version: 66.07
glider: 543
mission: 6
dive: 452
start: 3 1 113 20 54 17
data:
$ID,543
$MISSION,6
$DIVE,452
$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,-9185.2783
$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,45
$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
$GPS1,010313,204434,-4243.872,857.439,30,0.9,30,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-48.1
$GPS2,010313,205318,-4243.806,857.646,20,1.0,21,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT1
$TGT_LATLONG,-4242.865,900.185
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.135,-0.108
$KALMAN_X,139099.8,-1218.6,-347.2,-61072.6,5929.5
$KALMAN_Y,429028.8,-285.8,-112.2,-454121.8,3717.7
$MHEAD_RNG_PITCHd_Wd,256.6,3869,-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,-63.1,0.0,0.0,0,71,0.00,0.00,-49.05,0.000,2,0.000,0.000,52,3410,2692,0,0,0,0,0,0
$GC,76,-0.77,-110.4,3.5,-5.0,6,94,5.60,0.00,-6.75,0.000,6,0.235,0.000,1370,3410,2925,0,0,0,0,0,0
$GC,174,-0.77,-110.4,17.4,-15.3,20,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3410,2928,0,0,0,0,0,0
$GC,263,-0.77,-110.4,29.9,-14.1,33,271,0.00,0.88,0.00,0.000,4,0.000,0.057,1368,3954,2928,0,0,0,0,0,0
$GC,294,-0.77,-110.4,35.2,-16.5,37,301,0.00,0.85,0.00,0.000,6,0.000,0.034,1368,3400,2928,0,0,0,0,0,0
$GC,542,-0.77,-110.4,72.7,-12.8,78,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3400,2929,0,0,0,0,0,0
$GC,885,-0.77,-110.4,116.1,-12.3,124,889,0.00,2.15,0.00,0.000,4,0.000,0.029,1368,1980,2930,0,0,0,0,0,0
$GC,920,-0.77,-110.4,120.4,-11.2,126,924,0.00,2.33,0.00,0.000,6,0.000,0.057,1358,3404,2930,0,0,0,0,0,0
$GC,1240,-0.77,-110.4,158.2,-12.0,146,1243,0.00,0.88,0.00,0.000,4,0.000,0.057,1353,3959,2930,0,0,0,0,0,0
$GC,1370,-0.77,-110.4,176.0,-13.1,153,1376,0.00,0.85,0.00,0.000,6,0.000,0.034,1353,3396,2930,0,0,0,0,0,0
$GC,1689,-0.77,-110.4,216.3,-12.7,174,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,1354,3396,2931,0,0,0,0,0,0
$GC,2018,-0.77,-110.4,257.8,-12.3,194,2022,0.00,0.88,0.00,0.000,4,0.000,0.057,1349,3947,2931,0,0,0,0,0,0
$GC,2158,-0.77,-110.4,276.6,-13.8,200,2161,0.00,0.82,0.00,0.000,6,0.000,0.034,1349,3399,2931,0,0,0,0,0,0
$GC,2493,-0.77,-110.4,317.3,-12.1,216,2497,0.12,2.15,0.00,0.000,4,0.194,0.029,1380,1977,2931,0,0,0,0,0,0
$GC,2528,-0.77,-114.7,321.4,-9.5,217,2535,0.00,2.33,0.00,0.000,6,0.000,0.057,1370,3406,2932,0,0,0,0,0,0
$GC,2847,-0.77,-114.7,355.9,-10.8,233,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3406,2932,0,0,0,0,0,0
$GC,3155,-0.77,-114.7,390.7,-11.2,248,3159,0.00,2.12,0.00,0.000,4,0.000,0.029,1370,1980,2932,0,0,0,0,0,0
$GC,3197,-0.77,-114.7,395.3,-10.6,250,3203,0.00,2.33,0.00,0.000,6,0.000,0.057,1359,3393,2932,0,0,0,0,0,0
$GC,3519,-0.77,-114.7,432.9,-12.1,261,3522,0.00,0.88,0.00,0.000,4,0.000,0.057,1355,3950,2932,0,0,0,0,0,0
$GC,3602,-0.77,-114.7,444.0,-12.8,263,3606,0.00,0.82,0.00,0.000,6,0.000,0.034,1355,3402,2932,0,0,0,0,0,0
