version: 66.07
glider: 543
mission: 6
dive: 478
start: 3 6 113 20 23 30
data:
$ID,543
$MISSION,6
$DIVE,478
$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,-9277.3018
$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,55
$R_STBD_OVSHOOT,29
$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
$GPS1,060313,200934,-4237.195,937.335,36,0.9,36,-25.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,7
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-58.1
$GPS2,060313,202230,-4237.068,937.629,17,0.9,18,-25.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4234.355,942.252
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.259,-0.013
$KALMAN_X,161968.6,1345.2,375.1,-32666.5,-270.0
$KALMAN_Y,469194.9,-150.1,342.5,-482405.9,4156.9
$MHEAD_RNG_PITCHd_Wd,118.2,8062,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-146.0,0.0,0.0,0,63,0.00,0.00,-41.03,0.000,2,0.000,0.000,61,3417,2495,0,0,0,0,0,0
$GC,67,-0.54,-146.1,3.1,-3.1,5,103,5.93,0.88,-18.65,0.000,4,0.236,0.093,1443,3936,3071,0,0,0,0,0,0
$GC,255,-0.54,-146.1,20.1,-10.3,32,266,0.00,0.80,0.00,0.000,6,0.000,0.035,1444,3414,3073,0,0,0,0,0,0
$GC,350,-0.54,-146.1,28.8,-9.5,45,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3414,3074,0,0,0,0,0,0
$GC,432,-0.54,-146.1,36.9,-9.0,58,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3414,3074,0,0,0,0,0,0
$GC,688,-0.54,-146.1,61.3,-9.3,99,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3414,3074,0,0,0,0,0,0
$GC,1045,-0.54,-146.1,90.2,-7.6,160,1053,0.00,0.85,0.00,0.000,4,0.000,0.060,1440,3944,3075,0,0,0,0,0,0
$GC,1302,-0.54,-146.1,115.4,-10.2,186,1312,0.00,0.82,0.00,0.000,6,0.000,0.034,1440,3395,3075,0,0,0,0,0,0
$GC,1624,-0.54,-146.1,145.2,-9.3,207,1629,0.00,2.12,0.00,0.000,4,0.000,0.028,1439,1978,3075,0,0,0,0,0,0
$GC,1682,-0.54,-146.1,150.8,-8.9,210,1688,0.00,2.30,0.00,0.000,6,0.000,0.054,1429,3385,3075,0,0,0,0,0,0
$GC,2011,-0.54,-146.1,180.1,-8.7,231,2016,0.00,0.90,0.00,0.000,4,0.000,0.057,1424,3954,3075,0,0,0,0,0,0
$GC,2069,-0.54,-146.1,186.0,-9.3,234,2075,0.00,0.82,0.00,0.000,6,0.000,0.033,1424,3400,3075,0,0,0,0,0,0
$GC,2397,-0.54,-146.1,212.4,-8.0,255,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3400,3075,0,0,0,0,0,0
$GC,2709,-0.54,-146.1,238.8,-8.9,275,2713,0.00,0.90,0.00,0.000,4,0.000,0.060,1420,3945,3075,0,0,0,0,0,0
$GC,2783,-0.54,-146.1,246.3,-10.2,279,2787,0.08,0.82,0.00,0.000,6,0.145,0.033,1445,3400,3075,0,0,0,0,0,0
$GC,3112,-0.54,-146.1,273.6,-8.7,296,3115,0.00,0.90,0.00,0.000,4,0.000,0.060,1443,3948,3075,0,0,0,0,0,0
