version: 66.07
glider: 543
mission: 6
dive: 391
start: 2 23 113 13 33 55
data:
$ID,543
$MISSION,6
$DIVE,391
$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,-8979.5703
$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,46
$R_STBD_OVSHOOT,23
$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
$GPS1,230213,132052,-4234.892,839.504,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-55.7
$GPS2,230213,133254,-4234.874,839.634,14,1.7,15,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.129
$KALMAN_X,45514.7,-172.8,-43.5,6557.5,4058.3
$KALMAN_Y,354190.5,-34.6,-40.2,-363066.1,3404.8
$MHEAD_RNG_PITCHd_Wd,263.1,28287,-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,-41.58,0.000,2,0.000,0.000,45,3401,2528,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-4.0,5,95,6.03,0.93,-16.62,0.000,4,0.234,0.093,1464,3947,3071,0,0,0,0,0,0
$GC,198,-0.47,-146.1,16.0,-12.1,23,206,0.00,0.82,0.00,0.000,6,0.000,0.035,1464,3408,3074,0,0,0,0,0,0
$GC,287,-0.47,-146.1,24.3,-9.1,36,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3074,0,0,0,0,0,0
$GC,374,-0.47,-146.1,33.4,-11.3,49,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3075,0,0,0,0,0,0
$GC,626,-0.47,-146.1,58.6,-9.5,90,636,0.00,2.17,0.00,0.000,4,0.000,0.030,1464,1978,3075,0,0,0,0,0,0
$GC,692,-0.47,-146.1,64.7,-8.9,100,700,0.00,2.33,0.00,0.000,6,0.000,0.056,1454,3393,3075,0,0,0,0,0,0
$GC,1051,-0.47,-146.1,96.6,-7.9,161,1058,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3949,3076,0,0,0,0,0,0
$GC,1111,-0.47,-146.1,101.5,-8.4,170,1114,0.00,0.82,0.00,0.000,6,0.000,0.034,1450,3402,3076,0,0,0,0,0,0
$GC,1438,-0.47,-146.1,128.0,-8.3,191,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3401,3076,0,0,0,0,0,0
$GC,1750,-0.47,-146.1,153.5,-7.9,211,1756,0.00,2.15,0.00,0.000,4,0.000,0.028,1449,1973,3077,0,0,0,0,0,0
$GC,1791,-0.47,-146.1,156.5,-7.5,213,1796,0.12,2.33,0.00,0.000,6,0.142,0.054,1472,3409,3077,0,0,0,0,0,0
$GC,2119,-0.47,-146.1,178.8,-6.8,234,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3409,3077,0,0,0,0,0,0
$GC,2429,-0.47,-146.1,200.1,-6.8,254,2433,0.00,0.85,0.00,0.000,4,0.000,0.060,1470,3947,3077,0,0,0,0,0,0
$GC,2475,-0.47,-146.1,203.8,-7.9,256,2484,0.00,0.82,0.00,0.000,6,0.000,0.034,1470,3400,3077,0,0,0,0,0,0
$GC,2797,-0.47,-146.1,226.3,-6.9,277,2803,0.00,2.17,0.00,0.000,4,0.000,0.028,1470,1972,3077,0,0,0,0,0,0
$GC,2837,-0.47,-146.1,228.9,-6.9,279,2842,0.00,2.33,0.00,0.000,6,0.000,0.054,1459,3408,3077,0,0,0,0,0,0
$GC,3172,-0.47,-146.1,253.6,-7.3,300,3176,0.00,0.85,0.00,0.000,4,0.000,0.058,1455,3948,3077,0,0,0,0,0,0
