version: 66.07
glider: 543
mission: 6
dive: 462
start: 3 3 113 17 3 50
data:
$ID,543
$MISSION,6
$DIVE,462
$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,-9220.793
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,030313,164804,-4241.220,914.648,36,1.0,36,-25.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.6
$GPS2,030313,170253,-4241.259,914.663,15,0.9,16,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT7
$TGT_LATLONG,-4240.136,917.410
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.150,-0.088
$KALMAN_X,144096.9,-357.2,-427.2,-43626.5,803.2
$KALMAN_Y,441974.9,-689.1,-205.5,-461857.0,3791.8
$MHEAD_RNG_PITCHd_Wd,145.6,4279,-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,-41.38,0.000,2,0.000,0.000,42,3410,2533,0,0,0,0,0,0
$GC,68,-0.77,-118.0,3.3,-4.2,5,95,5.62,2.17,-12.95,0.000,4,0.233,0.042,1368,1987,2955,0,0,0,0,0,0
$GC,285,-0.77,-118.0,29.1,-12.5,37,295,0.00,2.30,0.00,0.000,6,0.000,0.052,1359,3391,2959,0,0,0,0,0,0
$GC,370,-0.77,-118.0,41.8,-15.2,50,379,0.00,0.90,0.00,0.000,4,0.000,0.055,1355,3957,2959,0,0,0,0,0,0
$GC,431,-0.77,-118.0,51.3,-16.6,59,438,0.00,0.82,0.00,0.000,6,0.000,0.033,1355,3411,2959,0,0,0,0,0,0
$GC,671,-0.77,-118.0,86.0,-13.4,100,678,0.00,2.17,0.00,0.000,4,0.000,0.029,1355,1976,2959,0,0,0,0,0,0
$GC,705,-0.77,-118.0,90.8,-13.6,105,712,0.10,2.35,0.00,0.000,6,0.155,0.059,1373,3397,2959,0,0,0,0,0,0
$GC,1032,-0.77,-118.0,127.6,-11.5,134,1036,0.00,2.12,0.00,0.000,4,0.000,0.028,1373,1981,2960,0,0,0,0,0,0
$GC,1073,-0.77,-118.0,132.3,-10.8,136,1081,0.00,2.35,0.00,0.000,6,0.000,0.058,1364,3402,2960,0,0,0,0,0,0
$GC,1396,-0.77,-118.0,170.9,-12.1,157,1400,0.00,0.88,0.00,0.000,4,0.000,0.057,1360,3957,2960,0,0,0,0,0,0
$GC,1558,-0.77,-118.0,192.7,-13.3,166,1563,0.00,0.85,0.00,0.000,6,0.000,0.033,1360,3390,2960,0,0,0,0,0,0
$GC,1893,-0.77,-118.0,231.9,-11.6,187,1897,0.00,2.10,0.00,0.000,4,0.000,0.028,1360,1981,2960,0,0,0,0,0,0
$GC,1973,-0.77,-118.1,240.6,-10.0,192,1978,0.12,2.33,0.00,0.000,6,0.175,0.054,1378,3412,2961,0,0,0,0,0,0
$GC,2293,-0.77,-118.1,274.4,-10.7,209,2299,0.00,0.85,0.00,0.000,4,0.000,0.057,1376,3954,2961,0,0,0,0,0,0
$GC,2346,-0.77,-118.1,280.6,-11.0,211,2349,0.00,0.82,0.00,0.000,6,0.000,0.033,1376,3405,2961,0,0,0,0,0,0
$GC,2676,-0.77,-118.1,314.9,-10.6,227,2681,0.00,0.88,0.00,0.000,4,0.000,0.057,1372,3954,2961,0,0,0,0,0,0
$GC,2740,-0.77,-118.1,322.7,-11.8,229,2746,0.00,0.85,0.00,0.000,6,0.000,0.033,1372,3386,2961,0,0,0,0,0,0
$GC,3058,-0.77,-118.1,357.3,-11.4,245,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3386,2961,0,0,0,0,0,0
$GC,3367,-0.77,-118.1,392.9,-11.4,260,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3386,2961,0,0,0,0,0,0
$GC,3672,-0.77,-118.1,427.8,-11.2,271,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3386,2961,0,0,0,0,0,0
