version: 66.07
glider: 543
mission: 6
dive: 353
start: 2 14 113 5 5 37
data:
$ID,543
$MISSION,6
$DIVE,353
$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,-8857.4307
$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,55
$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
$GPS1,140213,045105,-4158.910,827.273,25,0.9,25,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-54.9
$GPS2,140213,050436,-4158.955,827.361,22,1.6,22,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.056
$KALMAN_X,7886.7,268.8,-82.8,27002.1,41.8
$KALMAN_Y,259376.7,574.0,609.8,-203008.1,-1596.7
$MHEAD_RNG_PITCHd_Wd,101.6,44963,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.78,0.000,2,0.000,0.000,63,3416,2536,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-4.0,5,95,5.90,0.90,-15.35,0.000,4,0.233,0.096,1464,3943,3072,0,0,0,0,0,0
$GC,373,-0.47,-146.1,39.2,-9.7,51,380,0.00,0.80,0.00,0.000,6,0.000,0.035,1464,3414,3075,0,0,0,0,0,0
$GC,622,-0.47,-146.1,61.6,-8.0,92,628,0.00,2.12,0.00,0.000,4,0.000,0.029,1464,1977,3076,0,0,0,0,0,0
$GC,658,-0.47,-146.1,64.0,-8.0,97,663,0.00,2.30,0.00,0.000,6,0.000,0.056,1453,3394,3076,0,0,0,0,0,0
$GC,1017,-0.47,-146.1,96.9,-9.5,158,1023,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3946,3077,0,0,0,0,0,0
$GC,1078,-0.47,-146.1,102.4,-10.4,165,1082,0.00,0.82,0.00,0.000,6,0.000,0.034,1449,3395,3077,0,0,0,0,0,0
$GC,1409,-0.47,-146.1,132.9,-8.7,186,1413,0.00,2.12,0.00,0.000,4,0.000,0.028,1449,1972,3078,0,0,0,0,0,0
$GC,1449,-0.47,-146.1,136.3,-7.9,188,1459,0.10,2.33,0.00,0.000,6,0.112,0.056,1472,3392,3078,0,0,0,0,0,0
$GC,1773,-0.47,-146.1,158.6,-7.1,209,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3392,3078,0,0,0,0,0,0
$GC,2084,-0.47,-146.1,181.0,-7.1,229,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3392,3078,0,0,0,0,0,0
$GC,2396,-0.47,-146.1,202.1,-6.7,249,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3392,3078,0,0,0,0,0,0
$GC,2709,-0.47,-146.1,225.6,-7.8,269,2714,0.00,0.88,0.00,0.000,4,0.000,0.059,1469,3947,3078,0,0,0,0,0,0
$GC,2756,-0.47,-146.1,230.0,-8.8,271,2763,0.00,0.82,0.00,0.000,6,0.000,0.034,1469,3401,3077,0,0,0,0,0,0
$GC,3079,-0.47,-146.1,255.8,-8.3,291,3083,0.00,2.12,0.00,0.000,4,0.000,0.028,1469,1973,3078,0,0,0,0,0,0
$GC,3135,-0.47,-146.1,260.8,-8.0,293,3142,0.00,2.30,0.00,0.000,6,0.000,0.054,1459,3403,3078,0,0,0,0,0,0
$GC,3453,-0.47,-146.1,288.3,-9.0,309,3458,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3958,3078,0,0,0,0,0,0
$GC,3526,-0.47,-146.1,294.7,-8.8,312,3532,0.00,0.85,0.00,0.000,6,0.000,0.034,1454,3390,3078,0,0,0,0,0,0
$GC,3862,-0.47,-146.1,322.3,-8.0,328,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3389,3078,0,0,0,0,0,0
$GC,4172,-0.47,-146.1,346.0,-7.6,343,4177,0.00,2.12,0.00,0.000,4,0.000,0.028,1454,1973,3077,0,0,0,0,0,0
$GC,4223,-0.47,-146.1,349.7,-7.8,345,4228,0.12,2.28,0.00,0.000,6,0.142,0.053,1477,3402,3077,0,0,0,0,0,0
$GC,4555,-0.47,-146.1,372.0,-6.7,361,4561,0.00,0.85,0.00,0.000,4,0.000,0.059,1474,3941,3076,0,0,0,0,0,0
$GC,4628,-0.47,-146.1,377.6,-7.9,364,4633,0.00,0.80,0.00,0.000,6,0.000,0.034,1474,3404,3076,0,0,0,0,0,0
$GC,4973,-0.47,-146.1,402.7,-7.4,380,4977,0.00,2.12,0.00,0.000,4,0.000,0.028,1474,1970,3076,0,0,0,0,0,0
$GC,5029,-0.47,-146.1,407.2,-8.0,381,5036,0.00,2.30,0.00,0.000,6,0.000,0.053,1464,3400,3076,0,0,0,0,0,0
