version: 66.07
glider: 543
mission: 6
dive: 469
start: 3 4 113 23 58 4
data:
$ID,543
$MISSION,6
$DIVE,469
$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,-9244.0752
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,040313,234752,-4239.823,919.662,44,1.1,44,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-58.4
$GPS2,040313,235707,-4239.760,919.757,17,1.4,17,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4238.509,925.664
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.035,0.170
$KALMAN_X,163873.5,-1596.8,-1216.5,-54374.2,7727.9
$KALMAN_Y,445854.8,144.3,-512.6,-463471.1,908.0
$MHEAD_RNG_PITCHd_Wd,36.8,8374,-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,-63.1,0.0,0.0,0,57,0.00,0.00,-34.60,0.000,2,0.000,0.000,54,3401,2335,0,0,0,0,0,0
$GC,61,-0.77,-122.1,3.0,-3.7,4,96,5.65,2.22,-23.05,0.000,4,0.237,0.044,1373,1985,2973,0,0,0,0,0,0
$GC,200,-0.77,-122.1,17.1,-13.4,23,209,0.00,2.33,0.00,0.000,6,0.000,0.053,1363,3397,2975,0,0,0,0,0,0
$GC,290,-0.77,-122.1,30.3,-14.4,36,299,0.00,2.17,0.00,0.000,4,0.000,0.034,1363,2003,2976,0,0,0,0,0,0
$GC,338,-0.77,-122.1,37.1,-13.6,43,345,0.00,2.30,0.00,0.000,6,0.000,0.060,1353,3399,2976,0,0,0,0,0,0
$GC,582,-0.77,-122.1,72.7,-13.0,84,591,0.00,0.88,0.00,0.000,4,0.000,0.057,1349,3954,2977,0,0,0,0,0,0
$GC,822,-0.77,-122.1,106.8,-14.3,119,829,0.00,0.82,0.00,0.000,6,0.000,0.034,1349,3404,2978,0,0,0,0,0,0
$GC,1142,-0.77,-122.1,147.2,-12.5,140,1148,0.10,2.17,0.00,0.000,4,0.203,0.029,1372,1979,2979,0,0,0,0,0,0
$GC,1199,-0.78,-126.2,152.9,-9.6,143,1204,0.00,2.33,-0.10,0.000,6,0.000,0.055,1362,3410,2994,0,0,0,0,0,0
$GC,1527,-0.78,-126.2,191.9,-12.3,164,1530,0.00,0.85,0.00,0.000,4,0.000,0.057,1358,3951,2995,0,0,0,0,0,0
$GC,1546,-0.78,-126.2,194.4,-12.5,165,1550,0.00,0.82,0.00,0.000,6,0.000,0.033,1358,3399,2995,0,0,0,0,0,0
$GC,1876,-0.78,-126.2,236.4,-12.9,186,1880,0.00,2.12,0.00,0.000,4,0.000,0.028,1358,1976,2996,0,0,0,0,0,0
$GC,1897,-0.78,-126.2,239.1,-12.0,187,1905,0.10,2.33,0.00,0.000,6,0.181,0.057,1370,3402,2996,0,0,0,0,0,0
$GC,2227,-0.78,-126.2,278.2,-12.0,205,2233,0.00,0.85,0.00,0.000,4,0.000,0.057,1368,3945,2995,0,0,0,0,0,0
$GC,2315,-0.78,-126.2,290.1,-13.7,208,2324,0.00,0.82,0.00,0.000,6,0.000,0.034,1367,3396,2996,0,0,0,0,0,0
$GC,2634,-0.78,-126.2,329.0,-12.2,224,2637,0.00,2.10,0.00,0.000,4,0.000,0.028,1368,1976,2996,0,0,0,0,0,0
$GC,2655,-0.78,-126.2,331.4,-12.2,225,2659,0.00,2.33,0.00,0.000,6,0.000,0.057,1357,3399,2996,0,0,0,0,0,0
$GC,2984,-0.78,-126.2,372.7,-12.4,241,2989,0.00,0.88,0.00,0.000,4,0.000,0.057,1353,3954,2996,0,0,0,0,0,0
$GC,3056,-0.78,-126.2,382.5,-13.0,244,3062,0.00,0.82,0.00,0.000,6,0.000,0.033,1353,3402,2996,0,0,0,0,0,0
$GC,3388,-0.78,-126.2,425.3,-13.0,257,3392,0.00,2.12,0.00,0.000,4,0.000,0.028,1352,1978,2996,0,0,0,0,0,0
$GC,3466,-0.78,-126.2,435.0,-12.0,259,3471,0.12,2.33,0.00,0.000,6,0.177,0.054,1371,3410,2996,0,0,0,0,0,0
$GC,3787,-0.78,-126.2,474.6,-12.5,270,3790,0.00,0.85,0.00,0.000,4,0.000,0.057,1368,3952,2996,0,0,0,0,0,0
