version: 66.07
glider: 543
mission: 6
dive: 447
start: 2 28 113 20 39 25
data:
$ID,543
$MISSION,6
$DIVE,447
$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,400
$T_MISSION,420
$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,-9168.0312
$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,54
$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
$GPS1,280213,202622,-4244.037,848.906,36,0.9,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-53.8
$GPS2,280213,203824,-4244.158,849.086,16,1.0,17,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,RECOVERY
$TGT_LATLONG,-4630.000,803.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.237,-0.059
$KALMAN_X,123196.9,72.7,-134.0,-58382.7,6150.1
$KALMAN_Y,419576.8,-586.9,-242.0,-444887.6,4551.4
$MHEAD_RNG_PITCHd_Wd,281.2,422365,-14.7,-8.333
$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,-0.47,-145.9,0.0,0.0,0,64,0.00,0.00,-41.47,0.000,2,0.000,0.000,49,3406,2545,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-4.4,5,94,6.18,0.00,-16.12,0.000,6,0.243,0.000,1467,3405,3071,0,0,0,0,0,0
$GC,175,-0.47,-146.1,12.2,-8.2,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3406,3074,0,0,0,0,0,0
$GC,264,-0.47,-146.1,19.5,-7.8,33,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3405,3074,0,0,0,0,0,0
$GC,354,-0.47,-146.1,27.1,-8.7,46,363,0.00,2.15,0.00,0.000,4,0.000,0.029,1467,1997,3074,0,0,0,0,0,0
$GC,380,-0.47,-146.1,29.1,-7.9,49,389,0.00,2.30,0.00,0.000,6,0.000,0.056,1458,3389,3074,0,0,0,0,0,0
$GC,462,-0.47,-146.1,36.4,-8.7,62,473,0.00,0.90,0.00,0.000,4,0.000,0.057,1453,3953,3075,0,0,0,0,0,0
$GC,503,-0.47,-146.1,40.0,-9.2,67,510,0.00,0.80,0.00,0.000,6,0.000,0.034,1453,3424,3075,0,0,0,0,0,0
$GC,754,-0.47,-146.1,64.6,-9.5,108,763,0.00,2.20,0.00,0.000,4,0.000,0.028,1454,1978,3076,0,0,0,0,0,0
$GC,812,-0.47,-146.1,69.5,-8.2,117,819,0.08,2.35,0.00,0.000,6,0.123,0.057,1468,3402,3075,0,0,0,0,0,0
$GC,1167,-0.47,-146.1,94.6,-6.7,178,1174,0.00,0.88,0.00,0.000,4,0.000,0.059,1466,3953,3076,0,0,0,0,0,0
$GC,1335,-0.47,-146.1,107.5,-8.3,195,1339,0.00,0.85,0.00,0.000,6,0.000,0.034,1466,3389,3076,0,0,0,0,0,0
$GC,1660,-0.47,-146.1,133.2,-7.7,216,1665,0.00,0.90,0.00,0.000,4,0.000,0.058,1461,3952,3076,0,0,0,0,0,0
$GC,1725,-0.47,-146.1,138.7,-8.4,219,1732,0.00,0.82,0.00,0.000,6,0.000,0.033,1461,3403,3076,0,0,0,0,0,0
$GC,2046,-0.47,-146.1,163.0,-7.4,240,2049,0.00,2.12,0.00,0.000,4,0.000,0.028,1462,1975,3077,0,0,0,0,0,0
$GC,2086,-0.47,-146.1,166.2,-7.5,242,2094,0.00,2.35,0.00,0.000,6,0.000,0.054,1451,3404,3077,0,0,0,0,0,0
$GC,2411,-0.47,-146.1,190.9,-7.6,263,2414,0.00,0.88,0.00,0.000,4,0.000,0.058,1446,3958,3077,0,0,0,0,0,0
