version: 66.07
glider: 543
mission: 6
dive: 459
start: 3 3 113 3 44 27
data:
$ID,543
$MISSION,6
$DIVE,459
$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,-9210.4189
$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,51
$R_STBD_OVSHOOT,18
$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
$GPS1,030313,033404,-4241.216,908.985,39,0.8,39,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-64.5
$GPS2,030313,034330,-4241.252,909.101,17,1.9,17,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT4
$TGT_LATLONG,-4241.734,909.950
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.049,-0.166
$KALMAN_X,141337.3,288.6,-184.3,-49350.6,425.3
$KALMAN_Y,434760.8,431.1,28.3,-455995.3,1596.7
$MHEAD_RNG_PITCHd_Wd,188.9,1460,-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,-41.45,0.000,2,0.000,0.000,47,3401,2524,0,0,0,0,0,0
$GC,68,-0.77,-122.0,3.3,-3.7,5,95,5.57,0.90,-13.77,0.000,4,0.231,0.088,1374,3963,2972,0,0,0,0,0,0
$GC,287,-0.77,-122.0,35.5,-16.2,38,295,0.00,0.85,0.00,0.000,6,0.000,0.034,1374,3408,2974,0,0,0,0,0,0
$GC,538,-0.77,-122.0,68.7,-12.3,79,543,0.00,2.15,0.00,0.000,4,0.000,0.030,1374,1980,2975,0,0,0,0,0,0
$GC,609,-0.78,-128.8,75.8,-9.3,91,614,0.00,2.33,-0.25,0.000,6,0.000,0.055,1363,3409,3007,0,0,0,0,0,0
$GC,960,-0.78,-128.8,115.3,-12.2,137,964,0.00,0.85,0.00,0.000,4,0.000,0.057,1359,3949,3009,0,0,0,0,0,0
$GC,1085,-0.78,-128.8,132.1,-13.4,144,1088,0.00,0.82,0.00,0.000,6,0.000,0.034,1359,3400,3009,0,0,0,0,0,0
$GC,1419,-0.78,-128.8,175.0,-12.7,165,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3399,3010,0,0,0,0,0,0
$GC,1729,-0.78,-128.8,213.4,-12.2,185,1733,0.00,0.88,0.00,0.000,4,0.000,0.057,1355,3949,3010,0,0,0,0,0,0
$GC,1819,-0.78,-128.8,225.4,-13.3,190,1823,0.00,0.82,0.00,0.000,6,0.000,0.033,1355,3398,3010,0,0,0,0,0,0
$GC,2151,-0.78,-128.8,266.2,-12.0,209,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3398,3011,0,0,0,0,0,0
$GC,2460,-0.78,-128.8,303.4,-12.1,224,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3398,3011,0,0,0,0,0,0
$GC,2769,-0.78,-128.8,340.1,-12.2,239,2775,0.00,0.88,0.00,0.000,4,0.000,0.057,1351,3949,3011,0,0,0,0,0,0
$GC,2911,-0.78,-128.8,358.7,-13.3,245,2915,0.00,0.82,0.00,0.000,6,0.000,0.033,1351,3400,3011,0,0,0,0,0,0
$GC,3247,-0.78,-128.8,400.3,-12.3,261,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,1351,3400,3011,0,0,0,0,0,0
$GC,3551,-0.78,-128.8,438.3,-12.5,271,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1351,3400,3011,0,0,0,0,0,0
$GC,3858,-0.78,-128.8,477.0,-12.5,281,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,1350,3400,3011,0,0,0,0,0,0
$GC,4164,-0.78,-128.8,513.7,-12.0,291,4169,0.00,2.17,0.00,0.000,4,0.000,0.029,1351,1981,3011,0,0,0,0,0,0
