version: 66.07
glider: 543
mission: 6
dive: 460
start: 3 3 113 7 49 8
data:
$ID,543
$MISSION,6
$DIVE,460
$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,-9213.8721
$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,67
$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
$GPS1,030313,073923,-4241.908,910.744,37,1.0,37,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-64.4
$GPS2,030313,074811,-4241.875,910.894,16,1.3,17,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT4
$TGT_LATLONG,-4241.734,909.950
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.012,-0.173
$KALMAN_X,141654.5,1025.8,277.6,-48434.9,-1161.4
$KALMAN_Y,436800.4,695.0,-71.2,-459350.9,2065.9
$MHEAD_RNG_PITCHd_Wd,209.1,1312,-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,-63.1,0.0,0.0,0,57,0.00,0.00,-34.33,0.000,2,0.000,0.000,51,3373,2330,0,0,0,0,0,0
$GC,61,-0.77,-120.0,3.2,-4.0,4,98,5.55,0.95,-22.45,0.000,4,0.230,0.083,1367,3953,2966,0,0,0,0,0,0
$GC,283,-0.77,-120.0,34.0,-16.2,37,290,0.00,0.80,0.00,0.000,6,0.000,0.034,1367,3424,2968,0,0,0,0,0,0
$GC,531,-0.77,-120.0,74.5,-15.5,78,540,0.00,2.20,0.00,0.000,4,0.000,0.028,1367,1977,2969,0,0,0,0,0,0
$GC,564,-0.77,-120.0,78.6,-14.2,83,571,0.00,2.35,0.00,0.000,6,0.000,0.056,1356,3402,2969,0,0,0,0,0,0
$GC,907,-0.77,-120.0,121.7,-12.1,123,913,0.00,0.88,0.00,0.000,4,0.000,0.056,1352,3958,2969,0,0,0,0,0,0
$GC,966,-0.77,-120.0,130.1,-14.1,126,971,0.00,0.85,0.00,0.000,6,0.000,0.034,1352,3396,2969,0,0,0,0,0,0
$GC,1294,-0.77,-120.0,173.4,-13.3,147,1298,0.00,2.10,0.00,0.000,4,0.000,0.029,1352,1980,2970,0,0,0,0,0,0
$GC,1374,-0.77,-120.0,183.4,-11.3,152,1379,0.15,2.30,0.00,0.000,6,0.176,0.054,1377,3403,2970,0,0,0,0,0,0
$GC,1706,-0.77,-120.0,220.5,-11.6,173,1710,0.00,0.88,0.00,0.000,4,0.000,0.057,1375,3958,2970,0,0,0,0,0,0
$GC,1796,-0.77,-120.0,233.0,-12.9,178,1800,0.00,0.82,0.00,0.000,6,0.000,0.034,1375,3408,2971,0,0,0,0,0,0
$GC,2116,-0.77,-120.0,269.4,-11.3,196,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3408,2970,0,0,0,0,0,0
$GC,2426,-0.77,-120.0,303.6,-11.3,211,2432,0.00,2.15,0.00,0.000,4,0.000,0.028,1375,1983,2971,0,0,0,0,0,0
$GC,2479,-0.77,-120.0,309.8,-10.2,213,2483,0.00,2.30,0.00,0.000,6,0.000,0.053,1364,3406,2971,0,0,0,0,0,0
$GC,2802,-0.77,-120.0,347.7,-12.0,229,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3406,2971,0,0,0,0,0,0
$GC,3112,-0.77,-120.0,384.6,-12.1,244,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3406,2971,0,0,0,0,0,0
$GC,3438,-0.77,-120.0,424.1,-12.4,257,3442,0.00,0.88,0.00,0.000,4,0.000,0.057,1360,3957,2971,0,0,0,0,0,0
$GC,3509,-0.77,-120.0,433.2,-13.1,259,3513,0.00,0.85,0.00,0.000,6,0.000,0.034,1360,3392,2971,0,0,0,0,0,0
$GC,3852,-0.77,-120.0,477.2,-12.6,270,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3391,2972,0,0,0,0,0,0
