version: 66.07
glider: 543
mission: 6
dive: 444
start: 2 28 113 4 46 23
data:
$ID,543
$MISSION,6
$DIVE,444
$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,333
$T_MISSION,348
$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,-9157.7061
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,280213,042657,-4243.318,847.986,38,1.3,42,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-47.5
$GPS2,280213,044524,-4243.384,848.416,16,1.3,17,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.122,-0.229
$KALMAN_X,109290.6,-74.9,430.6,-45812.5,2039.6
$KALMAN_Y,411348.5,240.1,174.6,-436479.8,1877.6
$MHEAD_RNG_PITCHd_Wd,233.1,423667,-17.5,-10.010
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.54,-146.1,0.0,0.0,0,72,0.00,0.00,-48.58,0.000,2,0.000,0.000,55,3406,2749,0,0,0,0,0,0
$GC,77,-0.54,-146.1,3.4,-4.1,6,95,5.70,0.00,-8.40,0.000,6,0.223,0.000,1444,3406,3071,0,0,0,0,0,0
$GC,175,-0.54,-146.1,17.8,-10.6,20,184,0.00,0.85,0.00,0.000,4,0.000,0.059,1441,3938,3074,0,0,0,0,0,0
$GC,246,-0.54,-146.1,26.3,-11.6,30,257,0.00,0.80,0.00,0.000,6,0.000,0.035,1441,3416,3075,0,0,0,0,0,0
$GC,335,-0.54,-146.1,37.0,-9.8,43,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3416,3075,0,0,0,0,0,0
$GC,583,-0.54,-146.1,63.0,-10.3,84,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3416,3076,0,0,0,0,0,0
$GC,947,-0.54,-146.1,95.7,-9.2,145,951,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3416,3076,0,0,0,0,0,0
$GC,1278,-0.54,-146.1,125.0,-8.7,171,1282,0.00,0.82,0.00,0.000,4,0.000,0.060,1437,3931,3076,0,0,0,0,0,0
$GC,1325,-0.54,-146.1,129.8,-9.5,173,1332,0.00,0.82,0.00,0.000,6,0.000,0.035,1437,3389,3076,0,0,0,0,0,0
$GC,1645,-0.54,-146.1,159.0,-9.6,194,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,3389,3077,0,0,0,0,0,0
$GC,1957,-0.54,-146.1,188.9,-9.6,214,1961,0.00,0.88,0.00,0.000,4,0.000,0.060,1433,3934,3077,0,0,0,0,0,0
$GC,2016,-0.54,-146.1,194.1,-9.5,217,2019,0.00,0.80,0.00,0.000,6,0.000,0.035,1433,3406,3077,0,0,0,0,0,0
$GC,2349,-0.54,-146.1,225.6,-9.5,238,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3405,3077,0,0,0,0,0,0
$GC,2669,-0.54,-146.1,253.7,-8.2,258,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3405,3077,0,0,0,0,0,0
$GC,2981,-0.54,-146.1,278.5,-8.1,273,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3406,3077,0,0,0,0,0,0
$GC,3289,-0.54,-146.1,303.9,-8.3,288,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3406,3077,0,0,0,0,0,0
$GC,3600,-0.54,-146.1,328.7,-7.8,303,3605,0.00,0.85,0.00,0.000,4,0.000,0.060,1430,3935,3076,0,0,0,0,0,0
$GC,3696,-0.54,-146.1,337.1,-8.6,307,3699,0.00,0.82,0.00,0.000,6,0.000,0.035,1429,3390,3076,0,0,0,0,0,0
$GC,4031,-0.54,-146.1,364.1,-7.9,323,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3389,3076,0,0,0,0,0,0
$GC,4340,-0.54,-146.1,389.5,-8.4,338,4344,0.00,2.12,0.00,0.000,4,0.000,0.029,1429,1974,3076,0,0,0,0,0,0
$GC,4409,-0.54,-146.1,395.5,-7.9,341,4415,0.08,2.33,0.00,0.000,6,0.123,0.054,1446,3391,3076,0,0,0,0,0,0
$GC,4737,-0.54,-146.1,421.4,-8.1,353,4741,0.00,0.90,0.00,0.000,4,0.000,0.058,1443,3959,3076,0,0,0,0,0,0
$GC,4813,-0.54,-146.1,428.1,-9.0,355,4816,0.00,0.85,0.00,0.000,6,0.000,0.034,1443,3398,3076,0,0,0,0,0,0
