version: 66.07
glider: 543
mission: 6
dive: 461
start: 3 3 113 11 59 14
data:
$ID,543
$MISSION,6
$DIVE,461
$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,-9217.3086
$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,52
$R_STBD_OVSHOOT,30
$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
$GPS1,030313,114905,-4242.620,912.119,41,1.0,41,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.3
$GPS2,030313,115817,-4242.567,912.218,19,0.9,20,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT7
$TGT_LATLONG,-4240.136,917.410
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.256,0.045
$KALMAN_X,144105.5,834.2,238.0,-48860.8,61.5
$KALMAN_Y,439338.9,109.2,159.6,-462813.9,2377.6
$MHEAD_RNG_PITCHd_Wd,105.3,8383,-17.5,-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,-0.54,-146.1,0.0,0.0,0,64,0.00,0.00,-41.53,0.000,2,0.000,0.000,53,3411,2532,0,0,0,0,0,0
$GC,68,-0.54,-146.1,3.4,-4.0,5,105,5.88,2.22,-16.40,0.000,4,0.233,0.044,1445,1985,3072,0,0,0,0,0,0
$GC,211,-0.54,-146.1,16.7,-10.3,25,221,0.00,2.30,0.00,0.000,6,0.000,0.054,1435,3383,3074,0,0,0,0,0,0
$GC,306,-0.54,-146.1,27.1,-11.2,38,314,0.00,0.90,0.00,0.000,4,0.000,0.058,1431,3943,3074,0,0,0,0,0,0
$GC,369,-0.54,-146.1,35.7,-12.0,48,380,0.00,0.80,0.00,0.000,6,0.000,0.034,1431,3418,3075,0,0,0,0,0,0
$GC,624,-0.54,-146.1,64.8,-10.1,89,628,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3418,3075,0,0,0,0,0,0
$GC,979,-0.54,-146.1,97.2,-8.7,150,990,0.00,0.85,0.00,0.000,4,0.000,0.060,1427,3946,3076,0,0,0,0,0,0
$GC,1102,-0.54,-146.1,108.6,-9.7,160,1110,0.00,0.82,0.00,0.000,6,0.000,0.034,1427,3401,3076,0,0,0,0,0,0
$GC,1425,-0.54,-146.1,138.9,-9.7,181,1429,0.00,0.88,0.00,0.000,4,0.000,0.059,1423,3947,3077,0,0,0,0,0,0
$GC,1515,-0.54,-146.1,148.4,-10.1,186,1519,0.08,0.82,0.00,0.000,6,0.146,0.034,1447,3401,3077,0,0,0,0,0,0
$GC,1846,-0.54,-146.1,173.7,-7.6,207,1850,0.00,2.15,0.00,0.000,4,0.000,0.028,1447,1975,3077,0,0,0,0,0,0
$GC,1896,-0.54,-146.1,178.0,-7.2,210,1901,0.00,2.33,0.00,0.000,6,0.000,0.053,1437,3409,3077,0,0,0,0,0,0
$GC,2218,-0.54,-146.1,204.2,-8.7,230,2222,0.00,0.85,0.00,0.000,4,0.000,0.057,1433,3949,3077,0,0,0,0,0,0
$GC,2349,-0.54,-146.1,216.9,-9.6,237,2356,0.00,0.82,0.00,0.000,6,0.000,0.034,1433,3398,3077,0,0,0,0,0,0
$GC,2669,-0.54,-146.1,245.5,-8.8,258,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3398,3077,0,0,0,0,0,0
$GC,2980,-0.54,-146.1,272.7,-8.6,274,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3398,3077,0,0,0,0,0,0
$GC,3291,-0.54,-146.1,297.0,-7.5,289,3296,0.00,0.90,0.00,0.000,4,0.000,0.057,1429,3958,3077,0,0,0,0,0,0