$GC,3978,-0.77,-118.1,462.1,-11.2,281,3982,0.00,0.90,0.00,0.000,4,0.000,0.057,1368,3950,2960,0,0,0,0,0,0
$GC,4040,-0.77,-118.1,470.1,-13.3,282,4048,0.00,0.82,0.00,0.000,6,0.000,0.034,1368,3405,2961,0,0,0,0,0,0
$GC,4354,-0.77,-118.1,506.3,-11.5,293,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3404,2960,0,0,0,0,0,0
$GC,4660,-0.77,-118.1,540.7,-11.0,303,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3404,2960,0,0,0,0,0,0
$GC,4968,-0.77,-118.1,572.3,-10.0,313,4972,0.00,2.15,0.00,0.000,4,0.000,0.028,1367,1976,2960,0,0,0,0,0,0
$GC,5012,-0.77,-123.8,577.1,-9.4,314,5017,0.00,2.33,0.00,0.000,6,0.000,0.051,1357,3412,2960,0,0,0,0,0,0
$GC,5331,-0.77,-123.8,610.3,-10.6,325,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3412,2959,0,0,0,0,0,0
$GC,5639,-0.77,-123.8,644.0,-11.2,335,5642,0.00,0.85,0.00,0.000,4,0.000,0.058,1353,3949,2958,0,0,0,0,0,0
$GC,5727,-0.77,-123.8,654.9,-12.3,337,5731,0.00,0.82,0.00,0.000,6,0.000,0.034,1353,3403,2958,0,0,0,0,0,0
$GC,6046,-0.77,-123.8,691.1,-11.6,348,6050,0.00,2.15,0.00,0.000,4,0.000,0.028,1353,1972,2957,0,0,0,0,0,0
$GC,6177,-0.77,-123.8,705.7,-10.8,352,6183,0.10,2.33,0.00,0.000,6,0.155,0.051,1371,3394,2957,0,0,0,0,0,0
$GC,6520,-0.77,-123.8,746.9,-11.9,363,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3391,2956,0,0,0,0,0,0
$GC,6828,-0.77,-123.8,780.9,-10.8,373,6832,0.00,2.12,0.00,0.000,4,0.000,0.029,1371,1979,2955,0,0,0,0,0,0
$GC,6866,-0.78,-128.7,785.1,-9.5,374,6871,0.00,2.33,0.00,0.000,6,0.000,0.055,1362,3402,2956,0,0,0,0,0,0
$GC,7190,-0.78,-128.7,819.7,-11.0,385,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3402,2955,0,0,0,0,0,0
$GC,7498,-0.78,-128.7,853.3,-11.0,395,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3402,2954,0,0,0,0,0,0
$GC,7803,-0.78,-128.7,886.6,-10.6,405,7808,0.00,0.88,0.00,0.000,4,0.000,0.058,1358,3953,2953,0,0,0,0,0,0
$GC,7899,-0.78,-128.7,898.3,-12.2,407,7908,0.00,0.85,0.00,0.000,6,0.000,0.035,1358,3393,2953,0,0,0,0,0,0
$GC,8212,-0.78,-128.7,933.6,-11.4,418,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3393,2953,0,0,0,0,0,0
$GC,8518,-0.78,-128.7,969.4,-11.7,428,8522,0.00,2.12,0.00,0.000,4,0.000,0.029,1357,1978,2952,0,0,0,0,0,0
$GC,8588,-0.78,-128.7,977.1,-10.6,430,8593,0.12,2.33,0.00,0.000,6,0.178,0.054,1376,3404,2952,0,0,0,0,0,0
$STATE,8793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8793,begin apogee
$GC,8801,-0.13,0.0,1000.3,11.4,437,8926,0.73,0.00,121.93,1.222,6,0.156,0.000,1582,3278,2473,0,0,0,0,0,0
$STATE,8928,end apogee,CONTROL_FINISHED_OK
$STATE,8928,begin climb
$GC,8931,0.78,128.7,1004.0,0.0,441,9069,0.88,0.00,134.82,1.190,6,0.072,0.000,1874,3278,1948,0,0,0,0,0,0
$GC,9373,0.78,128.7,926.9,20.0,456,9376,0.00,1.10,0.00,0.000,4,0.000,0.056,1874,3948,1928,0,0,0,0,0,0
$GC,9564,0.78,128.7,885.6,21.0,461,9568,0.00,1.02,0.00,0.000,6,0.000,0.031,1879,3273,1927,0,0,0,0,0,0
