version: 66.07
glider: 543
mission: 6
dive: 383
start: 2 21 113 14 39 18
data:
$ID,543
$MISSION,6
$DIVE,383
$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,-8953.6172
$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,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
$GPS1,210213,142604,-4233.032,849.563,40,0.8,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-65.2
$GPS2,210213,143817,-4232.949,849.533,18,1.4,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,-0.195
$KALMAN_X,25367.5,-73.0,29.9,40039.4,1857.3
$KALMAN_Y,333741.4,-342.3,-41.7,-338738.1,4900.9
$MHEAD_RNG_PITCHd_Wd,242.0,40693,-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,-41.85,0.000,2,0.000,0.000,46,3420,2556,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.4,-4.0,5,104,5.97,2.25,-15.98,0.000,4,0.232,0.043,1468,1987,3073,0,0,0,0,0,0
$GC,128,-0.47,-146.1,7.4,-7.2,12,138,0.00,2.33,0.00,0.000,6,0.000,0.057,1459,3388,3074,0,0,0,0,0,0
$GC,222,-0.47,-146.1,17.2,-10.9,25,231,0.00,0.90,0.00,0.000,4,0.000,0.059,1455,3950,3075,0,0,0,0,0,0
$GC,271,-0.47,-146.1,22.7,-11.4,31,279,0.00,0.80,0.00,0.000,6,0.000,0.035,1455,3425,3075,0,0,0,0,0,0
$GC,358,-0.47,-146.1,33.1,-11.0,44,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3425,3075,0,0,0,0,0,0
$GC,610,-0.47,-146.1,59.9,-10.8,85,618,0.00,2.17,0.00,0.000,4,0.000,0.029,1455,1982,3076,0,0,0,0,0,0
$GC,685,-0.47,-146.1,67.7,-9.1,98,694,0.08,2.33,0.00,0.000,6,0.123,0.057,1470,3394,3075,0,0,0,0,0,0
$GC,1042,-0.47,-146.1,96.7,-7.9,159,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3395,3076,0,0,0,0,0,0
$GC,1366,-0.47,-146.1,121.2,-7.2,184,1372,0.00,2.15,0.00,0.000,4,0.000,0.029,1470,1973,3077,0,0,0,0,0,0
$GC,1430,-0.47,-146.1,125.8,-6.4,187,1437,0.00,2.33,0.00,0.000,6,0.000,0.055,1460,3413,3077,0,0,0,0,0,0
$GC,1751,-0.47,-146.1,148.6,-7.3,208,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3413,3078,0,0,0,0,0,0
$GC,2063,-0.47,-146.1,171.3,-7.3,228,2067,0.00,2.15,0.00,0.000,4,0.000,0.028,1461,1976,3078,0,0,0,0,0,0
$GC,2114,-0.47,-146.1,174.6,-6.5,231,2119,0.00,2.33,0.00,0.000,6,0.000,0.055,1449,3410,3078,0,0,0,0,0,0
$GC,2440,-0.47,-146.1,200.0,-7.9,252,2444,0.00,0.85,0.00,0.000,4,0.000,0.059,1445,3951,3078,0,0,0,0,0,0
$GC,2495,-0.47,-146.1,205.0,-9.4,255,2500,0.08,0.82,0.00,0.000,6,0.135,0.034,1470,3400,3078,0,0,0,0,0,0
$GC,2825,-0.47,-146.1,227.6,-7.1,276,2829,0.00,2.12,0.00,0.000,4,0.000,0.028,1470,1972,3078,0,0,0,0,0,0
$GC,2878,-0.47,-146.1,231.9,-7.2,279,2883,0.00,2.33,0.00,0.000,6,0.000,0.055,1461,3404,3078,0,0,0,0,0,0
