version: 66.07
glider: 543
mission: 6
dive: 435
start: 2 27 113 4 2 44
data:
$ID,543
$MISSION,6
$DIVE,435
$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,-9127.0098
$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,50
$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
$GPS1,270213,034753,-4240.825,846.055,37,0.8,37,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-53.5
$GPS2,270213,040142,-4240.758,846.007,17,0.9,18,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.104,-0.239
$KALMAN_X,94283.6,185.6,174.2,-34093.1,699.7
$KALMAN_Y,398033.7,493.0,214.3,-418600.9,975.7
$MHEAD_RNG_PITCHd_Wd,228.6,428082,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.54,-146.1,0.0,0.0,0,80,0.00,0.00,-58.60,0.000,2,0.000,0.000,43,3399,2760,0,0,0,0,0,0
$GC,84,-0.54,-146.1,3.0,-4.3,7,104,5.88,0.95,-8.75,0.000,4,0.234,0.091,1442,3959,3072,0,0,0,0,0,0
$GC,145,-0.54,-146.1,11.2,-14.7,15,156,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3416,3074,0,0,0,0,0,0
$GC,237,-0.54,-146.1,25.2,-13.3,28,248,0.00,2.17,0.00,0.000,4,0.000,0.031,1442,1992,3075,0,0,0,0,0,0
$GC,278,-0.54,-146.1,30.5,-14.1,33,285,0.00,2.30,0.00,0.000,6,0.000,0.060,1431,3397,3075,0,0,0,0,0,0
$GC,526,-0.54,-146.1,61.8,-13.3,74,533,0.00,2.12,0.00,0.000,4,0.000,0.030,1431,1985,3075,0,0,0,0,0,0
$GC,623,-0.54,-146.1,72.7,-9.7,90,633,0.00,2.33,0.00,0.000,6,0.000,0.057,1420,3401,3075,0,0,0,0,0,0
$GC,974,-0.54,-146.1,109.5,-9.5,139,978,0.12,0.90,0.00,0.000,4,0.164,0.059,1450,3956,3076,0,0,0,0,0,0
$GC,1080,-0.54,-146.1,118.6,-8.1,145,1084,0.00,0.85,0.00,0.000,6,0.000,0.034,1450,3388,3076,0,0,0,0,0,0
$GC,1413,-0.54,-146.1,146.0,-8.7,166,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3389,3076,0,0,0,0,0,0
$GC,1725,-0.54,-146.1,172.2,-7.7,186,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3389,3076,0,0,0,0,0,0
$GC,2038,-0.54,-146.1,195.7,-7.5,206,2042,0.00,2.10,0.00,0.000,4,0.000,0.028,1450,1975,3076,0,0,0,0,0,0
$GC,2090,-0.54,-146.1,199.4,-7.4,209,2094,0.00,2.30,0.00,0.000,6,0.000,0.053,1440,3403,3076,0,0,0,0,0,0
$GC,2419,-0.54,-146.1,226.8,-8.5,230,2422,0.00,0.88,0.00,0.000,4,0.000,0.057,1435,3960,3076,0,0,0,0,0,0
$GC,2460,-0.54,-146.1,231.1,-9.1,232,2465,0.00,0.85,0.00,0.000,6,0.000,0.034,1435,3390,3076,0,0,0,0,0,0
$GC,2797,-0.54,-146.1,259.7,-8.4,252,2801,0.00,2.10,0.00,0.000,4,0.000,0.028,1435,1978,3076,0,0,0,0,0,0
$GC,2839,-0.54,-146.1,263.3,-8.2,254,2845,0.00,2.33,0.00,0.000,6,0.000,0.054,1424,3398,3076,0,0,0,0,0,0
$GC,3175,-0.54,-146.1,292.0,-8.5,270,3179,0.00,0.88,0.00,0.000,4,0.000,0.057,1420,3953,3076,0,0,0,0,0,0
$GC,3278,-0.54,-146.1,302.2,-9.6,274,3282,0.08,0.85,0.00,0.000,6,0.138,0.033,1445,3387,3076,0,0,0,0,0,0
$GC,3601,-0.54,-146.1,326.0,-7.3,290,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3387,3076,0,0,0,0,0,0
$GC,3912,-0.54,-146.1,348.1,-7.0,305,3917,0.00,0.90,0.00,0.000,4,0.000,0.058,1442,3953,3075,0,0,0,0,0,0
$GC,3976,-0.54,-146.1,353.7,-8.5,307,3983,0.00,0.82,0.00,0.000,6,0.000,0.033,1442,3404,3075,0,0,0,0,0,0
