version: 66.07
glider: 543
mission: 6
dive: 477
start: 3 6 113 15 14 20
data:
$ID,543
$MISSION,6
$DIVE,477
$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,-9273.8379
$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,51
$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
$GPS1,060313,150305,-4236.966,935.980,42,1.1,42,-25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-51.0
$GPS2,060313,151323,-4237.020,936.133,19,0.9,19,-25.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4237.981,933.840
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.056,-0.254
$KALMAN_X,159795.8,475.5,217.1,-31514.8,1355.2
$KALMAN_Y,465052.8,-305.2,-325.0,-477341.6,5209.1
$MHEAD_RNG_PITCHd_Wd,217.8,3596,-17.5,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.54,-146.1,0.0,0.0,0,76,0.00,0.00,-50.42,0.000,2,0.000,0.000,49,3400,2655,0,0,0,0,0,0
$GC,81,-0.54,-146.1,3.3,-4.1,6,107,5.72,0.00,-12.25,0.000,6,0.220,0.000,1448,3400,3070,0,0,0,0,0,0
$GC,187,-0.54,-146.1,11.3,-6.7,21,195,0.00,0.90,0.00,0.000,4,0.000,0.058,1444,3947,3072,0,0,0,0,0,0
$GC,226,-0.54,-146.1,15.9,-13.0,26,236,0.00,0.82,0.00,0.000,6,0.000,0.036,1444,3411,3072,0,0,0,0,0,0
$GC,316,-0.54,-146.1,24.5,-8.8,39,326,0.00,2.17,0.00,0.000,4,0.000,0.029,1444,1983,3073,0,0,0,0,0,0
$GC,339,-0.54,-146.1,26.2,-8.3,41,347,0.00,2.35,0.00,0.000,6,0.000,0.061,1434,3388,3073,0,0,0,0,0,0
$GC,423,-0.54,-146.1,34.9,-9.3,54,434,0.00,0.93,0.00,0.000,4,0.000,0.061,1429,3957,3073,0,0,0,0,0,0
$GC,468,-0.54,-146.1,39.8,-11.1,60,477,0.00,0.85,0.00,0.000,6,0.000,0.036,1429,3412,3073,0,0,0,0,0,0
$GC,715,-0.54,-146.1,66.6,-11.7,101,720,0.00,2.17,0.00,0.000,4,0.000,0.029,1429,1973,3073,0,0,0,0,0,0
$GC,766,-0.54,-146.1,71.6,-10.6,109,771,0.12,2.38,0.00,0.000,6,0.149,0.060,1451,3413,3073,0,0,0,0,0,0
$GC,1131,-0.54,-146.1,102.3,-7.3,167,1135,0.00,2.17,0.00,0.000,4,0.000,0.029,1452,1966,3073,0,0,0,0,0,0
$GC,1286,-0.54,-146.1,113.8,-6.6,176,1291,0.00,2.35,0.00,0.000,6,0.000,0.053,1442,3402,3073,0,0,0,0,0,0
$GC,1622,-0.54,-146.1,141.4,-8.1,197,1628,0.00,0.88,0.00,0.000,4,0.000,0.058,1438,3953,3074,0,0,0,0,0,0
$GC,1769,-0.54,-146.1,154.4,-8.7,205,1773,0.00,0.85,0.00,0.000,6,0.000,0.033,1437,3384,3074,0,0,0,0,0,0
$GC,2103,-0.54,-146.1,180.5,-7.7,226,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,3384,3074,0,0,0,0,0,0
$GC,2413,-0.54,-146.1,205.2,-7.9,246,2417,0.00,0.90,0.00,0.000,4,0.000,0.059,1434,3946,3074,0,0,0,0,0,0
$GC,2473,-0.54,-146.1,210.7,-9.0,249,2477,0.00,0.82,0.00,0.000,6,0.000,0.034,1434,3400,3074,0,0,0,0,0,0
