version: 66.07
glider: 543
mission: 6
dive: 454
start: 3 2 113 5 8 34
data:
$ID,543
$MISSION,6
$DIVE,454
$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,-9191.6426
$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,61
$R_STBD_OVSHOOT,19
$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
$GPS1,020313,045803,-4244.986,857.844,21,1.1,32,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-58.9
$GPS2,020313,050735,-4245.016,857.851,19,0.9,19,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT1
$TGT_LATLONG,-4242.865,900.185
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.040,-0.169
$KALMAN_X,141252.0,613.6,-250.8,-64878.6,2915.1
$KALMAN_Y,432593.4,-663.2,-499.9,-459152.3,5046.9
$MHEAD_RNG_PITCHd_Wd,191.9,5093,-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,-41.60,0.000,2,0.000,0.000,74,3392,2503,0,0,0,0,0,0
$GC,68,-0.78,-124.4,3.2,-3.5,5,95,5.47,0.98,-15.05,0.000,4,0.232,0.092,1365,3962,2984,0,0,0,0,0,0
$GC,265,-0.78,-124.4,32.9,-17.1,34,274,0.00,0.82,0.00,0.000,6,0.000,0.034,1365,3423,2987,0,0,0,0,0,0
$GC,514,-0.78,-124.4,70.7,-12.2,75,520,0.00,2.20,0.00,0.000,4,0.000,0.030,1365,1977,2988,0,0,0,0,0,0
$GC,618,-0.78,-124.4,81.8,-10.6,93,626,0.00,2.33,0.00,0.000,6,0.000,0.055,1355,3396,2988,0,0,0,0,0,0
$GC,956,-0.78,-124.4,123.4,-12.6,130,960,0.00,0.88,0.00,0.000,4,0.000,0.056,1350,3954,2989,0,0,0,0,0,0
$GC,1109,-0.78,-124.4,145.9,-14.6,138,1117,0.00,0.85,0.00,0.000,6,0.000,0.033,1350,3389,2989,0,0,0,0,0,0
$GC,1432,-0.78,-124.4,190.6,-14.8,159,1436,0.00,2.08,0.00,0.000,4,0.000,0.029,1350,1986,2989,0,0,0,0,0,0
$GC,1481,-0.78,-124.4,198.3,-14.1,162,1487,0.10,2.33,0.00,0.000,6,0.157,0.056,1369,3401,2989,0,0,0,0,0,0
$GC,1812,-0.78,-124.4,242.9,-14.0,183,1817,0.00,0.88,0.00,0.000,4,0.000,0.057,1366,3956,2990,0,0,0,0,0,0
$GC,1970,-0.78,-124.4,266.9,-14.6,190,1980,0.00,0.82,0.00,0.000,6,0.000,0.034,1366,3410,2990,0,0,0,0,0,0
$GC,2288,-0.78,-124.4,308.1,-12.7,206,2292,0.00,2.12,0.00,0.000,4,0.000,0.028,1366,1976,2990,0,0,0,0,0,0
$GC,2342,-0.78,-124.4,314.6,-10.9,208,2346,0.00,2.30,0.00,0.000,6,0.000,0.055,1356,3406,2990,0,0,0,0,0,0
$GC,2660,-0.78,-124.4,354.3,-12.4,223,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3406,2990,0,0,0,0,0,0
$GC,2970,-0.78,-124.4,392.0,-11.9,238,2973,0.00,0.88,0.00,0.000,4,0.000,0.057,1351,3960,2990,0,0,0,0,0,0
$GC,3061,-0.78,-124.4,404.2,-13.6,241,3065,0.00,0.85,0.00,0.000,6,0.000,0.034,1351,3395,2990,0,0,0,0,0,0
$GC,3380,-0.78,-124.4,441.7,-11.9,252,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,1351,3395,2990,0,0,0,0,0,0
$GC,3686,-0.78,-124.4,479.1,-12.5,262,3692,0.00,0.90,0.00,0.000,4,0.000,0.057,1347,3958,2990,0,0,0,0,0,0
$GC,3759,-0.78,-124.4,489.9,-14.2,264,3764,0.08,0.85,0.00,0.000,6,0.173,0.034,1369,3398,2990,0,0,0,0,0,0