$GC,2449,-0.47,-146.1,194.6,-8.5,265,2455,0.00,0.85,0.00,0.000,6,0.000,0.033,1447,3390,3077,0,0,0,0,0,0
$GC,2776,-0.47,-146.1,218.7,-7.5,286,2780,0.00,2.10,0.00,0.000,4,0.000,0.028,1446,1979,3077,0,0,0,0,0,0
$GC,2836,-0.47,-146.1,223.2,-7.2,289,2844,0.15,2.30,0.00,0.000,6,0.141,0.054,1477,3402,3077,0,0,0,0,0,0
$GC,3158,-0.47,-146.1,243.0,-6.5,310,3162,0.00,2.12,0.00,0.000,4,0.000,0.028,1476,1974,3077,0,0,0,0,0,0
$GC,3336,-0.47,-146.1,255.5,-7.0,320,3342,0.00,2.33,0.00,0.000,6,0.000,0.051,1468,3403,3077,0,0,0,0,0,0
$GC,3672,-0.47,-146.1,280.9,-7.8,336,3675,0.00,0.88,0.00,0.000,4,0.000,0.058,1464,3956,3077,0,0,0,0,0,0
$GC,3774,-0.47,-146.1,289.6,-8.2,340,3778,0.00,0.82,0.00,0.000,6,0.000,0.034,1464,3405,3077,0,0,0,0,0,0
$GC,4098,-0.47,-146.1,313.3,-7.0,356,4102,0.00,2.12,0.00,0.000,4,0.000,0.027,1464,1972,3077,0,0,0,0,0,0
$GC,4268,-0.47,-146.1,324.5,-5.9,363,4273,0.00,2.33,0.00,0.000,6,0.000,0.050,1453,3412,3077,0,0,0,0,0,0
$GC,4586,-0.47,-146.1,344.2,-6.2,378,4590,0.00,0.85,0.00,0.000,4,0.000,0.057,1449,3949,3077,0,0,0,0,0,0
$GC,4628,-0.47,-146.1,347.2,-6.8,379,4635,0.00,0.82,0.00,0.000,6,0.000,0.032,1449,3399,3077,0,0,0,0,0,0
$GC,4951,-0.47,-146.1,367.1,-6.8,395,4954,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3945,3076,0,0,0,0,0,0
$GC,5006,-0.47,-146.1,371.9,-8.3,397,5012,0.00,0.82,0.00,0.000,6,0.000,0.033,1445,3396,3076,0,0,0,0,0,0
$GC,5332,-0.47,-146.1,397.1,-8.2,413,5338,0.10,0.90,0.00,0.000,4,0.164,0.059,1469,3948,3076,0,0,0,0,0,0
$GC,5421,-0.47,-146.1,404.2,-8.0,416,5425,0.00,0.82,0.00,0.000,6,0.000,0.034,1469,3401,3076,0,0,0,0,0,0
$GC,5747,-0.47,-146.1,427.0,-6.9,427,5751,0.00,2.15,0.00,0.000,4,0.000,0.028,1469,1969,3075,0,0,0,0,0,0
$GC,5836,-0.47,-146.1,433.2,-6.6,429,5843,0.00,2.30,0.00,0.000,6,0.000,0.052,1458,3398,3075,0,0,0,0,0,0
$GC,6151,-0.47,-146.1,454.4,-6.7,440,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3398,3075,0,0,0,0,0,0
$GC,6457,-0.47,-146.1,474.6,-6.5,450,6462,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3948,3074,0,0,0,0,0,0
$GC,6485,-0.47,-146.1,477.0,-7.4,450,6492,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3401,3075,0,0,0,0,0,0
$GC,6799,-0.47,-146.1,499.1,-7.2,461,6803,0.00,0.90,0.00,0.000,4,0.000,0.060,1450,3948,3074,0,0,0,0,0,0
$GC,6861,-0.47,-146.1,504.3,-8.1,462,6869,0.00,0.82,0.00,0.000,6,0.000,0.034,1450,3401,3074,0,0,0,0,0,0
$GC,7174,-0.47,-146.1,527.1,-7.3,473,7180,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3947,3074,0,0,0,0,0,0
$GC,7231,-0.47,-146.1,531.9,-7.9,474,7235,0.08,0.82,0.00,0.000,6,0.133,0.034,1470,3402,3074,0,0,0,0,0,0
