version: 66.07
glider: 543
mission: 6
dive: 450
start: 3 1 113 12 40 57
data:
$ID,543
$MISSION,6
$DIVE,450
$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,-9178.4092
$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,56
$R_STBD_OVSHOOT,35
$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
$GPS1,010313,122934,-4243.874,852.489,35,0.9,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-52.6
$GPS2,010313,124000,-4243.900,852.627,20,1.0,21,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT1
$TGT_LATLONG,-4242.865,900.185
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.173,-0.006
$KALMAN_X,137338.2,-857.9,-1271.3,-65587.3,7916.6
$KALMAN_Y,424640.8,194.5,166.2,-450672.2,1997.1
$MHEAD_RNG_PITCHd_Wd,117.1,10462,-27.2,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.74,-63.1,0.0,0.0,0,67,0.00,0.00,-41.03,0.000,2,0.000,0.000,51,3419,2497,0,0,0,0,0,0
$GC,71,-0.78,-125.1,3.1,-3.4,5,100,5.57,0.88,-18.02,0.000,4,0.233,0.093,1368,3935,2986,0,0,0,0,0,0
$GC,384,-0.78,-125.1,51.5,-15.4,53,391,0.00,0.80,0.00,0.000,6,0.000,0.034,1367,3411,2989,0,0,0,0,0,0
$GC,625,-0.78,-125.1,83.3,-12.0,94,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3411,2989,0,0,0,0,0,0
$GC,973,-0.78,-125.1,124.2,-11.1,131,978,0.00,2.17,0.00,0.000,4,0.000,0.029,1367,1978,2990,0,0,0,0,0,0
$GC,1056,-0.78,-131.0,133.1,-9.4,135,1063,0.00,2.30,-0.17,0.000,6,0.000,0.057,1357,3395,3018,0,0,0,0,0,0
$GC,1378,-0.78,-131.0,172.6,-13.0,156,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3395,3019,0,0,0,0,0,0
$GC,1688,-0.78,-131.0,214.0,-12.7,176,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3395,3020,0,0,0,0,0,0
$GC,2011,-0.78,-131.0,256.0,-13.0,196,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3395,3020,0,0,0,0,0,0
$GC,2321,-0.78,-131.0,298.8,-13.9,211,2327,0.00,0.88,0.00,0.000,4,0.000,0.057,1353,3948,3020,0,0,0,0,0,0
$GC,2372,-0.78,-131.0,305.9,-14.7,213,2376,0.00,0.82,0.00,0.000,6,0.000,0.034,1353,3400,3020,0,0,0,0,0,0
$GC,2707,-0.78,-131.0,350.4,-12.7,229,2713,0.00,2.15,0.00,0.000,4,0.000,0.029,1353,1980,3019,0,0,0,0,0,0
$GC,2758,-0.78,-131.0,355.8,-10.6,231,2763,0.12,2.33,0.00,0.000,6,0.172,0.057,1372,3406,3020,0,0,0,0,0,0
$GC,3088,-0.78,-131.0,391.1,-10.7,247,3093,0.00,2.17,0.00,0.000,4,0.000,0.030,1372,1985,3020,0,0,0,0,0,0
$GC,3139,-0.78,-132.4,396.1,-9.9,249,3144,0.00,2.33,0.00,0.000,6,0.000,0.059,1363,3403,3020,0,0,0,0,0,0
$GC,3453,-0.78,-132.4,433.7,-12.1,260,3459,0.00,0.88,0.00,0.000,4,0.000,0.057,1358,3957,3021,0,0,0,0,0,0
$GC,3493,-0.78,-132.4,439.4,-13.9,261,3499,0.00,0.85,0.00,0.000,6,0.000,0.034,1358,3392,3020,0,0,0,0,0,0
$GC,3831,-0.78,-132.4,481.7,-12.8,272,3835,0.00,0.90,0.00,0.000,4,0.000,0.058,1354,3954,3021,0,0,0,0,0,0
