version: 66.07
glider: 543
mission: 6
dive: 463
start: 3 3 113 21 21 38
data:
$ID,543
$MISSION,6
$DIVE,463
$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,-9224.2959
$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,37
$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
$GPS1,030313,211123,-4241.023,917.098,38,0.8,38,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-64.3
$GPS2,030313,212041,-4241.091,917.255,15,1.6,16,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT7
$TGT_LATLONG,-4240.136,917.410
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.069,-0.159
$KALMAN_X,144747.0,-1180.7,272.3,-40622.1,1480.9
$KALMAN_Y,443970.2,-782.1,-137.2,-463512.1,4703.9
$MHEAD_RNG_PITCHd_Wd,228.6,1781,-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,-63.1,0.0,0.0,0,54,0.00,0.00,-31.83,0.000,2,0.000,0.000,48,3413,2276,0,0,0,0,0,0
$GC,59,-0.77,-119.9,3.0,-4.0,4,95,5.57,0.88,-25.33,0.000,4,0.230,0.090,1364,3936,2965,0,0,0,0,0,0
$GC,222,-0.77,-119.9,22.9,-15.9,27,233,0.00,0.80,0.00,0.000,6,0.000,0.034,1364,3414,2967,0,0,0,0,0,0
$GC,308,-0.77,-119.9,36.7,-15.4,40,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3414,2968,0,0,0,0,0,0
$GC,558,-0.77,-119.9,76.1,-14.3,81,565,0.00,2.17,0.00,0.000,4,0.000,0.029,1364,1977,2968,0,0,0,0,0,0
$GC,640,-0.77,-119.9,86.8,-12.3,95,647,0.00,2.30,0.00,0.000,6,0.000,0.053,1353,3383,2969,0,0,0,0,0,0
$GC,984,-0.77,-119.9,128.7,-11.7,128,987,0.00,0.90,0.00,0.000,4,0.000,0.057,1349,3951,2969,0,0,0,0,0,0
$GC,1115,-0.77,-119.9,146.3,-13.6,135,1123,0.00,0.82,0.00,0.000,6,0.000,0.033,1349,3402,2969,0,0,0,0,0,0
$GC,1436,-0.77,-119.9,185.0,-12.7,156,1440,0.00,2.12,0.00,0.000,4,0.000,0.028,1349,1981,2970,0,0,0,0,0,0
$GC,1489,-0.77,-119.9,191.7,-12.2,159,1494,0.15,2.30,0.00,0.000,6,0.177,0.054,1374,3399,2970,0,0,0,0,0,0
$GC,1816,-0.77,-119.9,229.0,-12.1,179,1820,0.00,0.88,0.00,0.000,4,0.000,0.057,1372,3954,2970,0,0,0,0,0,0
$GC,1898,-0.77,-119.9,241.2,-13.8,183,1905,0.00,0.82,0.00,0.000,6,0.000,0.034,1372,3406,2970,0,0,0,0,0,0
$GC,2233,-0.77,-119.9,282.1,-12.2,201,2239,0.00,2.15,0.00,0.000,4,0.000,0.028,1372,1977,2971,0,0,0,0,0,0
$GC,2284,-0.77,-119.9,287.7,-11.6,203,2288,0.00,2.30,0.00,0.000,6,0.000,0.054,1361,3400,2971,0,0,0,0,0,0
$GC,2613,-0.77,-119.9,327.7,-11.9,219,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3400,2971,0,0,0,0,0,0
$GC,2922,-0.77,-119.9,363.0,-11.3,234,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3400,2971,0,0,0,0,0,0
$GC,3232,-0.77,-119.9,397.2,-11.3,249,3237,0.00,0.90,0.00,0.000,4,0.000,0.058,1357,3953,2971,0,0,0,0,0,0
$GC,3282,-0.77,-119.9,403.8,-12.4,251,3286,0.00,0.85,0.00,0.000,6,0.000,0.034,1357,3389,2971,0,0,0,0,0,0
$GC,3609,-0.77,-119.9,442.5,-12.1,262,3613,0.00,2.10,0.00,0.000,4,0.000,0.028,1357,1975,2971,0,0,0,0,0,0
