version: 66.07
glider: 543
mission: 6
dive: 472
start: 3 5 113 13 35 14
data:
$ID,543
$MISSION,6
$DIVE,472
$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,-9254.5078
$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,59
$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
$GPS1,050313,131435,-4236.573,923.571,27,1.1,28,-25.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-52.4
$GPS2,050313,133417,-4236.405,923.798,22,1.1,23,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4238.509,925.664
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.074,-0.221
$KALMAN_X,157804.1,-290.3,-695.4,-44654.7,1050.2
$KALMAN_Y,446427.6,297.7,144.2,-458685.0,551.2
$MHEAD_RNG_PITCHd_Wd,186.8,4651,-19.9,-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,-0.58,-115.7,0.0,0.0,0,64,0.00,0.00,-41.45,0.000,2,0.000,0.000,46,3393,2530,0,0,0,0,0,0
$GC,68,-0.60,-146.1,3.1,-3.3,5,95,5.62,0.95,-16.80,0.000,4,0.220,0.092,1422,3953,3071,0,0,0,0,0,0
$GC,329,-0.60,-146.1,35.5,-12.2,44,339,0.00,0.82,0.00,0.000,6,0.000,0.035,1422,3410,3074,0,0,0,0,0,0
$GC,581,-0.60,-146.1,62.8,-11.3,85,588,0.00,2.17,0.00,0.000,4,0.000,0.029,1422,1979,3074,0,0,0,0,0,0
$GC,666,-0.60,-146.1,69.9,-8.4,99,672,0.00,2.33,0.00,0.000,6,0.000,0.057,1412,3391,3075,0,0,0,0,0,0
$GC,1031,-0.60,-146.1,103.3,-9.1,158,1035,0.00,0.90,0.00,0.000,4,0.000,0.057,1407,3959,3075,0,0,0,0,0,0
$GC,1096,-0.60,-146.1,110.5,-11.0,161,1103,0.00,0.85,0.00,0.000,6,0.000,0.034,1407,3395,3075,0,0,0,0,0,0
$GC,1415,-0.60,-146.1,144.7,-10.6,182,1421,0.00,2.12,0.00,0.000,4,0.000,0.028,1407,1983,3075,0,0,0,0,0,0
$GC,1480,-0.60,-146.1,151.5,-9.9,185,1488,0.12,2.30,0.00,0.000,6,0.158,0.056,1429,3405,3076,0,0,0,0,0,0
$GC,1802,-0.60,-146.1,180.7,-9.2,206,1805,0.00,0.88,0.00,0.000,4,0.000,0.057,1426,3958,3076,0,0,0,0,0,0
$GC,1892,-0.60,-146.1,189.0,-9.6,211,1896,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3408,3076,0,0,0,0,0,0
$GC,2223,-0.60,-146.1,220.1,-9.2,232,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3407,3076,0,0,0,0,0,0
$GC,2536,-0.60,-146.1,247.0,-8.0,252,2540,0.00,2.12,0.00,0.000,4,0.000,0.028,1426,1980,3076,0,0,0,0,0,0
$GC,2603,-0.60,-146.1,252.3,-7.7,256,2607,0.00,2.28,0.00,0.000,6,0.000,0.051,1415,3408,3076,0,0,0,0,0,0
$GC,2932,-0.60,-146.1,280.6,-8.7,272,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3408,3076,0,0,0,0,0,0
$GC,3242,-0.60,-146.1,308.5,-9.0,287,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3408,3076,0,0,0,0,0,0
$GC,3550,-0.60,-146.1,337.6,-9.7,302,3554,0.00,2.12,0.00,0.000,4,0.000,0.028,1415,1969,3076,0,0,0,0,0,0
$GC,3574,-0.60,-146.1,340.3,-10.0,303,3578,0.00,2.33,0.00,0.000,6,0.000,0.054,1405,3399,3076,0,0,0,0,0,0
$GC,3897,-0.60,-146.1,373.4,-10.7,319,3903,0.00,0.88,0.00,0.000,4,0.000,0.056,1400,3956,3076,0,0,0,0,0,0
$GC,3969,-0.60,-146.1,381.9,-11.9,322,3973,0.10,0.82,0.00,0.000,6,0.147,0.033,1432,3401,3076,0,0,0,0,0,0
$GC,4301,-0.60,-146.1,412.3,-9.1,336,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3401,3076,0,0,0,0,0,0
$GC,4608,-0.60,-146.1,437.8,-7.9,346,4612,0.00,2.12,0.00,0.000,4,0.000,0.028,1432,1975,3075,0,0,0,0,0,0
$GC,4671,-0.60,-146.1,442.6,-6.7,348,4675,0.00,2.33,0.00,0.000,6,0.000,0.053,1422,3410,3076,0,0,0,0,0,0