$GC,9884,0.78,128.7,825.7,18.2,472,9888,0.00,1.10,0.00,0.000,4,0.000,0.054,1880,3953,1925,0,0,0,0,0,0
$GC,10144,0.78,128.7,773.5,19.4,479,10147,0.00,1.02,0.00,0.000,6,0.000,0.031,1884,3269,1924,0,0,0,0,0,0
$GC,10465,0.78,128.7,715.1,18.1,490,10468,0.00,1.10,0.00,0.000,4,0.000,0.055,1884,3951,1922,0,0,0,0,0,0
$GC,10722,0.78,128.7,662.3,21.0,497,10726,0.00,1.00,0.00,0.000,6,0.000,0.030,1889,3278,1922,0,0,0,0,0,0
$GC,11043,0.78,128.7,603.5,18.4,508,11046,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3950,1921,0,0,0,0,0,0
$GC,11300,0.78,128.7,550.1,20.1,515,11304,0.00,1.00,0.00,0.000,6,0.000,0.031,1895,3276,1921,0,0,0,0,0,0
$GC,11618,0.78,128.7,491.8,17.7,526,11622,0.00,1.10,0.00,0.000,4,0.000,0.054,1895,3958,1921,0,0,0,0,0,0
$GC,11877,0.78,128.7,440.8,20.3,533,11882,0.00,1.02,0.00,0.000,6,0.000,0.030,1899,3274,1920,0,0,0,0,0,0
$GC,12202,0.78,128.7,384.0,17.5,545,12206,0.00,2.12,0.00,0.000,4,0.000,0.028,1911,1857,1920,0,0,0,0,0,0
$GC,12339,0.78,128.7,362.9,14.4,551,12344,0.12,2.30,0.00,0.000,6,0.198,0.048,1883,3286,1918,0,0,0,0,0,0
$GC,12664,0.78,128.7,311.5,16.1,567,12669,0.00,1.05,0.00,0.000,4,0.000,0.053,1883,3946,1918,0,0,0,0,0,0
$GC,12925,0.78,128.7,266.3,16.1,578,12929,0.00,1.00,0.00,0.000,6,0.000,0.031,1886,3276,1918,0,0,0,0,0,0
$GC,13246,0.78,128.7,218.0,15.5,597,13252,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3949,1918,0,0,0,0,0,0
$GC,13483,0.78,128.7,176.8,17.8,610,13494,0.00,1.00,0.00,0.000,6,0.000,0.030,1891,3274,1918,0,0,0,0,0,0
$GC,13805,0.78,128.7,124.5,16.5,631,13810,0.00,1.08,0.00,0.000,4,0.000,0.054,1892,3949,1918,0,0,0,0,0,0
$GC,14078,0.78,128.7,78.3,15.2,661,14083,0.00,1.00,0.00,0.000,6,0.000,0.030,1897,3274,1918,0,0,0,0,0,0
$GC,14441,0.78,128.7,31.7,12.3,722,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3274,1918,0,0,0,0,0,0
$STATE,14670,end climb,SURFACE_DEPTH_REACHED
$STATE,14670,begin surface coast
$FINISH,1.3,1.013326
$STATE,14704,end surface coast,CONTROL_FINISHED_OK
$STATE,14704,begin surface
$SM_CCo,14721,47.83,0.697,1,0,1532,230.09
$SM_GC,2.50,0.00,0.00,47.83,0.000,0.000,0.697,49,3413,1532,-4.94,0.37,230.09
$IRIDIUM_FIX,-4224.47,915.71,030313,161648
$TT8_MAMPS,0.025466
$HUMID,58.30
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.1,73.205
$10V_AH,9.7,53.819
$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,12.675,69.275,256.750,47.825,0.000,54.548,61.507,498.328,0.000,0.000,17.794,1971.407,9514.452,410.069,2821.234,937.426,33.372,1363.518,0.000,2434.204,0.000,1.012,0.000
$DEVICE_MAMPS,232.560,68.850,1221.705,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.659,1694.559,825.036,363.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,57113,762
$CAP_FILE_SIZE,126197,0
$CFSIZE,259252224,227913728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,030313,211123,-4241.023,917.098,38,0.8,38,-25.3