version: 66.07
glider: 543
mission: 6
dive: 465
start: 3 4 113 6 37 32
data:
$ID,543
$MISSION,6
$DIVE,465
$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,-9230.6689
$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,24
$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
$GPS1,040313,062634,-4241.481,918.886,41,0.8,41,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-63.9
$GPS2,040313,063635,-4241.416,918.916,14,1.2,15,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT8
$TGT_LATLONG,-4239.524,919.626
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.173,-0.011
$KALMAN_X,151004.2,1471.0,-121.9,-46883.2,3171.9
$KALMAN_Y,447921.2,127.6,-357.0,-468750.6,3631.0
$MHEAD_RNG_PITCHd_Wd,291.6,3635,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.74,-63.1,0.0,0.0,0,67,0.00,0.00,-41.75,0.000,2,0.000,0.000,49,3403,2529,0,0,0,0,0,0
$GC,71,-0.77,-119.0,3.4,-4.1,5,97,5.60,0.90,-13.45,0.000,4,0.232,0.086,1369,3950,2960,0,0,0,0,0,0
$GC,120,-0.77,-119.0,8.0,-10.9,11,130,0.00,0.82,0.00,0.000,6,0.000,0.034,1369,3410,2962,0,0,0,0,0,0
$GC,212,-0.77,-119.0,21.3,-14.8,24,223,0.00,2.20,0.00,0.000,4,0.000,0.029,1369,1976,2963,0,0,0,0,0,0
$GC,285,-0.77,-119.0,30.4,-12.0,34,294,0.00,2.35,0.00,0.000,6,0.000,0.057,1359,3399,2963,0,0,0,0,0,0
$GC,534,-0.77,-119.0,66.3,-15.3,75,541,0.00,2.17,0.00,0.000,4,0.000,0.030,1359,1978,2963,0,0,0,0,0,0
$GC,679,-0.77,-119.0,83.9,-11.4,100,688,0.05,2.33,0.00,0.000,6,0.166,0.055,1363,3396,2964,0,0,0,0,0,0
$GC,1021,-0.77,-119.0,125.5,-12.6,136,1027,0.00,0.88,0.00,0.000,4,0.000,0.057,1360,3953,2964,0,0,0,0,0,0
$GC,1121,-0.77,-119.0,139.2,-13.3,141,1127,0.00,0.85,0.00,0.000,6,0.000,0.033,1360,3386,2964,0,0,0,0,0,0
$GC,1441,-0.77,-119.0,180.6,-13.4,162,1444,0.00,0.90,0.00,0.000,4,0.000,0.057,1356,3954,2965,0,0,0,0,0,0
$GC,1497,-0.77,-119.0,187.7,-13.6,165,1501,0.00,0.82,0.00,0.000,6,0.000,0.033,1356,3403,2965,0,0,0,0,0,0
$GC,1828,-0.77,-119.0,233.1,-13.2,186,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3402,2965,0,0,0,0,0,0
$GC,2156,-0.77,-119.0,274.3,-12.0,204,2159,0.00,0.88,0.00,0.000,4,0.000,0.056,1352,3952,2966,0,0,0,0,0,0
$GC,2204,-0.77,-119.0,280.5,-12.8,206,2209,0.00,0.82,0.00,0.000,6,0.000,0.033,1352,3401,2965,0,0,0,0,0,0
$GC,2539,-0.77,-119.0,318.0,-11.0,222,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,1352,3401,2965,0,0,0,0,0,0
$GC,2850,-0.77,-119.0,353.4,-11.9,237,2855,0.00,0.90,0.00,0.000,4,0.000,0.058,1348,3950,2965,0,0,0,0,0,0
$GC,2889,-0.77,-119.0,358.9,-12.9,238,2898,0.08,0.82,0.00,0.000,6,0.174,0.034,1369,3404,2965,0,0,0,0,0,0
$GC,3207,-0.77,-119.0,394.8,-11.6,254,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3404,2965,0,0,0,0,0,0
$GC,3516,-0.77,-119.0,431.2,-11.9,265,3520,0.00,2.15,0.00,0.000,4,0.000,0.028,1369,1969,2965,0,0,0,0,0,0
$GC,3556,-0.77,-119.0,436.2,-10.4,266,3561,0.00,2.33,0.00,0.000,6,0.000,0.054,1360,3398,2966,0,0,0,0,0,0
