version: 66.07
glider: 543
mission: 6
dive: 451
start: 3 1 113 16 46 38
data:
$ID,543
$MISSION,6
$DIVE,451
$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,-9181.8213
$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,54
$R_STBD_OVSHOOT,21
$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
$GPS1,010313,163605,-4243.022,855.196,45,1.1,45,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-50.5
$GPS2,010313,164541,-4243.049,855.395,16,1.1,17,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT1
$TGT_LATLONG,-4242.865,900.185
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.037,-0.169
$KALMAN_X,137611.2,-1683.5,-567.8,-61949.1,5849.7
$KALMAN_Y,426839.2,120.7,-268.9,-450786.9,3279.2
$MHEAD_RNG_PITCHd_Wd,192.8,6527,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.74,-63.1,0.0,0.0,0,64,0.00,0.00,-41.60,0.000,2,0.000,0.000,46,3389,2537,0,0,0,0,0,0
$GC,68,-0.77,-116.8,3.5,-4.3,5,95,5.60,0.98,-10.90,0.000,4,0.231,0.093,1372,3961,2953,0,0,0,0,0,0
$GC,285,-0.77,-116.8,42.9,-16.6,38,294,0.00,0.82,0.00,0.000,6,0.000,0.034,1371,3420,2956,0,0,0,0,0,0
$GC,530,-0.77,-116.8,78.1,-12.3,79,535,0.00,2.17,0.00,0.000,4,0.000,0.030,1372,1978,2956,0,0,0,0,0,0
$GC,672,-0.77,-116.8,95.1,-12.3,103,678,0.00,2.33,0.00,0.000,6,0.000,0.055,1361,3391,2957,0,0,0,0,0,0
$GC,996,-0.77,-116.8,136.7,-12.4,128,997,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3391,2957,0,0,0,0,0,0
$GC,1308,-0.77,-116.8,175.4,-12.5,148,1311,0.00,0.90,0.00,0.000,4,0.000,0.057,1357,3961,2958,0,0,0,0,0,0
$GC,1373,-0.77,-116.8,184.2,-12.8,151,1380,0.00,0.85,0.00,0.000,6,0.000,0.034,1357,3397,2958,0,0,0,0,0,0
$GC,1693,-0.77,-116.8,223.5,-12.0,172,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3397,2959,0,0,0,0,0,0
$GC,2014,-0.77,-116.8,261.9,-12.4,191,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3397,2958,0,0,0,0,0,0
$GC,2320,-0.77,-116.8,298.9,-11.8,206,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3397,2959,0,0,0,0,0,0
$GC,2630,-0.77,-116.8,333.5,-11.0,221,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3397,2958,0,0,0,0,0,0
$GC,2939,-0.77,-116.8,366.0,-10.5,236,2943,0.00,0.90,0.00,0.000,4,0.000,0.057,1353,3962,2958,0,0,0,0,0,0
$GC,3089,-0.77,-116.8,384.1,-12.5,242,3092,0.00,0.85,0.00,0.000,6,0.000,0.034,1353,3401,2959,0,0,0,0,0,0
$GC,3430,-0.77,-116.8,420.1,-10.5,256,3434,0.00,2.15,0.00,0.000,4,0.000,0.030,1353,1980,2959,0,0,0,0,0,0
$GC,3480,-0.77,-119.6,425.3,-9.7,257,3486,0.10,2.35,0.00,0.000,6,0.153,0.057,1371,3404,2959,0,0,0,0,0,0
$GC,3800,-0.77,-119.6,458.2,-10.6,268,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3404,2959,0,0,0,0,0,0
$GC,4107,-0.77,-119.6,490.6,-10.5,278,4110,0.00,0.88,0.00,0.000,4,0.000,0.058,1369,3961,2958,0,0,0,0,0,0
$GC,4286,-0.77,-119.6,511.3,-11.1,283,4289,0.00,0.85,0.00,0.000,6,0.000,0.034,1369,3402,2958,0,0,0,0,0,0
$GC,4615,-0.77,-119.6,544.8,-10.0,294,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3402,2959,0,0,0,0,0,0
$GC,4922,-0.77,-119.6,576.5,-10.4,304,4928,0.00,2.17,0.00,0.000,4,0.000,0.031,1368,1974,2958,0,0,0,0,0,0
$GC,4971,-0.78,-124.3,581.3,-9.5,305,4975,0.00,2.35,0.00,0.000,6,0.000,0.057,1358,3410,2958,0,0,0,0,0,0
$GC,5296,-0.78,-124.3,618.9,-11.9,316,5300,0.00,2.15,0.00,0.000,4,0.000,0.029,1358,1975,2957,0,0,0,0,0,0
$GC,5346,-0.78,-124.3,624.9,-10.9,317,5351,0.12,2.33,0.00,0.000,6,0.175,0.058,1376,3404,2957,0,0,0,0,0,0
$GC,5659,-0.78,-124.3,660.1,-11.4,327,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3404,2957,0,0,0,0,0,0
$GC,5967,-0.78,-124.3,696.5,-12.4,337,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2956,0,0,0,0,0,0
$GC,6272,-0.78,-124.3,733.2,-11.7,347,6278,0.00,0.88,0.00,0.000,4,0.000,0.060,1374,3953,2955,0,0,0,0,0,0
$GC,6342,-0.78,-124.3,741.9,-12.1,349,6346,0.00,0.85,0.00,0.000,6,0.000,0.036,1374,3393,2955,0,0,0,0,0,0
$GC,6683,-0.78,-124.3,782.3,-11.6,360,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3393,2954,0,0,0,0,0,0