$GC,3927,-0.77,-114.7,484.6,-12.4,274,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3401,2932,0,0,0,0,0,0
$GC,4235,-0.77,-114.7,522.9,-12.5,284,4239,0.00,2.12,0.00,0.000,4,0.000,0.028,1355,1977,2932,0,0,0,0,0,0
$GC,4279,-0.77,-114.7,528.6,-11.4,285,4284,0.12,2.33,0.00,0.000,6,0.177,0.056,1374,3406,2932,0,0,0,0,0,0
$GC,4598,-0.77,-114.7,563.2,-10.7,296,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3406,2931,0,0,0,0,0,0
$GC,4906,-0.77,-116.1,594.5,-9.9,306,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3406,2931,0,0,0,0,0,0
$GC,5211,-0.77,-116.6,624.8,-10.0,316,5216,0.00,0.88,0.00,0.000,4,0.000,0.058,1371,3958,2931,0,0,0,0,0,0
$GC,5329,-0.77,-116.6,638.3,-11.4,319,5332,0.00,0.85,0.00,0.000,6,0.000,0.035,1371,3398,2930,0,0,0,0,0,0
$GC,5654,-0.77,-116.6,672.8,-10.7,330,5658,0.00,2.12,0.00,0.000,4,0.000,0.030,1371,1978,2930,0,0,0,0,0,0
$GC,5726,-0.77,-117.5,680.7,-9.9,332,5730,0.00,2.33,0.00,0.000,6,0.000,0.054,1361,3408,2930,0,0,0,0,0,0
$GC,6050,-0.77,-117.5,718.8,-11.9,343,6054,0.00,0.85,0.00,0.000,4,0.000,0.058,1356,3948,2929,0,0,0,0,0,0
$GC,6100,-0.77,-117.5,725.5,-13.5,344,6104,0.00,0.82,0.00,0.000,6,0.000,0.034,1357,3405,2929,0,0,0,0,0,0
$GC,6424,-0.77,-117.5,765.2,-12.6,355,6428,0.00,2.15,0.00,0.000,4,0.000,0.030,1356,1976,2928,0,0,0,0,0,0
$GC,6531,-0.77,-117.5,777.1,-11.1,358,6536,0.12,2.33,0.00,0.000,6,0.180,0.054,1375,3405,2928,0,0,0,0,0,0
$GC,6856,-0.77,-117.5,812.7,-11.2,369,6860,0.00,0.88,0.00,0.000,4,0.000,0.058,1372,3956,2928,0,0,0,0,0,0
$GC,6924,-0.77,-117.5,821.1,-12.3,371,6930,0.00,0.85,0.00,0.000,6,0.000,0.035,1372,3398,2927,0,0,0,0,0,0
$GC,7268,-0.77,-117.5,858.7,-10.6,382,7272,0.00,2.15,0.00,0.000,4,0.000,0.031,1372,1972,2926,0,0,0,0,0,0
$GC,7352,-0.77,-121.4,866.9,-9.6,384,7356,0.00,2.33,0.00,0.000,6,0.000,0.054,1361,3400,2926,0,0,0,0,0,0
$GC,7667,-0.77,-121.4,901.2,-11.4,394,7671,0.00,2.15,0.00,0.000,4,0.000,0.031,1361,1977,2926,0,0,0,0,0,0
$GC,7717,-0.77,-121.4,906.9,-10.3,395,7721,0.00,2.33,0.00,0.000,6,0.000,0.057,1350,3400,2926,0,0,0,0,0,0
$GC,8032,-0.77,-121.4,945.2,-12.4,405,8036,0.00,2.15,0.00,0.000,4,0.000,0.031,1350,1980,2925,0,0,0,0,0,0
$GC,8130,-0.77,-121.4,956.2,-10.4,408,8135,0.15,2.33,0.00,0.000,6,0.186,0.056,1374,3404,2925,0,0,0,0,0,0
$GC,8466,-0.77,-121.4,992.7,-10.8,419,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3403,2924,0,0,0,0,0,0
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8562,-0.13,0.0,1002.7,10.8,422,8681,0.73,0.00,115.10,1.248,6,0.156,0.000,1581,3279,2473,0,0,0,0,0,0
$STATE,8682,end apogee,CONTROL_FINISHED_OK
$STATE,8682,begin climb
$GC,8685,0.77,121.4,1004.7,0.0,426,8817,0.88,0.00,128.15,1.213,6,0.073,0.000,1874,3279,1978,0,0,0,0,0,0
$GC,9104,0.77,121.4,928.6,20.3,440,9108,0.00,1.10,0.00,0.000,4,0.000,0.055,1874,3947,1960,0,0,0,0,0,0
$GC,9258,0.77,121.4,895.3,21.5,444,9262,0.00,1.02,0.00,0.000,6,0.000,0.031,1879,3273,1958,0,0,0,0,0,0
$GC,9583,0.77,121.4,830.3,19.5,455,9586,0.00,1.10,0.00,0.000,4,0.000,0.054,1879,3958,1956,0,0,0,0,0,0