$GC,4095,-0.78,-124.4,531.0,-12.5,275,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3397,2990,0,0,0,0,0,0
$GC,4401,-0.78,-124.4,568.5,-12.1,285,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3398,2990,0,0,0,0,0,0
$GC,4708,-0.78,-124.4,603.6,-11.0,295,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3398,2990,0,0,0,0,0,0
$GC,5013,-0.78,-124.4,636.5,-10.9,305,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3398,2989,0,0,0,0,0,0
$GC,5320,-0.78,-124.4,671.5,-11.7,315,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3397,2988,0,0,0,0,0,0
$GC,5627,-0.78,-124.4,709.6,-12.8,325,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3398,2988,0,0,0,0,0,0
$GC,5932,-0.78,-124.4,749.0,-12.9,335,5938,0.00,0.90,0.00,0.000,4,0.000,0.059,1366,3956,2987,0,0,0,0,0,0
$GC,5989,-0.78,-124.4,756.9,-14.2,336,5993,0.00,0.85,0.00,0.000,6,0.000,0.034,1366,3400,2987,0,0,0,0,0,0
$GC,6309,-0.78,-124.4,796.0,-12.2,347,6312,0.00,0.93,0.00,0.000,4,0.000,0.060,1362,3958,2986,0,0,0,0,0,0
$GC,6352,-0.78,-124.4,802.2,-13.4,348,6356,0.00,0.85,0.00,0.000,6,0.000,0.035,1362,3398,2986,0,0,0,0,0,0
$GC,6682,-0.78,-124.4,840.6,-11.4,359,6686,0.00,2.15,0.00,0.000,4,0.000,0.030,1363,1971,2985,0,0,0,0,0,0
$GC,6726,-0.78,-124.4,845.5,-10.3,360,6730,0.00,2.33,0.00,0.000,6,0.000,0.054,1352,3401,2985,0,0,0,0,0,0
$GC,7045,-0.78,-124.4,881.3,-11.4,371,7049,0.00,2.12,0.00,0.000,4,0.000,0.031,1352,1978,2985,0,0,0,0,0,0
$GC,7089,-0.78,-124.4,886.4,-10.6,372,7094,0.15,2.33,0.00,0.000,6,0.177,0.055,1377,3402,2985,0,0,0,0,0,0
$GC,7408,-0.78,-124.4,920.3,-10.8,383,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3402,2984,0,0,0,0,0,0
$GC,7715,-0.78,-124.4,953.7,-11.0,393,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3402,2984,0,0,0,0,0,0
$GC,8022,-0.78,-124.4,987.5,-11.2,403,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3402,2983,0,0,0,0,0,0
$STATE,8140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8141,begin apogee
$GC,8148,-0.13,0.0,1001.3,11.3,407,8281,0.70,0.00,129.15,1.236,6,0.155,0.000,1577,3276,2473,0,0,0,0,0,0
$STATE,8282,end apogee,CONTROL_FINISHED_OK
$STATE,8282,begin climb
$GC,8285,0.78,124.4,1005.2,0.0,411,8422,0.88,0.00,129.98,1.202,6,0.076,0.000,1872,3276,1965,0,0,0,0,0,0
$GC,8716,0.78,124.4,933.0,18.7,425,8720,0.00,1.12,0.00,0.000,4,0.000,0.055,1872,3957,1946,0,0,0,0,0,0
$GC,8891,0.78,124.4,897.9,21.4,430,8895,0.00,1.05,0.00,0.000,6,0.000,0.031,1877,3260,1945,0,0,0,0,0,0
$GC,9233,0.78,124.4,831.2,19.0,441,9236,0.00,1.12,0.00,0.000,4,0.000,0.054,1877,3956,1943,0,0,0,0,0,0
$GC,9474,0.78,124.4,777.9,22.2,448,9478,0.00,1.00,0.00,0.000,6,0.000,0.031,1882,3286,1942,0,0,0,0,0,0
$GC,9809,0.78,124.4,713.0,18.9,459,9813,0.00,1.08,0.00,0.000,4,0.000,0.054,1882,3954,1941,0,0,0,0,0,0