$GC,4158,-0.77,-120.0,516.3,-12.7,280,4162,0.00,0.88,0.00,0.000,4,0.000,0.057,1356,3941,2971,0,0,0,0,0,0
$GC,4213,-0.77,-120.0,524.2,-13.9,281,4217,0.00,0.82,0.00,0.000,6,0.000,0.034,1356,3395,2972,0,0,0,0,0,0
$GC,4533,-0.77,-120.0,562.5,-11.9,292,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3395,2971,0,0,0,0,0,0
$GC,4839,-0.77,-120.0,597.1,-11.2,302,4842,0.00,0.88,0.00,0.000,4,0.000,0.057,1352,3944,2970,0,0,0,0,0,0
$GC,4917,-0.77,-120.0,607.2,-13.1,304,4920,0.00,0.82,0.00,0.000,6,0.000,0.033,1352,3396,2971,0,0,0,0,0,0
$GC,5247,-0.77,-120.0,646.4,-11.9,315,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3396,2970,0,0,0,0,0,0
$GC,5555,-0.77,-120.0,683.5,-12.2,325,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3396,2970,0,0,0,0,0,0
$GC,5859,-0.77,-120.0,721.8,-12.7,335,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3396,2970,0,0,0,0,0,0
$GC,6166,-0.77,-120.0,761.8,-13.2,345,6170,0.00,2.12,0.00,0.000,4,0.000,0.030,1352,1979,2969,0,0,0,0,0,0
$GC,6211,-0.77,-120.0,767.8,-12.6,346,6216,0.12,2.30,0.00,0.000,6,0.178,0.052,1371,3399,2968,0,0,0,0,0,0
$GC,6530,-0.77,-120.0,805.5,-11.9,357,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3399,2967,0,0,0,0,0,0
$GC,6837,-0.77,-120.0,840.9,-11.5,367,6840,0.00,0.88,0.00,0.000,4,0.000,0.059,1369,3951,2967,0,0,0,0,0,0
$GC,6892,-0.77,-120.0,847.9,-12.7,368,6898,0.00,0.82,0.00,0.000,6,0.000,0.035,1369,3405,2967,0,0,0,0,0,0
$GC,7212,-0.77,-120.0,883.5,-11.3,379,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3405,2966,0,0,0,0,0,0
$GC,7519,-0.77,-120.0,917.8,-11.1,389,7523,0.00,2.15,0.00,0.000,4,0.000,0.029,1369,1976,2966,0,0,0,0,0,0
$GC,7619,-0.77,-123.4,928.3,-9.6,392,7623,0.00,2.33,0.00,0.000,6,0.000,0.053,1358,3407,2966,0,0,0,0,0,0
$GC,7949,-0.77,-123.4,964.5,-11.1,403,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3407,2965,0,0,0,0,0,0
$GC,8256,-0.77,-123.4,997.2,-10.3,413,8260,0.00,2.15,0.00,0.000,4,0.000,0.029,1358,1970,2964,0,0,0,0,0,0
$STATE,8282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8282,begin apogee
$GC,8291,-0.13,0.0,1000.1,9.9,414,8419,0.82,0.00,124.95,1.246,6,0.161,0.000,1577,3284,2473,0,0,0,0,0,0
$STATE,8420,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8423,0.77,123.4,1001.6,0.0,418,8560,0.88,1.15,128.82,1.210,4,0.076,0.051,1871,3950,1966,0,0,0,0,0,0
$GC,8681,0.77,123.4,954.9,23.6,425,8688,0.00,1.08,0.00,0.000,6,0.000,0.029,1876,3273,1955,0,0,0,0,0,0
$GC,8994,0.77,123.4,890.8,19.9,436,8998,0.00,1.10,0.00,0.000,4,0.000,0.054,1876,3953,1950,0,0,0,0,0,0
$GC,9252,0.77,123.4,835.4,20.1,443,9256,0.00,1.02,0.00,0.000,6,0.000,0.031,1881,3273,1949,0,0,0,0,0,0
$GC,9571,0.77,123.4,776.9,17.9,454,9574,0.00,1.10,0.00,0.000,4,0.000,0.054,1881,3957,1947,0,0,0,0,0,0
$GC,9785,0.77,123.4,733.0,20.5,460,9789,0.00,1.00,0.00,0.000,6,0.000,0.030,1886,3283,1946,0,0,0,0,0,0