$GC,3891,-0.78,-132.4,490.5,-14.7,273,3898,0.00,0.85,0.00,0.000,6,0.000,0.034,1354,3391,3021,0,0,0,0,0,0
$GC,4205,-0.78,-132.4,530.5,-12.5,284,4208,0.00,2.12,0.00,0.000,4,0.000,0.029,1354,1977,3020,0,0,0,0,0,0
$GC,4238,-0.78,-132.4,534.7,-11.2,285,4243,0.12,2.35,0.00,0.000,6,0.174,0.058,1373,3410,3020,0,0,0,0,0,0
$GC,4568,-0.78,-132.4,571.3,-11.0,296,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3410,3020,0,0,0,0,0,0
$GC,4874,-0.78,-132.4,604.2,-10.7,306,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3410,3019,0,0,0,0,0,0
$GC,5182,-0.78,-132.4,637.0,-10.6,316,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3410,3018,0,0,0,0,0,0
$GC,5487,-0.78,-132.4,668.7,-10.5,326,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3410,3018,0,0,0,0,0,0
$GC,5793,-0.78,-132.4,701.8,-10.9,336,5797,0.00,2.17,0.00,0.000,4,0.000,0.029,1373,1974,3017,0,0,0,0,0,0
$GC,5883,-0.78,-135.5,710.9,-9.7,338,5890,0.00,2.33,0.00,0.000,6,0.000,0.054,1364,3405,3017,0,0,0,0,0,0
$GC,6196,-0.78,-135.5,747.0,-11.8,349,6199,0.00,0.88,0.00,0.000,4,0.000,0.058,1359,3956,3017,0,0,0,0,0,0
$GC,6245,-0.78,-135.5,753.7,-12.7,350,6249,0.00,0.85,0.00,0.000,6,0.000,0.034,1360,3397,3017,0,0,0,0,0,0
$GC,6571,-0.78,-135.5,792.6,-12.1,361,6574,0.00,2.15,0.00,0.000,4,0.000,0.030,1359,1972,3016,0,0,0,0,0,0
$GC,6637,-0.78,-135.5,800.4,-11.0,363,6641,0.00,2.35,0.00,0.000,6,0.000,0.056,1349,3405,3016,0,0,0,0,0,0
$GC,6967,-0.78,-135.5,844.0,-13.9,374,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,1349,3405,3015,0,0,0,0,0,0
$GC,7274,-0.78,-135.5,885.7,-13.6,384,7278,0.00,2.15,0.00,0.000,4,0.000,0.030,1349,1980,3015,0,0,0,0,0,0
$GC,7363,-0.78,-135.5,897.6,-12.9,386,7370,0.12,2.33,0.00,0.000,6,0.177,0.054,1368,3408,3014,0,0,0,0,0,0
$GC,7677,-0.78,-135.5,937.2,-12.7,397,7680,0.00,2.15,0.00,0.000,4,0.000,0.031,1368,1979,3014,0,0,0,0,0,0
$GC,7720,-0.78,-135.5,942.4,-10.8,398,7724,0.00,2.33,0.00,0.000,6,0.000,0.057,1359,3398,3014,0,0,0,0,0,0
$GC,8038,-0.78,-135.5,982.7,-12.5,409,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3398,3013,0,0,0,0,0,0
$STATE,8190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8190,begin apogee
$GC,8197,-0.13,0.0,1002.1,12.7,414,8344,0.80,0.00,135.75,1.245,6,0.161,0.000,1582,3273,2468,0,0,0,0,0,0
$STATE,8345,end apogee,CONTROL_FINISHED_OK
$STATE,8345,begin climb
$GC,8348,0.78,135.5,1005.7,0.0,419,8495,0.88,0.00,140.25,1.207,6,0.073,0.000,1877,3272,1919,0,0,0,0,0,0
$GC,8779,0.78,135.5,926.0,20.6,433,8783,0.00,1.12,0.00,0.000,4,0.000,0.055,1877,3956,1900,0,0,0,0,0,0
$GC,8902,0.78,135.5,897.2,23.9,436,8906,0.00,1.05,0.00,0.000,6,0.000,0.031,1883,3260,1899,0,0,0,0,0,0
$GC,9222,0.78,135.5,830.8,20.5,447,9226,0.00,1.12,0.00,0.000,4,0.000,0.054,1882,3956,1896,0,0,0,0,0,0
$GC,9478,0.78,135.5,771.6,22.8,454,9482,0.00,1.00,0.00,0.000,6,0.000,0.031,1887,3283,1896,0,0,0,0,0,0