$GC,2799,-0.54,-146.1,237.5,-8.2,270,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,1434,3401,3074,0,0,0,0,0,0
$GC,3120,-0.54,-146.1,264.8,-8.6,288,3124,0.00,0.90,0.00,0.000,4,0.000,0.060,1429,3957,3074,0,0,0,0,0,0
$GC,3194,-0.54,-146.1,271.7,-9.8,291,3197,0.00,0.85,0.00,0.000,6,0.000,0.034,1429,3393,3074,0,0,0,0,0,0
$GC,3529,-0.54,-146.1,302.3,-8.9,307,3535,0.00,0.90,0.00,0.000,4,0.000,0.059,1425,3952,3074,0,0,0,0,0,0
$GC,3594,-0.54,-146.1,308.9,-10.0,309,3601,0.00,0.82,0.00,0.000,6,0.000,0.034,1425,3405,3074,0,0,0,0,0,0
$GC,3913,-0.54,-146.1,338.0,-9.5,325,3918,0.00,2.15,0.00,0.000,4,0.000,0.028,1425,1979,3074,0,0,0,0,0,0
$GC,4009,-0.54,-146.1,346.7,-8.7,329,4014,0.12,2.30,0.00,0.000,6,0.150,0.052,1448,3402,3074,0,0,0,0,0,0
$GC,4342,-0.54,-146.1,373.2,-8.0,345,4347,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3952,3074,0,0,0,0,0,0
$GC,4459,-0.54,-146.1,383.8,-8.9,350,4463,0.00,0.82,0.00,0.000,6,0.000,0.034,1445,3405,3074,0,0,0,0,0,0
$GC,4793,-0.54,-146.1,412.1,-8.5,364,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3404,3074,0,0,0,0,0,0
$GC,5097,-0.54,-146.1,437.8,-8.2,374,5103,0.00,0.88,0.00,0.000,4,0.000,0.059,1441,3950,3074,0,0,0,0,0,0
$GC,5143,-0.54,-146.1,442.1,-9.5,375,5149,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3404,3074,0,0,0,0,0,0
$GC,5475,-0.54,-146.1,468.7,-8.0,386,5480,0.00,2.15,0.00,0.000,4,0.000,0.028,1441,1976,3073,0,0,0,0,0,0
$GC,5545,-0.54,-146.1,474.3,-7.8,388,5549,0.00,2.30,0.00,0.000,6,0.000,0.052,1430,3401,3074,0,0,0,0,0,0
$GC,5881,-0.54,-146.1,502.6,-8.5,399,5886,0.00,0.88,0.00,0.000,4,0.000,0.058,1427,3952,3073,0,0,0,0,0,0
$GC,5955,-0.54,-146.1,509.5,-8.9,401,5958,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3402,3073,0,0,0,0,0,0
$GC,6291,-0.54,-146.1,536.3,-7.7,412,6296,0.00,0.88,0.00,0.000,4,0.000,0.059,1422,3950,3072,0,0,0,0,0,0
$GC,6376,-0.54,-146.1,543.6,-8.9,414,6381,0.08,0.82,0.00,0.000,6,0.141,0.034,1446,3402,3072,0,0,0,0,0,0
$GC,6701,-0.54,-146.1,564.8,-6.6,425,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3402,3071,0,0,0,0,0,0
$GC,7008,-0.54,-146.1,585.2,-6.6,435,7012,0.00,2.15,0.00,0.000,4,0.000,0.028,1446,1960,3071,0,0,0,0,0,0
$GC,7052,-0.54,-146.1,588.7,-7.4,436,7056,0.00,2.35,0.00,0.000,6,0.000,0.051,1437,3409,3071,0,0,0,0,0,0
$GC,7371,-0.54,-146.1,613.7,-7.9,447,7374,0.00,0.85,0.00,0.000,4,0.000,0.058,1433,3943,3070,0,0,0,0,0,0
$GC,7427,-0.54,-146.1,618.6,-9.2,448,7433,0.00,0.82,0.00,0.000,6,0.000,0.034,1433,3397,3070,0,0,0,0,0,0
$GC,7747,-0.54,-146.1,644.3,-8.0,459,7753,0.00,2.15,0.00,0.000,4,0.000,0.028,1433,1970,3070,0,0,0,0,0,0