$GC,4295,-0.54,-146.1,376.7,-7.2,323,4300,0.00,0.88,0.00,0.000,4,0.000,0.058,1438,3953,3075,0,0,0,0,0,0
$GC,4360,-0.54,-146.1,382.0,-8.2,325,4366,0.00,0.82,0.00,0.000,6,0.000,0.033,1438,3403,3075,0,0,0,0,0,0
$STATE,4446,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4447,begin apogee
$GC,4454,-0.13,0.0,388.8,7.7,330,4593,0.47,0.00,132.52,0.888,6,0.122,0.000,1585,3266,2466,0,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4598,0.54,146.1,392.7,0.0,337,4733,0.62,0.00,129.05,0.832,6,0.075,0.000,1800,3267,1876,0,0,0,0,0,0
$GC,5033,0.54,146.1,346.8,11.7,358,5037,0.00,1.10,0.00,0.000,4,0.000,0.053,1800,3954,1853,0,0,0,0,0,0
$GC,5274,0.54,146.1,315.1,12.7,368,5278,0.00,1.02,0.00,0.000,6,0.000,0.028,1805,3253,1852,0,0,0,0,0,0
$GC,5596,0.54,146.1,278.2,11.4,384,5600,0.00,1.12,0.00,0.000,4,0.000,0.053,1805,3955,1851,0,0,0,0,0,0
$GC,5775,0.54,146.1,254.7,12.7,391,5782,0.00,0.98,0.00,0.000,6,0.000,0.028,1810,3286,1850,0,0,0,0,0,0
$GC,6105,0.54,146.1,217.5,11.3,412,6108,0.00,1.05,0.00,0.000,4,0.000,0.053,1810,3952,1850,0,0,0,0,0,0
$GC,6213,0.54,146.1,203.8,13.1,418,6217,0.00,1.00,0.00,0.000,6,0.000,0.028,1816,3268,1850,0,0,0,0,0,0
$GC,6542,0.54,146.1,165.9,11.6,439,6546,0.00,1.10,0.00,0.000,4,0.000,0.052,1816,3959,1849,0,0,0,0,0,0
$GC,6654,0.54,146.1,150.7,13.3,445,6661,0.00,1.00,0.00,0.000,6,0.000,0.028,1821,3275,1849,0,0,0,0,0,0
$GC,6974,0.54,146.1,113.0,11.8,466,6977,0.00,1.08,0.00,0.000,4,0.000,0.053,1821,3955,1849,0,0,0,0,0,0
$GC,7082,0.54,146.1,98.6,13.3,472,7089,0.00,0.98,0.00,0.000,6,0.000,0.028,1826,3285,1849,0,0,0,0,0,0
$GC,7436,0.54,146.1,59.5,11.5,533,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,3285,1849,0,0,0,0,0,0
$GC,7686,0.54,146.1,29.8,11.8,574,7696,0.00,1.08,0.00,0.000,4,0.000,0.051,1826,3962,1849,0,0,0,0,0,0
$GC,7751,0.54,146.1,21.8,14.6,583,7761,0.00,1.02,0.00,0.000,6,0.000,0.028,1831,3266,1848,0,0,0,0,0,0
$GC,7842,0.54,146.1,11.0,12.4,596,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,3266,1848,0,0,0,0,0,0
$STATE,7906,end climb,SURFACE_DEPTH_REACHED
$STATE,7906,begin surface coast
$FINISH,0.9,1.026130
$STATE,7932,end surface coast,CONTROL_FINISHED_OK
$STATE,7932,begin surface
$SM_CCo,7948,40.55,0.706,1,0,1532,230.09
$SM_GC,1.84,0.00,0.00,40.55,0.000,0.000,0.706,66,3413,1532,-4.88,0.37,230.09
$IRIDIUM_FIX,-4227.40,846.33,270213,030313
$TT8_MAMPS,0.025466
$HUMID,57.75
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.8,69.470
$10V_AH,9.8,50.566
$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,11.925,41.075,261.575,40.550,0.000,55.456,59.404,465.232,0.000,0.000,20.268,1448.508,3964.450,364.613,2255.264,797.308,33.355,1059.879,0.000,1940.304,0.000,1.014,0.000
$DEVICE_MAMPS,234.090,91.035,888.165,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.964,1523.795,989.835,405.866,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354488
$DATA_FILE_SIZE,43918,609
$CAP_FILE_SIZE,86881,0
$CFSIZE,259252224,229744640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,061707,-4241.220,845.852,27,0.7,27,-25.1