version: 66.07
glider: 543
mission: 6
dive: 436
start: 2 27 113 6 28 53
data:
$ID,543
$MISSION,6
$DIVE,436
$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,-9130.458
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,270213,061707,-4241.220,845.852,27,0.7,27,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-47.9
$GPS2,270213,062752,-4241.194,845.880,37,0.9,38,-25.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.105,-0.238
$KALMAN_X,95460.0,-43.0,-118.0,-34923.5,674.7
$KALMAN_Y,399299.4,515.4,24.0,-420502.5,743.5
$MHEAD_RNG_PITCHd_Wd,228.8,427259,-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,-146.1,0.0,0.0,0,64,0.00,0.00,-41.75,0.000,2,0.000,0.000,65,3413,2541,0,0,0,0,0,0
$GC,69,-0.54,-146.1,3.2,-5.2,5,97,5.78,0.00,-16.17,0.000,6,0.233,0.000,1445,3413,3071,0,0,0,0,0,0
$GC,177,-0.54,-146.1,15.5,-12.7,20,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3413,3073,0,0,0,0,0,0
$GC,265,-0.54,-146.1,28.6,-15.5,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3413,3073,0,0,0,0,0,0
$GC,348,-0.54,-146.1,37.6,-9.4,46,359,0.00,2.17,0.00,0.000,4,0.000,0.029,1446,1985,3073,0,0,0,0,0,0
$GC,390,-0.54,-146.1,41.5,-9.9,51,397,0.00,2.28,0.00,0.000,6,0.000,0.054,1436,3392,3073,0,0,0,0,0,0
$GC,634,-0.54,-146.1,69.0,-12.8,92,640,0.00,2.10,0.00,0.000,4,0.000,0.028,1436,1982,3074,0,0,0,0,0,0
$GC,749,-0.54,-146.1,80.9,-9.7,111,755,0.00,2.33,0.00,0.000,6,0.000,0.054,1425,3406,3074,0,0,0,0,0,0
$GC,1095,-0.54,-146.1,113.0,-9.4,155,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3406,3074,0,0,0,0,0,0
$GC,1409,-0.54,-146.1,140.8,-9.1,175,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3406,3075,0,0,0,0,0,0
$GC,1721,-0.54,-146.1,169.6,-9.5,195,1726,0.00,0.85,0.00,0.000,4,0.000,0.057,1421,3947,3075,0,0,0,0,0,0
$GC,1847,-0.54,-146.1,182.7,-9.4,202,1851,0.08,0.80,0.00,0.000,6,0.142,0.033,1446,3410,3075,0,0,0,0,0,0
$GC,2184,-0.54,-146.1,209.7,-8.1,223,2187,0.00,2.12,0.00,0.000,4,0.000,0.028,1446,1979,3076,0,0,0,0,0,0
$GC,2250,-0.54,-146.1,215.1,-7.0,227,2254,0.00,2.30,0.00,0.000,6,0.000,0.053,1436,3403,3076,0,0,0,0,0,0
$GC,2576,-0.54,-146.1,242.3,-8.4,248,2579,0.00,0.85,0.00,0.000,4,0.000,0.057,1432,3946,3076,0,0,0,0,0,0
$GC,2667,-0.54,-146.1,250.6,-9.5,254,2671,0.00,0.82,0.00,0.000,6,0.000,0.033,1432,3390,3076,0,0,0,0,0,0
$GC,3002,-0.54,-146.1,282.0,-9.8,270,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3390,3075,0,0,0,0,0,0
$GC,3313,-0.54,-146.1,313.5,-10.4,285,3318,0.00,0.90,0.00,0.000,4,0.000,0.057,1427,3955,3076,0,0,0,0,0,0
$GC,3364,-0.54,-146.1,318.9,-11.5,287,3367,0.00,0.82,0.00,0.000,6,0.000,0.033,1428,3403,3075,0,0,0,0,0,0
$GC,3699,-0.54,-146.1,355.0,-10.7,303,3705,0.00,2.15,0.00,0.000,4,0.000,0.028,1428,1973,3075,0,0,0,0,0,0
$GC,3750,-0.54,-146.1,359.9,-9.9,305,3755,0.12,2.30,0.00,0.000,6,0.145,0.053,1451,3402,3075,0,0,0,0,0,0
$GC,4083,-0.54,-146.1,388.2,-8.1,321,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3402,3074,0,0,0,0,0,0