$GC,7776,-0.54,-146.1,646.7,-8.3,459,7783,0.12,2.33,0.00,0.000,6,0.148,0.053,1454,3408,3070,0,0,0,0,0,0
$GC,8090,-0.54,-146.1,667.2,-6.5,470,8094,0.00,0.85,0.00,0.000,4,0.000,0.060,1452,3947,3069,0,0,0,0,0,0
$GC,8213,-0.54,-146.1,676.3,-7.3,473,8217,0.00,0.82,0.00,0.000,6,0.000,0.035,1451,3403,3069,0,0,0,0,0,0
$GC,8534,-0.54,-146.1,698.2,-6.8,484,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3069,0,0,0,0,0,0
$GC,8839,-0.54,-146.1,717.7,-6.3,494,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3403,3067,0,0,0,0,0,0
$GC,9145,-0.54,-146.1,736.4,-5.6,504,9149,0.00,2.15,0.00,0.000,4,0.000,0.028,1452,1966,3067,0,0,0,0,0,0
$GC,9282,-0.54,-146.1,744.6,-6.4,508,9286,0.00,2.33,0.00,0.000,6,0.000,0.052,1441,3400,3066,0,0,0,0,0,0
$GC,9612,-0.54,-146.1,767.1,-6.9,519,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3400,3066,0,0,0,0,0,0
$GC,9918,-0.54,-146.1,787.9,-6.9,529,9922,0.00,2.17,0.00,0.000,4,0.000,0.029,1441,1970,3066,0,0,0,0,0,0
$GC,10072,-0.54,-146.1,799.3,-8.3,533,10076,0.00,2.33,0.00,0.000,6,0.000,0.053,1430,3400,3065,0,0,0,0,0,0
$GC,10386,-0.54,-146.1,826.2,-8.9,543,10389,0.00,0.90,0.00,0.000,4,0.000,0.060,1426,3946,3065,0,0,0,0,0,0
$STATE,10444,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10444,begin apogee
$GC,10453,-0.13,0.0,832.7,9.3,544,10603,0.50,0.00,142.07,1.676,6,0.131,0.000,1581,3267,2473,0,0,0,0,1,0
$STATE,10604,end apogee,CONTROL_FINISHED_OK
$STATE,10604,begin climb
$GC,10607,0.54,146.1,839.4,0.0,549,10770,0.65,0.00,153.30,1.639,6,0.077,0.000,1793,3267,1878,0,0,0,0,1,0
$GC,11069,0.54,148.6,799.5,9.9,564,11072,0.00,1.12,0.00,0.000,4,0.000,0.057,1793,3954,1870,0,0,0,0,0,0
$GC,11326,0.54,148.6,767.6,12.8,571,11330,0.00,1.02,0.00,0.000,6,0.000,0.031,1798,3274,1869,0,0,0,0,0,0
$GC,11645,0.54,148.6,730.5,11.9,582,11649,0.00,1.08,0.00,0.000,4,0.000,0.057,1798,3947,1867,0,0,0,0,0,0
$GC,11902,0.54,148.6,693.7,13.7,589,11907,0.00,1.00,0.00,0.000,6,0.000,0.032,1804,3278,1867,0,0,0,0,0,0
$GC,12221,0.54,148.6,651.2,13.5,600,12227,0.00,1.08,0.00,0.000,4,0.000,0.056,1803,3955,1866,0,0,0,0,0,0
$GC,12480,0.54,148.6,612.0,14.8,607,12484,0.00,1.00,0.00,0.000,6,0.000,0.031,1808,3281,1866,0,0,0,0,0,0
$GC,12799,0.54,148.6,568.8,13.4,618,12803,0.00,1.05,0.00,0.000,4,0.000,0.056,1808,3943,1865,0,0,0,0,0,0
$GC,13056,0.54,148.6,530.5,13.7,625,13060,0.00,0.98,0.00,0.000,6,0.000,0.031,1814,3287,1865,0,0,0,0,0,0
$GC,13376,0.54,148.6,489.1,12.9,636,13379,0.00,1.05,0.00,0.000,4,0.000,0.055,1814,3948,1864,0,0,0,0,0,0
$GC,13633,0.54,148.6,452.2,12.7,643,13638,0.00,1.00,0.00,0.000,6,0.000,0.030,1819,3276,1864,0,0,0,0,0,0