$GC,5343,-0.47,-146.1,431.7,-7.7,392,5347,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3954,3076,0,0,0,0,0,0
$GC,5416,-0.47,-146.1,437.9,-8.6,394,5419,0.00,0.82,0.00,0.000,6,0.000,0.034,1460,3402,3076,0,0,0,0,0,0
$GC,5752,-0.47,-146.1,462.2,-6.9,405,5756,0.00,2.12,0.00,0.000,4,0.000,0.028,1459,1972,3076,0,0,0,0,0,0
$GC,5786,-0.47,-146.1,464.9,-6.4,406,5790,0.00,2.30,0.00,0.000,6,0.000,0.054,1449,3407,3075,0,0,0,0,0,0
$GC,6116,-0.47,-146.1,489.3,-7.6,417,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3407,3075,0,0,0,0,0,0
$GC,6423,-0.47,-146.1,513.3,-7.9,427,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3407,3075,0,0,0,0,0,0
$GC,6730,-0.47,-146.1,536.7,-7.7,437,6733,0.00,2.15,0.00,0.000,4,0.000,0.028,1449,1968,3074,0,0,0,0,0,0
$GC,6762,-0.47,-146.1,539.5,-7.4,438,6767,0.12,2.33,0.00,0.000,6,0.145,0.053,1471,3403,3074,0,0,0,0,0,0
$GC,7094,-0.47,-146.1,560.5,-6.7,449,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3403,3074,0,0,0,0,0,0
$GC,7401,-0.47,-146.1,580.9,-6.6,459,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3403,3073,0,0,0,0,0,0
$GC,7706,-0.47,-146.1,601.1,-6.7,469,7711,0.00,0.88,0.00,0.000,4,0.000,0.060,1468,3953,3072,0,0,0,0,0,0
$GC,7776,-0.47,-146.1,606.1,-7.2,471,7780,0.00,0.82,0.00,0.000,6,0.000,0.034,1468,3402,3072,0,0,0,0,0,0
$GC,8117,-0.47,-146.1,630.0,-7.0,482,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3072,0,0,0,0,0,0
$GC,8424,-0.47,-146.1,651.4,-6.9,492,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3071,0,0,0,0,0,0
$GC,8731,-0.47,-146.1,671.2,-6.3,502,8735,0.00,2.12,0.00,0.000,4,0.000,0.029,1468,1975,3071,0,0,0,0,0,0
$GC,8770,-0.47,-146.1,674.0,-6.1,503,8774,0.00,2.33,0.00,0.000,6,0.000,0.052,1458,3413,3071,0,0,0,0,0,0
$GC,9095,-0.47,-146.1,695.1,-6.6,514,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3413,3070,0,0,0,0,0,0
$GC,9402,-0.47,-146.1,714.4,-6.3,524,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3413,3070,0,0,0,0,0,0
$GC,9707,-0.47,-146.1,733.5,-6.4,534,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3413,3069,0,0,0,0,0,0
$GC,10013,-0.47,-146.1,753.4,-6.6,544,10017,0.00,0.85,0.00,0.000,4,0.000,0.060,1454,3949,3069,0,0,0,0,0,0
$GC,10075,-0.47,-146.1,758.1,-8.2,545,10083,0.00,0.82,0.00,0.000,6,0.000,0.034,1454,3400,3068,0,0,0,0,0,0
$GC,10389,-0.47,-146.1,781.4,-7.9,556,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3400,3068,0,0,0,0,0,0
$GC,10695,-0.47,-146.1,807.2,-8.6,566,10699,0.00,2.15,0.00,0.000,4,0.000,0.029,1454,1975,3068,0,0,0,0,0,0
$GC,10728,-0.47,-146.1,810.2,-9.4,567,10733,0.12,2.30,0.00,0.000,6,0.143,0.053,1476,3408,3067,0,0,0,0,0,0
$GC,11059,-0.47,-146.1,834.6,-7.3,578,11062,0.00,0.85,0.00,0.000,4,0.000,0.061,1474,3941,3067,0,0,0,0,0,0
$GC,11147,-0.47,-146.1,841.4,-8.6,580,11150,0.00,0.82,0.00,0.000,6,0.000,0.036,1473,3397,3067,0,0,0,0,0,0
$GC,11466,-0.47,-146.1,862.8,-6.7,591,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3398,3066,0,0,0,0,0,0
$GC,11772,-0.47,-146.1,881.5,-5.9,601,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3397,3066,0,0,0,0,0,0
$GC,12079,-0.47,-146.1,898.7,-5.6,611,12083,0.00,0.88,0.00,0.000,4,0.000,0.061,1470,3938,3065,0,0,0,0,0,0
$GC,12182,-0.47,-146.1,905.1,-5.7,614,12186,0.00,0.82,0.00,0.000,6,0.000,0.037,1470,3397,3065,0,0,0,0,0,0
$GC,12524,-0.47,-146.1,926.5,-6.3,625,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3397,3065,0,0,0,0,0,0