$GC,3253,-0.47,-146.1,260.1,-7.9,303,3257,0.00,0.82,0.00,0.000,6,0.000,0.034,1455,3398,3077,0,0,0,0,0,0
$GC,3578,-0.47,-146.1,284.2,-7.7,319,3583,0.00,2.12,0.00,0.000,4,0.000,0.028,1455,1976,3077,0,0,0,0,0,0
$GC,3606,-0.47,-146.1,286.8,-8.1,320,3611,0.12,2.33,0.00,0.000,6,0.141,0.054,1478,3410,3077,0,0,0,0,0,0
$GC,3930,-0.47,-146.1,308.2,-6.6,336,3934,0.00,0.85,0.00,0.000,4,0.000,0.059,1475,3950,3077,0,0,0,0,0,0
$GC,3996,-0.47,-146.1,313.1,-7.3,338,4004,0.00,0.82,0.00,0.000,6,0.000,0.034,1475,3402,3077,0,0,0,0,0,0
$GC,4315,-0.47,-146.1,335.0,-6.9,354,4319,0.00,2.12,0.00,0.000,4,0.000,0.028,1475,1970,3077,0,0,0,0,0,0
$GC,4361,-0.47,-146.1,338.5,-6.5,356,4366,0.00,2.35,0.00,0.000,6,0.000,0.053,1465,3406,3077,0,0,0,0,0,0
$GC,4691,-0.47,-146.1,360.2,-6.4,372,4694,0.00,2.12,0.00,0.000,4,0.000,0.028,1465,1973,3076,0,0,0,0,0,0
$GC,4726,-0.47,-146.1,362.7,-6.6,373,4733,0.00,2.33,0.00,0.000,6,0.000,0.054,1454,3410,3076,0,0,0,0,0,0
$GC,5044,-0.47,-146.1,384.1,-7.3,389,5050,0.00,0.85,0.00,0.000,4,0.000,0.057,1450,3949,3076,0,0,0,0,0,0
$GC,5097,-0.47,-146.1,388.5,-8.0,391,5101,0.00,0.82,0.00,0.000,6,0.000,0.034,1450,3397,3075,0,0,0,0,0,0
$GC,5414,-0.47,-146.1,411.5,-7.4,404,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3396,3075,0,0,0,0,0,0
$GC,5721,-0.47,-146.1,434.7,-7.7,414,5725,0.00,2.12,0.00,0.000,4,0.000,0.028,1450,1971,3075,0,0,0,0,0,0
$GC,5752,-0.47,-146.1,436.9,-7.6,415,5757,0.12,2.33,0.00,0.000,6,0.142,0.053,1472,3407,3075,0,0,0,0,0,0
$GC,6089,-0.47,-146.1,458.5,-6.4,426,6092,0.00,0.85,0.00,0.000,4,0.000,0.058,1470,3945,3074,0,0,0,0,0,0
$GC,6116,-0.47,-146.1,460.5,-6.9,426,6123,0.00,0.82,0.00,0.000,6,0.000,0.034,1470,3399,3074,0,0,0,0,0,0
$GC,6431,-0.47,-146.1,480.0,-6.2,437,6435,0.00,2.12,0.00,0.000,4,0.000,0.028,1471,1971,3074,0,0,0,0,0,0
$GC,6470,-0.47,-146.1,482.7,-6.0,438,6474,0.00,2.33,0.00,0.000,6,0.000,0.053,1459,3404,3074,0,0,0,0,0,0
$GC,6794,-0.47,-146.1,503.9,-6.6,449,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3404,3074,0,0,0,0,0,0
$GC,7102,-0.47,-146.1,524.8,-6.9,459,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3404,3072,0,0,0,0,0,0
$GC,7407,-0.47,-146.1,546.9,-7.5,469,7412,0.00,2.15,0.00,0.000,4,0.000,0.028,1459,1975,3072,0,0,0,0,0,0
$GC,7443,-0.47,-146.1,549.9,-8.0,470,7447,0.00,2.33,0.00,0.000,6,0.000,0.053,1449,3411,3072,0,0,0,0,0,0
$GC,7779,-0.47,-146.1,579.0,-9.0,481,7784,0.00,0.85,0.00,0.000,4,0.000,0.059,1444,3948,3071,0,0,0,0,0,0