$STATE,4242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4242,begin apogee
$GC,4250,-0.13,0.0,400.8,7.5,329,4386,0.43,0.00,132.62,0.912,6,0.120,0.000,1585,3273,2473,0,0,0,0,0,0
$STATE,4387,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4390,0.54,146.1,405.1,0.0,333,4529,0.60,2.28,128.52,0.857,4,0.080,0.024,1805,1850,1870,0,0,0,0,0,0
$GC,4552,0.54,146.1,390.7,10.2,339,4557,0.00,2.40,0.00,0.000,6,0.000,0.045,1804,3278,1865,0,0,0,0,0,0
$GC,4876,0.54,146.1,349.6,12.4,355,4882,0.00,1.08,0.00,0.000,4,0.000,0.052,1804,3953,1858,0,0,0,0,0,0
$GC,5138,0.54,146.1,311.8,14.2,366,5141,0.00,1.00,0.00,0.000,6,0.000,0.028,1810,3263,1857,0,0,0,0,0,0
$GC,5461,0.54,146.1,272.4,12.1,382,5464,0.00,1.10,0.00,0.000,4,0.000,0.053,1810,3953,1856,0,0,0,0,0,0
$GC,5708,0.54,146.1,238.9,14.0,394,5711,0.00,0.98,0.00,0.000,6,0.000,0.028,1815,3286,1855,0,0,0,0,0,0
$GC,6043,0.54,146.1,197.3,12.4,415,6046,0.00,1.08,0.00,0.000,4,0.000,0.053,1815,3959,1854,0,0,0,0,0,0
$GC,6137,0.54,146.1,183.9,13.9,420,6148,0.00,1.00,0.00,0.000,6,0.000,0.028,1820,3273,1854,0,0,0,0,0,0
$GC,6461,0.54,146.1,145.2,11.6,441,6464,0.00,1.08,0.00,0.000,4,0.000,0.053,1820,3950,1854,0,0,0,0,0,0
$GC,6591,0.54,146.1,127.6,13.0,448,6602,0.00,0.98,0.00,0.000,6,0.000,0.028,1825,3281,1854,0,0,0,0,0,0
$GC,6920,0.54,146.1,89.1,12.3,479,6925,0.00,1.08,0.00,0.000,4,0.000,0.052,1825,3958,1854,0,0,0,0,0,0
$GC,6995,0.54,146.1,79.8,12.7,491,7000,0.00,1.00,0.00,0.000,6,0.000,0.028,1830,3268,1854,0,0,0,0,0,0
$GC,7358,0.54,146.1,40.3,12.6,552,7367,0.00,1.08,0.00,0.000,4,0.000,0.052,1830,3949,1853,0,0,0,0,0,0
$GC,7442,0.54,146.1,30.1,12.5,565,7450,0.10,0.98,0.00,0.000,6,0.161,0.028,1805,3278,1853,0,0,0,0,0,0
$GC,7712,0.54,146.1,3.2,13.1,606,7722,0.00,1.08,0.00,0.000,4,0.000,0.051,1805,3958,1851,0,0,0,0,0,0
$STATE,7731,end climb,SURFACE_DEPTH_REACHED
$STATE,7731,begin surface coast
$FINISH,1.0,1.015642
$STATE,7766,end surface coast,CONTROL_FINISHED_OK
$STATE,7766,begin surface
$SM_CCo,7782,39.90,0.702,1,0,1533,230.09
$SM_GC,1.55,0.00,0.00,39.90,0.000,0.000,0.702,47,3409,1533,-4.94,0.25,230.09
$IRIDIUM_FIX,-4224.47,849.22,270213,030308
$TT8_MAMPS,0.025466
$HUMID,57.16
$INTERNAL_PRESSURE,9.08355
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,69.570
$10V_AH,9.8,50.668
$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,11.625,41.950,261.150,39.900,0.000,26.036,47.753,387.762,0.000,0.000,40.065,1462.212,3718.804,353.794,2177.253,767.512,33.389,1039.050,0.000,1923.528,0.000,1.014,0.000
$DEVICE_MAMPS,232.560,57.375,911.880,702.270,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.272,1496.704,1008.086,455.030,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,47149,613
$CAP_FILE_SIZE,82873,0
$CFSIZE,259252224,229695488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270213,084045,-4241.720,845.994,22,3.9,41,-25.1