version: 66.07
glider: 543
mission: 6
dive: 390
start: 2 23 113 7 38 48
data:
$ID,543
$MISSION,6
$DIVE,390
$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,-8976.2891
$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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,230213,072534,-4234.462,840.597,28,1.0,28,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-52.5
$GPS2,230213,073747,-4234.468,840.666,13,1.8,13,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,-0.162
$KALMAN_X,42386.3,146.3,-161.3,10885.4,4343.2
$KALMAN_Y,352186.7,-842.2,-298.0,-359218.6,3888.7
$MHEAD_RNG_PITCHd_Wd,253.6,29406,-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,-41.47,0.000,2,0.000,0.000,43,3425,2533,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-3.8,5,94,5.75,0.00,-17.35,0.000,6,0.218,0.000,1471,3425,3070,0,0,0,0,0,0
$GC,175,-0.47,-146.1,10.9,-8.3,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3425,3074,0,0,0,0,0,0
$GC,263,-0.47,-146.1,19.0,-8.7,33,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3425,3074,0,0,0,0,0,0
$GC,352,-0.47,-146.1,27.0,-9.4,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3425,3074,0,0,0,0,0,0
$GC,437,-0.47,-146.1,35.2,-9.6,59,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3425,3075,0,0,0,0,0,0
$GC,687,-0.47,-146.1,58.2,-8.9,100,698,0.00,2.20,0.00,0.000,4,0.000,0.030,1471,1984,3075,0,0,0,0,0,0
$GC,718,-0.47,-146.1,61.1,-9.1,104,725,0.00,2.28,0.00,0.000,6,0.000,0.056,1462,3392,3075,0,0,0,0,0,0
$GC,1078,-0.47,-146.1,91.9,-7.6,165,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3392,3075,0,0,0,0,0,0
$GC,1409,-0.47,-146.1,116.2,-7.2,198,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3392,3076,0,0,0,0,0,0
$GC,1719,-0.47,-146.1,139.9,-7.7,218,1723,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3957,3076,0,0,0,0,0,0
$GC,1812,-0.47,-146.1,147.2,-8.2,223,1816,0.00,0.82,0.00,0.000,6,0.000,0.034,1457,3408,3077,0,0,0,0,0,0
$GC,2145,-0.47,-146.1,174.6,-8.2,244,2149,0.00,2.12,0.00,0.000,4,0.000,0.028,1457,1978,3077,0,0,0,0,0,0
$GC,2193,-0.47,-146.1,178.2,-7.4,247,2197,0.00,2.33,0.00,0.000,6,0.000,0.056,1446,3409,3077,0,0,0,0,0,0
$GC,2518,-0.47,-146.1,206.5,-8.7,268,2522,0.00,0.85,0.00,0.000,4,0.000,0.059,1442,3948,3077,0,0,0,0,0,0
$GC,2582,-0.47,-146.1,212.9,-9.5,271,2589,0.10,0.82,0.00,0.000,6,0.131,0.034,1475,3401,3077,0,0,0,0,0,0
$GC,2905,-0.47,-146.1,236.9,-7.4,292,2909,0.00,2.12,0.00,0.000,4,0.000,0.028,1475,1973,3077,0,0,0,0,0,0
$GC,2940,-0.47,-146.1,239.9,-7.8,294,2946,0.00,2.35,0.00,0.000,6,0.000,0.056,1466,3403,3077,0,0,0,0,0,0