$GC,5007,-0.60,-146.1,469.2,-8.0,359,5013,0.00,0.85,0.00,0.000,4,0.000,0.057,1418,3947,3075,0,0,0,0,0,0
$GC,5081,-0.60,-146.1,475.9,-8.6,361,5084,0.00,0.82,0.00,0.000,6,0.000,0.034,1418,3398,3075,0,0,0,0,0,0
$GC,5416,-0.60,-146.1,503.0,-8.3,372,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,1418,3398,3074,0,0,0,0,0,0
$GC,5723,-0.60,-146.1,530.3,-9.2,382,5727,0.00,2.12,0.00,0.000,4,0.000,0.028,1418,1973,3074,0,0,0,0,0,0
$GC,5768,-0.60,-146.1,534.7,-8.8,383,5772,0.00,2.30,0.00,0.000,6,0.000,0.053,1407,3402,3074,0,0,0,0,0,0
$GC,6086,-0.60,-146.1,566.2,-10.1,394,6090,0.00,0.88,0.00,0.000,4,0.000,0.057,1403,3956,3073,0,0,0,0,0,0
$GC,6165,-0.60,-146.1,574.9,-11.0,396,6169,0.05,0.85,0.00,0.000,6,0.159,0.033,1419,3393,3073,0,0,0,0,0,0
$GC,6495,-0.60,-146.1,605.6,-9.5,407,6498,0.00,2.12,0.00,0.000,4,0.000,0.028,1419,1972,3072,0,0,0,0,0,0
$GC,6573,-0.60,-146.1,613.2,-9.9,409,6577,0.00,2.33,0.00,0.000,6,0.000,0.053,1410,3403,3072,0,0,0,0,0,0
$GC,6891,-0.60,-146.1,644.6,-10.1,420,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,1410,3403,3071,0,0,0,0,0,0
$GC,7198,-0.60,-146.1,675.5,-9.9,430,7202,0.00,2.15,0.00,0.000,4,0.000,0.028,1410,1971,3071,0,0,0,0,0,0
$GC,7262,-0.60,-146.1,681.4,-8.9,432,7268,0.10,2.35,0.00,0.000,6,0.132,0.053,1431,3401,3071,0,0,0,0,0,0
$GC,7605,-0.60,-146.1,709.4,-8.0,443,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3400,3070,0,0,0,0,0,0
$GC,7912,-0.60,-146.1,731.9,-7.1,453,7916,0.00,2.15,0.00,0.000,4,0.000,0.029,1431,1972,3069,0,0,0,0,0,0
$GC,7986,-0.60,-146.1,737.5,-6.8,455,7991,0.00,2.35,0.00,0.000,6,0.000,0.053,1422,3401,3069,0,0,0,0,0,0
$GC,8318,-0.60,-146.1,762.1,-7.4,466,8322,0.00,2.12,0.00,0.000,4,0.000,0.029,1422,1972,3069,0,0,0,0,0,0
$GC,8358,-0.60,-146.1,765.4,-7.3,467,8362,0.00,2.33,0.00,0.000,6,0.000,0.054,1411,3401,3069,0,0,0,0,0,0
$GC,8682,-0.60,-146.1,792.4,-8.5,478,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,1411,3400,3068,0,0,0,0,0,0
$GC,8990,-0.60,-146.1,818.6,-8.8,488,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,1411,3400,3068,0,0,0,0,0,0
$GC,9299,-0.60,-146.1,846.7,-9.3,498,9302,0.00,2.15,0.00,0.000,4,0.000,0.029,1411,1973,3067,0,0,0,0,0,0
$GC,9343,-0.60,-146.1,851.4,-9.2,499,9348,0.12,2.33,0.00,0.000,6,0.158,0.053,1432,3403,3067,0,0,0,0,0,0
$GC,9663,-0.60,-146.1,878.3,-8.4,510,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3403,3067,0,0,0,0,0,0
$GC,9971,-0.60,-146.1,903.5,-7.9,520,9975,0.00,2.15,0.00,0.000,4,0.000,0.029,1432,1977,3066,0,0,0,0,0,0
$GC,10038,-0.60,-146.1,909.0,-8.1,522,10043,0.00,2.35,0.00,0.000,6,0.000,0.053,1423,3402,3065,0,0,0,0,0,0
$GC,10376,-0.60,-146.1,935.5,-7.8,533,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,3402,3065,0,0,0,0,0,0
$STATE,10465,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10465,begin apogee
$GC,10472,-0.13,0.0,942.5,7.6,536,10624,0.52,0.00,148.32,1.199,6,0.129,0.000,1581,3273,2473,0,0,0,0,0,0
$STATE,10625,end apogee,CONTROL_FINISHED_OK
$STATE,10625,begin climb
$GC,10628,0.60,146.1,945.2,0.0,541,10783,0.73,0.00,151.80,1.165,6,0.074,0.000,1819,3273,1877,0,0,0,0,0,0
$GC,11073,0.60,146.1,882.8,15.0,556,11077,0.00,1.12,0.00,0.000,4,0.000,0.056,1819,3954,1858,0,0,0,0,0,0
$GC,11288,0.60,146.1,846.3,17.4,562,11291,0.00,1.02,0.00,0.000,6,0.000,0.031,1825,3273,1857,0,0,0,0,0,0
