version: 66.07
glider: 543
mission: 6
dive: 456
start: 3 2 113 14 16 38
data:
$ID,543
$MISSION,6
$DIVE,456
$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,-9200.0781
$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,53
$R_STBD_OVSHOOT,41
$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
$GPS1,020313,140534,-4244.305,902.601,33,0.8,33,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-60.6
$GPS2,020313,141541,-4244.256,902.810,18,0.8,19,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT3
$TGT_LATLONG,-4241.507,906.492
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.056,0.164
$KALMAN_X,144997.0,-1156.2,-546.8,-59784.7,4171.8
$KALMAN_Y,433096.0,-556.4,-247.6,-458606.2,2625.4
$MHEAD_RNG_PITCHd_Wd,44.1,7144,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.74,-63.1,0.0,0.0,0,67,0.00,0.00,-41.85,0.000,2,0.000,0.000,56,3419,2524,0,0,0,0,0,0
$GC,71,-0.77,-122.4,3.1,-3.7,5,97,5.55,0.80,-14.05,0.000,4,0.232,0.091,1368,3928,2971,0,0,0,0,0,0
$GC,127,-0.77,-122.4,9.3,-14.8,12,138,0.00,0.80,0.00,0.000,6,0.000,0.034,1368,3409,2972,0,0,0,0,0,0
$GC,217,-0.77,-122.4,23.0,-14.8,25,228,0.00,2.17,0.00,0.000,4,0.000,0.028,1367,1982,2973,0,0,0,0,0,0
$GC,282,-0.77,-122.4,32.1,-13.4,34,291,0.00,2.30,0.00,0.000,6,0.000,0.056,1357,3377,2973,0,0,0,0,0,0
$GC,533,-0.77,-122.4,71.7,-14.8,75,539,0.00,0.93,0.00,0.000,4,0.000,0.055,1353,3958,2974,0,0,0,0,0,0
$GC,593,-0.77,-122.4,81.0,-15.9,85,598,0.00,0.85,0.00,0.000,6,0.000,0.033,1353,3398,2974,0,0,0,0,0,0
$GC,933,-0.77,-122.4,127.9,-13.5,121,938,0.00,2.15,0.00,0.000,4,0.000,0.029,1353,1978,2975,0,0,0,0,0,0
$GC,980,-0.77,-122.4,134.2,-11.6,123,988,0.12,2.33,0.00,0.000,6,0.180,0.056,1371,3410,2975,0,0,0,0,0,0
$GC,1300,-0.77,-122.4,170.5,-11.1,144,1304,0.00,0.85,0.00,0.000,4,0.000,0.057,1368,3953,2975,0,0,0,0,0,0
$GC,1394,-0.77,-122.4,182.3,-12.6,149,1401,0.00,0.82,0.00,0.000,6,0.000,0.034,1368,3404,2975,0,0,0,0,0,0
$GC,1714,-0.77,-122.4,217.9,-11.1,170,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3404,2976,0,0,0,0,0,0
$GC,2036,-0.77,-122.4,254.9,-11.7,190,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3404,2976,0,0,0,0,0,0
$GC,2348,-0.77,-122.4,291.7,-12.0,205,2353,0.00,2.15,0.00,0.000,4,0.000,0.028,1368,1978,2976,0,0,0,0,0,0
$GC,2388,-0.77,-122.4,296.8,-10.6,206,2396,0.00,2.33,0.00,0.000,6,0.000,0.055,1358,3397,2977,0,0,0,0,0,0
$GC,2705,-0.77,-122.4,336.1,-12.4,222,2709,0.00,0.88,0.00,0.000,4,0.000,0.056,1354,3956,2976,0,0,0,0,0,0
$GC,2813,-0.77,-122.4,350.9,-13.4,226,2823,0.00,0.82,0.00,0.000,6,0.000,0.034,1354,3403,2976,0,0,0,0,0,0
$GC,3130,-0.77,-122.4,388.8,-12.1,242,3134,0.00,2.10,0.00,0.000,4,0.000,0.028,1354,1982,2977,0,0,0,0,0,0
$GC,3185,-0.77,-122.4,394.8,-10.3,244,3190,0.12,2.30,0.00,0.000,6,0.178,0.054,1372,3406,2976,0,0,0,0,0,0
$GC,3501,-0.77,-122.4,427.8,-10.6,255,3504,0.00,0.85,0.00,0.000,4,0.000,0.057,1370,3948,2976,0,0,0,0,0,0