$GC,3186,-0.54,-146.1,281.1,-10.0,299,3191,0.00,0.82,0.00,0.000,6,0.000,0.034,1443,3401,3076,0,0,0,0,0,0
$GC,3517,-0.54,-146.1,310.5,-8.9,315,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3401,3075,0,0,0,0,0,0
$GC,3825,-0.54,-146.1,337.7,-8.6,330,3829,0.00,0.88,0.00,0.000,4,0.000,0.058,1439,3951,3075,0,0,0,0,0,0
$GC,3922,-0.54,-146.1,346.8,-9.1,334,3926,0.00,0.82,0.00,0.000,6,0.000,0.034,1439,3401,3075,0,0,0,0,0,0
$GC,4252,-0.54,-146.1,372.4,-7.5,350,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3401,3075,0,0,0,0,0,0
$GC,4562,-0.54,-146.1,395.0,-7.4,365,4567,0.00,0.88,0.00,0.000,4,0.000,0.059,1435,3950,3075,0,0,0,0,0,0
$GC,4668,-0.54,-146.1,403.6,-8.1,369,4671,0.00,0.82,0.00,0.000,6,0.000,0.034,1435,3397,3075,0,0,0,0,0,0
$GC,5010,-0.54,-146.1,430.0,-7.9,380,5015,0.00,2.12,0.00,0.000,4,0.000,0.028,1435,1976,3075,0,0,0,0,0,0
$GC,5050,-0.54,-146.1,433.5,-7.7,381,5055,0.00,2.33,0.00,0.000,6,0.000,0.052,1424,3402,3075,0,0,0,0,0,0
$GC,5388,-0.54,-146.1,463.1,-8.9,392,5391,0.00,0.88,0.00,0.000,4,0.000,0.058,1420,3953,3075,0,0,0,0,0,0
$GC,5482,-0.54,-146.1,472.5,-10.0,394,5489,0.08,0.82,0.00,0.000,6,0.142,0.033,1445,3406,3075,0,0,0,0,0,0
$GC,5796,-0.54,-146.1,494.5,-6.7,405,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3406,3074,0,0,0,0,0,0
$GC,6103,-0.54,-146.1,514.5,-6.5,415,6106,0.00,0.88,0.00,0.000,4,0.000,0.060,1442,3949,3074,0,0,0,0,0,0
$GC,6178,-0.54,-146.1,519.9,-7.0,417,6181,0.00,0.82,0.00,0.000,6,0.000,0.034,1442,3403,3074,0,0,0,0,0,0
$GC,6514,-0.54,-146.1,543.3,-7.0,428,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3402,3073,0,0,0,0,0,0
$GC,6821,-0.54,-146.1,567.0,-8.0,438,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3402,3073,0,0,0,0,0,0
$GC,7126,-0.54,-146.1,593.2,-8.5,448,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3402,3073,0,0,0,0,0,0
$GC,7433,-0.54,-146.1,618.8,-8.4,458,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3402,3072,0,0,0,0,0,0
$GC,7740,-0.54,-146.1,643.8,-8.0,468,7744,0.00,2.15,0.00,0.000,4,0.000,0.028,1442,1967,3071,0,0,0,0,0,0
$GC,7790,-0.54,-146.1,648.0,-8.2,469,7794,0.00,2.33,0.00,0.000,6,0.000,0.052,1432,3404,3071,0,0,0,0,0,0
$GC,8104,-0.54,-146.1,672.9,-7.7,479,8107,0.00,0.88,0.00,0.000,4,0.000,0.058,1427,3955,3071,0,0,0,0,0,0
$GC,8165,-0.54,-146.1,678.1,-8.5,480,8173,0.00,0.85,0.00,0.000,6,0.000,0.034,1427,3389,3070,0,0,0,0,0,0
$GC,8479,-0.54,-146.1,699.7,-6.8,491,8485,0.00,2.12,0.00,0.000,4,0.000,0.028,1427,1976,3070,0,0,0,0,0,0
$GC,8536,-0.54,-146.1,703.8,-6.8,492,8541,0.12,2.30,0.00,0.000,6,0.148,0.052,1449,3400,3070,0,0,0,0,0,0