$GC,7552,-0.47,-146.1,552.0,-6.3,485,7556,0.00,2.12,0.00,0.000,4,0.000,0.028,1470,1963,3073,0,0,0,0,0,0
$GC,7668,-0.47,-146.1,559.8,-6.6,488,7674,0.00,2.35,0.00,0.000,6,0.000,0.052,1461,3397,3073,0,0,0,0,0,0
$GC,7989,-0.47,-146.1,581.3,-6.8,499,7995,0.00,2.15,0.00,0.000,4,0.000,0.028,1461,1967,3072,0,0,0,0,0,0
$GC,8170,-0.47,-146.1,594.1,-6.6,504,8176,0.00,2.35,0.00,0.000,6,0.000,0.052,1451,3405,3072,0,0,0,0,0,0
$GC,8503,-0.47,-146.1,618.6,-7.4,515,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3405,3071,0,0,0,0,0,0
$GC,8808,-0.47,-146.1,642.2,-7.9,525,8813,0.00,0.88,0.00,0.000,4,0.000,0.058,1446,3955,3070,0,0,0,0,0,0
$GC,8864,-0.47,-146.1,647.3,-9.1,526,8868,0.00,0.85,0.00,0.000,6,0.000,0.034,1446,3393,3070,0,0,0,0,0,0
$GC,9184,-0.47,-146.1,672.3,-7.8,537,9189,0.10,2.15,0.00,0.000,4,0.164,0.029,1473,1974,3070,0,0,0,0,0,0
$GC,9218,-0.47,-146.1,675.0,-6.8,538,9222,0.00,2.33,0.00,0.000,6,0.000,0.052,1464,3403,3070,0,0,0,0,0,0
$GC,9548,-0.47,-146.1,696.5,-6.5,549,9552,0.00,2.15,0.00,0.000,4,0.000,0.028,1464,1969,3069,0,0,0,0,0,0
$GC,9717,-0.47,-146.1,708.2,-7.2,554,9722,0.00,2.33,0.00,0.000,6,0.000,0.052,1453,3401,3069,0,0,0,0,0,0
$GC,10047,-0.47,-146.1,732.3,-7.5,565,10051,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3948,3068,0,0,0,0,0,0
$GC,10131,-0.47,-146.1,739.4,-8.6,567,10135,0.00,0.82,0.00,0.000,6,0.000,0.035,1449,3404,3068,0,0,0,0,0,0
$GC,10456,-0.47,-146.1,765.1,-8.0,578,10460,0.00,2.15,0.00,0.000,4,0.000,0.028,1449,1969,3068,0,0,0,0,0,0
$GC,10486,-0.47,-146.1,767.5,-9.1,579,10491,0.12,2.35,0.00,0.000,6,0.145,0.053,1471,3410,3068,0,0,0,0,0,0
$GC,10823,-0.47,-146.1,790.8,-7.0,590,10828,0.00,2.17,0.00,0.000,4,0.000,0.029,1471,1969,3067,0,0,0,0,0,0
$GC,10953,-0.47,-146.1,800.0,-6.5,593,10960,0.00,2.33,0.00,0.000,6,0.000,0.053,1462,3405,3067,0,0,0,0,0,0
$GC,11267,-0.47,-146.1,820.7,-6.6,604,11271,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3953,3067,0,0,0,0,0,0
$GC,11384,-0.47,-146.1,829.0,-7.5,607,11390,0.00,0.85,0.00,0.000,6,0.000,0.035,1458,3390,3066,0,0,0,0,0,0
$GC,11711,-0.47,-146.1,849.5,-6.2,618,11716,0.00,0.90,0.00,0.000,4,0.000,0.061,1453,3950,3066,0,0,0,0,0,0
$GC,11751,-0.47,-146.1,852.4,-5.8,619,11756,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3404,3067,0,0,0,0,0,0
$GC,12089,-0.47,-146.1,873.9,-6.4,630,12092,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3949,3065,0,0,0,0,0,0
$GC,12134,-0.47,-146.1,877.1,-6.4,631,12137,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3404,3065,0,0,0,0,0,0
