version: 66.07
glider: 543
mission: 6
dive: 318
start: 2 5 113 17 43 57
data:
$ID,543
$MISSION,6
$DIVE,318
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,400
$T_MISSION,420
$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,-8742.7588
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,050213,173234,-4220.862,859.958,24,0.8,24,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-60.8
$GPS2,050213,174259,-4220.881,900.031,13,1.7,13,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.098,-0.526
$KALMAN_X,4164.6,-158.1,-279.9,75981.5,2324.9
$KALMAN_Y,187837.1,-152.1,-254.7,-170465.4,3457.7
$MHEAD_RNG_PITCHd_Wd,215.7,16889,-1.6,-8.333
$D_GRID,1000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.13,-146.1,0.0,0.0,0,59,0.00,0.00,-34.10,0.000,2,0.000,0.000,46,3408,2337,0,0,0,0,0,0
$GC,63,-0.13,-146.1,3.1,-3.7,4,106,6.38,0.90,-24.85,0.000,4,0.230,0.098,1574,3943,3072,0,0,0,0,0,0
$GC,397,-0.13,-146.1,24.7,-7.2,54,406,0.00,0.80,0.00,0.000,6,0.000,0.035,1575,3419,3074,0,0,0,0,0,0
$GC,485,-0.13,-146.1,30.8,-6.4,67,493,0.00,0.85,0.00,0.000,4,0.000,0.060,1574,3943,3075,0,0,0,0,0,0
$GC,766,-0.13,-146.1,47.8,-5.7,113,772,0.00,0.82,0.00,0.000,6,0.000,0.035,1574,3396,3075,0,0,0,0,0,0
$GC,1018,-0.13,-146.1,65.3,-7.8,154,1026,0.00,0.88,0.00,0.000,4,0.000,0.060,1574,3938,3076,0,0,0,0,0,0
$GC,1287,-0.13,-146.1,84.6,-6.6,200,1293,0.00,0.80,0.00,0.000,6,0.000,0.035,1574,3403,3076,0,0,0,0,0,0
$GC,1639,-0.13,-146.1,107.2,-6.6,249,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,3403,3076,0,0,0,0,0,0
$GC,1952,-0.13,-146.1,129.2,-7.3,269,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3403,3077,0,0,0,0,0,0
$GC,2264,-0.13,-146.1,152.9,-7.6,289,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3403,3077,0,0,0,0,0,0
$GC,2577,-0.13,-146.1,175.9,-7.2,309,2582,0.00,2.15,0.00,0.000,4,0.000,0.028,1574,1968,3078,0,0,0,0,0,0
$GC,2847,-0.13,-146.1,195.4,-6.7,324,2851,0.00,2.30,0.00,0.000,6,0.000,0.050,1574,3404,3077,0,0,0,0,0,0
$GC,3169,-0.13,-146.1,217.7,-7.1,344,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,3404,3077,0,0,0,0,0,0
$GC,3481,-0.13,-146.1,238.2,-6.3,364,3484,0.00,0.85,0.00,0.000,4,0.000,0.058,1574,3940,3077,0,0,0,0,0,0
$GC,3647,-0.13,-146.1,248.2,-6.5,373,3651,0.00,0.80,0.00,0.000,6,0.000,0.034,1574,3407,3078,0,0,0,0,0,0
$GC,3972,-0.13,-146.1,268.7,-6.5,389,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3078,0,0,0,0,0,0
$GC,4281,-0.13,-146.1,290.2,-7.4,404,4285,0.00,2.10,0.00,0.000,4,0.000,0.028,1574,1969,3078,0,0,0,0,0,0
$GC,4373,-0.13,-146.1,297.5,-7.5,408,4377,0.00,2.30,0.00,0.000,6,0.000,0.050,1574,3403,3078,0,0,0,0,0,0
$GC,4696,-0.13,-146.1,320.1,-7.3,424,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3403,3077,0,0,0,0,0,0
$GC,5007,-0.13,-146.1,342.4,-6.6,439,5012,0.00,0.85,0.00,0.000,4,0.000,0.058,1574,3940,3077,0,0,0,0,0,0
$GC,5270,-0.13,-146.1,360.6,-6.9,450,5274,0.00,0.82,0.00,0.000,6,0.000,0.034,1574,3390,3077,0,0,0,0,0,0
$GC,5594,-0.13,-146.1,382.5,-7.5,466,5598,0.00,0.88,0.00,0.000,4,0.000,0.058,1574,3936,3077,0,0,0,0,0,0
$GC,5826,-0.13,-146.1,399.6,-7.7,476,5830,0.00,0.80,0.00,0.000,6,0.000,0.034,1574,3404,3077,0,0,0,0,0,0
$GC,6157,-0.13,-146.1,427.6,-8.7,487,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3404,3077,0,0,0,0,0,0
