version: 66.07
glider: 543
mission: 6
dive: 449
start: 3 1 113 7 38 33
data:
$ID,543
$MISSION,6
$DIVE,449
$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,-9174.9551
$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,62
$R_STBD_OVSHOOT,39
$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
$GPS1,010313,072754,-4243.421,849.195,66,1.0,66,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-47.5
$GPS2,010313,073736,-4243.353,849.301,20,1.1,21,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4243.590,857.474
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.176,-0.191
$KALMAN_X,134906.8,-194.1,-445.7,-69213.7,7204.8
$KALMAN_Y,422688.3,-153.4,-310.7,-446870.6,3376.2
$MHEAD_RNG_PITCHd_Wd,162.4,11128,-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,21,-0.54,-146.1,0.0,0.0,0,71,0.00,0.00,-48.60,0.000,2,0.000,0.000,46,3420,2702,0,0,0,0,0,0
$GC,76,-0.54,-146.1,3.2,-3.7,6,102,5.95,0.82,-10.98,0.000,4,0.234,0.090,1442,3920,3071,0,0,0,0,0,0
$GC,392,-0.54,-146.1,37.3,-13.1,54,400,0.00,0.75,0.00,0.000,6,0.000,0.036,1441,3431,3074,0,0,0,0,0,0
$GC,645,-0.54,-146.1,64.0,-10.9,95,652,0.00,0.80,0.00,0.000,4,0.000,0.060,1438,3926,3075,0,0,0,0,0,0
$GC,678,-0.54,-146.1,67.4,-10.8,100,687,0.00,0.80,0.00,0.000,6,0.000,0.034,1438,3402,3075,0,0,0,0,0,0
$GC,1033,-0.54,-146.1,99.3,-8.3,161,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,3402,3075,0,0,0,0,0,0
$GC,1362,-0.54,-146.1,126.2,-9.0,183,1368,0.00,0.85,0.00,0.000,4,0.000,0.060,1434,3926,3076,0,0,0,0,0,0
$GC,1420,-0.54,-146.1,132.5,-10.3,186,1426,0.00,0.80,0.00,0.000,6,0.000,0.034,1434,3400,3076,0,0,0,0,0,0
$GC,1748,-0.54,-146.1,165.5,-10.2,207,1752,0.00,2.15,0.00,0.000,4,0.000,0.029,1434,1982,3076,0,0,0,0,0,0
$GC,1790,-0.54,-146.1,169.6,-9.6,209,1797,0.00,2.28,0.00,0.000,6,0.000,0.055,1423,3385,3076,0,0,0,0,0,0
$GC,2110,-0.54,-146.1,199.1,-8.8,230,2113,0.00,0.90,0.00,0.000,4,0.000,0.057,1419,3953,3076,0,0,0,0,0,0
$GC,2246,-0.54,-146.1,212.5,-9.8,237,2253,0.08,0.85,0.00,0.000,6,0.147,0.033,1443,3389,3076,0,0,0,0,0,0
$GC,2568,-0.54,-146.1,236.7,-7.8,258,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3389,3076,0,0,0,0,0,0
$GC,2878,-0.54,-146.1,260.4,-7.6,276,2881,0.00,0.90,0.00,0.000,4,0.000,0.059,1441,3952,3076,0,0,0,0,0,0
$GC,2926,-0.54,-146.1,264.4,-7.8,278,2931,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3404,3076,0,0,0,0,0,0
$GC,3262,-0.54,-146.1,293.6,-9.2,294,3266,0.00,2.12,0.00,0.000,4,0.000,0.028,1441,1975,3076,0,0,0,0,0,0
$GC,3321,-0.54,-146.1,299.1,-8.7,296,3329,0.00,2.33,0.00,0.000,6,0.000,0.053,1430,3395,3076,0,0,0,0,0,0
$GC,3640,-0.54,-146.1,327.7,-9.1,312,3644,0.00,0.88,0.00,0.000,4,0.000,0.058,1426,3950,3076,0,0,0,0,0,0
$GC,3815,-0.54,-146.1,344.9,-10.3,319,3819,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3399,3076,0,0,0,0,0,0
$GC,4139,-0.54,-146.1,373.8,-9.0,335,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1425,3399,3076,0,0,0,0,0,0
$GC,4447,-0.54,-146.1,401.2,-8.6,350,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3399,3076,0,0,0,0,0,0
