version: 66.07
glider: 543
mission: 6
dive: 392
start: 2 23 113 19 28 43
data:
$ID,543
$MISSION,6
$DIVE,392
$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,-8982.7725
$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,41
$R_STBD_OVSHOOT,20
$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
$GPS1,230213,191428,-4234.970,837.838,45,1.2,45,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-50.7
$GPS2,230213,192742,-4234.932,838.064,25,1.4,26,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.216,-0.113
$KALMAN_X,48766.2,-489.1,-209.0,1643.3,5133.2
$KALMAN_Y,356511.8,631.2,-51.7,-366152.1,2238.0
$MHEAD_RNG_PITCHd_Wd,267.5,437635,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-49.33,0.000,2,0.000,0.000,55,3409,2721,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.2,-3.4,6,104,5.95,0.90,-10.30,0.000,4,0.232,0.093,1467,3954,3074,0,0,0,0,0,0
$GC,114,-0.47,-146.1,7.2,-7.9,10,125,0.00,0.85,0.00,0.000,6,0.000,0.034,1467,3403,3074,0,0,0,0,0,0
$GC,210,-0.47,-146.1,17.2,-12.8,23,218,0.00,2.20,0.00,0.000,4,0.000,0.031,1466,1978,3075,0,0,0,0,0,0
$GC,242,-0.47,-146.1,20.2,-9.2,27,252,0.00,2.35,0.00,0.000,6,0.000,0.059,1456,3394,3075,0,0,0,0,0,0
$GC,337,-0.47,-146.1,28.2,-7.4,40,346,0.00,0.90,0.00,0.000,4,0.000,0.060,1452,3954,3076,0,0,0,0,0,0
$GC,390,-0.47,-146.1,33.9,-11.4,48,398,0.00,0.85,0.00,0.000,6,0.000,0.035,1452,3402,3076,0,0,0,0,0,0
$GC,643,-0.47,-146.1,59.1,-9.2,89,650,0.00,2.15,0.00,0.000,4,0.000,0.029,1452,1969,3077,0,0,0,0,0,0
$GC,695,-0.47,-146.1,64.0,-10.2,97,701,0.12,2.35,0.00,0.000,6,0.148,0.058,1474,3410,3077,0,0,0,0,0,0
$GC,1053,-0.47,-146.1,92.4,-8.0,158,1060,0.00,2.15,0.00,0.000,4,0.000,0.028,1474,1968,3077,0,0,0,0,0,0
$GC,1097,-0.47,-146.1,95.6,-7.5,165,1103,0.00,2.35,0.00,0.000,6,0.000,0.057,1465,3401,3077,0,0,0,0,0,0
$GC,1431,-0.47,-146.1,120.6,-7.5,193,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3401,3078,0,0,0,0,0,0
$GC,1743,-0.47,-146.1,141.5,-6.7,213,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3401,3078,0,0,0,0,0,0
$GC,2056,-0.47,-146.1,162.5,-6.8,233,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3401,3078,0,0,0,0,0,0
$GC,2368,-0.47,-146.1,184.5,-7.1,253,2372,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3947,3078,0,0,0,0,0,0
$GC,2422,-0.47,-146.1,188.7,-7.8,256,2426,0.00,0.82,0.00,0.000,6,0.000,0.034,1461,3395,3078,0,0,0,0,0,0
$GC,2759,-0.47,-146.1,213.1,-7.1,277,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3395,3077,0,0,0,0,0,0
$GC,3069,-0.47,-146.1,235.7,-7.2,297,3073,0.00,0.90,0.00,0.000,4,0.000,0.059,1456,3959,3078,0,0,0,0,0,0