$GC,4212,-0.78,-128.8,519.1,-10.9,292,4217,0.12,2.28,0.00,0.000,6,0.174,0.054,1370,3401,3011,0,0,0,0,0,0
$GC,4537,-0.78,-128.8,554.7,-11.0,303,4540,0.00,0.88,0.00,0.000,4,0.000,0.057,1367,3953,3010,0,0,0,0,0,0
$GC,4621,-0.78,-128.8,565.0,-11.9,305,4625,0.00,0.82,0.00,0.000,6,0.000,0.034,1367,3405,3010,0,0,0,0,0,0
$GC,4946,-0.78,-128.8,601.4,-11.0,316,4950,0.00,2.12,0.00,0.000,4,0.000,0.029,1368,1974,3010,0,0,0,0,0,0
$GC,4990,-0.78,-128.8,606.3,-10.4,317,4995,0.00,2.33,0.00,0.000,6,0.000,0.055,1357,3399,3010,0,0,0,0,0,0
$GC,5309,-0.78,-128.8,641.7,-11.3,328,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3399,3009,0,0,0,0,0,0
$GC,5616,-0.78,-128.8,676.5,-11.4,338,5620,0.00,0.88,0.00,0.000,4,0.000,0.058,1353,3951,3008,0,0,0,0,0,0
$GC,5696,-0.78,-128.8,686.6,-12.6,340,5700,0.00,0.82,0.00,0.000,6,0.000,0.034,1353,3404,3008,0,0,0,0,0,0
$GC,6027,-0.78,-128.8,727.6,-12.6,351,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3404,3007,0,0,0,0,0,0
$GC,6335,-0.78,-128.8,765.2,-12.5,361,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3403,3008,0,0,0,0,0,0
$GC,6638,-0.78,-128.8,804.0,-12.6,371,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3404,3006,0,0,0,0,0,0
$GC,6945,-0.78,-128.8,842.9,-12.4,381,6949,0.00,2.15,0.00,0.000,4,0.000,0.030,1352,1976,3006,0,0,0,0,0,0
$GC,7034,-0.78,-128.8,852.9,-10.8,383,7041,0.12,2.33,0.00,0.000,6,0.176,0.054,1371,3409,3006,0,0,0,0,0,0
$GC,7348,-0.78,-128.8,889.5,-11.7,394,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3409,3005,0,0,0,0,0,0
$GC,7655,-0.78,-128.8,923.6,-10.7,404,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3409,3005,0,0,0,0,0,0
$GC,7960,-0.78,-128.8,957.1,-11.1,414,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3409,3004,0,0,0,0,0,0
$GC,8266,-0.78,-128.8,994.2,-12.8,424,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3409,3003,0,0,0,0,0,0
$STATE,8326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8326,begin apogee
$GC,8333,-0.13,0.0,1002.0,12.9,426,8471,0.73,0.00,134.05,1.242,6,0.155,0.000,1578,3282,2473,0,0,0,0,0,0
$STATE,8472,end apogee,CONTROL_FINISHED_OK
$STATE,8472,begin climb
$GC,8475,0.78,128.8,1006.8,0.0,430,8624,0.88,2.50,134.77,1.743,4,0.073,0.028,1884,1861,1948,0,0,0,0,1,0
$GC,8640,0.78,128.8,986.1,16.3,435,8645,0.00,2.50,0.00,0.000,6,0.000,0.047,1884,3280,1946,0,0,0,0,0,0
$GC,8965,0.78,128.8,924.5,19.5,446,8968,0.00,1.08,0.00,0.000,4,0.000,0.055,1885,3950,1938,0,0,0,0,0,0
$GC,9175,0.78,128.8,876.4,24.4,452,9179,0.00,1.02,0.00,0.000,6,0.000,0.029,1890,3267,1937,0,0,0,0,0,0
$GC,9510,0.78,128.8,807.5,20.1,463,9514,0.00,1.10,0.00,0.000,4,0.000,0.053,1890,3954,1934,0,0,0,0,0,0