$GC,3882,-0.77,-119.0,476.8,-12.7,277,3886,0.00,0.88,0.00,0.000,4,0.000,0.057,1356,3954,2965,0,0,0,0,0,0
$GC,3925,-0.77,-119.0,483.4,-14.1,278,3929,0.00,0.85,0.00,0.000,6,0.000,0.034,1356,3390,2966,0,0,0,0,0,0
$GC,4256,-0.77,-119.0,524.3,-12.2,289,4260,0.00,2.12,0.00,0.000,4,0.000,0.028,1356,1973,2966,0,0,0,0,0,0
$GC,4311,-0.77,-119.0,530.9,-11.2,290,4320,0.10,2.35,0.00,0.000,6,0.157,0.055,1374,3399,2965,0,0,0,0,0,0
$GC,4625,-0.77,-119.0,564.9,-10.8,301,4630,0.00,0.88,0.00,0.000,4,0.000,0.057,1371,3953,2965,0,0,0,0,0,0
$GC,4698,-0.77,-119.0,573.8,-12.1,303,4701,0.00,0.82,0.00,0.000,6,0.000,0.034,1371,3404,2965,0,0,0,0,0,0
$GC,5033,-0.77,-119.0,609.4,-10.4,314,5039,0.00,2.15,0.00,0.000,4,0.000,0.029,1371,1981,2963,0,0,0,0,0,0
$GC,5139,-0.78,-136.1,619.0,-8.2,317,5143,0.00,2.30,0.00,0.000,6,0.000,0.053,1361,3402,2963,0,0,0,0,0,0
$GC,5474,-0.78,-136.1,653.5,-10.2,328,5478,0.00,2.15,0.00,0.000,4,0.000,0.029,1361,1975,2963,0,0,0,0,0,0
$GC,5505,-0.78,-136.6,656.4,-10.0,329,5509,0.00,2.33,0.00,0.000,6,0.000,0.056,1350,3399,2963,0,0,0,0,0,0
$GC,5840,-0.78,-136.6,693.6,-11.6,340,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1350,3399,2962,0,0,0,0,0,0
$GC,6146,-0.78,-136.6,729.6,-11.9,350,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,1350,3399,2961,0,0,0,0,0,0
$GC,6454,-0.78,-136.6,765.3,-11.8,360,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,1350,3399,2961,0,0,0,0,0,0
$GC,6759,-0.78,-136.6,801.1,-11.7,370,6764,0.00,2.15,0.00,0.000,4,0.000,0.030,1350,1982,2960,0,0,0,0,0,0
$GC,6795,-0.78,-136.6,805.2,-11.0,371,6800,0.12,2.30,0.00,0.000,6,0.181,0.053,1368,3401,2960,0,0,0,0,0,0
$GC,7131,-0.78,-136.6,842.1,-10.9,382,7137,0.00,2.17,0.00,0.000,4,0.000,0.030,1368,1974,2959,0,0,0,0,0,0
$GC,7194,-0.78,-139.5,848.6,-9.7,383,7201,0.00,2.33,0.00,0.000,6,0.000,0.054,1359,3406,2959,0,0,0,0,0,0
$GC,7507,-0.78,-139.5,884.3,-11.6,394,7511,0.00,2.15,0.00,0.000,4,0.000,0.029,1359,1977,2959,0,0,0,0,0,0
$GC,7545,-0.78,-139.5,888.9,-10.6,395,7549,0.00,2.33,0.00,0.000,6,0.000,0.055,1348,3399,2959,0,0,0,0,0,0
$GC,7871,-0.78,-139.5,927.0,-11.7,406,7875,0.00,2.15,0.00,0.000,4,0.000,0.030,1348,1976,2958,0,0,0,0,0,0
$GC,7938,-0.78,-139.5,934.7,-10.5,408,7943,0.15,2.33,0.00,0.000,6,0.178,0.054,1373,3399,2958,0,0,0,0,0,0
$GC,8269,-0.78,-139.5,968.6,-10.2,419,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3399,2957,0,0,0,0,0,0
$GC,8575,-0.79,-143.7,998.6,-9.6,429,8579,0.00,2.15,0.00,0.000,4,0.000,0.030,1373,1978,2956,0,0,0,0,0,0
$STATE,8590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8590,begin apogee
$GC,8599,-0.13,0.0,1000.4,9.5,429,8732,0.73,0.00,120.12,1.777,6,0.159,0.000,1572,3281,2477,0,0,0,0,1,0
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8736,0.79,143.7,1002.0,0.0,434,8903,0.93,1.20,155.43,1.733,4,0.075,0.050,1874,3952,1887,0,0,0,0,1,0
$GC,8999,0.79,143.7,954.9,24.1,442,9004,0.00,1.08,0.00,0.000,6,0.000,0.030,1879,3276,1883,0,0,0,0,0,0