$GC,3124,-0.47,-146.1,239.7,-7.0,300,3127,0.00,0.82,0.00,0.000,6,0.000,0.034,1457,3406,3078,0,0,0,0,0,0
$GC,3454,-0.47,-146.1,264.2,-7.4,318,3458,0.00,2.12,0.00,0.000,4,0.000,0.028,1456,1974,3078,0,0,0,0,0,0
$GC,3513,-0.47,-146.1,268.5,-7.2,320,3522,0.00,2.33,0.00,0.000,6,0.000,0.054,1446,3397,3078,0,0,0,0,0,0
$GC,3831,-0.47,-146.1,295.4,-8.8,336,3835,0.12,0.90,0.00,0.000,4,0.152,0.059,1477,3955,3078,0,0,0,0,0,0
$GC,3872,-0.47,-146.1,299.0,-7.8,337,3878,0.00,0.82,0.00,0.000,6,0.000,0.034,1477,3407,3078,0,0,0,0,0,0
$GC,4190,-0.47,-146.1,322.9,-8.0,353,4196,0.00,2.15,0.00,0.000,4,0.000,0.028,1477,1974,3078,0,0,0,0,0,0
$GC,4243,-0.47,-146.1,327.5,-8.1,355,4247,0.00,2.33,0.00,0.000,6,0.000,0.053,1466,3412,3078,0,0,0,0,0,0
$GC,4567,-0.47,-146.1,354.2,-8.3,371,4572,0.00,0.85,0.00,0.000,4,0.000,0.058,1462,3953,3077,0,0,0,0,0,0
$GC,4663,-0.47,-146.1,362.7,-9.2,375,4666,0.00,0.82,0.00,0.000,6,0.000,0.034,1462,3398,3077,0,0,0,0,0,0
$GC,4998,-0.47,-146.1,389.5,-7.4,391,5003,0.00,2.15,0.00,0.000,4,0.000,0.028,1462,1968,3077,0,0,0,0,0,0
$GC,5026,-0.47,-146.1,392.0,-7.1,392,5031,0.00,2.33,0.00,0.000,6,0.000,0.054,1451,3405,3077,0,0,0,0,0,0
$GC,5358,-0.47,-146.1,416.0,-7.2,405,5362,0.00,0.88,0.00,0.000,4,0.000,0.058,1447,3958,3077,0,0,0,0,0,0
$GC,5413,-0.47,-146.1,420.6,-8.2,406,5417,0.00,0.85,0.00,0.000,6,0.000,0.034,1447,3389,3077,0,0,0,0,0,0
$GC,5732,-0.47,-146.1,443.8,-7.3,417,5737,0.10,2.12,0.00,0.000,4,0.160,0.028,1474,1974,3076,0,0,0,0,0,0
$GC,5777,-0.47,-146.1,446.8,-6.0,418,5781,0.00,2.33,0.00,0.000,6,0.000,0.053,1465,3408,3076,0,0,0,0,0,0
$GC,6096,-0.47,-146.1,467.0,-6.4,429,6099,0.00,0.85,0.00,0.000,4,0.000,0.058,1460,3949,3076,0,0,0,0,0,0
$GC,6146,-0.47,-146.1,470.8,-7.6,430,6152,0.00,0.82,0.00,0.000,6,0.000,0.034,1461,3399,3076,0,0,0,0,0,0
$GC,6472,-0.47,-146.1,493.4,-7.1,441,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3399,3075,0,0,0,0,0,0
$GC,6778,-0.47,-146.1,516.2,-7.5,451,6782,0.00,2.12,0.00,0.000,4,0.000,0.028,1460,1973,3074,0,0,0,0,0,0
$GC,6811,-0.47,-146.1,518.9,-7.6,452,6815,0.00,2.33,0.00,0.000,6,0.000,0.052,1450,3407,3075,0,0,0,0,0,0
$GC,7141,-0.47,-146.1,545.9,-8.4,463,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3407,3074,0,0,0,0,0,0
$GC,7448,-0.47,-146.1,570.3,-7.8,473,7451,0.00,2.15,0.00,0.000,4,0.000,0.028,1450,1970,3073,0,0,0,0,0,0
$GC,7487,-0.47,-146.1,573.4,-7.6,474,7492,0.12,2.33,0.00,0.000,6,0.145,0.053,1472,3402,3074,0,0,0,0,0,0
$GC,7812,-0.47,-146.1,593.5,-6.0,485,7815,0.00,0.88,0.00,0.000,4,0.000,0.060,1469,3952,3072,0,0,0,0,0,0
