version: 66.07
glider: 543
mission: 6
dive: 434
start: 2 27 113 1 31 32
data:
$ID,543
$MISSION,6
$DIVE,434
$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,-9123.543
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,270213,011523,-4240.986,846.079,37,1.2,37,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-52.4
$GPS2,270213,013031,-4240.839,846.201,18,0.9,20,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.166,-0.200
$KALMAN_X,92993.3,378.4,194.5,-32757.8,1267.8
$KALMAN_Y,396417.5,340.3,256.4,-417029.6,1180.3
$MHEAD_RNG_PITCHd_Wd,244.8,427964,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-50.90,0.000,2,0.000,0.000,44,3417,2786,0,0,0,0,0,0
$GC,77,-0.54,-146.1,3.0,-4.1,6,97,5.78,0.90,-7.78,0.000,4,0.227,0.091,1442,3955,3071,0,0,0,0,0,0
$GC,136,-0.54,-146.1,10.2,-10.2,13,145,0.00,0.85,0.00,0.000,6,0.000,0.034,1441,3399,3072,0,0,0,0,0,0
$GC,225,-0.54,-146.1,19.0,-8.6,26,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3400,3073,0,0,0,0,0,0
$GC,314,-0.54,-146.1,28.7,-11.1,39,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3400,3074,0,0,0,0,0,0
$GC,395,-0.54,-146.1,37.0,-9.5,52,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3400,3074,0,0,0,0,0,0
$GC,649,-0.54,-146.1,65.2,-9.6,93,657,0.00,2.17,0.00,0.000,4,0.000,0.029,1441,1977,3075,0,0,0,0,0,0
$GC,755,-0.54,-146.1,73.4,-7.7,110,762,0.00,2.28,0.00,0.000,6,0.000,0.053,1431,3397,3074,0,0,0,0,0,0
$GC,1108,-0.54,-146.1,108.5,-10.2,162,1111,0.00,0.88,0.00,0.000,4,0.000,0.057,1426,3953,3075,0,0,0,0,0,0
$GC,1219,-0.54,-146.1,120.6,-11.2,168,1225,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3400,3075,0,0,0,0,0,0
$GC,1547,-0.54,-146.1,151.7,-9.5,189,1550,0.00,2.12,0.00,0.000,4,0.000,0.028,1427,1989,3076,0,0,0,0,0,0
$GC,1599,-0.54,-146.1,156.7,-9.0,192,1604,0.12,2.30,0.00,0.000,6,0.149,0.054,1449,3405,3076,0,0,0,0,0,0
$GC,1930,-0.54,-146.1,183.9,-8.1,213,1934,0.00,0.85,0.00,0.000,4,0.000,0.057,1446,3948,3076,0,0,0,0,0,0
$GC,1969,-0.54,-146.1,188.0,-9.2,215,1972,0.00,0.82,0.00,0.000,6,0.000,0.034,1447,3400,3076,0,0,0,0,0,0
$GC,2296,-0.54,-146.1,214.0,-7.9,236,2300,0.00,2.15,0.00,0.000,4,0.000,0.028,1446,1970,3076,0,0,0,0,0,0
$GC,2355,-0.54,-146.1,218.9,-7.5,239,2362,0.00,2.30,0.00,0.000,6,0.000,0.054,1436,3400,3076,0,0,0,0,0,0
$GC,2675,-0.54,-146.1,246.6,-9.0,260,2679,0.00,0.90,0.00,0.000,4,0.000,0.059,1432,3955,3076,0,0,0,0,0,0
$GC,2754,-0.54,-146.1,254.5,-9.7,264,2757,0.00,0.82,0.00,0.000,6,0.000,0.034,1432,3402,3076,0,0,0,0,0,0
$GC,3078,-0.54,-146.1,283.7,-8.7,280,3081,0.00,2.12,0.00,0.000,4,0.000,0.028,1432,1971,3076,0,0,0,0,0,0
$GC,3107,-0.54,-146.1,286.4,-8.1,281,3112,0.12,2.33,0.00,0.000,6,0.147,0.054,1454,3410,3076,0,0,0,0,0,0
$GC,3425,-0.54,-146.1,308.3,-6.7,296,3429,0.00,0.85,0.00,0.000,4,0.000,0.057,1452,3953,3075,0,0,0,0,0,0
$GC,3544,-0.54,-146.1,316.9,-7.4,301,3548,0.00,0.82,0.00,0.000,6,0.000,0.034,1452,3401,3075,0,0,0,0,0,0
$GC,3880,-0.54,-146.1,340.8,-7.1,317,3885,0.00,2.12,0.00,0.000,4,0.000,0.028,1452,1981,3075,0,0,0,0,0,0
