version: 66.07
glider: 543
mission: 6
dive: 340
start: 2 11 113 2 6 22
data:
$ID,543
$MISSION,6
$DIVE,340
$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,-8814.3105
$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,54
$R_STBD_OVSHOOT,32
$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
$GPS1,110213,015434,-4228.822,819.279,29,1.1,29,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-65.0
$GPS2,110213,020524,-4228.791,819.242,21,1.3,21,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.018,0.243
$KALMAN_X,34155.5,-343.9,-127.8,-9667.9,-223.2
$KALMAN_Y,259997.3,-986.2,-592.7,-256066.6,4550.1
$MHEAD_RNG_PITCHd_Wd,29.0,53331,-14.7,-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,-0.47,-146.1,0.0,0.0,0,57,0.00,0.00,-32.00,0.000,2,0.000,0.000,50,3422,2283,0,0,0,0,0,0
$GC,61,-0.47,-146.1,3.1,-4.5,4,107,6.00,2.25,-29.38,0.000,4,0.235,0.043,1470,1979,3068,0,0,0,0,0,0
$GC,195,-0.47,-146.1,12.5,-10.0,22,203,0.00,2.33,0.00,0.000,6,0.000,0.053,1460,3392,3070,0,0,0,0,0,0
$GC,288,-0.47,-146.1,21.5,-10.3,35,296,0.00,0.90,0.00,0.000,4,0.000,0.059,1456,3950,3070,0,0,0,0,0,0
$GC,376,-0.47,-146.1,32.7,-11.9,48,385,0.00,0.80,0.00,0.000,6,0.000,0.035,1456,3421,3070,0,0,0,0,0,0
$GC,630,-0.47,-146.1,61.1,-11.1,89,635,0.00,2.17,0.00,0.000,4,0.000,0.029,1456,1973,3070,0,0,0,0,0,0
$GC,685,-0.47,-146.1,66.7,-9.0,98,692,0.12,2.33,0.00,0.000,6,0.146,0.057,1478,3401,3071,0,0,0,0,0,0
$GC,1043,-0.47,-146.1,95.7,-7.8,159,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3401,3071,0,0,0,0,0,0
$GC,1366,-0.47,-146.1,121.3,-8.1,186,1372,0.00,0.88,0.00,0.000,4,0.000,0.059,1475,3952,3072,0,0,0,0,0,0
$GC,1438,-0.47,-146.1,127.6,-8.6,190,1442,0.00,0.82,0.00,0.000,6,0.000,0.034,1475,3401,3071,0,0,0,0,0,0
$GC,1771,-0.47,-146.1,153.7,-7.7,211,1776,0.00,2.15,0.00,0.000,4,0.000,0.029,1475,1976,3072,0,0,0,0,0,0
$GC,1794,-0.47,-146.1,155.8,-7.4,212,1798,0.00,2.33,0.00,0.000,6,0.000,0.056,1464,3406,3072,0,0,0,0,0,0
$GC,2116,-0.47,-146.1,180.0,-7.3,232,2119,0.00,0.85,0.00,0.000,4,0.000,0.058,1460,3945,3072,0,0,0,0,0,0
$GC,2157,-0.47,-146.1,183.4,-8.0,234,2160,0.00,0.82,0.00,0.000,6,0.000,0.034,1461,3398,3072,0,0,0,0,0,0
$GC,2486,-0.47,-146.1,210.4,-8.6,255,2490,0.00,2.12,0.00,0.000,4,0.000,0.028,1460,1974,3072,0,0,0,0,0,0
$GC,2519,-0.47,-146.1,213.0,-8.3,257,2523,0.00,2.33,0.00,0.000,6,0.000,0.055,1449,3407,3072,0,0,0,0,0,0
$GC,2844,-0.47,-146.1,243.8,-9.7,278,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3408,3072,0,0,0,0,0,0
$GC,3171,-0.47,-146.1,273.5,-8.7,295,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3408,3072,0,0,0,0,0,0