$STATE,12613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12613,begin apogee
$GC,12620,-0.13,0.0,932.3,6.4,628,12771,0.38,0.00,147.32,1.209,6,0.123,0.000,1585,3282,2473,0,0,0,0,0,0
$STATE,12772,end apogee,CONTROL_FINISHED_OK
$STATE,12772,begin climb
$GC,12775,0.47,146.1,936.2,0.0,633,12936,0.55,2.42,149.77,1.178,4,0.080,0.029,1781,1856,1871,0,0,0,0,0,0
$GC,12959,0.47,146.1,919.7,9.7,638,12964,0.00,2.50,0.00,0.000,6,0.000,0.049,1781,3283,1865,0,0,0,0,0,0
$GC,13274,0.47,146.1,880.1,12.7,648,13277,0.00,1.10,0.00,0.000,4,0.000,0.057,1782,3955,1857,0,0,0,0,0,0
$GC,13376,0.47,146.1,865.3,14.9,651,13380,0.00,1.05,0.00,0.000,6,0.000,0.032,1786,3262,1856,0,0,0,0,0,0
$GC,13717,0.47,146.1,819.2,13.2,662,13722,0.00,1.12,0.00,0.000,4,0.000,0.057,1786,3953,1855,0,0,0,0,0,0
$GC,13765,0.47,146.1,812.4,14.8,663,13769,0.00,1.00,0.00,0.000,6,0.000,0.032,1791,3288,1855,0,0,0,0,0,0
$GC,14096,0.47,146.1,766.1,14.0,674,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3288,1854,0,0,0,0,0,0
$GC,14405,0.47,146.1,724.9,13.3,684,14409,0.00,1.08,0.00,0.000,4,0.000,0.057,1791,3957,1853,0,0,0,0,0,0
$GC,14483,0.47,146.1,712.9,14.3,686,14489,0.00,1.02,0.00,0.000,6,0.000,0.031,1796,3270,1853,0,0,0,0,0,0
$GC,14816,0.47,146.1,669.6,13.1,697,14819,0.00,1.10,0.00,0.000,4,0.000,0.057,1796,3953,1852,0,0,0,0,0,0
$GC,14871,0.47,146.1,661.2,15.3,698,14874,0.00,1.00,0.00,0.000,6,0.000,0.031,1801,3281,1852,0,0,0,0,0,0
$GC,15190,0.47,146.1,618.3,13.6,709,15193,0.00,1.08,0.00,0.000,4,0.000,0.056,1801,3948,1851,0,0,0,0,0,0
$GC,15240,0.47,146.1,610.5,15.5,710,15243,0.00,1.00,0.00,0.000,6,0.000,0.031,1807,3272,1852,0,0,0,0,0,0
$GC,15564,0.47,146.1,563.5,14.4,721,15568,0.00,1.10,0.00,0.000,4,0.000,0.057,1806,3955,1851,0,0,0,0,0,0
$GC,15653,0.47,146.1,549.0,15.6,723,15658,0.10,1.00,0.00,0.000,6,0.164,0.030,1783,3276,1851,0,0,0,0,0,0
$GC,15972,0.47,146.1,511.4,11.7,734,15976,0.00,1.08,0.00,0.000,4,0.000,0.056,1782,3947,1850,0,0,0,0,0,0
$GC,16049,0.47,146.1,501.4,14.1,736,16053,0.00,0.98,0.00,0.000,6,0.000,0.031,1786,3291,1850,0,0,0,0,0,0
$GC,16379,0.47,146.1,462.7,11.6,747,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3289,1850,0,0,0,0,0,0
$GC,16685,0.47,146.1,429.2,10.8,757,16688,0.00,1.08,0.00,0.000,4,0.000,0.056,1786,3959,1850,0,0,0,0,0,0
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$STATE,20469,end climb,SURFACE_DEPTH_REACHED
$STATE,20469,begin surface coast
$FINISH,1.3,1.014449
$STATE,20502,end surface coast,CONTROL_FINISHED_OK
$STATE,20502,begin surface
$SM_CCo,20518,40.10,0.674,1,0,1533,230.09
$SM_GC,2.31,0.00,0.00,40.10,0.000,0.000,0.674,64,3417,1533,-4.89,0.48,230.09
$IRIDIUM_FIX,-4143.80,822.96,130213,232332
$TT8_MAMPS,0.025466
$HUMID,55.15
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,22.3,59.144
$10V_AH,9.9,41.288
$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,12.125,95.525,297.100,40.100,0.000,27.581,56.264,525.555,0.000,0.000,24.984,2699.867,13665.184,436.837,3336.194,1230.361,33.376,1646.508,0.000,3065.208,0.000,1.014,0.000
$DEVICE_MAMPS,233.325,96.390,1208.700,673.965,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.575,2364.649,1130.546,515.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,80548,1078
$CAP_FILE_SIZE,168372,0
$CFSIZE,259252224,234651648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140213,104935,-4157.896,830.436,32,0.9,32,-25.0