$GC,3363,-0.54,-146.1,302.9,-8.4,292,3368,0.00,0.82,0.00,0.000,6,0.000,0.034,1429,3408,3077,0,0,0,0,0,0
$GC,3699,-0.54,-146.1,328.1,-7.4,308,3703,0.00,2.12,0.00,0.000,4,0.000,0.028,1430,1979,3077,0,0,0,0,0,0
$GC,3767,-0.54,-146.1,332.9,-7.1,311,3772,0.12,2.30,0.00,0.000,6,0.148,0.051,1451,3405,3078,0,0,0,0,0,0
$GC,4100,-0.54,-146.1,354.4,-6.7,327,4105,0.00,0.85,0.00,0.000,4,0.000,0.057,1448,3942,3077,0,0,0,0,0,0
$GC,4196,-0.54,-146.1,361.7,-7.4,331,4199,0.00,0.82,0.00,0.000,6,0.000,0.034,1449,3393,3077,0,0,0,0,0,0
$GC,4531,-0.54,-146.1,384.6,-6.5,347,4536,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3942,3077,0,0,0,0,0,0
$GC,4583,-0.54,-146.1,388.2,-7.6,349,4586,0.00,0.82,0.00,0.000,6,0.000,0.034,1445,3397,3077,0,0,0,0,0,0
$GC,4904,-0.54,-146.1,413.3,-8.0,362,4908,0.00,0.88,0.00,0.000,4,0.000,0.058,1441,3944,3077,0,0,0,0,0,0
$GC,4950,-0.54,-146.1,417.1,-7.7,363,4953,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3400,3077,0,0,0,0,0,0
$GC,5280,-0.54,-146.1,442.3,-7.4,374,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3399,3077,0,0,0,0,0,0
$GC,5587,-0.54,-146.1,464.6,-7.3,384,5590,0.00,0.88,0.00,0.000,4,0.000,0.059,1437,3943,3077,0,0,0,0,0,0
$GC,5682,-0.54,-146.1,472.6,-8.4,386,5689,0.00,0.82,0.00,0.000,6,0.000,0.034,1437,3400,3077,0,0,0,0,0,0
$GC,5996,-0.54,-146.1,497.1,-7.8,397,6000,0.00,2.15,0.00,0.000,4,0.000,0.028,1437,1973,3077,0,0,0,0,0,0
$GC,6029,-0.54,-146.1,499.9,-7.7,398,6033,0.00,2.33,0.00,0.000,6,0.000,0.052,1426,3408,3077,0,0,0,0,0,0
$GC,6360,-0.54,-146.1,527.3,-8.3,409,6363,0.00,0.85,0.00,0.000,4,0.000,0.057,1422,3943,3077,0,0,0,0,0,0
$GC,6535,-0.54,-146.1,543.3,-9.2,414,6539,0.08,0.82,0.00,0.000,6,0.139,0.034,1446,3400,3076,0,0,0,0,0,0
$GC,6871,-0.54,-146.1,565.7,-6.5,425,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3400,3076,0,0,0,0,0,0
$GC,7176,-0.54,-146.1,585.2,-6.4,435,7180,0.00,0.90,0.00,0.000,4,0.000,0.060,1443,3944,3075,0,0,0,0,0,0
$GC,7251,-0.54,-146.1,590.7,-8.0,437,7255,0.00,0.82,0.00,0.000,6,0.000,0.035,1443,3402,3075,0,0,0,0,0,0
$GC,7587,-0.54,-146.1,615.7,-7.9,448,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3402,3074,0,0,0,0,0,0
$GC,7894,-0.54,-146.1,640.7,-8.3,458,7898,0.00,2.12,0.00,0.000,4,0.000,0.028,1443,1975,3074,0,0,0,0,0,0
$GC,7927,-0.54,-146.1,643.7,-7.9,459,7931,0.00,2.33,0.00,0.000,6,0.000,0.051,1432,3411,3074,0,0,0,0,0,0
$GC,8258,-0.54,-146.1,670.6,-7.8,470,8261,0.00,0.85,0.00,0.000,4,0.000,0.058,1428,3949,3073,0,0,0,0,0,0
$GC,8302,-0.54,-146.1,674.4,-8.2,471,8306,0.00,0.82,0.00,0.000,6,0.000,0.034,1428,3401,3073,0,0,0,0,0,0