$GC,3479,-0.47,-146.1,299.9,-8.5,310,3483,0.00,2.12,0.00,0.000,4,0.000,0.028,1449,1970,3072,0,0,0,0,0,0
$GC,3505,-0.47,-146.1,302.2,-8.3,311,3510,0.12,2.33,0.00,0.000,6,0.145,0.054,1472,3402,3072,0,0,0,0,0,0
$GC,3829,-0.47,-146.1,321.7,-5.7,327,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3402,3072,0,0,0,0,0,0
$GC,4138,-0.47,-146.1,341.6,-6.9,342,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3402,3072,0,0,0,0,0,0
$GC,4448,-0.47,-146.1,364.9,-7.8,357,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3402,3072,0,0,0,0,0,0
$GC,4756,-0.47,-146.1,389.8,-8.0,372,4760,0.00,0.88,0.00,0.000,4,0.000,0.058,1469,3953,3072,0,0,0,0,0,0
$GC,4791,-0.47,-146.1,393.1,-8.8,373,4795,0.00,0.85,0.00,0.000,6,0.000,0.034,1469,3394,3072,0,0,0,0,0,0
$GC,5132,-0.47,-146.1,420.7,-8.1,386,5136,0.00,2.10,0.00,0.000,4,0.000,0.028,1469,1972,3072,0,0,0,0,0,0
$GC,5182,-0.47,-146.1,424.9,-8.1,387,5186,0.00,2.33,0.00,0.000,6,0.000,0.053,1459,3405,3072,0,0,0,0,0,0
$GC,5496,-0.47,-146.1,450.1,-7.9,397,5500,0.00,2.12,0.00,0.000,4,0.000,0.028,1459,1970,3071,0,0,0,0,0,0
$GC,5535,-0.47,-146.1,453.3,-6.6,398,5539,0.00,2.33,0.00,0.000,6,0.000,0.055,1448,3400,3071,0,0,0,0,0,0
$GC,5859,-0.47,-146.1,480.2,-8.4,409,5862,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3952,3071,0,0,0,0,0,0
$GC,5898,-0.47,-146.1,483.9,-9.6,410,5902,0.08,0.82,0.00,0.000,6,0.132,0.035,1469,3404,3071,0,0,0,0,0,0
$GC,6233,-0.47,-146.1,507.6,-7.1,421,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3071,0,0,0,0,0,0
$GC,6539,-0.47,-146.1,530.6,-7.7,431,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3070,0,0,0,0,0,0
$GC,6847,-0.47,-146.1,553.9,-7.5,441,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3070,0,0,0,0,0,0
$GC,7155,-0.47,-146.1,575.7,-6.9,451,7159,0.00,2.12,0.00,0.000,4,0.000,0.029,1469,1975,3069,0,0,0,0,0,0
$GC,7177,-0.47,-146.1,577.6,-7.2,451,7184,0.00,2.33,0.00,0.000,6,0.000,0.053,1460,3411,3069,0,0,0,0,0,0
$GC,7491,-0.47,-146.1,599.2,-6.9,462,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3411,3069,0,0,0,0,0,0
$GC,7798,-0.47,-146.1,619.1,-6.3,472,7802,0.00,2.15,0.00,0.000,4,0.000,0.029,1460,1965,3068,0,0,0,0,0,0
$GC,7831,-0.47,-146.1,621.4,-6.1,473,7835,0.00,2.35,0.00,0.000,6,0.000,0.054,1449,3408,3068,0,0,0,0,0,0
$GC,8161,-0.47,-146.1,643.8,-6.8,484,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3407,3068,0,0,0,0,0,0
$GC,8468,-0.47,-146.1,664.7,-6.8,494,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3408,3067,0,0,0,0,0,0
