,3075,0,0,0,0,0,0
$GC,364,-0.54,-146.1,34.5,-11.6,47,372,0.00,2.33,0.00,0.000,6,0.000,0.060,1430,3396,3075,0,0,0,0,0,0
$GC,614,-0.54,-146.1,62.6,-11.9,88,622,0.00,0.88,0.00,0.000,4,0.000,0.057,1426,3949,3075,0,0,0,0,0,0
$GC,657,-0.54,-146.1,67.9,-12.1,94,663,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3406,3076,0,0,0,0,0,0
$GC,1033,-0.54,-146.1,101.7,-8.8,155,1037,0.00,2.15,0.00,0.000,4,0.000,0.030,1426,1977,3076,0,0,0,0,0,0
$GC,1208,-0.54,-146.1,117.5,-9.2,165,1213,0.12,2.33,0.00,0.000,6,0.151,0.055,1448,3412,3076,0,0,0,0,0,0
$GC,1535,-0.54,-146.1,143.5,-7.5,185,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3412,3077,0,0,0,0,0,0
$GC,1856,-0.54,-146.1,167.5,-7.5,206,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3412,3077,0,0,0,0,0,0
$GC,2170,-0.54,-146.1,191.5,-7.8,226,2174,0.00,2.17,0.00,0.000,4,0.000,0.028,1449,1967,3077,0,0,0,0,0,0
$GC,2210,-0.54,-146.1,195.1,-7.6,228,2218,0.00,2.35,0.00,0.000,6,0.000,0.057,1439,3398,3078,0,0,0,0,0,0
$GC,2533,-0.54,-146.1,225.6,-9.9,249,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3398,3077,0,0,0,0,0,0
$GC,2860,-0.54,-146.1,256.9,-9.4,269,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3398,3077,0,0,0,0,0,0
$GC,3168,-0.54,-146.1,284.7,-8.9,284,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3398,3077,0,0,0,0,0,0
$GC,3479,-0.54,-146.1,311.2,-8.5,299,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3398,3077,0,0,0,0,0,0
$GC,3787,-0.54,-146.1,337.0,-8.5,314,3791,0.00,2.15,0.00,0.000,4,0.000,0.028,1439,1959,3077,0,0,0,0,0,0
$GC,3816,-0.54,-146.1,339.8,-8.9,315,3820,0.00,2.35,0.00,0.000,6,0.000,0.054,1428,3406,3077,0,0,0,0,0,0
$GC,4134,-0.54,-146.1,369.0,-9.6,330,4138,0.00,0.85,0.00,0.000,4,0.000,0.057,1424,3947,3076,0,0,0,0,0,0
$GC,4207,-0.54,-146.1,376.5,-10.5,333,4211,0.00,0.82,0.00,0.000,6,0.000,0.034,1424,3398,3076,0,0,0,0,0,0
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4464,-0.13,0.0,401.6,10.0,345,4598,0.52,0.00,131.20,0.907,6,0.127,0.000,1585,3277,2473,0,0,0,0,0,0
$STATE,4599,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4602,0.54,146.1,407.5,0.0,349,4738,0.60,1.15,128.80,0.863,4,0.080,0.048,1795,3953,1872,0,0,0,0,0,0
$GC,4829,0.54,146.1,387.5,12.9,358,4835,0.00,1.05,0.00,0.000,6,0.000,0.029,1801,3258,1865,0,0,0,0,0,0
$GC,5165,0.54,146.1,350.7,11.2,374,5168,0.00,1.12,0.00,0.000,4,0.000,0.053,1801,3956,1860,0,0,0,0,0,0
$GC,5341,0.54,146.1,328.2,13.4,381,5344,0.00,1.00,0.00,0.000,6,0.000,0.028,1806,3275,1859,0,0,0,0,0,0
$GC,5664,0.54,146.1,289.0,12.0,397,5669,0.00,1.08,0.00,0.000,4,0.000,0.054,1806,3950,1857,0,0,0,0,0,0
$GC,5829,0.54,146.1,266.9,13.9,404,5833,0.00,0.98,0.00,0.000,6,0.000,0.028,1811,3285,1857,0,0,0,0,0,0
$GC,6151,0.54,146.1,228.2,11.8,422,6154,0.00,1.08,0.00,0.000,4,0.000,0.054,1811,3958,1856,0,0,0,0,0,0
$GC,6319,0.54,146.1,206.2,13.5,431,6323,0.00,1.00,0.00,0.000,6,0.000,0.028,1816,3274,1855,0,0,0,0,0,0
$GC,6644,0.54,146.1,168.4,11.4,452,6649,0.00,1.08,0.00,0.000,4,0.000,0.053,1816,3952,1854,0,0,0,0,0,0
$GC,6796,0.54,146.1,148.6,13.0,460,6804,0.00,0.98,0.00,0.000,6,0.000,0.029,1821,3288,1855,0,0,0,0,0,0
$GC,7118,0.54,146.1,110.2,12.0,481,7122,0.00,1.05,0.00,0.000,4,0.000,0.054,1821,3949,1854,0,0,0,0,0,0
$GC,7283,0.54,146.1,88.3,14.3,499,7289,0.00,1.00,0.00,0.000,6,0.000,0.029,1826,3265,1854,0,0,0,0,0,0
$GC,7640,0.54,146.1,47.6,10.4,560,7651,0.00,1.10,0.00,0.000,4,0.000,0.053,1826,3955,1854,0,0,0,0,0,0
$GC,7834,0.54,146.1,26.2,12.6,590,7843,0.00,1.00,0.00,0.000,6,0.000,0.030,1831,3276,1854,0,0,0,0,0,0
$GC,7927,0.54,146.1,13.8,13.6,603,7936,0.00,1.08,0.00,0.000,4,0.000,0.054,1832,3958,1853,0,0,0,0,0,0
$GC,7977,0.54,146.1,5.4,15.5,610,7989,0.08,1.00,0.00,0.000,6,0.171,0.028,1814,3274,1852,0,0,0,0,0,0
$STATE,7998,end climb,SURFACE_DEPTH_REACHED
$STATE,7998,begin surface coast
$FINISH,0.8,1.026225
$STATE,8025,end surface coast,CONTROL_FINISHED_OK
$STATE,8025,begin surface
$SM_CCo,8041,39.90,0.685,1,0,1531,230.09
$SM_GC,1.68,0.00,0.00,39.90,0.000,0.000,0.685,50,3412,1531,-4.93,0.34,230.09
$IRIDIUM_FIX,-4224.47,845.88,260213,080850
$TT8_MAMPS,0.025466
$HUMID,58.03
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.7,68.721
$10V_AH,9.8,49.843
$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,11.700,40.225,260.000,39.900,0.000,25.764,22.552,371.563,0.000,0.000,20.594,1471.746,3967.279,372.139,2087.102,778.550,33.389,1033.094,0.000,1925.593,0.000,1.013,0.000
$DEVICE_MAMPS,221.085,87.210,907.290,685.440,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.742,1505.755,997.652,429.322,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354472
$DATA_FILE_SIZE,47157,616
$CAP_FILE_SIZE,82770,0
$CFSIZE,259252224,230092800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,260213,130122,-4240.365,843.429,35,0.9,35,-25.1