$GC,7856,-0.47,-146.1,596.6,-7.0,486,7860,0.00,0.82,0.00,0.000,6,0.000,0.035,1469,3406,3073,0,0,0,0,0,0
$GC,8186,-0.47,-146.1,617.1,-6.3,497,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3405,3071,0,0,0,0,0,0
$GC,8492,-0.47,-146.1,636.5,-6.3,507,8496,0.00,2.15,0.00,0.000,4,0.000,0.029,1469,1968,3071,0,0,0,0,0,0
$GC,8521,-0.47,-146.1,638.4,-6.7,508,8526,0.00,2.33,0.00,0.000,6,0.000,0.053,1459,3401,3071,0,0,0,0,0,0
$GC,8858,-0.47,-146.1,660.0,-6.3,519,8861,0.00,0.88,0.00,0.000,4,0.000,0.060,1455,3951,3070,0,0,0,0,0,0
$GC,8930,-0.47,-146.1,665.4,-6.9,521,8933,0.00,0.82,0.00,0.000,6,0.000,0.035,1455,3403,3070,0,0,0,0,0,0
$GC,9266,-0.47,-146.1,688.8,-7.2,532,9270,0.00,2.15,0.00,0.000,4,0.000,0.029,1455,1967,3070,0,0,0,0,0,0
$GC,9321,-0.47,-146.1,692.9,-7.1,533,9330,0.08,2.35,0.00,0.000,6,0.122,0.054,1470,3399,3069,0,0,0,0,0,0
$GC,9635,-0.47,-146.1,712.5,-6.6,544,9641,0.00,2.15,0.00,0.000,4,0.000,0.029,1470,1972,3069,0,0,0,0,0,0
$GC,9809,-0.47,-146.1,723.8,-6.6,549,9813,0.00,2.33,0.00,0.000,6,0.000,0.053,1461,3409,3069,0,0,0,0,0,0
$GC,10144,-0.47,-146.1,747.1,-6.9,560,10150,0.00,0.85,0.00,0.000,4,0.000,0.060,1457,3947,3068,0,0,0,0,0,0
$GC,10181,-0.47,-146.1,749.7,-6.9,561,10185,0.00,0.82,0.00,0.000,6,0.000,0.035,1457,3398,3068,0,0,0,0,0,0
$GC,10523,-0.47,-146.1,774.2,-7.0,572,10529,0.00,2.15,0.00,0.000,4,0.000,0.030,1457,1975,3067,0,0,0,0,0,0
$GC,10552,-0.47,-146.1,776.4,-7.3,572,10559,0.12,2.30,0.00,0.000,6,0.145,0.054,1479,3400,3067,0,0,0,0,0,0
$GC,10866,-0.47,-146.1,793.5,-5.4,583,10870,0.00,2.17,0.00,0.000,4,0.000,0.030,1479,1967,3067,0,0,0,0,0,0
$GC,11019,-0.47,-146.1,801.9,-5.5,587,11024,0.00,2.35,0.00,0.000,6,0.000,0.054,1470,3400,3066,0,0,0,0,0,0
$GC,11339,-0.47,-146.1,819.1,-5.3,598,11344,0.00,2.17,0.00,0.000,4,0.000,0.031,1470,1972,3065,0,0,0,0,0,0
$GC,11499,-0.47,-146.1,827.9,-6.5,602,11503,0.00,2.33,0.00,0.000,6,0.000,0.054,1459,3410,3065,0,0,0,0,0,0
$GC,11814,-0.47,-146.1,846.9,-6.0,612,11818,0.00,0.85,0.00,0.000,4,0.000,0.060,1456,3942,3065,0,0,0,0,0,0
$GC,11864,-0.47,-146.1,850.5,-7.0,613,11868,0.00,0.82,0.00,0.000,6,0.000,0.037,1456,3399,3065,0,0,0,0,0,0
$GC,12188,-0.47,-146.1,871.7,-6.7,624,12192,0.00,2.12,0.00,0.000,4,0.000,0.030,1456,1976,3065,0,0,0,0,0,0
$GC,12233,-0.47,-146.1,875.0,-6.6,625,12238,0.12,2.33,0.00,0.000,6,0.145,0.054,1477,3402,3064,0,0,0,0,0,0
$GC,12553,-0.47,-146.1,893.3,-6.0,636,12556,0.00,0.88,0.00,0.000,4,0.000,0.063,1475,3947,3064,0,0,0,0,0,0
$GC,12575,-0.47,-146.1,894.8,-6.9,636,12579,0.00,0.82,0.00,0.000,6,0.000,0.037,1475,3406,3064,0,0,0,0,0,0