$GC,3266,-0.47,-146.1,265.0,-7.8,312,3270,0.00,0.88,0.00,0.000,4,0.000,0.058,1462,3954,3077,0,0,0,0,0,0
$GC,3351,-0.47,-146.1,272.6,-8.5,315,3358,0.00,0.85,0.00,0.000,6,0.000,0.034,1462,3387,3077,0,0,0,0,0,0
$GC,3670,-0.47,-146.1,296.9,-7.6,331,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3387,3076,0,0,0,0,0,0
$GC,3979,-0.47,-146.1,318.7,-7.0,346,3983,0.00,0.90,0.00,0.000,4,0.000,0.059,1458,3950,3077,0,0,0,0,0,0
$GC,4054,-0.47,-146.1,324.6,-7.5,349,4060,0.00,0.82,0.00,0.000,6,0.000,0.034,1457,3403,3077,0,0,0,0,0,0
$GC,4385,-0.47,-146.1,347.3,-6.9,365,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3402,3076,0,0,0,0,0,0
$GC,4693,-0.47,-146.1,368.8,-7.2,380,4697,0.00,2.12,0.00,0.000,4,0.000,0.028,1458,1976,3075,0,0,0,0,0,0
$GC,4729,-0.47,-146.1,371.5,-6.7,381,4736,0.00,2.30,0.00,0.000,6,0.000,0.053,1447,3402,3076,0,0,0,0,0,0
$GC,5048,-0.47,-146.1,395.9,-7.9,397,5053,0.00,2.15,0.00,0.000,4,0.000,0.028,1447,1974,3076,0,0,0,0,0,0
$GC,5088,-0.47,-146.1,399.6,-7.9,398,5096,0.10,2.33,0.00,0.000,6,0.115,0.054,1470,3396,3075,0,0,0,0,0,0
$GC,5422,-0.47,-146.1,423.0,-7.3,410,5426,0.00,0.88,0.00,0.000,4,0.000,0.060,1467,3947,3075,0,0,0,0,0,0
$GC,5484,-0.47,-146.1,428.1,-8.3,411,5492,0.00,0.82,0.00,0.000,6,0.000,0.034,1467,3401,3075,0,0,0,0,0,0
$GC,5798,-0.47,-146.1,452.4,-7.8,422,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3401,3074,0,0,0,0,0,0
$GC,6104,-0.47,-146.1,475.8,-7.6,432,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3401,3075,0,0,0,0,0,0
$GC,6412,-0.47,-146.1,498.1,-7.1,442,6416,0.00,2.12,0.00,0.000,4,0.000,0.028,1467,1971,3074,0,0,0,0,0,0
$GC,6445,-0.47,-146.1,500.7,-7.2,443,6449,0.00,2.33,0.00,0.000,6,0.000,0.051,1457,3413,3074,0,0,0,0,0,0
$GC,6775,-0.47,-146.1,524.3,-7.0,454,6779,0.00,0.85,0.00,0.000,4,0.000,0.058,1453,3950,3073,0,0,0,0,0,0
$GC,6825,-0.47,-146.1,528.3,-7.7,455,6829,0.00,0.82,0.00,0.000,6,0.000,0.034,1453,3400,3073,0,0,0,0,0,0
$GC,7150,-0.47,-146.1,550.8,-6.9,466,7154,0.00,2.15,0.00,0.000,4,0.000,0.028,1453,1974,3073,0,0,0,0,0,0
$GC,7189,-0.47,-146.1,553.5,-6.2,467,7194,0.12,2.33,0.00,0.000,6,0.144,0.053,1475,3406,3073,0,0,0,0,0,0
$GC,7515,-0.47,-146.1,570.3,-5.2,478,7518,0.00,0.85,0.00,0.000,4,0.000,0.060,1472,3942,3072,0,0,0,0,0,0
$GC,7559,-0.47,-146.1,573.1,-5.6,479,7563,0.00,0.82,0.00,0.000,6,0.000,0.035,1472,3399,3072,0,0,0,0,0,0
$GC,7890,-0.47,-146.1,591.3,-5.8,490,7896,0.00,2.15,0.00,0.000,4,0.000,0.029,1473,1974,3071,0,0,0,0,0,0
$GC,7953,-0.47,-146.1,595.4,-6.4,491,7960,0.00,2.30,0.00,0.000,6,0.000,0.052,1462,3401,3071,0,0,0,0,0,0