$GC,8633,-0.54,-146.1,699.4,-7.4,482,8638,0.00,2.15,0.00,0.000,4,0.000,0.028,1428,1972,3072,0,0,0,0,0,0
$GC,8681,-0.54,-146.1,702.9,-7.1,483,8686,0.12,2.33,0.00,0.000,6,0.150,0.052,1450,3411,3072,0,0,0,0,0,0
$GC,9007,-0.54,-146.1,723.1,-6.4,494,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3411,3071,0,0,0,0,0,0
$GC,9314,-0.54,-146.1,744.1,-6.9,504,9320,0.00,2.17,0.00,0.000,4,0.000,0.029,1450,1973,3071,0,0,0,0,0,0
$GC,9354,-0.54,-146.1,747.3,-6.8,505,9360,0.00,2.33,0.00,0.000,6,0.000,0.053,1441,3397,3071,0,0,0,0,0,0
$GC,9692,-0.54,-146.1,771.7,-7.3,516,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3397,3071,0,0,0,0,0,0
$GC,9998,-0.54,-146.1,795.7,-8.0,526,10003,0.00,2.15,0.00,0.000,4,0.000,0.029,1441,1975,3070,0,0,0,0,0,0
$GC,10083,-0.54,-146.1,802.9,-7.6,528,10087,0.00,2.33,0.00,0.000,6,0.000,0.053,1430,3409,3070,0,0,0,0,0,0
$GC,10402,-0.54,-146.1,830.2,-8.6,539,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3409,3070,0,0,0,0,0,0
$STATE,10460,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10460,begin apogee
$GC,10467,-0.13,0.0,835.4,8.7,541,10621,0.50,0.00,145.15,1.685,6,0.132,0.000,1579,3280,2473,0,0,0,0,1,0
$STATE,10622,end apogee,CONTROL_FINISHED_OK
$STATE,10622,begin climb
$GC,10625,0.54,146.1,840.5,0.0,546,10795,0.70,0.00,154.38,1.637,6,0.077,0.000,1799,3280,1878,0,0,0,0,1,0
$GC,11100,0.54,146.1,784.5,13.7,562,11103,0.00,1.10,0.00,0.000,4,0.000,0.057,1799,3948,1869,0,0,0,0,0,0
$GC,11357,0.54,146.1,744.0,16.2,569,11363,0.00,1.02,0.00,0.000,6,0.000,0.032,1804,3270,1868,0,0,0,0,0,0
$GC,11677,0.54,146.1,700.0,13.2,580,11683,0.00,1.10,0.00,0.000,4,0.000,0.056,1804,3949,1866,0,0,0,0,0,0
$GC,11937,0.54,146.1,662.0,13.5,587,11940,0.00,1.00,0.00,0.000,6,0.000,0.031,1809,3278,1865,0,0,0,0,0,0
$GC,12256,0.54,146.1,622.2,12.4,598,12260,0.00,2.12,0.00,0.000,4,0.000,0.028,1820,1864,1865,0,0,0,0,0,0
$GC,12430,0.54,146.1,604.4,10.1,603,12434,0.00,2.28,0.00,0.000,6,0.000,0.049,1820,3281,1862,0,0,0,0,0,0
$GC,12754,0.54,146.1,565.0,12.0,614,12758,0.00,2.15,0.00,0.000,4,0.000,0.028,1831,1854,1862,0,0,0,0,0,0
$GC,12938,0.54,152.8,546.1,9.7,619,12950,0.00,2.30,3.58,1.115,6,0.000,0.048,1831,3286,1850,0,0,0,0,0,0
$GC,13257,0.54,152.8,503.1,13.8,630,13260,0.00,1.05,0.00,0.000,4,0.000,0.055,1831,3952,1851,0,0,0,0,0,0
$GC,13431,0.54,152.8,476.2,15.6,635,13435,0.10,1.00,0.00,0.000,6,0.177,0.030,1807,3273,1851,0,0,0,0,0,0
$GC,13773,0.54,152.8,432.5,12.4,646,13776,0.00,1.08,0.00,0.000,4,0.000,0.054,1807,3949,1851,0,0,0,0,0,0