$GC,9699,0.77,121.4,805.5,20.7,458,9703,0.00,1.02,0.00,0.000,6,0.000,0.031,1884,3274,1955,0,0,0,0,0,0
$GC,10025,0.77,121.4,745.2,18.1,469,10028,0.00,1.10,0.00,0.000,4,0.000,0.054,1884,3958,1954,0,0,0,0,0,0
$GC,10219,0.77,121.4,705.5,21.4,474,10226,0.00,1.00,0.00,0.000,6,0.000,0.029,1889,3281,1954,0,0,0,0,0,0
$GC,10533,0.77,121.4,647.6,18.4,485,10537,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3954,1952,0,0,0,0,0,0
$GC,10729,0.77,121.4,608.2,19.6,490,10735,0.00,1.00,0.00,0.000,6,0.000,0.030,1894,3275,1952,0,0,0,0,0,0
$GC,11043,0.77,121.4,552.1,18.0,501,11046,0.00,1.10,0.00,0.000,4,0.000,0.053,1894,3960,1952,0,0,0,0,0,0
$GC,11238,0.77,121.4,510.9,21.3,506,11244,0.00,1.00,0.00,0.000,6,0.000,0.029,1899,3284,1951,0,0,0,0,0,0
$GC,11552,0.77,121.4,449.9,19.5,517,11555,0.00,1.08,0.00,0.000,4,0.000,0.053,1899,3958,1951,0,0,0,0,0,0
$GC,11811,0.77,121.4,395.0,20.9,525,11814,0.00,1.00,0.00,0.000,6,0.000,0.030,1904,3286,1951,0,0,0,0,0,0
$GC,12135,0.77,121.4,335.4,18.4,541,12141,0.00,1.08,0.00,0.000,4,0.000,0.053,1904,3957,1950,0,0,0,0,0,0
$GC,12261,0.77,121.4,310.2,18.5,546,12265,0.10,1.00,0.00,0.000,6,0.203,0.030,1883,3278,1950,0,0,0,0,0,0
$GC,12584,0.77,121.4,258.3,15.4,562,12588,0.00,1.08,0.00,0.000,4,0.000,0.054,1882,3947,1950,0,0,0,0,0,0
$GC,12852,0.77,121.4,213.5,16.1,576,12858,0.00,1.00,0.00,0.000,6,0.000,0.030,1886,3275,1950,0,0,0,0,0,0
$GC,13180,0.77,121.4,166.2,14.8,597,13185,0.00,1.10,0.00,0.000,4,0.000,0.053,1886,3961,1950,0,0,0,0,0,0
$GC,13445,0.77,121.4,118.4,17.8,612,13449,0.00,1.00,0.00,0.000,6,0.000,0.029,1891,3283,1950,0,0,0,0,0,0
$GC,13784,0.77,121.4,60.7,15.9,658,13791,0.00,1.08,0.00,0.000,4,0.000,0.052,1891,3958,1950,0,0,0,0,0,0
$GC,13914,0.77,121.4,41.0,15.4,679,13922,0.00,1.00,0.00,0.000,6,0.000,0.031,1896,3283,1950,0,0,0,0,0,0
$GC,14179,0.77,121.4,3.4,12.5,720,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,1949,0,0,0,0,0,0
$STATE,14199,end climb,SURFACE_DEPTH_REACHED
$STATE,14199,begin surface coast
$FINISH,1.3,1.026039
$STATE,14232,end surface coast,CONTROL_FINISHED_OK
$STATE,14232,begin surface
$SM_CCo,14249,50.80,0.716,1,0,1532,230.09
$SM_GC,2.19,0.00,0.00,50.80,0.000,0.000,0.716,52,3412,1532,-4.93,0.34,230.09
$IRIDIUM_FIX,-4227.40,852.57,010313,161646
$TT8_MAMPS,0.025466
$HUMID,57.36
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.1,71.762
$10V_AH,9.8,52.636
$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,12.750,73.475,243.250,50.800,0.000,28.059,25.422,296.335,0.000,0.000,23.088,1905.517,9119.850,412.688,2523.545,868.275,33.370,1349.356,0.000,2355.734,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,76.500,1248.480,716.040,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.670,1616.818,771.241,341.199,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,53641,727
$CAP_FILE_SIZE,123381,0
$CFSIZE,259252224,228614144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020313,005404,-4244.062,857.461,40,0.8,40,-25.2