$GC,8268,-0.47,-146.1,616.7,-7.1,502,8271,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3950,3071,0,0,0,0,0,0
$GC,8323,-0.47,-146.1,621.1,-8.7,503,8326,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3403,3071,0,0,0,0,0,0
$GC,8642,-0.47,-146.1,646.2,-7.9,514,8646,0.00,2.15,0.00,0.000,4,0.000,0.029,1458,1969,3070,0,0,0,0,0,0
$GC,8675,-0.47,-146.1,649.2,-7.6,515,8679,0.00,2.33,0.00,0.000,6,0.000,0.054,1448,3400,3070,0,0,0,0,0,0
$GC,9005,-0.47,-146.1,677.8,-8.8,526,9011,0.00,0.90,0.00,0.000,4,0.000,0.060,1443,3949,3069,0,0,0,0,0,0
$GC,9041,-0.47,-146.1,681.0,-9.2,527,9045,0.08,0.82,0.00,0.000,6,0.130,0.037,1469,3404,3069,0,0,0,0,0,0
$GC,9382,-0.47,-146.1,706.1,-6.9,538,9388,0.00,2.17,0.00,0.000,4,0.000,0.030,1468,1967,3068,0,0,0,0,0,0
$GC,9431,-0.47,-146.1,709.3,-6.8,539,9436,0.00,2.33,0.00,0.000,6,0.000,0.053,1460,3403,3068,0,0,0,0,0,0
$GC,9756,-0.47,-146.1,731.9,-6.9,550,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3403,3068,0,0,0,0,0,0
$GC,10063,-0.47,-146.1,751.2,-6.0,560,10068,0.00,2.17,0.00,0.000,4,0.000,0.030,1460,1967,3067,0,0,0,0,0,0
$GC,10099,-0.47,-146.1,753.3,-5.2,561,10103,0.00,2.33,0.00,0.000,6,0.000,0.053,1449,3404,3067,0,0,0,0,0,0
$GC,10435,-0.47,-146.1,774.7,-6.3,572,10440,0.00,0.88,0.00,0.000,4,0.000,0.060,1445,3952,3067,0,0,0,0,0,0
$GC,10475,-0.47,-146.1,777.7,-7.2,573,10481,0.08,0.85,0.00,0.000,6,0.131,0.035,1470,3390,3067,0,0,0,0,0,0
$GC,10814,-0.47,-146.1,795.4,-4.9,584,10818,0.00,2.12,0.00,0.000,4,0.000,0.029,1470,1971,3066,0,0,0,0,0,0
$GC,10886,-0.47,-146.1,799.2,-5.1,586,10892,0.00,2.35,0.00,0.000,6,0.000,0.054,1461,3400,3066,0,0,0,0,0,0
$GC,11219,-0.47,-146.1,817.6,-6.0,597,11223,0.00,0.90,0.00,0.000,4,0.000,0.062,1457,3947,3065,0,0,0,0,0,0
$GC,11275,-0.47,-146.1,821.6,-7.4,598,11278,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3402,3065,0,0,0,0,0,0
$GC,11594,-0.47,-146.1,842.9,-6.9,609,11598,0.00,2.15,0.00,0.000,4,0.000,0.030,1457,1969,3064,0,0,0,0,0,0
$GC,11633,-0.47,-146.1,845.9,-6.4,610,11638,0.10,2.35,0.00,0.000,6,0.154,0.054,1471,3413,3064,0,0,0,0,0,0
$GC,11958,-0.47,-146.1,865.7,-6.2,621,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3413,3064,0,0,0,0,0,0
$GC,12265,-0.47,-146.1,885.0,-6.4,631,12269,0.00,0.85,0.00,0.000,4,0.000,0.061,1469,3942,3063,0,0,0,0,0,0
$GC,12315,-0.47,-146.1,888.7,-6.5,632,12318,0.00,0.82,0.00,0.000,6,0.000,0.037,1469,3402,3063,0,0,0,0,0,0
$STATE,12605,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12613,-0.13,0.0,907.8,6.5,642,12763,0.38,0.00,147.45,1.191,6,0.120,0.000,1584,3270,2473,0,0,0,0,0,0