$GC,13953,0.54,148.6,415.2,11.3,654,13958,0.00,1.08,0.00,0.000,4,0.000,0.055,1819,3950,1864,0,0,0,0,0,0
$GC,14213,0.54,148.6,381.3,12.3,663,14219,0.00,1.00,0.00,0.000,6,0.000,0.030,1824,3274,1864,0,0,0,0,0,0
$GC,14539,0.54,148.6,343.8,11.7,679,14544,0.00,1.08,0.00,0.000,4,0.000,0.055,1824,3949,1863,0,0,0,0,0,0
$GC,14794,0.54,148.6,308.9,13.4,690,14798,0.00,1.00,0.00,0.000,6,0.000,0.030,1829,3273,1863,0,0,0,0,0,0
$GC,15123,0.54,148.6,267.9,12.3,706,15127,0.00,1.08,0.00,0.000,4,0.000,0.055,1829,3948,1863,0,0,0,0,0,0
$GC,15388,0.54,148.6,231.5,14.1,719,15392,0.10,1.00,0.00,0.000,6,0.172,0.029,1805,3272,1863,0,0,0,0,0,0
$GC,15714,0.54,148.6,196.9,10.6,740,15718,0.00,1.08,0.00,0.000,4,0.000,0.054,1805,3946,1862,0,0,0,0,0,0
$GC,15842,0.54,148.6,181.7,11.1,747,15845,0.00,0.98,0.00,0.000,6,0.000,0.030,1808,3289,1862,0,0,0,0,0,0
$GC,16166,0.54,148.6,148.1,10.1,768,16170,0.00,1.05,0.00,0.000,4,0.000,0.054,1808,3952,1862,0,0,0,0,0,0
$GC,16278,0.54,148.6,135.5,11.2,774,16289,0.00,1.00,0.00,0.000,6,0.000,0.029,1814,3274,1862,0,0,0,0,0,0
$GC,16602,0.54,154.3,103.2,9.7,795,16607,0.00,1.15,1.90,0.353,4,0.000,0.053,1814,3958,1845,0,0,0,0,0,0
$GC,16738,0.54,154.3,87.6,12.9,814,16745,0.00,1.00,0.00,0.000,6,0.000,0.029,1819,3279,1846,0,0,0,0,0,0
$GC,17102,0.55,158.5,48.0,9.8,875,17109,0.00,2.20,2.10,0.340,4,0.000,0.026,1830,1860,1827,0,0,0,0,0,0
$GC,17245,0.58,208.3,35.8,7.7,898,17303,0.00,2.30,46.05,0.645,6,0.000,0.047,1830,3280,1621,0,0,0,0,0,0
$STATE,17558,end climb,SURFACE_DEPTH_REACHED
$STATE,17558,begin surface coast
$FINISH,1.1,1.026245
$STATE,17607,end surface coast,CONTROL_FINISHED_OK
$STATE,17607,begin surface
$SM_CCo,17623,12.50,0.645,0,0,1536,230.09
$SM_GC,2.74,0.00,0.00,12.50,0.000,0.000,0.645,62,3415,1536,-4.89,0.42,230.09
$IRIDIUM_FIX,-4221.55,935.91,060313,101028
$TT8_MAMPS,0.025466
$HUMID,57.79
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.0,75.553
$10V_AH,9.6,55.756
$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,12.150,90.525,345.425,12.500,0.000,28.257,24.973,362.139,0.000,0.000,21.634,2465.099,10863.794,427.715,3334.355,1154.288,33.386,1714.653,0.000,3199.465,0.000,1.010,0.000
$DEVICE_MAMPS,220.320,73.440,1676.115,644.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.351,2146.301,1094.056,494.960,0.000,0.000,0.000,0.000,0.000,0.000
$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,70504,952
$CAP_FILE_SIZE,161165,0
$CFSIZE,259252224,226729984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060313,200934,-4237.195,937.335,36,0.9,36,-25.4