$GC,3830,-0.78,-126.2,480.9,-14.0,271,3834,0.00,0.82,0.00,0.000,6,0.000,0.034,1368,3400,2996,0,0,0,0,0,0
$GC,4160,-0.78,-126.2,520.9,-12.1,282,4164,0.00,2.12,0.00,0.000,4,0.000,0.028,1368,1978,2996,0,0,0,0,0,0
$GC,4198,-0.78,-126.2,525.5,-10.4,283,4202,0.00,2.33,0.00,0.000,6,0.000,0.055,1358,3404,2996,0,0,0,0,0,0
$GC,4522,-0.78,-126.2,564.2,-11.9,294,4526,0.00,0.88,0.00,0.000,4,0.000,0.057,1354,3958,2996,0,0,0,0,0,0
$GC,4550,-0.78,-126.2,567.8,-12.3,294,4557,0.00,0.82,0.00,0.000,6,0.000,0.034,1354,3408,2996,0,0,0,0,0,0
$GC,4864,-0.78,-126.2,604.6,-11.7,305,4868,0.00,2.10,0.00,0.000,4,0.000,0.029,1353,1982,2995,0,0,0,0,0,0
$GC,4926,-0.78,-126.2,611.5,-10.6,307,4932,0.10,2.33,0.00,0.000,6,0.153,0.055,1372,3396,2995,0,0,0,0,0,0
$GC,5269,-0.78,-126.2,648.9,-10.8,318,5273,0.00,2.10,0.00,0.000,4,0.000,0.029,1372,1980,2994,0,0,0,0,0,0
$GC,5308,-0.78,-135.5,652.9,-9.0,319,5312,0.00,2.33,0.00,0.000,6,0.000,0.055,1363,3402,2994,0,0,0,0,0,0
$GC,5632,-0.78,-135.5,688.3,-11.0,330,5635,0.00,0.88,0.00,0.000,4,0.000,0.057,1358,3955,2994,0,0,0,0,0,0
$GC,5667,-0.78,-135.5,692.3,-12.0,331,5671,0.00,0.82,0.00,0.000,6,0.000,0.034,1358,3406,2993,0,0,0,0,0,0
$GC,6009,-0.78,-135.5,730.0,-11.0,342,6014,0.00,2.17,0.00,0.000,4,0.000,0.030,1358,1970,2993,0,0,0,0,0,0
$GC,6057,-0.78,-135.5,734.8,-10.1,343,6061,0.00,2.33,0.00,0.000,6,0.000,0.054,1347,3401,2993,0,0,0,0,0,0
$GC,6383,-0.78,-135.5,771.7,-11.9,354,6387,0.00,2.17,0.00,0.000,4,0.000,0.030,1347,1975,2992,0,0,0,0,0,0
$GC,6415,-0.78,-135.5,775.9,-10.5,355,6420,0.15,2.35,0.00,0.000,6,0.174,0.055,1373,3409,2992,0,0,0,0,0,0
$GC,6746,-0.78,-135.5,813.2,-11.7,366,6750,0.00,2.15,0.00,0.000,4,0.000,0.029,1373,1979,2991,0,0,0,0,0,0
$GC,6872,-0.78,-135.5,826.9,-11.1,369,6879,0.00,2.33,0.00,0.000,6,0.000,0.054,1364,3411,2991,0,0,0,0,0,0
$GC,7186,-0.78,-135.5,864.5,-12.0,380,7190,0.00,2.17,0.00,0.000,4,0.000,0.029,1363,1971,2990,0,0,0,0,0,0
$GC,7253,-0.78,-135.5,872.4,-10.8,382,7258,0.00,2.38,0.00,0.000,6,0.000,0.056,1353,3405,2990,0,0,0,0,0,0
$GC,7591,-0.78,-135.5,913.0,-12.3,393,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3404,2989,0,0,0,0,0,0
$GC,7896,-0.78,-135.5,948.5,-11.4,403,7901,0.00,2.17,0.00,0.000,4,0.000,0.029,1353,1972,2989,0,0,0,0,0,0
$GC,7949,-0.78,-135.5,954.1,-10.2,404,7954,0.12,2.35,0.00,0.000,6,0.179,0.054,1370,3412,2989,0,0,0,0,0,0
$GC,8270,-0.78,-135.5,986.1,-10.1,415,8274,0.00,2.17,0.00,0.000,4,0.000,0.029,1371,1970,2988,0,0,0,0,0,0
$GC,8342,-0.79,-144.9,993.3,-9.0,417,8348,0.00,2.38,0.00,0.000,6,0.000,0.057,1361,3400,2988,0,0,0,0,0,0
$STATE,8426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8434,-0.13,0.0,1001.9,10.5,420,8571,0.77,0.00,128.93,1.782,6,0.161,0.000,1576,3274,2474,0,0,0,0,1,0
$STATE,8573,end apogee,CONTROL_FINISHED_OK
$STATE,8573,begin climb
$GC,8576,0.79,144.9,1005.1,0.0,424,8745,0.93,0.00,157.05,1.740,6,0.075,0.000,1875,3273,1882,0,0,0,0,1,0
$GC,9037,0.79,144.9,920.7,20.5,439,9041,0.00,1.12,0.00,0.000,4,0.000,0.056,1875,3958,1874,0,0,0,0,0,0