$GC,3551,-0.77,-122.4,434.1,-11.7,256,3554,0.00,0.82,0.00,0.000,6,0.000,0.034,1369,3403,2976,0,0,0,0,0,0
$GC,3876,-0.77,-122.4,470.6,-11.1,267,3879,0.00,2.12,0.00,0.000,4,0.000,0.028,1369,1980,2976,0,0,0,0,0,0
$GC,3906,-0.77,-122.4,473.8,-11.0,268,3910,0.00,2.33,0.00,0.000,6,0.000,0.057,1359,3405,2976,0,0,0,0,0,0
$GC,4241,-0.77,-122.4,512.9,-11.7,279,4244,0.00,0.85,0.00,0.000,4,0.000,0.057,1355,3943,2976,0,0,0,0,0,0
$GC,4305,-0.77,-122.4,521.0,-13.0,280,4312,0.00,0.82,0.00,0.000,6,0.000,0.034,1354,3401,2976,0,0,0,0,0,0
$GC,4618,-0.77,-122.4,558.2,-11.6,291,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3401,2976,0,0,0,0,0,0
$GC,4925,-0.77,-122.4,595.7,-12.6,301,4929,0.00,2.15,0.00,0.000,4,0.000,0.029,1354,1980,2975,0,0,0,0,0,0
$GC,4995,-0.77,-122.4,603.8,-11.3,303,4999,0.12,2.30,0.00,0.000,6,0.176,0.054,1373,3401,2975,0,0,0,0,0,0
$GC,5325,-0.77,-122.4,643.8,-12.0,314,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3401,2974,0,0,0,0,0,0
$GC,5632,-0.77,-122.4,678.0,-10.8,324,5636,0.00,0.88,0.00,0.000,4,0.000,0.058,1370,3953,2973,0,0,0,0,0,0
$GC,5669,-0.77,-122.4,682.2,-11.4,325,5673,0.00,0.82,0.00,0.000,6,0.000,0.035,1370,3405,2973,0,0,0,0,0,0
$GC,6010,-0.78,-124.4,716.5,-9.8,336,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3405,2973,0,0,0,0,0,0
$GC,6316,-0.78,-125.2,746.3,-9.9,346,6320,0.00,2.12,0.00,0.000,4,0.000,0.030,1370,1978,2972,0,0,0,0,0,0
$GC,6372,-0.79,-140.5,751.6,-8.4,347,6381,0.00,2.35,0.00,0.000,6,0.000,0.055,1360,3405,2972,0,0,0,0,0,0
$GC,6686,-0.79,-140.5,785.7,-11.4,358,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3405,2972,0,0,0,0,0,0
$GC,6992,-0.79,-140.5,821.2,-11.7,368,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3404,2971,0,0,0,0,0,0
$GC,7299,-0.79,-140.5,857.5,-11.9,378,7303,0.00,2.15,0.00,0.000,4,0.000,0.029,1360,1971,2970,0,0,0,0,0,0
$GC,7355,-0.79,-140.5,864.0,-10.3,379,7361,0.00,2.33,0.00,0.000,6,0.000,0.054,1349,3400,2970,0,0,0,0,0,0
$GC,7668,-0.79,-140.5,901.7,-12.1,390,7672,0.00,2.15,0.00,0.000,4,0.000,0.030,1349,1980,2969,0,0,0,0,0,0
$GC,7723,-0.79,-140.5,908.1,-10.4,391,7733,0.10,2.35,0.00,0.000,6,0.156,0.056,1367,3398,2969,0,0,0,0,0,0
$GC,8037,-0.79,-142.8,939.9,-9.8,402,8043,0.00,0.88,0.00,0.000,4,0.000,0.059,1364,3948,2968,0,0,0,0,0,0
$GC,8111,-0.79,-143.8,947.5,-9.9,404,8114,0.00,0.85,0.00,0.000,6,0.000,0.035,1365,3391,2968,0,0,0,0,0,0
$GC,8447,-0.79,-146.1,979.1,-9.5,415,8453,0.00,2.15,0.00,0.000,4,0.000,0.031,1364,1977,2968,0,0,0,0,0,0
$GC,8501,-0.79,-146.1,984.3,-9.2,416,8505,0.00,2.33,0.00,0.000,6,0.000,0.055,1354,3402,2968,0,0,0,0,0,0
$STATE,8664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8664,begin apogee
$GC,8671,-0.13,0.0,1001.5,10.7,422,8803,0.82,0.00,123.15,1.770,6,0.166,0.000,1580,3276,2473,0,0,0,0,1,0
$STATE,8804,end apogee,CONTROL_FINISHED_OK
$STATE,8804,begin climb
$GC,8807,0.79,146.1,1003.5,0.0,426,8974,0.90,0.00,158.25,1.737,6,0.071,0.000,1875,3276,1877,0,0,0,0,1,0