$GC,8773,-0.47,-146.1,688.2,-7.9,504,8779,0.00,0.88,0.00,0.000,4,0.000,0.060,1445,3954,3066,0,0,0,0,0,0
$GC,8826,-0.47,-146.1,692.9,-9.6,505,8830,0.08,0.85,0.00,0.000,6,0.129,0.036,1470,3398,3066,0,0,0,0,0,0
$GC,9152,-0.47,-146.1,715.7,-7.0,516,9156,0.00,2.15,0.00,0.000,4,0.000,0.030,1470,1967,3066,0,0,0,0,0,0
$GC,9184,-0.47,-146.1,717.9,-7.2,517,9188,0.00,2.33,0.00,0.000,6,0.000,0.054,1461,3402,3065,0,0,0,0,0,0
$GC,9520,-0.47,-146.1,742.3,-7.0,528,9523,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3949,3065,0,0,0,0,0,0
$GC,9570,-0.47,-146.1,746.3,-7.8,529,9573,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3406,3065,0,0,0,0,0,0
$GC,9894,-0.47,-146.1,767.5,-6.3,540,9898,0.00,2.12,0.00,0.000,4,0.000,0.030,1457,1974,3064,0,0,0,0,0,0
$GC,9925,-0.47,-146.1,769.4,-6.5,541,9930,0.12,2.33,0.00,0.000,6,0.145,0.054,1478,3403,3064,0,0,0,0,0,0
$GC,10261,-0.47,-146.1,785.1,-4.4,552,10267,0.00,0.88,0.00,0.000,4,0.000,0.061,1476,3950,3063,0,0,0,0,0,0
$GC,10324,-0.47,-146.1,788.1,-5.1,553,10330,0.00,0.85,0.00,0.000,6,0.000,0.037,1475,3391,3063,0,0,0,0,0,0
$GC,10639,-0.47,-146.1,803.8,-5.3,564,10643,0.00,2.10,0.00,0.000,4,0.000,0.030,1476,1974,3063,0,0,0,0,0,0
$GC,10671,-0.47,-146.1,805.5,-5.5,565,10675,0.00,2.33,0.00,0.000,6,0.000,0.054,1465,3407,3062,0,0,0,0,0,0
$GC,11007,-0.47,-146.1,827.9,-7.1,576,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3407,3062,0,0,0,0,0,0
$GC,11314,-0.47,-146.1,852.0,-8.0,586,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3407,3061,0,0,0,0,0,0
$GC,11619,-0.47,-146.1,876.3,-7.7,596,11625,0.00,2.17,0.00,0.000,4,0.000,0.030,1466,1973,3062,0,0,0,0,0,0
$GC,11642,-0.47,-146.1,878.4,-8.1,596,11646,0.00,2.33,0.00,0.000,6,0.000,0.054,1455,3402,3061,0,0,0,0,0,0
$GC,11956,-0.47,-146.1,902.8,-7.7,606,11960,0.00,0.88,0.00,0.000,4,0.000,0.060,1451,3949,3061,0,0,0,0,0,0
$GC,12059,-0.47,-146.1,911.0,-6.8,609,12065,0.00,0.82,0.00,0.000,6,0.000,0.037,1451,3405,3061,0,0,0,0,0,0
$GC,12404,-0.47,-146.1,935.3,-6.8,620,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3405,3060,0,0,0,0,0,0
$STATE,12614,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12614,begin apogee
$GC,12621,-0.13,0.0,949.7,6.7,627,12772,0.45,0.00,147.65,1.212,6,0.130,0.000,1585,3271,2473,0,0,0,0,0,0
$STATE,12773,end apogee,CONTROL_FINISHED_OK
$STATE,12773,begin climb
$GC,12776,0.47,146.1,952.3,0.0,632,12935,0.55,2.47,150.38,1.192,4,0.080,0.030,1783,1857,1872,0,0,0,0,0,0
$GC,12952,0.47,146.1,935.3,11.5,637,12957,0.00,2.50,0.00,0.000,6,0.000,0.050,1783,3275,1866,0,0,0,0,0,0