$GC,9295,0.79,144.9,860.8,22.4,446,9299,0.00,1.05,0.00,0.000,6,0.000,0.031,1881,3258,1872,0,0,0,0,0,0
$GC,9614,0.79,144.9,795.1,20.1,457,9618,0.00,1.12,0.00,0.000,4,0.000,0.054,1881,3957,1870,0,0,0,0,0,0
$GC,9834,0.79,144.9,746.4,20.6,463,9838,0.00,1.00,0.00,0.000,6,0.000,0.031,1885,3286,1869,0,0,0,0,0,0
$GC,10158,0.79,144.9,684.0,18.9,474,10162,0.00,1.08,0.00,0.000,4,0.000,0.054,1885,3958,1868,0,0,0,0,0,0
$GC,10417,0.79,144.9,631.0,20.8,481,10420,0.00,1.02,0.00,0.000,6,0.000,0.031,1891,3272,1868,0,0,0,0,0,0
$GC,10735,0.79,144.9,571.2,18.6,492,10739,0.00,1.10,0.00,0.000,4,0.000,0.054,1890,3957,1867,0,0,0,0,0,0
$GC,10953,0.79,144.9,526.2,19.9,498,10957,0.00,1.00,0.00,0.000,6,0.000,0.030,1896,3276,1867,0,0,0,0,0,0
$GC,11278,0.79,144.9,465.4,18.4,509,11282,0.00,1.10,0.00,0.000,4,0.000,0.054,1896,3959,1866,0,0,0,0,0,0
$GC,11481,0.79,144.9,424.3,21.0,515,11484,0.00,1.00,0.00,0.000,6,0.000,0.031,1901,3286,1866,0,0,0,0,0,0
$GC,11804,0.79,144.9,364.9,18.6,528,11808,0.00,1.08,0.00,0.000,4,0.000,0.054,1901,3957,1866,0,0,0,0,0,0
$GC,12013,0.79,144.9,323.5,19.7,537,12019,0.00,1.00,0.00,0.000,6,0.000,0.031,1906,3280,1866,0,0,0,0,0,0
$GC,12349,0.79,144.9,262.9,17.9,553,12355,0.00,1.08,0.00,0.000,4,0.000,0.055,1906,3950,1865,0,0,0,0,0,0
$GC,12614,0.79,144.9,211.8,19.6,567,12618,0.00,1.00,0.00,0.000,6,0.000,0.030,1911,3275,1865,0,0,0,0,0,0
$GC,12941,0.79,144.9,154.0,17.0,588,12945,0.00,1.10,0.00,0.000,4,0.000,0.054,1911,3958,1865,0,0,0,0,0,0
$GC,13210,0.79,144.9,105.1,17.0,603,13214,0.10,1.00,0.00,0.000,6,0.202,0.030,1890,3278,1865,0,0,0,0,0,0
$GC,13562,0.79,144.9,58.4,13.6,659,13569,0.00,1.10,0.00,0.000,4,0.000,0.053,1889,3962,1864,0,0,0,0,0,0
$GC,13851,0.79,144.9,15.4,13.6,705,13862,0.00,1.00,0.00,0.000,6,0.000,0.031,1893,3290,1865,0,0,0,0,0,0
$GC,13943,0.79,144.9,3.8,11.5,718,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3291,1865,0,0,0,0,0,0
$STATE,13962,end climb,SURFACE_DEPTH_REACHED
$STATE,13962,begin surface coast
$FINISH,1.1,1.026300
$STATE,13988,end surface coast,CONTROL_FINISHED_OK
$STATE,13988,begin surface
$SM_CCo,14005,41.70,0.684,1,0,1534,230.09
$SM_GC,2.07,0.00,0.00,41.70,0.000,0.000,0.684,59,3422,1534,-4.90,0.62,230.09
$IRIDIUM_FIX,-4224.47,933.51,040313,191948
$TT8_MAMPS,0.025466
$HUMID,57.95
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,21.3,74.266
$10V_AH,9.6,54.641
$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,12.925,98.425,285.975,41.700,0.000,25.228,23.356,320.098,0.000,0.000,19.063,1907.601,8782.577,425.915,2589.183,898.683,33.364,1431.889,0.000,2390.392,0.000,1.011,0.000
$DEVICE_MAMPS,237.150,74.970,1782.450,683.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.334,1576.384,762.607,351.913,0.000,0.000,0.000,0.000,0.000,0.000
$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,53903,724
$CAP_FILE_SIZE,129537,0
$CFSIZE,259252224,227405824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050313,035334,-4238.438,920.018,36,1.4,36,-25.3