$GC,3209,-0.47,-146.1,259.0,-8.6,298,3213,0.00,0.88,0.00,0.000,4,0.000,0.057,1457,3958,3078,0,0,0,0,0,0
$GC,3274,-0.47,-146.1,264.9,-8.9,300,3282,0.00,0.85,0.00,0.000,6,0.000,0.034,1457,3390,3078,0,0,0,0,0,0
$GC,3591,-0.47,-146.1,291.8,-8.6,316,3595,0.00,2.10,0.00,0.000,4,0.000,0.028,1456,1976,3078,0,0,0,0,0,0
$GC,3650,-0.47,-146.1,297.1,-8.9,318,3659,0.00,2.33,0.00,0.000,6,0.000,0.054,1446,3395,3078,0,0,0,0,0,0
$GC,3968,-0.47,-146.1,325.5,-9.0,334,3970,0.10,0.00,0.00,0.000,6,0.165,0.000,1471,3395,3077,0,0,0,0,0,0
$GC,4279,-0.47,-146.1,348.7,-7.3,349,4284,0.00,0.90,0.00,0.000,4,0.000,0.059,1468,3960,3077,0,0,0,0,0,0
$GC,4332,-0.47,-146.1,353.1,-7.4,351,4336,0.00,0.85,0.00,0.000,6,0.000,0.034,1468,3399,3077,0,0,0,0,0,0
$GC,4661,-0.47,-146.1,377.0,-7.5,367,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3399,3077,0,0,0,0,0,0
$GC,4970,-0.47,-146.1,399.5,-7.0,382,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3398,3076,0,0,0,0,0,0
$GC,5296,-0.47,-146.1,421.2,-6.4,393,5300,0.00,2.12,0.00,0.000,4,0.000,0.028,1468,1971,3076,0,0,0,0,0,0
$GC,5329,-0.47,-146.1,423.7,-6.6,394,5333,0.00,2.33,0.00,0.000,6,0.000,0.052,1458,3409,3076,0,0,0,0,0,0
$GC,5659,-0.47,-146.1,446.7,-7.0,405,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3409,3075,0,0,0,0,0,0
$GC,5965,-0.47,-146.1,468.9,-7.4,415,5969,0.00,2.15,0.00,0.000,4,0.000,0.028,1458,1969,3075,0,0,0,0,0,0
$GC,6004,-0.47,-146.1,472.1,-7.6,416,6008,0.00,2.33,0.00,0.000,6,0.000,0.054,1447,3401,3075,0,0,0,0,0,0
$GC,6328,-0.47,-146.1,497.8,-8.0,427,6332,0.00,0.88,0.00,0.000,4,0.000,0.059,1443,3952,3075,0,0,0,0,0,0
$GC,6373,-0.47,-146.1,501.9,-8.9,428,6377,0.08,0.82,0.00,0.000,6,0.135,0.034,1467,3403,3074,0,0,0,0,0,0
$GC,6703,-0.47,-146.1,524.3,-6.7,439,6708,0.00,2.15,0.00,0.000,4,0.000,0.029,1467,1973,3074,0,0,0,0,0,0
$GC,6732,-0.47,-146.1,526.5,-7.6,439,6739,0.00,2.30,0.00,0.000,6,0.000,0.054,1459,3398,3074,0,0,0,0,0,0
$GC,7046,-0.47,-146.1,548.3,-6.9,450,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3398,3073,0,0,0,0,0,0
$GC,7353,-0.47,-146.1,569.7,-7.1,460,7357,0.00,2.12,0.00,0.000,4,0.000,0.029,1458,1974,3072,0,0,0,0,0,0
$GC,7417,-0.47,-146.1,573.9,-6.2,462,7421,0.00,2.33,0.00,0.000,6,0.000,0.053,1447,3409,3072,0,0,0,0,0,0
$GC,7752,-0.47,-146.1,600.3,-8.0,473,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3409,3072,0,0,0,0,0,0
$GC,8058,-0.47,-146.1,625.4,-8.5,483,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3409,3071,0,0,0,0,0,0
$GC,8366,-0.47,-146.1,651.8,-8.6,493,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3409,3071,0,0,0,0,0,0
