version: 66.07
glider: 543
mission: 6
dive: 466
start: 3 4 113 10 44 27
data:
$ID,543
$MISSION,6
$DIVE,466
$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,-9233.5732
$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,22
$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
$GPS1,040313,103403,-4241.662,918.752,36,1.3,36,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-62.1
$GPS2,040313,104330,-4241.649,918.807,15,2.0,16,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT8
$TGT_LATLONG,-4239.524,919.626
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.122,0.124
$KALMAN_X,154305.9,1148.6,225.0,-50347.1,2101.0
$KALMAN_Y,448305.2,-612.8,-381.1,-468792.9,2915.3
$MHEAD_RNG_PITCHd_Wd,340.8,4091,-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,-31.95,0.000,2,0.000,0.000,55,3403,2265,0,0,0,0,0,0
$GC,59,-0.77,-120.8,3.0,-3.9,4,94,5.65,0.00,-25.65,0.000,6,0.237,0.000,1368,3405,2969,0,0,0,0,0,0
$GC,174,-0.77,-120.8,14.9,-15.7,20,183,0.00,2.17,0.00,0.000,4,0.000,0.031,1368,1989,2971,0,0,0,0,0,0
$GC,232,-0.77,-120.8,23.2,-14.0,28,240,0.00,2.33,0.00,0.000,6,0.000,0.054,1359,3399,2972,0,0,0,0,0,0
$GC,320,-0.77,-120.8,37.2,-16.2,41,328,0.00,0.88,0.00,0.000,4,0.000,0.057,1354,3949,2972,0,0,0,0,0,0
$GC,360,-0.77,-120.8,44.3,-17.0,47,367,0.00,0.82,0.00,0.000,6,0.000,0.034,1355,3413,2972,0,0,0,0,0,0
$GC,604,-0.77,-120.8,81.0,-12.7,88,613,0.00,0.85,0.00,0.000,4,0.000,0.058,1351,3946,2973,0,0,0,0,0,0
$GC,753,-0.77,-120.8,102.3,-13.9,112,758,0.00,0.85,0.00,0.000,6,0.000,0.033,1351,3385,2973,0,0,0,0,0,0
$GC,1081,-0.77,-120.8,140.1,-11.7,133,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,1351,3385,2974,0,0,0,0,0,0
$GC,1395,-0.77,-120.8,178.7,-12.3,153,1399,0.00,2.10,0.00,0.000,4,0.000,0.028,1351,1982,2974,0,0,0,0,0,0
$GC,1463,-0.77,-120.8,187.2,-11.7,157,1468,0.15,2.30,0.00,0.000,6,0.176,0.053,1376,3403,2974,0,0,0,0,0,0
$GC,1789,-0.77,-120.8,225.8,-12.4,177,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,2110,-0.77,-120.8,265.1,-12.0,196,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,2420,-0.77,-120.8,302.6,-12.5,211,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,2728,-0.77,-120.8,338.7,-11.2,226,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,3038,-0.77,-120.8,373.1,-10.6,241,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,3366,-0.77,-120.8,407.3,-10.3,256,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3403,2975,0,0,0,0,0,0
$GC,3671,-0.77,-120.8,439.8,-10.5,266,3675,0.00,2.15,0.00,0.000,4,0.000,0.028,1376,1973,2975,0,0,0,0,0,0
$GC,3761,-0.77,-123.4,448.7,-9.7,268,3767,0.00,2.30,0.00,0.000,6,0.000,0.052,1367,3401,2975,0,0,0,0,0,0
$GC,4074,-0.77,-123.4,484.0,-11.5,279,4078,0.00,2.15,0.00,0.000,4,0.000,0.029,1367,1979,2976,0,0,0,0,0,0
$GC,4103,-0.77,-123.4,487.2,-10.7,280,4108,0.00,2.30,0.00,0.000,6,0.000,0.055,1356,3406,2976,0,0,0,0,0,0