$GC,8851,-0.54,-146.1,721.5,-5.6,502,8854,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3950,3069,0,0,0,0,0,0
$GC,8890,-0.54,-146.1,724.2,-6.4,503,8894,0.00,0.82,0.00,0.000,6,0.000,0.035,1447,3404,3069,0,0,0,0,0,0
$GC,9225,-0.54,-146.1,747.1,-7.2,514,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3403,3069,0,0,0,0,0,0
$GC,9532,-0.54,-146.1,769.9,-7.5,524,9536,0.00,2.12,0.00,0.000,4,0.000,0.028,1447,1971,3068,0,0,0,0,0,0
$GC,9571,-0.54,-146.1,772.9,-7.1,525,9575,0.00,2.33,0.00,0.000,6,0.000,0.052,1437,3401,3068,0,0,0,0,0,0
$GC,9895,-0.54,-146.1,798.9,-8.1,536,9899,0.00,0.88,0.00,0.000,4,0.000,0.060,1432,3948,3068,0,0,0,0,0,0
$GC,9960,-0.54,-146.1,804.6,-9.3,537,9967,0.00,0.82,0.00,0.000,6,0.000,0.035,1432,3401,3067,0,0,0,0,0,0
$GC,10275,-0.54,-146.1,830.0,-7.9,548,10280,0.00,2.15,0.00,0.000,4,0.000,0.028,1432,1975,3067,0,0,0,0,0,0
$GC,10345,-0.54,-146.1,835.2,-6.3,550,10350,0.12,2.30,0.00,0.000,6,0.147,0.052,1454,3399,3067,0,0,0,0,0,0
$STATE,10465,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10465,begin apogee
$GC,10473,-0.13,0.0,843.0,6.2,554,10623,0.40,0.00,147.05,1.138,6,0.112,0.000,1582,3274,2472,0,0,0,0,0,0
$STATE,10625,end apogee,CONTROL_FINISHED_OK
$STATE,10625,begin climb
$GC,10627,0.54,146.1,848.0,0.0,559,10786,0.60,0.00,147.65,1.101,6,0.064,0.000,1795,3274,1870,0,0,0,0,0,0
$GC,11089,0.54,146.1,795.8,12.1,574,11093,0.00,1.12,0.00,0.000,4,0.000,0.057,1795,3952,1856,0,0,0,0,0,0
$GC,11348,0.54,146.1,761.2,13.0,581,11353,0.00,1.02,0.00,0.000,6,0.000,0.031,1800,3273,1855,0,0,0,0,0,0
$GC,11671,0.54,146.1,723.8,11.5,592,11675,0.00,2.12,0.00,0.000,4,0.000,0.028,1811,1861,1854,0,0,0,0,0,0
$GC,11838,0.54,146.1,706.5,10.3,597,11842,0.00,2.30,0.00,0.000,6,0.000,0.050,1811,3286,1851,0,0,0,0,0,0
$GC,12168,0.54,146.1,664.2,12.9,608,12173,0.00,2.17,0.00,0.000,4,0.000,0.028,1823,1863,1851,0,0,0,0,0,0
$GC,12308,0.54,146.1,648.5,11.3,612,12314,0.00,2.30,0.00,0.000,6,0.000,0.050,1822,3274,1850,0,0,0,0,0,0
$GC,12647,0.54,146.1,602.2,14.1,623,12651,0.00,2.12,0.00,0.000,4,0.000,0.028,1833,1856,1850,0,0,0,0,0,0
$GC,12810,0.54,146.1,582.2,12.4,628,12816,0.08,2.33,0.00,0.000,6,0.142,0.050,1809,3285,1849,0,0,0,0,0,0
$GC,13154,0.54,146.1,538.9,12.7,639,13158,0.00,2.15,0.00,0.000,4,0.000,0.028,1819,1857,1848,0,0,0,0,0,0
$GC,13312,0.54,146.1,521.8,10.1,643,13320,0.00,2.33,0.00,0.000,6,0.000,0.049,1819,3282,1848,0,0,0,0,0,0
$GC,13626,0.54,146.1,484.6,11.4,654,13631,0.00,1.08,0.00,0.000,4,0.000,0.057,1819,3954,1848,0,0,0,0,0,0