$GC,8671,-0.47,-146.1,677.9,-8.3,503,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3409,3070,0,0,0,0,0,0
$GC,8977,-0.47,-146.1,703.1,-8.0,513,8981,0.00,2.15,0.00,0.000,4,0.000,0.029,1447,1974,3069,0,0,0,0,0,0
$GC,9033,-0.47,-146.1,707.7,-7.9,514,9042,0.10,2.35,0.00,0.000,6,0.121,0.053,1469,3404,3069,0,0,0,0,0,0
$GC,9347,-0.47,-146.1,728.5,-6.6,525,9352,0.00,0.85,0.00,0.000,4,0.000,0.060,1467,3937,3068,0,0,0,0,0,0
$GC,9400,-0.47,-146.1,732.3,-7.7,526,9403,0.00,0.82,0.00,0.000,6,0.000,0.036,1467,3398,3069,0,0,0,0,0,0
$GC,9726,-0.47,-146.1,753.4,-6.2,537,9730,0.00,2.12,0.00,0.000,4,0.000,0.030,1467,1974,3068,0,0,0,0,0,0
$GC,9770,-0.47,-146.1,756.5,-6.1,538,9774,0.00,2.33,0.00,0.000,6,0.000,0.053,1457,3406,3068,0,0,0,0,0,0
$GC,10089,-0.47,-146.1,777.4,-6.6,549,10093,0.00,0.85,0.00,0.000,4,0.000,0.060,1452,3941,3068,0,0,0,0,0,0
$GC,10134,-0.47,-146.1,780.9,-7.5,550,10138,0.00,0.82,0.00,0.000,6,0.000,0.037,1453,3399,3067,0,0,0,0,0,0
$GC,10465,-0.47,-146.1,804.4,-7.3,561,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3399,3067,0,0,0,0,0,0
$GC,10772,-0.47,-146.1,826.9,-7.2,571,10776,0.00,2.15,0.00,0.000,4,0.000,0.030,1452,1969,3067,0,0,0,0,0,0
$GC,10810,-0.47,-146.1,830.1,-7.3,572,10815,0.12,2.33,0.00,0.000,6,0.146,0.054,1474,3399,3066,0,0,0,0,0,0
$GC,11135,-0.47,-146.1,849.1,-5.8,583,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3399,3066,0,0,0,0,0,0
$GC,11443,-0.47,-146.1,865.8,-5.2,593,11447,0.00,0.88,0.00,0.000,4,0.000,0.062,1471,3942,3065,0,0,0,0,0,0
$GC,11515,-0.47,-146.1,870.1,-5.3,595,11519,0.00,0.82,0.00,0.000,6,0.000,0.037,1472,3403,3065,0,0,0,0,0,0
$GC,11852,-0.47,-146.1,886.9,-5.0,606,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3403,3065,0,0,0,0,0,0
$GC,12159,-0.47,-146.1,903.9,-5.7,616,12163,0.00,2.15,0.00,0.000,4,0.000,0.031,1471,1974,3064,0,0,0,0,0,0
$GC,12192,-0.47,-146.1,906.1,-6.5,617,12196,0.00,2.33,0.00,0.000,6,0.000,0.054,1461,3399,3064,0,0,0,0,0,0
$GC,12523,-0.47,-146.1,928.5,-7.0,628,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3399,3064,0,0,0,0,0,0
$STATE,12611,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12611,begin apogee
$GC,12618,-0.13,0.0,934.9,7.0,631,12772,0.40,0.00,145.70,1.763,6,0.124,0.000,1583,3273,2473,0,0,0,0,1,0
$STATE,12773,end apogee,CONTROL_FINISHED_OK
$STATE,12773,begin climb
$GC,12776,0.47,146.1,939.7,0.0,636,12944,0.57,2.47,154.27,1.715,4,0.079,0.030,1781,1861,1877,0,0,0,0,1,0
$GC,12969,0.47,146.1,924.5,9.4,642,12974,0.00,2.53,0.00,0.000,6,0.000,0.050,1781,3278,1875,0,0,0,0,0,0