$STATE,12618,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12618,begin apogee
$GC,12625,-0.13,0.0,897.3,6.1,638,12776,0.35,0.00,147.30,1.185,6,0.110,0.000,1586,3272,2473,0,0,0,0,0,0
$STATE,12777,end apogee,CONTROL_FINISHED_OK
$STATE,12777,begin climb
$GC,12780,0.47,146.1,902.8,0.0,643,12938,0.52,2.40,148.23,1.153,4,0.063,0.028,1787,1858,1872,0,0,0,0,0,0
$GC,13045,0.47,146.1,878.9,10.3,651,13049,0.00,2.42,0.00,0.000,6,0.000,0.050,1787,3276,1861,0,0,0,0,0,0
$GC,13380,0.47,146.1,835.2,13.3,662,13384,0.00,1.10,0.00,0.000,4,0.000,0.057,1787,3953,1856,0,0,0,0,0,0
$GC,13545,0.47,146.1,810.9,15.1,666,13554,0.00,1.02,0.00,0.000,6,0.000,0.032,1792,3273,1855,0,0,0,0,0,0
$GC,13859,0.47,146.1,768.0,13.6,677,13864,0.00,1.10,0.00,0.000,4,0.000,0.058,1792,3953,1854,0,0,0,0,0,0
$GC,13997,0.47,146.1,747.5,15.9,681,14002,0.00,1.00,0.00,0.000,6,0.000,0.032,1797,3283,1853,0,0,0,0,0,0
$GC,14341,0.47,146.1,701.6,13.3,692,14344,0.00,1.08,0.00,0.000,4,0.000,0.057,1797,3953,1852,0,0,0,0,0,0
$GC,14530,0.47,146.1,673.3,13.8,697,14534,0.00,1.00,0.00,0.000,6,0.000,0.032,1802,3280,1852,0,0,0,0,0,0
$GC,14849,0.47,146.1,630.8,13.4,708,14852,0.00,1.08,0.00,0.000,4,0.000,0.057,1802,3952,1851,0,0,0,0,0,0
$GC,14995,0.47,146.1,609.0,14.4,712,14999,0.00,1.00,0.00,0.000,6,0.000,0.032,1807,3280,1851,0,0,0,0,0,0
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$GC,20110,0.48,177.4,13.3,7.9,1050,20121,0.00,0.00,4.07,0.605,6,0.000,0.000,1795,3272,1747,0,0,0,0,0,0
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$STATE,20216,end climb,SURFACE_DEPTH_REACHED
$STATE,20216,begin surface coast
$FINISH,1.3,1.026088
$STATE,20249,end surface coast,CONTROL_FINISHED_OK
$STATE,20249,begin surface
$SM_CCo,20265,32.53,0.653,1,0,1534,230.09
$SM_GC,1.95,0.00,0.00,32.53,0.000,0.000,0.653,42,3416,1534,-4.96,0.45,230.09
$IRIDIUM_FIX,-4221.55,836.76,230213,131352
$TT8_MAMPS,0.024717
$HUMID,55.71
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,22.2,65.505
$10V_AH,9.8,47.166
$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
$DEVICE_SECS,12.325,128.300,309.575,32.525,0.000,46.123,19.193,520.344,0.000,0.000,28.080,2771.376,12917.965,464.780,3648.558,1285.698,33.375,1854.583,0.000,3351.656,0.000,1.015,0.000
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$SENSOR_SECS,689.534,2346.869,1153.661,520.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,77233,1070
$CAP_FILE_SIZE,187781,0
$CFSIZE,259252224,231407616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,240213,010833,-4235.021,836.876,42,1.4,46,-25.0