$GC,12464,-0.47,-146.1,899.4,-6.7,642,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3404,3065,0,0,0,0,0,0
$STATE,12615,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12615,begin apogee
$GC,12623,-0.13,0.0,909.4,6.6,647,12775,0.43,0.00,144.05,1.731,6,0.125,0.000,1579,3270,2474,0,0,0,0,1,0
$STATE,12776,end apogee,CONTROL_FINISHED_OK
$STATE,12776,begin climb
$GC,12779,0.47,146.1,913.7,0.0,652,12943,0.62,0.00,154.20,1.678,6,0.076,0.000,1777,3270,1878,0,0,0,0,1,0
$GC,13228,0.47,146.1,865.4,11.9,667,13232,0.00,1.12,0.00,0.000,4,0.000,0.057,1777,3946,1870,0,0,0,0,0,0
$GC,13396,0.47,146.1,842.9,14.0,671,13403,0.00,1.02,0.00,0.000,6,0.000,0.033,1782,3274,1869,0,0,0,0,0,0
$GC,13710,0.47,146.1,803.1,12.7,682,13715,0.00,1.10,0.00,0.000,4,0.000,0.057,1782,3952,1867,0,0,0,0,0,0
$GC,13847,0.47,146.1,783.9,14.4,686,13853,0.00,1.00,0.00,0.000,6,0.000,0.033,1787,3284,1866,0,0,0,0,0,0
$GC,14191,0.47,146.1,740.8,12.7,697,14194,0.00,1.08,0.00,0.000,4,0.000,0.057,1787,3949,1866,0,0,0,0,0,0
$GC,14296,0.47,146.1,725.8,13.6,700,14300,0.00,1.00,0.00,0.000,6,0.000,0.031,1792,3282,1866,0,0,0,0,0,0
$GC,14631,0.47,146.1,684.3,12.5,711,14637,0.00,1.08,0.00,0.000,4,0.000,0.057,1792,3946,1865,0,0,0,0,0,0
$GC,14705,0.47,146.1,674.3,13.0,713,14709,0.00,1.00,0.00,0.000,6,0.000,0.031,1797,3278,1865,0,0,0,0,0,0
$GC,15040,0.47,146.1,632.7,12.4,724,15046,0.00,1.08,0.00,0.000,4,0.000,0.056,1797,3942,1864,0,0,0,0,0,0
$GC,15165,0.47,146.1,615.0,14.5,727,15168,0.00,1.00,0.00,0.000,6,0.000,0.031,1802,3275,1865,0,0,0,0,0,0
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$STATE,20669,end climb,SURFACE_DEPTH_REACHED
$STATE,20669,begin surface coast
$FINISH,1.3,1.005607
$STATE,20710,end surface coast,CONTROL_FINISHED_OK
$STATE,20710,begin surface
$SM_CCo,20727,37.33,0.669,1,0,1534,230.09
$SM_GC,1.80,0.00,0.00,37.33,0.000,0.000,0.669,65,3390,1534,-4.89,-0.28,230.09
$IRIDIUM_FIX,-4230.32,849.67,280213,141448
$TT8_MAMPS,0.025466
$HUMID,56.93
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,21.4,71.047
$10V_AH,9.6,52.035
$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,12.675,120.850,302.200,37.325,0.000,27.093,19.935,471.217,0.000,0.000,18.916,2852.821,13066.739,491.239,3736.719,1334.049,33.391,1931.641,0.000,3539.738,0.000,1.014,0.000
$DEVICE_MAMPS,242.505,61.200,1731.195,668.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.937,2445.254,1227.141,545.074,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,80589,1100
$CAP_FILE_SIZE,191163,0
$CFSIZE,259252224,228888576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010313,022658,-4243.881,849.565,41,0.9,42,-25.1