$GC,5149,-0.54,-146.1,454.7,-7.7,366,5153,0.00,2.12,0.00,0.000,4,0.000,0.029,1443,1976,3075,0,0,0,0,0,0
$GC,5205,-0.54,-146.1,458.8,-6.9,367,5214,0.00,2.35,0.00,0.000,6,0.000,0.054,1432,3406,3075,0,0,0,0,0,0
$GC,5518,-0.54,-146.1,481.4,-7.1,378,5524,0.00,0.85,0.00,0.000,4,0.000,0.057,1428,3944,3075,0,0,0,0,0,0
$GC,5615,-0.54,-146.1,489.3,-8.2,380,5623,0.00,0.82,0.00,0.000,6,0.000,0.034,1428,3399,3074,0,0,0,0,0,0
$GC,5929,-0.54,-146.1,513.0,-7.5,391,5934,0.00,2.15,0.00,0.000,4,0.000,0.028,1428,1973,3074,0,0,0,0,0,0
$GC,5982,-0.54,-146.1,516.9,-7.4,392,5987,0.12,2.33,0.00,0.000,6,0.148,0.053,1450,3409,3073,0,0,0,0,0,0
$GC,6304,-0.54,-146.1,538.1,-6.8,403,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3409,3073,0,0,0,0,0,0
$GC,6607,-0.54,-146.1,559.3,-7.1,413,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3409,3072,0,0,0,0,0,0
$GC,6914,-0.54,-146.1,581.5,-7.3,423,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3409,3072,0,0,0,0,0,0
$GC,7222,-0.54,-146.1,604.3,-7.4,433,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3410,3071,0,0,0,0,0,0
$GC,7526,-0.54,-146.1,626.3,-7.3,443,7532,0.00,0.85,0.00,0.000,4,0.000,0.060,1448,3944,3070,0,0,0,0,0,0
$GC,7583,-0.54,-146.1,631.0,-8.5,444,7587,0.00,0.82,0.00,0.000,6,0.000,0.035,1448,3400,3070,0,0,0,0,0,0
$GC,7903,-0.54,-146.1,654.0,-7.2,455,7907,0.00,2.15,0.00,0.000,4,0.000,0.029,1448,1969,3069,0,0,0,0,0,0
$GC,7942,-0.54,-146.1,657.2,-7.0,456,7946,0.00,2.33,0.00,0.000,6,0.000,0.054,1437,3400,3069,0,0,0,0,0,0
$GC,8266,-0.54,-146.1,683.1,-8.2,467,8270,0.00,0.90,0.00,0.000,4,0.000,0.061,1433,3950,3069,0,0,0,0,0,0
$GC,8345,-0.54,-146.1,690.5,-9.2,469,8349,0.00,0.85,0.00,0.000,6,0.000,0.035,1433,3389,3069,0,0,0,0,0,0
$GC,8676,-0.54,-146.1,719.0,-9.0,480,8680,0.00,2.12,0.00,0.000,4,0.000,0.029,1433,1972,3068,0,0,0,0,0,0
$GC,8715,-0.54,-146.1,722.6,-8.7,481,8720,0.12,2.33,0.00,0.000,6,0.146,0.053,1455,3402,3068,0,0,0,0,0,0
$GC,9040,-0.54,-146.1,746.8,-7.5,492,9044,0.00,0.88,0.00,0.000,4,0.000,0.060,1453,3953,3067,0,0,0,0,0,0
$GC,9096,-0.54,-146.1,751.7,-8.8,493,9102,0.00,0.82,0.00,0.000,6,0.000,0.035,1452,3408,3067,0,0,0,0,0,0
$GC,9418,-0.54,-146.1,775.2,-7.2,504,9423,0.00,2.17,0.00,0.000,4,0.000,0.030,1452,1973,3067,0,0,0,0,0,0
$GC,9488,-0.54,-146.1,780.0,-6.5,506,9492,0.00,2.33,0.00,0.000,6,0.000,0.053,1442,3407,3066,0,0,0,0,0,0
$GC,9823,-0.54,-146.1,805.9,-7.8,517,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3408,3066,0,0,0,0,0,0
$GC,10130,-0.54,-146.1,830.1,-7.8,527,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3408,3065,0,0,0,0,0,0
$GC,10437,-0.54,-146.1,853.9,-7.6,537,10441,0.00,2.17,0.00,0.000,4,0.000,0.030,1442,1969,3065,0,0,0,0,0,0
$STATE,10444,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10444,begin apogee
$GC,10453,-0.13,0.0,855.1,7.6,537,10602,0.47,0.00,145.93,1.192,6,0.125,0.000,1581,3278,2473,0,0,0,0,0,0
$STATE,10604,end apogee,CONTROL_FINISHED_OK
$STATE,10604,begin climb
$GC,10607,0.54,146.1,859.0,0.0,542,10759,0.68,0.00,148.95,1.155,6,0.076,0.000,1805,3278,1877,0,0,0,0,0,0
$GC,11047,0.54,146.1,802.8,13.9,557,11050,0.00,1.10,0.00,0.000,4,0.000,0.057,1805,3950,1858,0,0,0,0,0,0
$GC,11265,0.54,146.1,766.9,16.1,563,11270,0.00,1.02,0.00,0.000,6,0.000,0.032,1810,3272,1856,0,0,0,0,0,0