$GC,9334,0.79,143.7,884.5,21.2,453,9337,0.00,1.10,0.00,0.000,4,0.000,0.054,1879,3957,1877,0,0,0,0,0,0
$GC,9526,0.79,143.7,838.9,22.3,458,9530,0.00,1.02,0.00,0.000,6,0.000,0.031,1884,3273,1876,0,0,0,0,0,0
$GC,9847,0.79,143.7,771.0,21.0,469,9851,0.00,1.10,0.00,0.000,4,0.000,0.054,1884,3958,1874,0,0,0,0,0,0
$GC,10021,0.79,143.7,729.8,22.7,474,10024,0.00,1.00,0.00,0.000,6,0.000,0.031,1889,3284,1874,0,0,0,0,0,0
$GC,10356,0.79,143.7,659.8,20.7,485,10362,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3958,1872,0,0,0,0,0,0
$GC,10600,0.79,143.7,605.7,22.6,492,10603,0.00,1.00,0.00,0.000,6,0.000,0.030,1894,3281,1872,0,0,0,0,0,0
$GC,10936,0.79,143.7,541.0,18.9,503,10939,0.00,1.08,0.00,0.000,4,0.000,0.054,1894,3958,1871,0,0,0,0,0,0
$GC,11182,0.79,143.7,489.4,20.1,510,11185,0.00,1.02,0.00,0.000,6,0.000,0.031,1900,3272,1871,0,0,0,0,0,0
$GC,11513,0.79,143.7,428.0,18.7,521,11516,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3958,1870,0,0,0,0,0,0
$GC,11774,0.79,143.7,376.8,20.0,530,11778,0.00,1.00,0.00,0.000,6,0.000,0.030,1905,3285,1870,0,0,0,0,0,0
$GC,12098,0.79,143.7,321.2,17.1,546,12102,0.00,1.08,0.00,0.000,4,0.000,0.054,1905,3958,1869,0,0,0,0,0,0
$GC,12362,0.79,143.7,270.4,17.8,557,12366,0.00,1.00,0.00,0.000,6,0.000,0.030,1910,3281,1870,0,0,0,0,0,0
$GC,12687,0.79,143.7,213.5,17.7,576,12691,0.00,2.15,0.00,0.000,4,0.000,0.028,1921,1855,1869,0,0,0,0,0,0
$GC,12818,0.79,143.7,193.6,13.9,583,12825,0.15,2.30,0.00,0.000,6,0.189,0.047,1885,3293,1867,0,0,0,0,0,0
$GC,13140,0.79,143.7,142.5,16.4,604,13143,0.00,1.05,0.00,0.000,4,0.000,0.054,1886,3957,1867,0,0,0,0,0,0
$GC,13405,0.79,143.7,96.5,17.4,620,13411,0.00,1.00,0.00,0.000,6,0.000,0.030,1889,3277,1867,0,0,0,0,0,0
$GC,13766,0.79,143.7,42.8,13.5,681,13773,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3949,1867,0,0,0,0,0,0
$STATE,14025,end climb,SURFACE_DEPTH_REACHED
$STATE,14025,begin surface coast
$FINISH,1.4,1.015880
$STATE,14048,end surface coast,CONTROL_FINISHED_OK
$STATE,14048,begin surface
$SM_CCo,14066,42.10,0.692,1,0,1533,230.09
$SM_GC,2.41,0.00,0.00,42.10,0.000,0.000,0.692,55,3404,1533,-4.91,0.11,230.09
$IRIDIUM_FIX,-4227.40,919.07,040313,010137
$TT8_MAMPS,0.025466
$HUMID,58.19
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,21.3,73.661
$10V_AH,9.7,54.180
$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,12.925,84.425,275.550,42.100,0.000,27.369,20.720,355.676,0.000,0.000,17.746,1888.471,8961.073,395.458,2570.292,889.324,33.371,1371.416,0.000,2327.254,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,85.680,1777.095,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.104,1587.312,759.130,342.955,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,53756,724
$CAP_FILE_SIZE,124715,0
$CFSIZE,259252224,227696640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,040313,103403,-4241.662,918.752,36,1.3,36,-25.3