$GC,11620,0.60,146.1,795.7,15.2,573,11623,0.00,1.10,0.00,0.000,4,0.000,0.056,1825,3957,1854,0,0,0,0,0,0
$GC,11871,0.60,146.1,754.2,17.1,580,11874,0.00,1.02,0.00,0.000,6,0.000,0.031,1829,3270,1854,0,0,0,0,0,0
$GC,12195,0.60,146.1,706.6,14.9,591,12199,0.00,1.10,0.00,0.000,4,0.000,0.056,1830,3953,1853,0,0,0,0,0,0
$GC,12452,0.60,146.1,664.3,15.3,598,12458,0.00,1.00,0.00,0.000,6,0.000,0.031,1835,3277,1853,0,0,0,0,0,0
$GC,12772,0.60,146.1,618.1,14.4,609,12777,0.00,1.08,0.00,0.000,4,0.000,0.056,1835,3948,1852,0,0,0,0,0,0
$GC,13031,0.60,146.1,577.6,15.0,616,13035,0.00,1.00,0.00,0.000,6,0.000,0.030,1840,3274,1852,0,0,0,0,0,0
$GC,13351,0.60,146.1,531.9,14.4,627,13355,0.00,2.10,0.00,0.000,4,0.000,0.028,1851,1858,1852,0,0,0,0,0,0
$GC,13488,0.60,146.1,515.4,11.4,631,13492,0.00,2.30,0.00,0.000,6,0.000,0.048,1851,3291,1849,0,0,0,0,0,0
$GC,13818,0.60,146.1,464.6,15.8,642,13821,0.00,1.05,0.00,0.000,4,0.000,0.054,1851,3948,1849,0,0,0,0,0,0
$GC,14075,0.60,146.1,420.7,16.6,649,14081,0.10,1.00,0.00,0.000,6,0.192,0.030,1829,3272,1849,0,0,0,0,0,0
$GC,14411,0.60,146.1,374.0,14.0,663,14414,0.00,1.08,0.00,0.000,4,0.000,0.054,1828,3942,1848,0,0,0,0,0,0
$GC,14677,0.60,146.1,332.1,16.2,674,14681,0.00,0.98,0.00,0.000,6,0.000,0.031,1832,3283,1848,0,0,0,0,0,0
$GC,15000,0.60,146.1,288.0,13.3,690,15003,0.00,1.08,0.00,0.000,4,0.000,0.054,1832,3954,1848,0,0,0,0,0,0
$GC,15231,0.60,146.1,255.0,13.8,700,15235,0.00,1.00,0.00,0.000,6,0.000,0.030,1837,3275,1848,0,0,0,0,0,0
$GC,15559,0.60,146.1,215.5,12.1,720,15562,0.00,1.08,0.00,0.000,4,0.000,0.054,1837,3944,1848,0,0,0,0,0,0
$GC,15741,0.60,146.1,190.1,12.7,730,15747,0.00,1.00,0.00,0.000,6,0.000,0.030,1842,3269,1848,0,0,0,0,0,0
$GC,16070,0.60,146.1,146.9,13.5,751,16076,0.00,1.10,0.00,0.000,4,0.000,0.054,1842,3955,1848,0,0,0,0,0,0
$GC,16301,0.60,146.1,112.0,14.3,764,16304,0.00,1.00,0.00,0.000,6,0.000,0.029,1847,3274,1848,0,0,0,0,0,0
$GC,16645,0.60,146.1,65.8,12.7,813,16654,0.00,1.08,0.00,0.000,4,0.000,0.053,1847,3944,1849,0,0,0,0,0,0
$GC,16826,0.60,146.1,43.5,11.0,842,16838,0.08,0.98,0.00,0.000,6,0.187,0.030,1830,3278,1848,0,0,0,0,0,0
$GC,17093,0.62,183.5,15.7,7.8,883,17129,0.00,1.10,27.23,0.640,4,0.000,0.050,1830,3955,1721,0,0,0,0,0,0
$STATE,17208,end climb,SURFACE_DEPTH_REACHED
$STATE,17208,begin surface coast
$FINISH,1.1,1.026126
$STATE,17236,end surface coast,CONTROL_FINISHED_OK
$STATE,17236,begin surface
$SM_CCo,17253,27.08,0.643,1,0,1534,230.09
$SM_GC,1.78,0.00,0.00,27.08,0.000,0.000,0.643,43,3409,1534,-4.95,0.25,230.09
$IRIDIUM_FIX,-4221.55,927.26,050313,131348
$TT8_MAMPS,0.025466
$HUMID,57.75
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,22.0,74.719
$10V_AH,9.7,55.029
$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,12.300,91.200,327.350,27.075,0.000,79.248,158.237,591.691,0.000,0.000,24.890,2336.339,11140.783,437.891,3459.037,1084.338,33.374,1563.417,0.000,2870.138,0.000,1.014,0.000
$DEVICE_MAMPS,219.555,91.800,1198.755,643.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.229,2005.096,961.010,428.529,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,66879,903
$CAP_FILE_SIZE,151468,0
$CFSIZE,259252224,227147776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050313,182434,-4236.783,925.992,33,1.1,33,-25.3