$GC,11590,0.54,146.1,720.9,14.1,574,11596,0.00,1.10,0.00,0.000,4,0.000,0.056,1810,3954,1854,0,0,0,0,0,0
$GC,11664,0.54,146.1,709.3,15.2,576,11668,0.00,1.02,0.00,0.000,6,0.000,0.032,1815,3271,1854,0,0,0,0,0,0
$GC,11999,0.54,146.1,662.0,13.9,587,12005,0.00,1.10,0.00,0.000,4,0.000,0.057,1815,3954,1853,0,0,0,0,0,0
$GC,12257,0.54,146.1,621.2,16.1,594,12261,0.00,1.00,0.00,0.000,6,0.000,0.031,1821,3279,1853,0,0,0,0,0,0
$GC,12576,0.54,146.1,576.1,13.9,605,12580,0.00,1.08,0.00,0.000,4,0.000,0.056,1821,3950,1851,0,0,0,0,0,0
$GC,12803,0.54,146.1,540.1,15.7,611,12807,0.00,1.00,0.00,0.000,6,0.000,0.031,1826,3277,1851,0,0,0,0,0,0
$GC,13123,0.54,146.1,493.8,14.4,622,13127,0.00,1.10,0.00,0.000,4,0.000,0.056,1826,3960,1851,0,0,0,0,0,0
$GC,13331,0.54,146.1,459.8,16.7,628,13334,0.00,1.00,0.00,0.000,6,0.000,0.031,1831,3287,1851,0,0,0,0,0,0
$GC,13666,0.54,146.1,410.7,14.6,639,13670,0.00,1.08,0.00,0.000,4,0.000,0.056,1830,3956,1850,0,0,0,0,0,0
$GC,13893,0.54,146.1,374.4,16.0,648,13898,0.10,1.00,0.00,0.000,6,0.172,0.031,1807,3278,1850,0,0,0,0,0,0
$GC,14228,0.54,146.1,332.2,12.8,664,14231,0.00,1.08,0.00,0.000,4,0.000,0.055,1807,3948,1850,0,0,0,0,0,0
$GC,14492,0.54,146.1,294.3,13.7,675,14496,0.00,1.00,0.00,0.000,6,0.000,0.031,1810,3275,1850,0,0,0,0,0,0
$GC,14817,0.54,146.1,253.6,12.6,691,14822,0.00,1.10,0.00,0.000,4,0.000,0.056,1810,3958,1850,0,0,0,0,0,0
$GC,14984,0.54,146.1,230.4,13.8,700,14989,0.00,1.00,0.00,0.000,6,0.000,0.031,1815,3283,1850,0,0,0,0,0,0
$GC,15311,0.54,146.1,191.3,11.5,721,15315,0.00,1.08,0.00,0.000,4,0.000,0.056,1815,3951,1850,0,0,0,0,0,0
$GC,15457,0.54,146.1,172.9,12.4,729,15461,0.00,1.00,0.00,0.000,6,0.000,0.030,1820,3273,1850,0,0,0,0,0,0
$GC,15789,0.54,146.1,133.0,11.7,750,15792,0.00,1.10,0.00,0.000,4,0.000,0.055,1820,3958,1849,0,0,0,0,0,0
$GC,15956,0.54,146.1,110.8,13.3,759,15963,0.00,1.00,0.00,0.000,6,0.000,0.029,1826,3274,1850,0,0,0,0,0,0
$GC,16302,0.54,146.1,69.5,12.1,808,16311,0.00,1.10,0.00,0.000,4,0.000,0.054,1826,3959,1849,0,0,0,0,0,0
$GC,16585,0.54,146.1,34.1,11.5,854,16595,0.00,1.00,0.00,0.000,6,0.000,0.028,1830,3277,1850,0,0,0,0,0,0
$GC,16855,0.54,146.1,3.1,13.4,895,16866,0.00,1.08,0.00,0.000,4,0.000,0.050,1831,3960,1850,0,0,0,0,0,0
$STATE,16876,end climb,SURFACE_DEPTH_REACHED
$STATE,16876,begin surface coast
$FINISH,1.3,1.014221
$STATE,16910,end surface coast,CONTROL_FINISHED_OK
$STATE,16910,begin surface
$SM_CCo,16926,40.50,0.721,1,0,1533,230.09
$SM_GC,1.92,0.00,0.00,40.50,0.000,0.000,0.721,47,3409,1533,-4.94,0.25,230.09
$IRIDIUM_FIX,-4227.40,849.67,280213,040426
$TT8_MAMPS,0.025466
$HUMID,57.36
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.2,70.548
$10V_AH,9.8,51.568
$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,12.025,71.325,294.875,40.500,0.000,83.177,131.257,562.857,0.000,0.000,18.713,2304.148,10955.185,443.704,3284.607,1086.058,33.394,1526.519,0.000,2776.017,0.000,1.014,0.000
$DEVICE_MAMPS,222.615,61.200,1191.870,721.395,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.603,1992.032,997.350,433.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,67162,902
$CAP_FILE_SIZE,147315,0
$CFSIZE,259252224,229191680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,280213,093035,-4244.370,849.195,38,0.8,38,-25.1