$GC,6990,-0.78,-124.3,815.3,-10.2,370,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3393,2954,0,0,0,0,0,0
$GC,7297,-0.78,-128.7,844.6,-9.5,380,7301,0.00,2.15,0.00,0.000,4,0.000,0.031,1374,1975,2953,0,0,0,0,0,0
$GC,7347,-0.79,-143.8,849.3,-8.4,381,7351,0.00,2.33,0.00,0.000,6,0.000,0.054,1363,3401,2953,0,0,0,0,0,0
$GC,7660,-0.79,-143.8,880.3,-10.3,391,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3401,2953,0,0,0,0,0,0
$GC,7967,-0.79,-143.8,912.8,-10.7,401,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3401,2952,0,0,0,0,0,0
$GC,8272,-0.79,-143.8,947.3,-11.6,411,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3401,2952,0,0,0,0,0,0
$GC,8579,-0.79,-143.8,984.9,-12.4,421,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,1363,3401,2951,0,0,0,0,0,0
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8736,-0.13,0.0,1003.6,12.1,426,8864,0.77,0.00,119.70,1.775,6,0.161,0.000,1579,3275,2474,0,0,0,0,1,0
$STATE,8865,end apogee,CONTROL_FINISHED_OK
$STATE,8865,begin climb
$GC,8868,0.79,143.8,1007.2,0.0,430,9034,0.93,0.00,156.38,1.742,6,0.071,0.000,1876,3275,1888,0,0,0,0,1,0
$GC,9339,0.79,143.8,920.2,21.1,446,9342,0.00,1.12,0.00,0.000,4,0.000,0.054,1875,3955,1878,0,0,0,0,0,0
$GC,9601,0.79,143.8,860.6,22.7,453,9605,0.00,1.05,0.00,0.000,6,0.000,0.031,1881,3257,1876,0,0,0,0,0,0
$GC,9921,0.79,143.8,795.5,19.8,464,9925,0.00,1.12,0.00,0.000,4,0.000,0.055,1881,3953,1873,0,0,0,0,0,0
$GC,10105,0.79,143.8,755.0,22.8,469,10109,0.00,1.00,0.00,0.000,6,0.000,0.030,1886,3281,1873,0,0,0,0,0,0
$GC,10430,0.79,143.8,690.1,19.8,480,10434,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3953,1872,0,0,0,0,0,0
$GC,10688,0.79,143.8,633.1,22.3,487,10693,0.00,1.00,0.00,0.000,6,0.000,0.030,1891,3278,1872,0,0,0,0,0,0
$GC,11007,0.79,143.8,569.5,19.9,498,11013,0.00,1.08,0.00,0.000,4,0.000,0.054,1891,3953,1871,0,0,0,0,0,0
$GC,11192,0.79,143.8,529.2,22.2,503,11198,0.00,1.00,0.00,0.000,6,0.000,0.030,1896,3277,1871,0,0,0,0,0,0
$GC,11518,0.79,143.8,466.8,18.9,514,11523,0.00,1.08,0.00,0.000,4,0.000,0.054,1896,3950,1870,0,0,0,0,0,0
$GC,11763,0.79,143.8,416.0,20.0,521,11767,0.00,1.00,0.00,0.000,6,0.000,0.030,1901,3273,1870,0,0,0,0,0,0
$GC,12083,0.79,143.8,357.6,18.0,535,12089,0.00,1.10,0.00,0.000,4,0.000,0.054,1901,3958,1870,0,0,0,0,0,0
$GC,12345,0.79,143.8,304.7,20.9,546,12348,0.00,1.00,0.00,0.000,6,0.000,0.030,1906,3287,1870,0,0,0,0,0,0
$GC,12662,0.79,143.8,246.8,18.4,562,12666,0.00,1.08,0.00,0.000,4,0.000,0.054,1906,3958,1869,0,0,0,0,0,0
$GC,12932,0.79,143.8,193.2,19.5,577,12935,0.00,1.02,0.00,0.000,6,0.000,0.030,1912,3270,1869,0,0,0,0,0,0
$GC,13258,0.79,143.8,137.4,17.0,598,13261,0.00,1.10,0.00,0.000,4,0.000,0.054,1911,3957,1869,0,0,0,0,0,0
$GC,13529,0.79,143.8,84.9,19.7,622,13539,0.10,1.00,0.00,0.000,6,0.203,0.030,1890,3277,1869,0,0,0,0,0,0
$GC,13899,0.79,143.8,33.0,10.6,683,13906,0.00,1.08,0.00,0.000,4,0.000,0.051,1890,3955,1868,0,0,0,0,0,0
$STATE,14120,end climb,SURFACE_DEPTH_REACHED
$STATE,14120,begin surface coast
$FINISH,1.2,1.026326
$STATE,14140,end surface coast,CONTROL_FINISHED_OK
$STATE,14140,begin surface
$SM_CCo,14157,42.20,0.700,1,0,1533,230.09
$SM_GC,2.07,0.00,0.00,42.20,0.000,0.000,0.700,53,3410,1533,-4.92,0.25,230.09
$IRIDIUM_FIX,-4230.32,855.46,010313,121217
$TT8_MAMPS,0.025466
$HUMID,58.50
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,21.4,71.647
$10V_AH,9.8,52.526
$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,12.550,50.125,276.075,42.200,0.000,33.760,22.347,333.251,0.000,0.000,19.171,1847.602,9255.845,403.271,2418.117,851.762,33.368,1266.392,0.000,2238.004,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,92.565,1774.800,699.975,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.822,1581.208,741.289,329.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,53795,720
$CAP_FILE_SIZE,110494,0
$CFSIZE,259252224,228687872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010313,204434,-4243.872,857.439,30,0.9,30,-25.2