version: 66.07
glider: 543
mission: 6
dive: 433
start: 2 26 113 23 1 37
data:
$ID,543
$MISSION,6
$DIVE,433
$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,-9120.1855
$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
$GPS1,260213,225104,-4241.310,845.823,36,1.1,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-46.4
$GPS2,260213,230036,-4241.152,845.942,16,1.6,17,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.191,-0.177
$KALMAN_X,91161.3,482.1,62.3,-31257.6,1460.7
$KALMAN_Y,394580.9,230.9,256.4,-415665.4,981.5
$MHEAD_RNG_PITCHd_Wd,252.2,427348,-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,-146.1,0.0,0.0,0,78,0.00,0.00,-56.33,0.000,2,0.000,0.000,44,3399,2757,0,0,0,0,0,0
$GC,83,-0.54,-146.1,3.0,-3.7,7,104,5.65,0.90,-8.38,0.000,4,0.220,0.080,1444,3958,3071,0,0,0,0,0,0
$GC,113,-0.54,-146.1,8.7,-14.0,10,124,0.00,0.85,0.00,0.000,6,0.000,0.034,1444,3402,3073,0,0,0,0,0,0
$GC,205,-0.54,-146.1,21.6,-11.3,23,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3401,3073,0,0,0,0,0,0
$GC,293,-0.54,-146.1,34.0,-14.4,36,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3401,3074,0,0,0,0,0,0
$GC,543,-0.54,-146.1,65.8,-12.1,77,548,0.00,2.15,0.00,0.000,4,0.000,0.029,1443,1970,3074,0,0,0,0,0,0
$GC,617,-0.54,-146.1,72.7,-8.8,88,623,0.00,2.33,0.00,0.000,6,0.000,0.056,1433,3406,3074,0,0,0,0,0,0
$GC,983,-0.54,-146.1,104.9,-9.6,145,986,0.00,2.15,0.00,0.000,4,0.000,0.029,1433,1976,3075,0,0,0,0,0,0
$GC,1017,-0.54,-146.1,107.6,-9.3,147,1021,0.10,2.33,0.00,0.000,6,0.156,0.060,1448,3399,3075,0,0,0,0,0,0
$GC,1344,-0.54,-146.1,132.9,-7.8,168,1348,0.00,0.88,0.00,0.000,4,0.000,0.059,1445,3951,3075,0,0,0,0,0,0
$GC,1415,-0.54,-146.1,138.9,-9.0,172,1419,0.00,0.82,0.00,0.000,6,0.000,0.034,1445,3404,3075,0,0,0,0,0,0
$GC,1748,-0.54,-146.1,168.1,-8.6,193,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3402,3076,0,0,0,0,0,0
$GC,2061,-0.54,-146.1,195.0,-8.5,213,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3402,3075,0,0,0,0,0,0
$GC,2373,-0.54,-146.1,222.1,-8.9,233,2379,0.00,2.15,0.00,0.000,4,0.000,0.028,1445,1976,3075,0,0,0,0,0,0
$GC,2428,-0.54,-146.1,226.8,-8.5,236,2432,0.00,2.30,0.00,0.000,6,0.000,0.054,1434,3402,3075,0,0,0,0,0,0
$GC,2753,-0.54,-146.1,256.6,-9.3,256,2756,0.00,0.88,0.00,0.000,4,0.000,0.057,1430,3959,3075,0,0,0,0,0,0
$GC,2952,-0.54,-146.1,277.1,-10.5,264,2963,0.00,0.85,0.00,0.000,6,0.000,0.033,1430,3388,3075,0,0,0,0,0,0
$GC,3271,-0.54,-146.1,305.6,-9.0,280,3274,0.00,0.90,0.00,0.000,4,0.000,0.058,1426,3953,3075,0,0,0,0,0,0
$GC,3421,-0.54,-146.1,320.4,-9.7,286,3427,0.00,0.82,0.00,0.000,6,0.000,0.033,1426,3403,3075,0,0,0,0,0,0
$GC,3746,-0.54,-146.1,350.9,-9.4,302,3750,0.00,0.88,0.00,0.000,4,0.000,0.059,1422,3953,3075,0,0,0,0,0,0
$GC,3810,-0.54,-146.1,357.5,-10.4,304,3819,0.08,0.82,0.00,0.000,6,0.142,0.033,1447,3402,3075,0,0,0,0,0,0
$GC,4129,-0.54,-146.1,382.6,-7.7,320,4132,0.00,0.88,0.00,0.000,4,0.000,0.058,1444,3952,3075,0,0,0,0,0,0