$GC,9266,0.79,146.1,919.8,20.0,441,9269,0.00,1.12,0.00,0.000,4,0.000,0.056,1876,3958,1870,0,0,0,0,0,0
$GC,9528,0.79,146.1,863.3,21.1,448,9532,0.00,1.05,0.00,0.000,6,0.000,0.031,1881,3263,1867,0,0,0,0,0,0
$GC,9849,0.79,146.1,799.4,20.1,459,9853,0.00,1.12,0.00,0.000,4,0.000,0.054,1881,3958,1865,0,0,0,0,0,0
$GC,10106,0.79,146.1,740.7,22.8,466,10110,0.00,1.02,0.00,0.000,6,0.000,0.030,1886,3273,1865,0,0,0,0,0,0
$GC,10426,0.79,146.1,674.0,20.8,477,10430,0.00,1.10,0.00,0.000,4,0.000,0.054,1886,3958,1863,0,0,0,0,0,0
$GC,10682,0.79,146.1,617.6,20.4,484,10688,0.00,1.00,0.00,0.000,6,0.000,0.030,1891,3284,1863,0,0,0,0,0,0
$GC,11003,0.79,146.1,554.6,19.2,495,11008,0.00,1.08,0.00,0.000,4,0.000,0.054,1892,3958,1862,0,0,0,0,0,0
$GC,11260,0.79,146.1,501.2,20.0,502,11264,0.00,1.02,0.00,0.000,6,0.000,0.029,1896,3267,1862,0,0,0,0,0,0
$GC,11581,0.79,146.1,443.6,17.9,513,11585,0.00,2.10,0.00,0.000,4,0.000,0.028,1907,1881,1861,0,0,0,0,0,0
$GC,11759,0.79,146.1,418.0,13.5,518,11763,0.00,2.28,0.00,0.000,6,0.000,0.047,1907,3290,1858,0,0,0,0,0,0
$GC,12077,0.79,146.1,361.1,18.7,532,12080,0.00,1.05,0.00,0.000,4,0.000,0.053,1907,3953,1858,0,0,0,0,0,0
$GC,12342,0.79,146.1,304.9,21.6,543,12347,0.08,1.00,0.00,0.000,6,0.200,0.030,1892,3278,1858,0,0,0,0,0,0
$GC,12661,0.79,146.1,246.9,18.1,559,12666,0.00,1.08,0.00,0.000,4,0.000,0.053,1891,3949,1858,0,0,0,0,0,0
$GC,12898,0.79,146.1,199.9,19.5,572,12909,0.00,1.00,0.00,0.000,6,0.000,0.029,1895,3274,1858,0,0,0,0,0,0
$GC,13220,0.79,146.1,144.6,16.9,593,13225,0.00,1.08,0.00,0.000,4,0.000,0.053,1895,3943,1858,0,0,0,0,0,0
$GC,13399,0.79,146.1,111.4,19.1,603,13403,0.00,0.98,0.00,0.000,6,0.000,0.030,1900,3284,1858,0,0,0,0,0,0
$GC,13753,0.79,146.1,53.9,14.3,656,13763,0.00,1.08,0.00,0.000,4,0.000,0.053,1900,3954,1858,0,0,0,0,0,0
$GC,13870,0.79,146.1,35.1,15.5,674,13879,0.00,1.00,0.00,0.000,6,0.000,0.029,1905,3277,1858,0,0,0,0,0,0
$STATE,14095,end climb,SURFACE_DEPTH_REACHED
$STATE,14095,begin surface coast
$FINISH,1.3,1.026094
$STATE,14127,end surface coast,CONTROL_FINISHED_OK
$STATE,14127,begin surface
$SM_CCo,14144,41.25,0.693,1,0,1533,230.09
$SM_GC,2.12,0.00,0.00,41.25,0.000,0.000,0.693,50,3413,1533,-4.93,0.37,230.09
$IRIDIUM_FIX,-4230.32,858.81,020313,090921
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.3,72.345
$10V_AH,9.7,53.095
$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,12.750,79.700,281.400,41.250,0.000,24.805,22.993,357.776,0.000,0.000,21.451,1861.608,9082.073,443.895,2508.604,892.721,33.374,1386.686,0.000,2290.193,0.000,1.012,0.000
$DEVICE_MAMPS,231.795,91.035,1770.210,693.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.981,1592.265,745.303,327.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,53832,713
$CAP_FILE_SIZE,122140,0
$CFSIZE,259252224,228343808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020313,181428,-4242.845,903.000,38,1.0,38,-25.2