$GC,3671,-0.77,-119.9,450.0,-11.2,264,3676,0.12,2.33,0.00,0.000,6,0.178,0.054,1375,3406,2971,0,0,0,0,0,0
$GC,4008,-0.77,-119.9,488.8,-11.7,275,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3404,2971,0,0,0,0,0,0
$GC,4314,-0.77,-119.9,523.6,-11.3,285,4317,0.00,2.15,0.00,0.000,4,0.000,0.028,1375,1976,2971,0,0,0,0,0,0
$GC,4376,-0.77,-119.9,530.3,-10.1,287,4382,0.00,2.35,0.00,0.000,6,0.000,0.054,1366,3404,2971,0,0,0,0,0,0
$GC,4719,-0.77,-119.9,569.5,-11.4,298,4722,0.00,0.88,0.00,0.000,4,0.000,0.057,1362,3957,2971,0,0,0,0,0,0
$GC,4779,-0.77,-119.9,577.3,-12.4,299,4786,0.00,0.82,0.00,0.000,6,0.000,0.034,1362,3410,2971,0,0,0,0,0,0
$GC,5093,-0.77,-119.9,614.4,-11.8,310,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,1362,3410,2971,0,0,0,0,0,0
$GC,5401,-0.77,-119.9,651.1,-11.9,320,5405,0.00,2.15,0.00,0.000,4,0.000,0.029,1362,1977,2970,0,0,0,0,0,0
$GC,5497,-0.77,-119.9,662.0,-10.7,323,5501,0.00,2.33,0.00,0.000,6,0.000,0.053,1351,3409,2970,0,0,0,0,0,0
$GC,5832,-0.77,-119.9,703.0,-12.1,334,5838,0.00,2.17,0.00,0.000,4,0.000,0.029,1351,1978,2969,0,0,0,0,0,0
$GC,5869,-0.77,-119.9,707.3,-11.6,335,5874,0.15,2.33,0.00,0.000,6,0.177,0.055,1376,3404,2969,0,0,0,0,0,0
$GC,6205,-0.77,-119.9,744.3,-11.0,346,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3404,2968,0,0,0,0,0,0
$GC,6511,-0.77,-119.9,778.0,-11.1,356,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3404,2967,0,0,0,0,0,0
$GC,6819,-0.77,-119.9,811.6,-10.9,366,6823,0.00,2.15,0.00,0.000,4,0.000,0.029,1376,1975,2967,0,0,0,0,0,0
$GC,6875,-0.77,-122.1,817.8,-9.8,367,6882,0.00,2.33,0.00,0.000,6,0.000,0.053,1367,3408,2967,0,0,0,0,0,0
$GC,7189,-0.77,-122.1,852.9,-11.1,378,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3409,2966,0,0,0,0,0,0
$GC,7496,-0.77,-122.1,884.5,-10.2,388,7500,0.00,2.15,0.00,0.000,4,0.000,0.029,1367,1980,2966,0,0,0,0,0,0
$GC,7586,-0.78,-134.0,892.9,-8.7,390,7593,0.00,2.33,0.00,0.000,6,0.000,0.054,1356,3410,2965,0,0,0,0,0,0
$GC,7899,-0.78,-134.0,925.1,-10.6,401,7903,0.00,2.15,0.00,0.000,4,0.000,0.029,1356,1971,2965,0,0,0,0,0,0
$GC,8025,-0.78,-134.0,936.9,-10.4,404,8032,0.12,2.33,0.00,0.000,6,0.180,0.053,1374,3403,2965,0,0,0,0,0,0
$GC,8339,-0.78,-134.9,967.9,-9.9,415,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3403,2963,0,0,0,0,0,0
$GC,8645,-0.78,-134.9,998.9,-10.4,425,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3403,2963,0,0,0,0,0,0
$STATE,8673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8673,begin apogee
$GC,8680,-0.13,0.0,1002.0,10.4,426,8811,0.73,0.00,122.57,1.777,6,0.158,0.000,1579,3276,2474,0,0,0,0,1,0
$STATE,8813,end apogee,CONTROL_FINISHED_OK
$STATE,8813,begin climb
$GC,8816,0.78,134.9,1004.8,0.0,430,8975,0.93,0.00,146.85,1.737,6,0.070,0.000,1877,3276,1925,0,0,0,0,1,0
$GC,9282,0.78,134.9,921.2,20.1,446,9285,0.00,1.12,0.00,0.000,4,0.000,0.056,1877,3956,1915,0,0,0,0,0,0