$GC,9797,0.78,135.5,707.7,19.9,465,9801,0.00,1.08,0.00,0.000,4,0.000,0.054,1887,3954,1895,0,0,0,0,0,0
$GC,9975,0.78,135.5,669.4,20.7,470,9978,0.00,1.00,0.00,0.000,6,0.000,0.031,1893,3279,1894,0,0,0,0,0,0
$GC,10305,0.78,135.5,608.2,18.3,481,10309,0.00,1.08,0.00,0.000,4,0.000,0.054,1893,3952,1893,0,0,0,0,0,0
$GC,10567,0.78,135.5,554.3,20.9,488,10571,0.00,1.00,0.00,0.000,6,0.000,0.030,1897,3275,1893,0,0,0,0,0,0
$GC,10889,0.78,135.5,495.0,18.4,499,10892,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3961,1893,0,0,0,0,0,0
$GC,11145,0.78,135.5,443.5,19.0,506,11149,0.00,1.02,0.00,0.000,6,0.000,0.030,1903,3273,1893,0,0,0,0,0,0
$GC,11466,0.78,135.5,388.7,17.4,518,11469,0.00,2.12,0.00,0.000,4,0.000,0.028,1914,1858,1892,0,0,0,0,0,0
$GC,11648,0.78,135.5,363.1,13.0,526,11654,0.10,2.30,0.00,0.000,6,0.181,0.048,1886,3283,1890,0,0,0,0,0,0
$GC,11984,0.78,135.5,306.6,18.0,542,11988,0.00,2.15,0.00,0.000,4,0.000,0.028,1896,1855,1890,0,0,0,0,0,0
$GC,12174,0.78,135.5,276.4,15.0,550,12178,0.00,2.28,0.00,0.000,6,0.000,0.047,1896,3280,1889,0,0,0,0,0,0
$GC,12506,0.78,135.5,215.3,18.2,569,12510,0.00,1.05,0.00,0.000,4,0.000,0.054,1896,3947,1889,0,0,0,0,0,0
$GC,12769,0.78,135.5,165.6,16.9,584,12772,0.00,1.00,0.00,0.000,6,0.000,0.029,1901,3274,1889,0,0,0,0,0,0
$GC,13097,0.78,135.5,113.1,16.1,605,13101,0.00,2.12,0.00,0.000,4,0.000,0.027,1912,1853,1889,0,0,0,0,0,0
$GC,13264,0.78,135.5,89.5,12.7,622,13274,0.10,2.30,0.00,0.000,6,0.173,0.047,1884,3279,1889,0,0,0,0,0,0
$GC,13634,0.78,135.5,40.2,11.4,683,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,3279,1889,0,0,0,0,0,0
$GC,13900,0.78,135.5,8.5,13.8,724,13909,0.00,1.08,0.00,0.000,4,0.000,0.054,1884,3959,1889,0,0,0,0,0,0
$STATE,13945,end climb,SURFACE_DEPTH_REACHED
$STATE,13946,begin surface coast
$FINISH,1.2,1.026153
$STATE,13953,end surface coast,CONTROL_FINISHED_OK
$STATE,13953,begin surface
$SM_CCo,13971,45.12,0.705,1,0,1532,230.09
$SM_GC,2.24,0.00,0.00,45.12,0.000,0.000,0.705,47,3389,1532,-4.94,-0.31,230.09
$IRIDIUM_FIX,-4227.40,849.22,010313,070734
$TT8_MAMPS,0.025466
$HUMID,59.01
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.0,71.480
$10V_AH,9.7,52.419
$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,12.800,72.450,276.000,45.125,0.000,24.811,21.017,380.840,0.000,0.000,23.164,1876.290,8938.479,396.224,2548.593,879.702,33.375,1317.908,0.000,2313.858,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,93.330,1245.420,705.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.091,1607.647,782.329,363.417,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,53788,731
$CAP_FILE_SIZE,117866,0
$CFSIZE,259252224,228745216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,010313,163605,-4243.022,855.196,45,1.1,45,-25.2