$GC,10063,0.78,124.4,659.3,23.6,466,10069,0.00,1.00,0.00,0.000,6,0.000,0.030,1887,3278,1941,0,0,0,0,0,0
$GC,10389,0.78,124.4,598.0,18.6,477,10394,0.00,1.08,0.00,0.000,4,0.000,0.054,1887,3949,1940,0,0,0,0,0,0
$GC,10563,0.78,124.4,563.0,20.3,482,10566,0.00,1.00,0.00,0.000,6,0.000,0.030,1892,3274,1940,0,0,0,0,0,0
$GC,10899,0.78,124.4,503.5,17.5,493,10904,0.00,1.08,0.00,0.000,4,0.000,0.054,1892,3944,1939,0,0,0,0,0,0
$GC,11145,0.78,124.4,454.7,21.3,500,11149,0.00,0.98,0.00,0.000,6,0.000,0.030,1897,3287,1939,0,0,0,0,0,0
$GC,11467,0.78,124.4,395.3,18.5,511,11473,0.00,1.08,0.00,0.000,4,0.000,0.053,1897,3958,1939,0,0,0,0,0,0
$GC,11654,0.78,124.4,357.2,21.2,519,11658,0.00,1.00,0.00,0.000,6,0.000,0.031,1902,3285,1939,0,0,0,0,0,0
$GC,11990,0.78,124.4,294.3,18.5,535,11995,0.00,1.08,0.00,0.000,4,0.000,0.054,1902,3957,1938,0,0,0,0,0,0
$GC,12143,0.78,124.4,263.9,20.1,541,12147,0.08,1.00,0.00,0.000,6,0.209,0.029,1887,3278,1939,0,0,0,0,0,0
$GC,12479,0.78,124.4,211.3,15.4,561,12483,0.00,1.08,0.00,0.000,4,0.000,0.053,1885,3954,1938,0,0,0,0,0,0
$GC,12660,0.78,124.4,180.3,17.1,571,12664,0.00,1.00,0.00,0.000,6,0.000,0.030,1889,3276,1938,0,0,0,0,0,0
$GC,12986,0.78,124.4,131.9,15.0,592,12989,0.00,1.08,0.00,0.000,4,0.000,0.053,1889,3945,1938,0,0,0,0,0,0
$GC,13186,0.78,124.4,95.4,17.4,606,13197,0.00,0.98,0.00,0.000,6,0.000,0.029,1894,3286,1938,0,0,0,0,0,0
$GC,13552,0.78,124.4,42.0,13.7,667,13560,0.00,1.08,0.00,0.000,4,0.000,0.053,1894,3959,1938,0,0,0,0,0,0
$GC,13650,0.78,124.4,27.7,15.2,682,13661,0.00,1.00,0.00,0.000,6,0.000,0.030,1898,3283,1938,0,0,0,0,0,0
$GC,13740,0.78,124.4,14.8,13.3,695,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3284,1938,0,0,0,0,0,0
$STATE,13828,end climb,SURFACE_DEPTH_REACHED
$STATE,13828,begin surface coast
$FINISH,1.4,1.026219
$STATE,13849,end surface coast,CONTROL_FINISHED_OK
$STATE,13849,begin surface
$SM_CCo,13865,49.53,0.706,1,0,1535,230.09
$SM_GC,2.51,0.00,0.00,49.53,0.000,0.000,0.706,51,3413,1535,-4.93,0.37,230.09
$IRIDIUM_FIX,-4227.40,855.46,020313,000036
$TT8_MAMPS,0.025466
$HUMID,57.75
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.1,72.050
$10V_AH,9.8,52.848
$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,12.450,55.725,259.125,49.525,0.000,39.163,26.138,326.702,0.000,0.000,23.757,1836.941,8978.633,368.036,2456.054,853.494,33.374,1297.315,0.000,2263.125,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,91.800,1236.240,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.974,1569.361,735.877,334.933,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,50352,711
$CAP_FILE_SIZE,115305,0
$CFSIZE,259252224,228495360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020313,090153,-4246.364,859.905,37,0.9,37,-25.2