$GC,7824,-0.47,-146.1,583.7,-9.8,482,7830,0.08,0.82,0.00,0.000,6,0.129,0.035,1469,3403,3071,0,0,0,0,0,0
$GC,8159,-0.47,-146.1,610.3,-8.0,493,8163,0.00,2.12,0.00,0.000,4,0.000,0.029,1470,1975,3071,0,0,0,0,0,0
$GC,8226,-0.47,-146.1,616.2,-8.1,495,8231,0.00,2.33,0.00,0.000,6,0.000,0.052,1461,3407,3071,0,0,0,0,0,0
$GC,8556,-0.47,-146.1,643.8,-8.2,506,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3070,0,0,0,0,0,0
$GC,8863,-0.47,-146.1,666.7,-7.2,516,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3407,3069,0,0,0,0,0,0
$GC,9170,-0.47,-146.1,687.0,-6.2,526,9174,0.00,2.15,0.00,0.000,4,0.000,0.029,1460,1973,3069,0,0,0,0,0,0
$GC,9226,-0.47,-146.1,690.4,-4.9,527,9233,0.00,2.33,0.00,0.000,6,0.000,0.053,1449,3411,3068,0,0,0,0,0,0
$GC,9540,-0.47,-146.1,710.0,-6.5,538,9543,0.00,0.85,0.00,0.000,4,0.000,0.059,1446,3947,3068,0,0,0,0,0,0
$GC,9596,-0.47,-146.1,714.0,-7.1,539,9600,0.08,0.82,0.00,0.000,6,0.129,0.035,1470,3403,3068,0,0,0,0,0,0
$GC,9915,-0.47,-146.1,731.3,-5.7,550,9919,0.00,2.15,0.00,0.000,4,0.000,0.030,1470,1969,3068,0,0,0,0,0,0
$GC,9980,-0.47,-146.1,735.1,-5.7,552,9984,0.00,2.33,0.00,0.000,6,0.000,0.053,1461,3403,3067,0,0,0,0,0,0
$GC,10317,-0.47,-146.1,757.5,-6.6,563,10320,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3951,3067,0,0,0,0,0,0
$GC,10389,-0.47,-146.1,763.0,-7.2,565,10393,0.00,0.82,0.00,0.000,6,0.000,0.036,1457,3403,3067,0,0,0,0,0,0
$GC,10725,-0.47,-146.1,787.0,-7.4,576,10729,0.00,2.12,0.00,0.000,4,0.000,0.030,1457,1977,3066,0,0,0,0,0,0
$GC,10758,-0.47,-146.1,789.6,-7.8,577,10763,0.10,2.33,0.00,0.000,6,0.153,0.053,1472,3408,3066,0,0,0,0,0,0
$GC,11090,-0.47,-146.1,812.3,-7.0,588,11096,0.00,0.88,0.00,0.000,4,0.000,0.060,1469,3954,3065,0,0,0,0,0,0
$GC,11143,-0.47,-146.1,816.3,-7.5,589,11147,0.00,0.85,0.00,0.000,6,0.000,0.036,1469,3395,3065,0,0,0,0,0,0
$GC,11469,-0.47,-146.1,839.7,-7.2,600,11473,0.00,2.12,0.00,0.000,4,0.000,0.031,1469,1975,3065,0,0,0,0,0,0
$GC,11514,-0.47,-146.1,843.0,-7.4,601,11518,0.00,2.33,0.00,0.000,6,0.000,0.053,1459,3405,3064,0,0,0,0,0,0
$GC,11833,-0.47,-146.1,865.4,-7.1,612,11837,0.00,0.85,0.00,0.000,4,0.000,0.060,1455,3946,3064,0,0,0,0,0,0
$GC,11877,-0.47,-146.1,868.8,-7.3,613,11881,0.00,0.82,0.00,0.000,6,0.000,0.037,1455,3401,3064,0,0,0,0,0,0
$GC,12208,-0.47,-146.1,891.2,-6.7,624,12212,0.00,2.15,0.00,0.000,4,0.000,0.030,1455,1967,3063,0,0,0,0,0,0
$GC,12264,-0.47,-146.1,895.0,-5.8,625,12272,0.08,2.35,0.00,0.000,6,0.118,0.054,1469,3398,3063,0,0,0,0,0,0
$GC,12578,-0.47,-146.1,912.7,-5.7,636,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3398,3063,0,0,0,0,0,0