$GC,6463,-0.13,-146.1,453.3,-8.1,497,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3404,3076,0,0,0,0,0,0
$GC,6771,-0.13,-146.1,477.2,-7.5,507,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3404,3076,0,0,0,0,0,0
$GC,7076,-0.13,-146.1,497.1,-6.2,517,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3404,3076,0,0,0,0,0,0
$GC,7382,-0.13,-146.1,514.7,-5.6,527,7385,0.00,0.88,0.00,0.000,4,0.000,0.058,1574,3949,3076,0,0,0,0,0,0
$GC,7640,-0.13,-146.1,529.2,-5.7,534,7644,0.00,0.82,0.00,0.000,6,0.000,0.035,1575,3402,3075,0,0,0,0,0,0
$GC,7960,-0.13,-146.1,548.0,-6.6,545,7963,0.00,0.88,0.00,0.000,4,0.000,0.060,1574,3947,3074,0,0,0,0,0,0
$GC,8222,-0.13,-146.1,566.4,-8.1,552,8226,0.00,0.82,0.00,0.000,6,0.000,0.035,1574,3401,3074,0,0,0,0,0,0
$GC,8543,-0.13,-146.1,591.7,-8.3,563,8547,0.00,0.88,0.00,0.000,4,0.000,0.060,1574,3945,3073,0,0,0,0,0,0
$GC,8801,-0.13,-146.1,615.2,-9.6,570,8804,0.00,0.82,0.00,0.000,6,0.000,0.035,1574,3397,3073,0,0,0,0,0,0
$GC,9121,-0.13,-146.1,641.2,-8.4,581,9125,0.00,0.88,0.00,0.000,4,0.000,0.060,1574,3942,3073,0,0,0,0,0,0
$GC,9378,-0.13,-146.1,663.3,-8.5,588,9382,0.00,0.82,0.00,0.000,6,0.000,0.036,1574,3395,3073,0,0,0,0,0,0
$GC,9698,-0.13,-146.1,686.7,-7.3,599,9702,0.00,0.88,0.00,0.000,4,0.000,0.060,1574,3936,3072,0,0,0,0,0,0
$GC,9960,-0.13,-146.1,703.3,-7.3,606,9963,0.00,0.80,0.00,0.000,6,0.000,0.036,1574,3406,3072,0,0,0,0,0,0
$GC,10281,-0.13,-146.1,722.6,-6.0,617,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3071,0,0,0,0,0,0
$GC,10585,-0.13,-146.1,739.9,-5.7,627,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3071,0,0,0,0,0,0
$GC,10891,-0.13,-146.1,758.0,-6.3,637,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3070,0,0,0,0,0,0
$GC,11199,-0.13,-146.1,778.7,-7.1,647,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3407,3070,0,0,0,0,0,0
$GC,11504,-0.13,-146.1,802.1,-8.0,657,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3069,0,0,0,0,0,0
$GC,11810,-0.13,-146.1,826.4,-7.8,667,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3069,0,0,0,0,0,0
$GC,12118,-0.13,-146.1,850.8,-8.0,677,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3407,3068,0,0,0,0,0,0
$GC,12422,-0.13,-146.1,873.6,-7.4,687,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,3406,3068,0,0,0,0,0,0
$STATE,12634,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12634,begin apogee
$GC,12641,-0.13,0.0,887.9,6.5,694,12788,0.00,0.00,144.07,1.193,6,0.000,0.000,1574,3271,2471,0,0,0,0,0,0
$STATE,12789,end apogee,CONTROL_FINISHED_OK
$STATE,12789,begin climb
$GC,12792,0.13,146.1,892.7,0.0,699,12946,0.30,1.25,147.00,1.167,4,0.075,0.057,1676,3940,1873,0,0,0,0,0,0
$GC,13006,0.22,296.2,878.3,7.5,706,13165,0.00,1.08,145.05,1.660,6,0.000,0.034,1676,3288,1268,0,0,0,0,1,0
$GC,13470,0.22,296.2,821.2,13.7,721,13474,0.00,2.22,0.00,0.000,4,0.000,0.030,1677,1855,1264,0,0,0,0,0,0
$GC,13727,0.22,296.2,785.8,13.9,728,13735,0.00,2.33,0.00,0.000,6,0.000,0.051,1676,3267,1262,0,0,0,0,0,0
$GC,14041,0.22,296.2,745.2,12.8,739,14046,0.00,2.17,0.00,0.000,4,0.000,0.031,1676,1851,1262,0,0,0,0,0,0
$GC,14299,0.22,296.2,712.1,12.0,746,14304,0.00,2.33,0.00,0.000,6,0.000,0.051,1676,3289,1262,0,0,0,0,0,0