$GC,4231,-0.54,-146.1,391.4,-8.3,324,4235,0.00,0.82,0.00,0.000,6,0.000,0.034,1444,3405,3074,0,0,0,0,0,0
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4377,-0.13,0.0,401.2,7.3,331,4517,0.45,0.00,132.98,0.881,6,0.121,0.000,1584,3269,2466,0,0,0,0,0,0
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4521,0.54,146.1,405.1,0.0,336,4659,0.60,2.17,129.18,0.825,4,0.076,0.024,1807,1861,1869,0,0,0,0,0,0
$GC,4688,0.54,146.1,389.1,11.1,342,4699,0.00,2.38,0.00,0.000,6,0.000,0.045,1807,3282,1861,0,0,0,0,0,0
$GC,5006,0.54,146.1,347.8,13.3,358,5009,0.00,1.08,0.00,0.000,4,0.000,0.053,1808,3958,1854,0,0,0,0,0,0
$GC,5263,0.54,146.1,310.7,14.2,369,5266,0.00,1.02,0.00,0.000,6,0.000,0.028,1813,3257,1852,0,0,0,0,0,0
$GC,5597,0.54,146.1,269.3,12.0,385,5603,0.00,1.12,0.00,0.000,4,0.000,0.053,1813,3958,1851,0,0,0,0,0,0
$GC,5742,0.54,146.1,249.9,13.0,391,5745,0.00,1.00,0.00,0.000,6,0.000,0.028,1818,3274,1851,0,0,0,0,0,0
$GC,6073,0.54,146.1,210.3,12.0,412,6076,0.00,1.10,0.00,0.000,4,0.000,0.053,1818,3961,1851,0,0,0,0,0,0
$GC,6187,0.54,146.1,194.6,14.3,418,6197,0.00,1.00,0.00,0.000,6,0.000,0.028,1823,3278,1851,0,0,0,0,0,0
$GC,6508,0.54,146.1,155.0,12.2,439,6512,0.00,1.08,0.00,0.000,4,0.000,0.054,1823,3954,1850,0,0,0,0,0,0
$GC,6625,0.54,146.1,139.2,13.5,445,6632,0.00,0.98,0.00,0.000,6,0.000,0.028,1828,3287,1850,0,0,0,0,0,0
$GC,6946,0.54,146.1,101.8,13.1,466,6950,0.00,1.05,0.00,0.000,4,0.000,0.053,1828,3951,1850,0,0,0,0,0,0
$GC,7110,0.54,153.7,81.8,9.7,492,7121,0.00,0.98,0.00,0.000,6,0.000,0.029,1833,3281,1850,0,0,0,0,0,0
$GC,7479,0.54,153.7,45.0,10.7,553,7486,0.00,2.12,0.00,0.000,4,0.000,0.027,1844,1866,1850,0,0,0,0,0,0
$GC,7522,0.54,153.7,39.6,13.0,560,7533,0.10,2.28,0.00,0.000,6,0.132,0.047,1811,3285,1847,0,0,0,0,0,0
$GC,7789,0.54,153.7,11.4,11.3,601,7799,0.00,1.05,0.00,0.000,4,0.000,0.051,1811,3958,1847,0,0,0,0,0,0
$STATE,7857,end climb,SURFACE_DEPTH_REACHED
$STATE,7858,begin surface coast
$FINISH,0.9,1.026070
$STATE,7885,end surface coast,CONTROL_FINISHED_OK
$STATE,7885,begin surface
$SM_CCo,7902,40.45,0.685,1,0,1533,230.09
$SM_GC,1.63,0.00,0.00,40.45,0.000,0.000,0.685,45,3418,1533,-4.94,0.51,230.09
$IRIDIUM_FIX,-4227.40,846.33,260213,202012
$TT8_MAMPS,0.025466
$HUMID,58.11
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.8,69.246
$10V_AH,9.8,50.354
$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,11.425,45.100,262.150,40.450,0.000,24.915,19.217,367.017,0.000,0.000,19.444,1468.198,3753.097,372.083,2154.652,778.648,33.362,1088.591,0.000,1969.063,0.000,1.012,0.000
$DEVICE_MAMPS,220.320,80.325,881.280,685.440,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.831,1503.934,994.722,437.363,0.000,0.000,0.000,0.000,0.000,0.000
$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,47124,615
$CAP_FILE_SIZE,85765,0
$CFSIZE,259252224,229847040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,011523,-4240.986,846.079,37,1.2,37,-25.1