$GC,13884,0.54,146.1,452.1,12.5,661,13888,0.00,1.02,0.00,0.000,6,0.000,0.030,1824,3267,1848,0,0,0,0,0,0
$GC,14205,0.54,146.1,418.8,10.6,672,14209,0.00,1.10,0.00,0.000,4,0.000,0.056,1824,3948,1848,0,0,0,0,0,0
$GC,14468,0.54,146.1,385.1,13.6,681,14471,0.00,1.00,0.00,0.000,6,0.000,0.031,1829,3274,1848,0,0,0,0,0,0
$GC,14792,0.54,146.1,343.7,13.3,697,14797,0.00,1.08,0.00,0.000,4,0.000,0.054,1829,3943,1848,0,0,0,0,0,0
$GC,15032,0.54,146.1,307.3,15.9,707,15036,0.10,0.98,0.00,0.000,6,0.170,0.030,1805,3281,1848,0,0,0,0,0,0
$GC,15355,0.54,146.1,269.1,11.4,723,15360,0.00,1.08,0.00,0.000,4,0.000,0.055,1805,3952,1848,0,0,0,0,0,0
$GC,15533,0.54,146.1,247.1,12.4,731,15537,0.00,0.98,0.00,0.000,6,0.000,0.031,1808,3292,1848,0,0,0,0,0,0
$GC,15863,0.54,146.1,210.5,11.1,752,15867,0.00,1.05,0.00,0.000,4,0.000,0.054,1808,3948,1848,0,0,0,0,0,0
$GC,16031,0.54,146.1,189.4,13.0,761,16038,0.00,1.00,0.00,0.000,6,0.000,0.030,1813,3273,1848,0,0,0,0,0,0
$GC,16351,0.54,146.1,151.7,11.9,782,16354,0.00,1.10,0.00,0.000,4,0.000,0.054,1813,3957,1848,0,0,0,0,0,0
$GC,16473,0.54,146.1,136.5,12.3,789,16477,0.00,1.00,0.00,0.000,6,0.000,0.029,1818,3275,1848,0,0,0,0,0,0
$GC,16803,0.54,146.1,98.7,11.1,810,16814,0.00,1.08,0.00,0.000,4,0.000,0.054,1818,3947,1848,0,0,0,0,0,0
$GC,17056,0.54,146.1,69.0,12.1,852,17065,0.00,0.98,0.00,0.000,6,0.000,0.031,1823,3286,1847,0,0,0,0,0,0
$GC,17428,0.54,146.1,32.1,10.1,913,17436,0.00,1.08,0.00,0.000,4,0.000,0.054,1823,3957,1848,0,0,0,0,0,0
$GC,17635,0.54,148.9,10.9,9.9,944,17644,0.00,1.00,0.00,0.000,6,0.000,0.029,1828,3278,1847,0,0,0,0,0,0
$STATE,17711,end climb,SURFACE_DEPTH_REACHED
$STATE,17711,begin surface coast
$FINISH,1.3,1.026252
$STATE,17744,end surface coast,CONTROL_FINISHED_OK
$STATE,17744,begin surface
$SM_CCo,17760,40.95,0.686,1,0,1533,230.09
$SM_GC,2.18,0.00,0.00,40.95,0.000,0.000,0.686,66,3412,1533,-4.88,0.37,230.09
$IRIDIUM_FIX,-4221.55,933.03,060313,151557
$TT8_MAMPS,0.025466
$HUMID,57.91
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,75.688
$10V_AH,9.7,55.901
$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,12.275,84.075,294.700,40.950,0.000,33.358,44.506,498.363,0.000,0.000,19.971,2456.482,11176.651,437.596,3396.397,1109.130,33.379,1659.766,0.000,3038.552,0.000,1.014,0.000
$DEVICE_MAMPS,236.385,92.565,1137.555,686.205,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.647,2131.841,1082.096,505.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,70302,960
$CAP_FILE_SIZE,155504,0
$CFSIZE,259252224,226656256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070313,012135,-4236.409,939.937,35,0.9,36,-25.4