$GC,13943,0.54,152.8,408.8,15.1,651,13947,0.00,0.98,0.00,0.000,6,0.000,0.030,1811,3288,1851,0,0,0,0,0,0
$GC,14269,0.54,152.8,365.6,13.5,665,14275,0.00,1.05,0.00,0.000,4,0.000,0.055,1811,3950,1851,0,0,0,0,0,0
$GC,14470,0.54,152.8,335.5,13.9,673,14479,0.00,1.00,0.00,0.000,6,0.000,0.030,1816,3274,1851,0,0,0,0,0,0
$GC,14788,0.54,152.8,292.3,13.6,689,14794,0.00,1.08,0.00,0.000,4,0.000,0.055,1816,3950,1851,0,0,0,0,0,0
$GC,14946,0.54,152.8,269.2,14.0,695,14953,0.00,0.98,0.00,0.000,6,0.000,0.029,1821,3287,1851,0,0,0,0,0,0
$GC,15271,0.54,152.8,226.6,12.5,714,15275,0.00,1.05,0.00,0.000,4,0.000,0.054,1821,3950,1851,0,0,0,0,0,0
$GC,15381,0.54,152.8,211.7,13.7,720,15384,0.00,1.00,0.00,0.000,6,0.000,0.029,1826,3272,1851,0,0,0,0,0,0
$GC,15714,0.54,152.8,170.0,12.4,741,15719,0.00,1.08,0.00,0.000,4,0.000,0.054,1826,3946,1851,0,0,0,0,0,0
$GC,15890,0.54,152.8,146.6,13.7,750,15898,0.00,1.00,0.00,0.000,6,0.000,0.029,1831,3271,1850,0,0,0,0,0,0
$GC,16212,0.54,152.8,108.1,11.9,771,16217,0.00,1.08,0.00,0.000,4,0.000,0.053,1831,3949,1851,0,0,0,0,0,0
$GC,16374,0.54,152.8,85.2,14.1,790,16383,0.08,0.98,0.00,0.000,6,0.173,0.029,1813,3282,1851,0,0,0,0,0,0
$GC,16741,0.57,204.5,48.4,7.6,851,16794,0.00,2.20,47.17,0.651,4,0.000,0.027,1822,1879,1636,0,0,0,0,0,0
$GC,16953,0.59,224.0,29.9,9.1,883,16972,0.00,2.28,12.40,0.675,6,0.000,0.047,1822,3275,1557,0,0,0,0,0,0
$GC,17055,0.59,224.0,19.5,10.8,897,17065,0.00,1.08,0.00,0.000,4,0.000,0.055,1822,3948,1553,0,0,0,0,0,0
$GC,17133,0.59,224.0,10.2,12.9,908,17143,0.00,0.98,0.00,0.000,6,0.000,0.030,1827,3294,1552,0,0,0,0,0,0
$STATE,17200,end climb,SURFACE_DEPTH_REACHED
$STATE,17200,begin surface coast
$FINISH,1.1,1.025994
$STATE,17234,end surface coast,CONTROL_FINISHED_OK
$STATE,17234,begin surface
$SM_CCo,17250,1.27,0.217,0,0,1532,230.09
$SM_GC,1.91,0.00,0.00,1.27,0.000,0.000,0.217,43,3411,1532,-4.95,0.34,230.09
$IRIDIUM_FIX,-4227.40,913.29,030313,070751
$TT8_MAMPS,0.025466
$HUMID,57.48
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,21.4,73.073
$10V_AH,9.6,53.702
$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,12.375,90.450,362.675,1.275,0.000,25.660,20.273,318.369,0.000,0.000,21.742,2358.134,10797.529,477.818,3053.972,1113.810,33.376,1663.238,0.000,2956.423,0.000,1.012,0.000
$DEVICE_MAMPS,232.560,78.795,1685.295,217.260,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.082,2082.656,1038.663,469.748,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,67081,923
$CAP_FILE_SIZE,152726,0
$CFSIZE,259252224,227950592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,164804,-4241.220,914.648,36,1.0,36,-25.3