$GC,13305,0.47,146.1,886.1,11.4,653,13311,0.00,1.10,0.00,0.000,4,0.000,0.057,1781,3951,1867,0,0,0,0,0,0
$GC,13424,0.47,146.1,870.2,13.0,656,13427,0.00,1.02,0.00,0.000,6,0.000,0.032,1786,3273,1866,0,0,0,0,0,0
$GC,13749,0.47,146.1,830.4,12.5,667,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3273,1865,0,0,0,0,0,0
$GC,14055,0.47,146.1,791.3,12.9,677,14059,0.00,1.10,0.00,0.000,4,0.000,0.058,1786,3953,1863,0,0,0,0,0,0
$GC,14124,0.47,146.1,781.4,14.2,679,14129,0.00,1.00,0.00,0.000,6,0.000,0.033,1791,3283,1863,0,0,0,0,0,0
$GC,14467,0.47,146.1,735.1,13.6,690,14471,0.00,1.08,0.00,0.000,4,0.000,0.057,1791,3953,1862,0,0,0,0,0,0
$GC,14522,0.47,146.1,726.5,14.3,691,14526,0.00,1.00,0.00,0.000,6,0.000,0.032,1796,3280,1862,0,0,0,0,0,0
$GC,14841,0.47,146.1,683.4,13.4,702,14845,0.00,1.08,0.00,0.000,4,0.000,0.057,1796,3950,1862,0,0,0,0,0,0
$GC,14898,0.47,146.1,674.7,15.4,703,14903,0.00,1.00,0.00,0.000,6,0.000,0.032,1801,3277,1861,0,0,0,0,0,0
$GC,15217,0.47,146.1,630.1,13.6,714,15223,0.00,1.08,0.00,0.000,4,0.000,0.057,1801,3948,1860,0,0,0,0,0,0
$GC,15279,0.47,146.1,620.1,15.4,715,15286,0.00,1.00,0.00,0.000,6,0.000,0.031,1806,3274,1860,0,0,0,0,0,0
$GC,15594,0.47,146.1,576.3,13.7,726,15598,0.00,1.08,0.00,0.000,4,0.000,0.057,1806,3947,1860,0,0,0,0,0,0
$GC,15655,0.47,146.1,566.6,16.3,727,15662,0.10,1.00,0.00,0.000,6,0.165,0.031,1782,3274,1860,0,0,0,0,0,0
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$STATE,20547,end climb,SURFACE_DEPTH_REACHED
$STATE,20547,begin surface coast
$FINISH,1.3,1.026056
$STATE,20586,end surface coast,CONTROL_FINISHED_OK
$STATE,20586,begin surface
$SM_CCo,20602,40.50,0.687,1,0,1533,230.09
$SM_GC,2.52,0.00,0.00,40.50,0.000,0.000,0.687,49,3410,1533,-4.93,0.28,230.09
$IRIDIUM_FIX,-4215.72,850.77,210213,080802
$TT8_MAMPS,0.025466
$HUMID,55.86
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,21.5,64.075
$10V_AH,9.8,45.775
$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,12.300,114.925,299.975,40.500,0.000,26.171,24.500,482.312,0.000,0.000,20.924,2713.358,13596.388,474.278,3342.511,1246.469,33.401,1747.584,0.000,3117.434,0.000,1.015,0.000
$DEVICE_MAMPS,231.795,81.090,1763.325,686.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,695.324,2357.107,1136.133,491.599,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354024
$DATA_FILE_SIZE,77062,1072
$CAP_FILE_SIZE,175438,0
$CFSIZE,259252224,232198144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,210213,202435,-4233.814,847.696,27,1.2,27,-25.1