$GC,4439,-0.77,-123.4,528.8,-12.6,291,4442,0.00,0.85,0.00,0.000,4,0.000,0.057,1352,3948,2976,0,0,0,0,0,0
$GC,4495,-0.77,-123.4,536.6,-13.1,292,4501,0.00,0.82,0.00,0.000,6,0.000,0.033,1352,3401,2975,0,0,0,0,0,0
$GC,4815,-0.77,-123.4,576.7,-12.3,303,4820,0.00,2.15,0.00,0.000,4,0.000,0.029,1352,1980,2975,0,0,0,0,0,0
$GC,4888,-0.78,-125.9,584.9,-9.7,305,4893,0.12,2.28,0.00,0.000,6,0.179,0.054,1370,3400,2975,0,0,0,0,0,0
$GC,5219,-0.78,-125.9,619.3,-10.2,316,5225,0.00,0.88,0.00,0.000,4,0.000,0.057,1367,3954,2975,0,0,0,0,0,0
$GC,5276,-0.78,-125.9,625.9,-11.6,317,5279,0.00,0.85,0.00,0.000,6,0.000,0.034,1367,3391,2975,0,0,0,0,0,0
$GC,5596,-0.78,-127.1,657.6,-9.9,328,5600,0.00,2.12,0.00,0.000,4,0.000,0.029,1367,1976,2974,0,0,0,0,0,0
$GC,5686,-0.78,-137.1,666.0,-8.9,330,5692,0.00,2.33,0.00,0.000,6,0.000,0.054,1357,3410,2974,0,0,0,0,0,0
$GC,5999,-0.78,-137.1,700.2,-11.4,341,6003,0.00,2.15,0.00,0.000,4,0.000,0.029,1357,1980,2973,0,0,0,0,0,0
$GC,6054,-0.78,-137.1,706.4,-10.6,342,6061,0.00,2.30,0.00,0.000,6,0.000,0.055,1346,3399,2973,0,0,0,0,0,0
$GC,6367,-0.78,-137.1,744.2,-12.6,353,6371,0.00,2.15,0.00,0.000,4,0.000,0.029,1346,1974,2972,0,0,0,0,0,0
$GC,6430,-0.78,-137.1,751.4,-11.6,355,6436,0.10,2.35,0.00,0.000,6,0.160,0.054,1365,3403,2973,0,0,0,0,0,0
$GC,6774,-0.78,-137.1,792.0,-11.8,366,6777,0.00,2.15,0.00,0.000,4,0.000,0.029,1365,1973,2972,0,0,0,0,0,0
$GC,6842,-0.78,-137.1,799.6,-10.8,368,6846,0.00,2.33,0.00,0.000,6,0.000,0.054,1356,3401,2972,0,0,0,0,0,0
$GC,7171,-0.78,-137.1,838.2,-11.6,379,7175,0.00,2.15,0.00,0.000,4,0.000,0.030,1355,1975,2971,0,0,0,0,0,0
$GC,7250,-0.78,-137.1,846.7,-10.1,381,7255,0.12,2.30,0.00,0.000,6,0.181,0.054,1373,3402,2971,0,0,0,0,0,0
$GC,7570,-0.78,-140.1,878.4,-9.7,392,7574,0.00,2.15,0.00,0.000,4,0.000,0.030,1374,1977,2970,0,0,0,0,0,0
$GC,7608,-0.79,-146.1,882.3,-9.1,393,7612,0.00,2.33,0.00,0.000,6,0.000,0.056,1365,3399,2970,0,0,0,0,0,0
$GC,7934,-0.79,-146.1,915.6,-10.4,404,7938,0.00,2.15,0.00,0.000,4,0.000,0.030,1364,1973,2969,0,0,0,0,0,0
$GC,7979,-0.79,-146.1,920.3,-9.2,405,7983,0.00,2.33,0.00,0.000,6,0.000,0.055,1354,3399,2969,0,0,0,0,0,0
$GC,8299,-0.79,-146.1,955.3,-11.2,416,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,1354,3399,2969,0,0,0,0,0,0
$GC,8605,-0.79,-146.1,991.6,-12.7,426,8609,0.00,2.15,0.00,0.000,4,0.000,0.030,1354,1974,2967,0,0,0,0,0,0
$GC,8638,-0.79,-146.1,995.6,-10.7,427,8642,0.12,2.33,0.00,0.000,6,0.180,0.054,1372,3401,2967,0,0,0,0,0,0
$STATE,8689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8690,begin apogee
$GC,8697,-0.13,0.0,1001.5,11.4,429,8826,0.77,0.00,125.57,1.235,6,0.186,0.000,1576,3275,2474,0,0,0,0,0,0
$STATE,8827,end apogee,CONTROL_FINISHED_OK
$STATE,8828,begin climb
$GC,8830,0.79,146.1,1005.0,0.0,433,8989,0.93,1.25,153.15,1.203,4,0.077,0.053,1880,3951,1875,0,0,0,0,0,0
$GC,9085,0.79,146.1,960.8,25.0,440,9093,0.00,1.08,0.00,0.000,6,0.000,0.029,1885,3272,1863,0,0,0,0,0,0