$GC,3945,-0.54,-146.1,345.7,-6.9,319,3952,0.00,2.28,0.00,0.000,6,0.000,0.052,1441,3402,3075,0,0,0,0,0,0
$GC,4263,-0.54,-146.1,370.4,-7.9,335,4269,0.00,0.85,0.00,0.000,4,0.000,0.057,1437,3942,3074,0,0,0,0,0,0
$GC,4360,-0.54,-146.1,378.8,-8.8,339,4364,0.00,0.82,0.00,0.000,6,0.000,0.034,1437,3388,3074,0,0,0,0,0,0
$STATE,4464,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4465,begin apogee
$GC,4472,-0.13,0.0,388.2,8.6,344,4608,0.47,0.00,132.25,0.892,6,0.123,0.000,1584,3286,2470,0,0,0,0,0,0
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4612,0.54,146.1,393.2,0.0,351,4748,0.60,0.00,127.82,0.836,6,0.081,0.000,1794,3286,1872,0,0,0,0,0,0
$GC,5054,0.54,146.1,349.1,11.1,372,5058,0.00,1.08,0.00,0.000,4,0.000,0.054,1793,3958,1857,0,0,0,0,0,0
$GC,5274,0.54,146.1,320.6,13.7,381,5278,0.00,1.02,0.00,0.000,6,0.000,0.028,1799,3258,1856,0,0,0,0,0,0
$GC,5598,0.54,146.1,281.3,12.1,397,5604,0.00,1.10,0.00,0.000,4,0.000,0.054,1799,3951,1854,0,0,0,0,0,0
$GC,5784,0.54,146.1,255.9,13.8,405,5787,0.00,0.98,0.00,0.000,6,0.000,0.029,1804,3282,1854,0,0,0,0,0,0
$GC,6116,0.54,146.1,214.3,12.2,425,6121,0.00,1.08,0.00,0.000,4,0.000,0.054,1804,3959,1853,0,0,0,0,0,0
$GC,6227,0.54,146.1,199.7,13.0,431,6230,0.00,1.00,0.00,0.000,6,0.000,0.029,1809,3274,1853,0,0,0,0,0,0
$GC,6558,0.54,146.1,160.6,11.4,452,6561,0.00,1.08,0.00,0.000,4,0.000,0.054,1809,3947,1852,0,0,0,0,0,0
$GC,6664,0.54,146.1,147.1,12.8,458,6667,0.00,0.98,0.00,0.000,6,0.000,0.029,1814,3282,1852,0,0,0,0,0,0
$GC,6992,0.54,146.1,110.6,10.9,479,6996,0.00,1.08,0.00,0.000,4,0.000,0.054,1814,3958,1852,0,0,0,0,0,0
$GC,7109,0.54,146.1,96.3,13.2,489,7115,0.00,1.00,0.00,0.000,6,0.000,0.028,1819,3273,1852,0,0,0,0,0,0
$GC,7465,0.56,182.8,55.0,8.3,550,7497,0.00,0.00,27.08,0.679,6,0.000,0.000,1819,3274,1720,0,0,0,0,0,0
$GC,7744,0.56,186.8,29.1,9.8,594,7754,0.00,1.08,0.00,0.000,4,0.000,0.053,1819,3951,1713,0,0,0,0,0,0
$GC,7809,0.56,186.8,21.8,11.1,603,7818,0.00,0.98,0.00,0.000,6,0.000,0.030,1824,3292,1713,0,0,0,0,0,0
$GC,7899,0.62,274.4,12.9,6.0,616,7988,0.00,1.12,79.20,0.619,4,0.000,0.057,1824,3957,1345,0,0,0,0,0,0
$STATE,7995,end climb,SURFACE_DEPTH_REACHED
$STATE,7996,begin surface coast
$FINISH,1.0,1.026101
$STATE,8029,end surface coast,CONTROL_FINISHED_OK
$STATE,8030,begin surface
$SM_CCo,8106,0.00,0.000,0,0,1336,279.15
$SM_GC,1.69,4.70,0.00,0.00,0.037,0.000,0.000,44,3399,1336,-4.79,-0.03,279.15
$IRIDIUM_FIX,-4224.47,843.43,270213,010134
$TT8_MAMPS,0.025466
$HUMID,57.83
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,69.366
$10V_AH,9.8,50.462
$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,11.800,46.900,366.350,0.000,0.000,53.183,72.775,531.352,0.000,0.000,21.935,1489.352,3913.572,352.826,2402.360,858.940,33.360,1133.272,0.000,2009.795,0.000,1.014,0.000
$DEVICE_MAMPS,227.205,91.035,891.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.742,1544.127,1038.756,469.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,47145,632
$CAP_FILE_SIZE,91877,0
$CFSIZE,259252224,229789696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270213,034753,-4240.825,846.055,37,0.8,37,-25.1