$STATE,12765,end apogee,CONTROL_FINISHED_OK
$STATE,12765,begin climb
$GC,12768,0.47,146.1,912.2,0.0,647,12926,0.55,0.00,149.70,1.169,6,0.079,0.000,1774,3270,1872,0,0,0,0,0,0
$GC,13229,0.47,146.1,864.1,11.5,662,13232,0.00,1.12,0.00,0.000,4,0.000,0.059,1774,3947,1856,0,0,0,0,0,0
$GC,13418,0.47,146.1,838.2,13.0,667,13422,0.00,1.02,0.00,0.000,6,0.000,0.034,1779,3273,1855,0,0,0,0,0,0
$GC,13738,0.47,146.1,800.4,11.5,678,13742,0.00,1.10,0.00,0.000,4,0.000,0.058,1779,3952,1853,0,0,0,0,0,0
$GC,13866,0.47,146.1,782.9,13.6,681,13873,0.00,1.02,0.00,0.000,6,0.000,0.033,1784,3272,1852,0,0,0,0,0,0
$GC,14180,0.47,146.1,745.9,11.5,692,14183,0.00,1.10,0.00,0.000,4,0.000,0.058,1784,3951,1852,0,0,0,0,0,0
$GC,14320,0.47,146.1,726.8,14.5,696,14323,0.00,1.00,0.00,0.000,6,0.000,0.032,1790,3281,1852,0,0,0,0,0,0
$GC,14655,0.47,146.1,685.0,12.4,707,14659,0.00,1.08,0.00,0.000,4,0.000,0.057,1789,3947,1850,0,0,0,0,0,0
$GC,14869,0.47,146.1,654.3,14.5,713,14873,0.00,1.00,0.00,0.000,6,0.000,0.032,1794,3277,1851,0,0,0,0,0,0
$GC,15201,0.47,146.1,611.7,12.6,724,15204,0.00,1.08,0.00,0.000,4,0.000,0.057,1794,3944,1850,0,0,0,0,0,0
$GC,15389,0.47,146.1,585.0,13.7,729,15393,0.00,1.00,0.00,0.000,6,0.000,0.032,1799,3273,1850,0,0,0,0,0,0
$GC,15708,0.47,146.1,546.4,11.7,740,15712,0.00,1.10,0.00,0.000,4,0.000,0.057,1799,3955,1850,0,0,0,0,0,0
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$STATE,20358,end climb,SURFACE_DEPTH_REACHED
$STATE,20358,begin surface coast
$FINISH,1.4,1.026086
$STATE,20384,end surface coast,CONTROL_FINISHED_OK
$STATE,20384,begin surface
$SM_CCo,20401,40.33,0.679,1,0,1535,230.09
$SM_GC,2.13,0.00,0.00,40.33,0.000,0.000,0.679,46,3401,1535,-4.94,0.03,230.09
$IRIDIUM_FIX,-4221.55,845.88,230213,010143
$TT8_MAMPS,0.025466
$HUMID,55.98
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,22.1,65.177
$10V_AH,9.7,46.854
$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,12.050,109.875,297.150,40.325,0.000,28.069,55.924,453.220,0.000,0.000,16.275,2759.185,13141.707,467.961,3512.974,1288.207,33.376,1785.460,0.000,3363.888,0.000,1.013,0.000
$DEVICE_MAMPS,218.025,61.965,1191.105,679.320,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.669,2387.195,1157.390,532.881,0.000,0.000,0.000,0.000,0.000,0.000
$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,77298,1070
$CAP_FILE_SIZE,179685,0
$CFSIZE,259252224,231587840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,230213,132052,-4234.892,839.504,35,0.9,35,-25.1