$GC,9402,0.79,146.1,895.7,20.4,451,9405,0.00,1.10,0.00,0.000,4,0.000,0.054,1885,3951,1857,0,0,0,0,0,0
$GC,9645,0.79,146.1,840.6,22.4,458,9649,0.00,1.00,0.00,0.000,6,0.000,0.031,1890,3277,1856,0,0,0,0,0,0
$GC,9981,0.79,146.1,772.0,20.6,469,9985,0.00,1.08,0.00,0.000,4,0.000,0.054,1890,3951,1854,0,0,0,0,0,0
$GC,10239,0.79,146.1,711.4,24.3,476,10243,0.00,1.00,0.00,0.000,6,0.000,0.031,1895,3276,1854,0,0,0,0,0,0
$GC,10558,0.79,146.1,645.6,20.5,487,10562,0.00,1.08,0.00,0.000,4,0.000,0.054,1895,3950,1853,0,0,0,0,0,0
$GC,10815,0.79,146.1,587.2,22.2,494,10820,0.00,1.00,0.00,0.000,6,0.000,0.030,1900,3273,1852,0,0,0,0,0,0
$GC,11134,0.79,146.1,523.4,19.6,505,11140,0.00,1.08,0.00,0.000,4,0.000,0.054,1900,3946,1851,0,0,0,0,0,0
$GC,11393,0.79,146.1,468.5,21.7,512,11396,0.00,1.00,0.00,0.000,6,0.000,0.031,1905,3272,1851,0,0,0,0,0,0
$GC,11712,0.79,146.1,408.2,18.9,523,11716,0.00,2.12,0.00,0.000,4,0.000,0.028,1917,1855,1851,0,0,0,0,0,0
$GC,11836,0.79,146.1,388.9,14.2,527,11844,0.12,2.28,0.00,0.000,6,0.196,0.047,1888,3283,1849,0,0,0,0,0,0
$GC,12154,0.79,146.1,335.1,17.2,543,12160,0.00,1.05,0.00,0.000,4,0.000,0.053,1888,3947,1849,0,0,0,0,0,0
$GC,12416,0.79,146.1,284.8,17.9,554,12419,0.00,1.00,0.00,0.000,6,0.000,0.031,1892,3273,1848,0,0,0,0,0,0
$GC,12744,0.79,146.1,227.1,17.6,572,12750,0.00,2.15,0.00,0.000,4,0.000,0.028,1903,1856,1848,0,0,0,0,0,0
$GC,12844,0.79,146.1,211.5,14.7,577,12850,0.00,2.28,0.00,0.000,6,0.000,0.048,1903,3280,1848,0,0,0,0,0,0
$GC,13165,0.79,146.1,155.5,17.3,598,13169,0.00,1.08,0.00,0.000,4,0.000,0.054,1903,3957,1847,0,0,0,0,0,0
$GC,13433,0.79,146.1,105.3,17.2,613,13436,0.00,1.00,0.00,0.000,6,0.000,0.030,1908,3275,1848,0,0,0,0,0,0
$GC,13796,0.79,146.1,53.6,13.6,669,13803,0.00,1.08,0.00,0.000,4,0.000,0.053,1908,3947,1847,0,0,0,0,0,0
$GC,14091,0.79,146.1,4.5,16.3,715,14102,0.10,0.98,0.00,0.000,6,0.197,0.030,1886,3282,1847,0,0,0,0,0,0
$STATE,14110,end climb,SURFACE_DEPTH_REACHED
$STATE,14110,begin surface coast
$FINISH,1.4,1.026090
$STATE,14130,end surface coast,CONTROL_FINISHED_OK
$STATE,14130,begin surface
$SM_CCo,14146,40.85,0.698,1,0,1534,230.09
$SM_GC,2.31,0.00,0.00,40.85,0.000,0.000,0.698,55,3412,1534,-4.91,0.34,230.09
$IRIDIUM_FIX,-4224.47,915.71,040313,060620
$TT8_MAMPS,0.025466
$HUMID,58.34
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.0,73.786
$10V_AH,9.6,54.288
$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,13.050,90.800,278.725,40.850,0.000,24.966,21.479,319.461,0.000,0.000,17.950,1877.532,9067.761,437.086,2500.256,873.395,33.368,1370.262,0.000,2280.189,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,73.440,1235.475,697.680,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.760,1572.412,742.588,331.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,53745,720
$CAP_FILE_SIZE,124075,0
$CFSIZE,259252224,227627008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,040313,144204,-4240.947,918.816,23,0.9,23,-25.3