$GC,9542,0.78,134.9,864.6,21.1,453,9545,0.00,1.05,0.00,0.000,6,0.000,0.031,1882,3261,1913,0,0,0,0,0,0
$GC,9863,0.78,134.9,803.2,19.2,464,9866,0.00,1.12,0.00,0.000,4,0.000,0.054,1882,3958,1911,0,0,0,0,0,0
$GC,10121,0.78,134.9,745.0,22.4,471,10125,0.00,1.00,0.00,0.000,6,0.000,0.031,1887,3286,1911,0,0,0,0,0,0
$GC,10441,0.78,134.9,682.0,19.9,482,10445,0.00,1.08,0.00,0.000,4,0.000,0.054,1887,3958,1910,0,0,0,0,0,0
$GC,10700,0.78,134.9,623.9,22.1,489,10703,0.00,1.00,0.00,0.000,6,0.000,0.031,1893,3286,1909,0,0,0,0,0,0
$GC,11019,0.78,134.9,561.3,19.7,500,11022,0.00,1.08,0.00,0.000,4,0.000,0.054,1893,3958,1909,0,0,0,0,0,0
$GC,11276,0.78,134.9,505.2,21.0,507,11282,0.00,1.02,0.00,0.000,6,0.000,0.030,1898,3270,1908,0,0,0,0,0,0
$GC,11596,0.78,134.9,444.6,18.6,518,11601,0.00,1.10,0.00,0.000,4,0.000,0.054,1898,3954,1907,0,0,0,0,0,0
$GC,11854,0.78,134.9,391.5,20.2,526,11858,0.00,1.00,0.00,0.000,6,0.000,0.031,1903,3283,1907,0,0,0,0,0,0
$GC,12177,0.78,134.9,331.5,18.5,542,12180,0.00,1.08,0.00,0.000,4,0.000,0.054,1902,3954,1906,0,0,0,0,0,0
$GC,12441,0.78,134.9,278.2,19.1,553,12445,0.00,1.00,0.00,0.000,6,0.000,0.031,1908,3279,1906,0,0,0,0,0,0
$GC,12760,0.78,134.9,222.5,16.8,571,12764,0.00,2.12,0.00,0.000,4,0.000,0.028,1919,1862,1906,0,0,0,0,0,0
$GC,12896,0.78,134.9,202.4,14.3,579,12901,0.15,2.28,0.00,0.000,6,0.190,0.048,1884,3282,1904,0,0,0,0,0,0
$GC,13225,0.78,134.9,151.2,15.8,600,13229,0.00,1.05,0.00,0.000,4,0.000,0.053,1883,3946,1904,0,0,0,0,0,0
$GC,13494,0.78,134.9,103.4,18.9,615,13497,0.00,1.00,0.00,0.000,6,0.000,0.031,1887,3273,1904,0,0,0,0,0,0
$GC,13854,0.78,134.9,51.3,11.3,673,13861,0.00,1.08,0.00,0.000,4,0.000,0.054,1887,3944,1904,0,0,0,0,0,0
$GC,14148,0.78,134.9,8.7,15.1,719,14157,0.00,1.00,0.00,0.000,6,0.000,0.030,1893,3272,1904,0,0,0,0,0,0
$STATE,14193,end climb,SURFACE_DEPTH_REACHED
$STATE,14193,begin surface coast
$FINISH,1.4,1.024957
$STATE,14219,end surface coast,CONTROL_FINISHED_OK
$STATE,14219,begin surface
$SM_CCo,14236,45.75,0.698,1,0,1532,230.09
$SM_GC,2.59,0.00,0.00,45.75,0.000,0.000,0.698,44,3414,1532,-4.95,0.40,230.09
$IRIDIUM_FIX,-4227.40,913.29,030313,161610
$TT8_MAMPS,0.025466
$HUMID,57.71
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,21.3,73.368
$10V_AH,9.7,53.929
$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,12.900,74.800,269.425,45.750,0.000,25.856,23.077,321.354,0.000,0.000,18.591,1895.506,9115.815,434.010,2520.861,875.346,33.363,1357.718,0.000,2342.401,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,90.270,1777.095,698.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.386,1607.517,759.425,343.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,53735,729
$CAP_FILE_SIZE,120217,0
$CFSIZE,259252224,227848192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,040313,012105,-4241.416,918.547,39,0.9,39,-25.3