$GC,10115,0.77,123.4,672.5,18.0,471,10118,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3950,1945,0,0,0,0,0,0
$GC,10300,0.77,123.4,636.4,20.4,476,10303,0.00,1.00,0.00,0.000,6,0.000,0.030,1891,3275,1945,0,0,0,0,0,0
$GC,10624,0.77,123.4,579.2,17.5,487,10628,0.00,1.10,0.00,0.000,4,0.000,0.054,1891,3958,1944,0,0,0,0,0,0
$GC,10883,0.77,123.4,528.4,19.5,494,10886,0.00,1.00,0.00,0.000,6,0.000,0.031,1896,3287,1944,0,0,0,0,0,0
$GC,11201,0.77,123.4,472.3,17.6,505,11205,0.00,1.08,0.00,0.000,4,0.000,0.054,1896,3958,1943,0,0,0,0,0,0
$GC,11458,0.77,123.4,423.5,18.7,512,11463,0.00,1.00,0.00,0.000,6,0.000,0.031,1901,3285,1943,0,0,0,0,0,0
$GC,11780,0.77,123.4,367.8,17.0,526,11784,0.00,1.08,0.00,0.000,4,0.000,0.053,1901,3957,1943,0,0,0,0,0,0
$GC,12045,0.77,123.4,318.0,18.3,537,12049,0.00,1.00,0.00,0.000,6,0.000,0.030,1906,3281,1943,0,0,0,0,0,0
$GC,12368,0.77,123.4,266.0,15.8,553,12374,0.00,2.15,0.00,0.000,4,0.000,0.028,1917,1870,1942,0,0,0,0,0,0
$GC,12497,0.77,123.4,248.7,12.3,559,12502,0.15,2.28,0.00,0.000,6,0.194,0.047,1883,3289,1941,0,0,0,0,0,0
$GC,12822,0.77,123.4,203.4,14.4,579,12826,0.00,1.05,0.00,0.000,4,0.000,0.053,1882,3950,1941,0,0,0,0,0,0
$GC,13083,0.77,123.4,159.6,15.7,594,13086,0.00,1.00,0.00,0.000,6,0.000,0.030,1885,3272,1940,0,0,0,0,0,0
$GC,13412,0.77,123.4,113.6,13.8,615,13415,0.00,1.08,0.00,0.000,4,0.000,0.053,1886,3942,1941,0,0,0,0,0,0
$GC,13672,0.77,123.4,71.6,15.8,651,13679,0.00,0.98,0.00,0.000,6,0.000,0.030,1891,3284,1941,0,0,0,0,0,0
$GC,14044,0.77,123.4,21.5,13.8,712,14054,0.00,2.15,0.00,0.000,4,0.000,0.027,1902,1866,1940,0,0,0,0,0,0
$GC,14194,0.77,123.4,3.9,12.0,734,14203,0.00,2.28,0.00,0.000,6,0.000,0.047,1902,3275,1940,0,0,0,0,0,0
$STATE,14209,end climb,SURFACE_DEPTH_REACHED
$STATE,14209,begin surface coast
$FINISH,1.3,1.025006
$STATE,14243,end surface coast,CONTROL_FINISHED_OK
$STATE,14243,begin surface
$SM_CCo,14259,49.95,0.711,1,0,1534,230.09
$SM_GC,2.76,0.00,0.00,49.95,0.000,0.000,0.711,53,3410,1534,-4.92,0.31,230.09
$IRIDIUM_FIX,-4227.40,904.14,020313,232350
$TT8_MAMPS,0.025466
$HUMID,57.36
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.0,72.900
$10V_AH,9.7,53.563
$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,12.800,66.550,253.775,49.950,0.000,33.392,21.389,298.308,0.000,0.000,18.800,1922.463,9134.976,357.341,2542.145,884.501,33.364,1310.517,0.000,2369.215,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,82.620,1246.185,711.450,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.619,1636.666,802.789,353.033,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,53777,741
$CAP_FILE_SIZE,119542,0
$CFSIZE,259252224,228065280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,030313,114905,-4242.620,912.119,41,1.0,41,-25.3