$GC,14614,0.22,296.2,675.8,11.5,756,14618,0.00,2.17,0.00,0.000,4,0.000,0.031,1676,1853,1262,0,0,0,0,0,0
$GC,14872,0.22,296.2,646.5,10.2,763,14878,0.00,2.30,0.00,0.000,6,0.000,0.051,1677,3281,1261,0,0,0,0,0,0
$GC,15185,0.22,296.2,612.1,11.1,774,15189,0.00,1.08,0.00,0.000,4,0.000,0.060,1676,3951,1261,0,0,0,0,0,0
$GC,15447,0.22,296.2,583.6,11.4,781,15451,0.00,1.02,0.00,0.000,6,0.000,0.035,1676,3272,1260,0,0,0,0,0,0
$GC,15768,0.22,296.2,547.0,11.6,792,15772,0.00,1.08,0.00,0.000,4,0.000,0.059,1675,3944,1260,0,0,0,0,0,0
$GC,16027,0.22,296.2,516.5,11.3,799,16030,0.00,1.00,0.00,0.000,6,0.000,0.035,1676,3285,1260,0,0,0,0,0,0
$GC,16346,0.22,296.2,480.9,11.3,810,16350,0.00,1.08,0.00,0.000,4,0.000,0.059,1675,3955,1260,0,0,0,0,0,0
$GC,16603,0.22,296.2,452.2,10.0,817,16607,0.00,1.02,0.00,0.000,6,0.000,0.036,1675,3281,1260,0,0,0,0,0,0
$GC,16922,0.22,296.2,418.5,10.6,828,16923,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3281,1260,0,0,0,0,0,0
$GC,17231,0.22,296.2,385.9,10.6,840,17232,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3281,1260,0,0,0,0,0,0
$GC,17541,0.22,296.2,352.1,10.9,855,17547,0.00,2.17,0.00,0.000,4,0.000,0.031,1675,1852,1260,0,0,0,0,0,0
$GC,17803,0.22,296.2,323.1,11.1,866,17807,0.00,2.30,0.00,0.000,6,0.000,0.052,1675,3280,1260,0,0,0,0,0,0
$GC,18121,0.22,296.2,287.9,11.2,881,18126,0.00,2.20,0.00,0.000,4,0.000,0.032,1675,1857,1260,0,0,0,0,0,0
$GC,18383,0.22,296.2,257.9,11.9,892,18387,0.00,2.30,0.00,0.000,6,0.000,0.052,1675,3281,1260,0,0,0,0,0,0
$GC,18709,0.22,296.2,220.6,11.9,911,18713,0.00,2.15,0.00,0.000,4,0.000,0.031,1675,1855,1260,0,0,0,0,0,0
$GC,18971,0.22,296.2,189.2,11.9,926,18981,0.00,2.33,0.00,0.000,6,0.000,0.051,1675,3280,1260,0,0,0,0,0,0
$GC,19295,0.22,296.2,151.1,12.2,947,19299,0.00,2.15,0.00,0.000,4,0.000,0.031,1675,1852,1260,0,0,0,0,0,0
$GC,19555,0.22,296.2,117.8,14.0,962,19566,0.00,2.33,0.00,0.000,6,0.000,0.050,1675,3280,1260,0,0,0,0,0,0
$GC,19895,0.22,296.2,76.0,12.7,1005,19902,0.00,1.10,0.00,0.000,4,0.000,0.059,1675,3953,1260,0,0,0,0,0,0
$GC,20176,0.22,296.2,44.4,10.1,1051,20183,0.00,1.02,0.00,0.000,6,0.000,0.034,1674,3271,1260,0,0,0,0,0,0
$GC,20435,0.22,296.2,16.6,11.8,1092,20443,0.00,1.08,0.00,0.000,4,0.000,0.058,1674,3942,1260,0,0,0,0,0,0
$STATE,20574,end climb,SURFACE_DEPTH_REACHED
$STATE,20574,begin surface coast
$FINISH,1.3,1.014132
$STATE,20602,end surface coast,CONTROL_FINISHED_OK
$STATE,20602,begin surface
$SM_CCo,20678,0.00,0.000,0,0,1260,297.79
$SM_GC,2.18,4.22,0.00,0.00,0.035,0.000,0.000,53,3397,1260,-4.77,-0.08,297.79
$IRIDIUM_FIX,-4201.18,848.97,050213,111146
$TT8_MAMPS,0.025466
$HUMID,57.28
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,21.9,53.599
$10V_AH,9.9,36.247
$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,10.900,71.625,436.125,0.000,0.000,25.050,43.039,367.406,0.000,0.000,16.003,2847.485,12832.524,485.478,3882.573,1244.802,33.378,1902.765,0.000,3746.505,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,97.920,1660.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.739,2491.468,1275.946,602.416,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,80455,1117
$CAP_FILE_SIZE,167191,0
$CFSIZE,259252224,237477888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050213,232957,-4220.964,901.661,40,1.1,43,-25.2