$STATE,12607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12607,begin apogee
$GC,12614,-0.13,0.0,914.4,5.6,637,12768,0.38,0.00,145.10,1.756,6,0.120,0.000,1587,3270,2473,0,0,0,0,1,0
$STATE,12769,end apogee,CONTROL_FINISHED_OK
$STATE,12769,begin climb
$GC,12772,0.47,146.1,917.7,0.0,642,12935,0.60,0.00,153.85,1.701,6,0.071,0.000,1779,3270,1877,0,0,0,0,1,0
$GC,13250,0.47,146.1,861.8,12.7,658,13253,0.00,1.12,0.00,0.000,4,0.000,0.059,1780,3946,1867,0,0,0,0,0,0
$GC,13363,0.47,146.1,845.3,14.8,661,13367,0.00,1.05,0.00,0.000,6,0.000,0.033,1785,3262,1866,0,0,0,0,0,0
$GC,13695,0.47,146.1,803.9,12.1,672,13698,0.00,1.12,0.00,0.000,4,0.000,0.057,1785,3955,1864,0,0,0,0,0,0
$GC,13842,0.47,146.1,783.6,14.4,676,13845,0.00,1.02,0.00,0.000,6,0.000,0.033,1790,3274,1864,0,0,0,0,0,0
$GC,14172,0.47,146.1,743.9,12.0,687,14175,0.00,1.10,0.00,0.000,4,0.000,0.057,1790,3955,1863,0,0,0,0,0,0
$GC,14243,0.47,146.1,734.1,16.0,689,14247,0.00,1.00,0.00,0.000,6,0.000,0.033,1795,3285,1863,0,0,0,0,0,0
$GC,14579,0.47,146.1,692.6,12.2,700,14582,0.00,1.08,0.00,0.000,4,0.000,0.058,1795,3954,1862,0,0,0,0,0,0
$GC,14680,0.47,146.1,678.8,14.4,703,14686,0.00,1.00,0.00,0.000,6,0.000,0.033,1800,3278,1862,0,0,0,0,0,0
$GC,15024,0.47,146.1,635.2,12.8,714,15027,0.00,1.08,0.00,0.000,4,0.000,0.057,1800,3948,1861,0,0,0,0,0,0
$GC,15106,0.47,146.1,622.6,14.5,716,15110,0.00,1.00,0.00,0.000,6,0.000,0.031,1805,3277,1862,0,0,0,0,0,0
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$STATE,20287,end climb,SURFACE_DEPTH_REACHED
$STATE,20287,begin surface coast
$FINISH,1.2,1.026054
$STATE,20322,end surface coast,CONTROL_FINISHED_OK
$STATE,20323,begin surface
$SM_CCo,20339,5.45,0.640,0,0,1536,230.09
$SM_GC,2.06,0.00,0.00,5.45,0.000,0.000,0.640,56,3412,1536,-4.91,0.34,230.09
$IRIDIUM_FIX,-4221.55,845.88,230213,010143
$TT8_MAMPS,0.025466
$HUMID,56.89
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,21.5,65.364
$10V_AH,9.8,47.007
$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,12.425,120.875,354.900,5.450,0.000,39.832,21.260,465.769,0.000,0.000,16.824,2710.469,13296.132,445.533,3364.927,1241.255,33.375,1758.207,0.000,3173.847,0.000,1.014,0.000
$DEVICE_MAMPS,234.090,93.330,1755.675,640.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.281,2342.232,1125.815,475.228,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,77060,1059
$CAP_FILE_SIZE,180413,0
$CFSIZE,259252224,231497728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,230213,191428,-4234.970,837.838,45,1.2,45,-25.1