$GC,13271,0.47,146.1,891.8,13.5,648,13275,0.00,1.12,0.00,0.000,4,0.000,0.057,1783,3957,1857,0,0,0,0,0,0
$GC,13366,0.47,146.1,877.5,15.0,650,13373,0.00,1.05,0.00,0.000,6,0.000,0.034,1789,3271,1856,0,0,0,0,0,0
$GC,13679,0.47,146.1,836.3,12.9,661,13683,0.00,1.10,0.00,0.000,4,0.000,0.058,1788,3948,1855,0,0,0,0,0,0
$GC,13715,0.47,146.1,831.4,14.3,662,13718,0.00,1.00,0.00,0.000,6,0.000,0.033,1794,3283,1854,0,0,0,0,0,0
$GC,14056,0.47,146.1,783.3,14.2,673,14059,0.00,1.08,0.00,0.000,4,0.000,0.057,1794,3948,1853,0,0,0,0,0,0
$GC,14100,0.47,146.1,776.4,15.2,674,14103,0.00,1.00,0.00,0.000,6,0.000,0.033,1798,3282,1853,0,0,0,0,0,0
$GC,14430,0.47,146.1,727.8,14.7,685,14436,0.00,1.08,0.00,0.000,4,0.000,0.057,1798,3952,1852,0,0,0,0,0,0
$GC,14492,0.47,146.1,717.6,16.5,686,14498,0.00,1.00,0.00,0.000,6,0.000,0.032,1803,3279,1852,0,0,0,0,0,0
$GC,14806,0.47,146.1,669.7,15.1,697,14810,0.00,1.08,0.00,0.000,4,0.000,0.056,1803,3951,1852,0,0,0,0,0,0
$GC,14874,0.47,146.1,658.0,17.3,699,14880,0.00,1.00,0.00,0.000,6,0.000,0.032,1808,3274,1852,0,0,0,0,0,0
$GC,15217,0.47,146.1,603.7,15.5,710,15221,0.00,1.10,0.00,0.000,4,0.000,0.056,1808,3955,1851,0,0,0,0,0,0
$GC,15254,0.47,146.1,597.8,17.2,711,15258,0.12,1.00,0.00,0.000,6,0.165,0.031,1778,3282,1851,0,0,0,0,0,0
$GC,15595,0.47,146.1,554.6,12.2,722,15596,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3282,1850,0,0,0,0,0,0
$GC,15902,0.47,146.1,519.0,11.3,732,15905,0.00,1.08,0.00,0.000,4,0.000,0.057,1778,3948,1850,0,0,0,0,0,0
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$STATE,20195,end climb,SURFACE_DEPTH_REACHED
$STATE,20195,begin surface coast
$FINISH,1.4,1.026070
$STATE,20229,end surface coast,CONTROL_FINISHED_OK
$STATE,20229,begin surface
$SM_CCo,20245,40.22,0.690,1,0,1534,230.09
$SM_GC,2.66,0.00,0.00,40.22,0.000,0.000,0.690,55,3425,1534,-4.91,0.71,230.09
$IRIDIUM_FIX,-4215.72,821.02,100213,202015
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.3,57.121
$10V_AH,9.8,39.408
$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,12.450,116.475,298.025,40.225,0.000,27.138,49.528,372.062,0.000,0.000,24.365,2625.405,13580.862,450.012,3104.599,1170.376,33.369,1640.268,0.000,2959.936,0.000,1.013,0.000
$DEVICE_MAMPS,234.855,73.440,1211.760,690.030,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.699,2285.073,1073.417,472.733,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,77057,1041
$CAP_FILE_SIZE,169237,0
$CFSIZE,259252224,235704320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,110213,074553,-4226.091,817.396,38,0.9,38,-24.9