$GC,9589,0.78,128.8,789.9,22.7,465,9593,0.00,1.00,0.00,0.000,6,0.000,0.029,1894,3278,1934,0,0,0,0,0,0
$GC,9918,0.78,128.8,721.9,20.6,476,9922,0.00,1.08,0.00,0.000,4,0.000,0.054,1894,3949,1933,0,0,0,0,0,0
$GC,10157,0.78,128.8,667.5,22.6,483,10160,0.00,1.00,0.00,0.000,6,0.000,0.030,1899,3274,1933,0,0,0,0,0,0
$GC,10498,0.78,128.8,597.9,20.0,494,10501,0.00,1.10,0.00,0.000,4,0.000,0.052,1900,3959,1932,0,0,0,0,0,0
$GC,10665,0.78,128.8,562.0,22.6,498,10672,0.00,1.00,0.00,0.000,6,0.000,0.029,1904,3285,1932,0,0,0,0,0,0
$GC,10980,0.78,128.8,498.2,20.3,509,10984,0.00,1.08,0.00,0.000,4,0.000,0.052,1904,3958,1931,0,0,0,0,0,0
$GC,11092,0.78,128.8,473.8,20.9,512,11096,0.08,1.00,0.00,0.000,6,0.207,0.029,1888,3281,1931,0,0,0,0,0,0
$GC,11422,0.78,128.8,414.8,17.2,523,11425,0.00,1.08,0.00,0.000,4,0.000,0.053,1888,3952,1930,0,0,0,0,0,0
$GC,11680,0.78,128.8,365.4,18.0,533,11686,0.00,1.00,0.00,0.000,6,0.000,0.030,1892,3280,1930,0,0,0,0,0,0
$GC,12005,0.78,128.8,311.8,16.5,549,12010,0.00,1.08,0.00,0.000,4,0.000,0.054,1892,3958,1930,0,0,0,0,0,0
$GC,12267,0.78,128.8,264.0,17.6,560,12270,0.00,1.00,0.00,0.000,6,0.000,0.029,1896,3282,1930,0,0,0,0,0,0
$GC,12596,0.78,128.8,213.6,15.1,580,12599,0.00,1.08,0.00,0.000,4,0.000,0.054,1896,3952,1930,0,0,0,0,0,0
$GC,12862,0.78,128.8,167.9,17.2,595,12866,0.00,1.00,0.00,0.000,6,0.000,0.029,1901,3277,1930,0,0,0,0,0,0
$GC,13188,0.78,128.8,116.4,15.4,616,13192,0.00,1.08,0.00,0.000,4,0.000,0.054,1900,3948,1930,0,0,0,0,0,0
$GC,13452,0.78,128.8,70.0,17.8,650,13459,0.00,0.98,0.00,0.000,6,0.000,0.030,1904,3290,1930,0,0,0,0,0,0
$GC,13833,0.78,128.8,17.5,13.1,711,13841,0.00,1.05,0.00,0.000,4,0.000,0.052,1904,3952,1930,0,0,0,0,0,0
$STATE,13926,end climb,SURFACE_DEPTH_REACHED
$STATE,13927,begin surface coast
$FINISH,1.3,1.025594
$STATE,13946,end surface coast,CONTROL_FINISHED_OK
$STATE,13946,begin surface
$SM_CCo,13964,48.15,0.709,1,0,1534,230.09
$SM_GC,2.61,0.00,0.00,48.15,0.000,0.000,0.709,51,3373,1534,-4.93,-0.76,230.09
$IRIDIUM_FIX,-4227.40,904.14,020313,232350
$TT8_MAMPS,0.026215
$HUMID,57.91
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.3,72.782
$10V_AH,9.7,53.452
$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,12.475,53.875,268.825,48.150,0.000,25.200,28.732,321.622,0.000,0.000,19.839,1868.246,9050.489,367.565,2455.685,838.964,33.370,1261.484,0.000,2264.254,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,87.975,1743.435,709.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.119,1590.596,765.698,347.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,53745,728
$CAP_FILE_SIZE,113783,0
$CFSIZE,259252224,228134912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,073923,-4241.908,910.744,37,1.0,37,-25.2