$GC,4756,-0.54,-146.1,428.3,-8.9,360,4759,0.00,0.90,0.00,0.000,4,0.000,0.058,1421,3959,3076,0,0,0,0,0,0
$GC,4825,-0.54,-146.1,435.2,-9.5,362,4829,0.08,0.85,0.00,0.000,6,0.138,0.034,1446,3398,3076,0,0,0,0,0,0
$GC,5166,-0.54,-146.1,463.0,-8.3,373,5172,0.00,0.90,0.00,0.000,4,0.000,0.060,1443,3959,3076,0,0,0,0,0,0
$GC,5236,-0.54,-146.1,469.2,-9.3,375,5240,0.00,0.85,0.00,0.000,6,0.000,0.034,1443,3394,3076,0,0,0,0,0,0
$GC,5579,-0.54,-146.1,498.7,-8.5,386,5584,0.00,0.90,0.00,0.000,4,0.000,0.059,1439,3956,3076,0,0,0,0,0,0
$GC,5649,-0.54,-146.1,505.1,-8.5,388,5653,0.00,0.85,0.00,0.000,6,0.000,0.034,1439,3390,3075,0,0,0,0,0,0
$GC,5991,-0.54,-146.1,534.2,-8.4,399,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3390,3075,0,0,0,0,0,0
$GC,6296,-0.54,-146.1,558.8,-8.1,409,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3390,3074,0,0,0,0,0,0
$GC,6604,-0.54,-146.1,581.8,-7.4,419,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3390,3074,0,0,0,0,0,0
$GC,6909,-0.54,-146.1,604.2,-7.2,429,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3390,3073,0,0,0,0,0,0
$GC,7215,-0.54,-146.1,627.1,-7.7,439,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3390,3073,0,0,0,0,0,0
$GC,7522,-0.54,-146.1,650.6,-7.7,449,7526,0.00,0.90,0.00,0.000,4,0.000,0.060,1435,3950,3072,0,0,0,0,0,0
$GC,7583,-0.54,-146.1,656.0,-8.4,450,7590,0.00,0.82,0.00,0.000,6,0.000,0.034,1435,3407,3072,0,0,0,0,0,0
$GC,7898,-0.54,-146.1,680.6,-7.8,461,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,1435,3407,3071,0,0,0,0,0,0
$GC,8204,-0.54,-146.1,704.9,-8.0,471,8208,0.00,0.88,0.00,0.000,4,0.000,0.060,1431,3952,3070,0,0,0,0,0,0
$GC,8266,-0.54,-146.1,710.3,-9.0,472,8272,0.00,0.85,0.00,0.000,6,0.000,0.035,1431,3391,3070,0,0,0,0,0,0
$GC,8580,-0.54,-146.1,734.7,-7.7,483,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3392,3070,0,0,0,0,0,0
$GC,8887,-0.54,-146.1,757.3,-7.2,493,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3391,3070,0,0,0,0,0,0
$GC,9195,-0.54,-146.1,780.0,-7.4,503,9199,0.00,2.12,0.00,0.000,4,0.000,0.028,1431,1974,3069,0,0,0,0,0,0
$GC,9273,-0.54,-146.1,785.9,-6.6,505,9279,0.08,2.35,0.00,0.000,6,0.127,0.052,1446,3405,3069,0,0,0,0,0,0
$GC,9601,-0.54,-146.1,807.8,-7.0,516,9605,0.00,0.88,0.00,0.000,4,0.000,0.060,1444,3953,3069,0,0,0,0,0,0
$GC,9658,-0.54,-146.1,812.2,-7.5,517,9662,0.00,0.85,0.00,0.000,6,0.000,0.035,1444,3393,3069,0,0,0,0,0,0
$GC,9977,-0.54,-146.1,834.7,-7.0,528,9981,0.00,2.12,0.00,0.000,4,0.000,0.028,1444,1976,3068,0,0,0,0,0,0
$GC,10010,-0.54,-146.1,837.2,-7.2,529,10014,0.00,2.33,0.00,0.000,6,0.000,0.052,1433,3406,3068,0,0,0,0,0,0
$GC,10340,-0.54,-146.1,863.4,-8.1,540,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3407,3067,0,0,0,0,0,0
$STATE,10459,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10459,begin apogee
$GC,10466,-0.13,0.0,873.5,8.3,544,10620,0.50,0.00,145.10,1.698,6,0.131,0.000,1584,3278,2473,0,0,0,0,1,0
$STATE,10621,end apogee,CONTROL_FINISHED_OK
$STATE,10621,begin climb
$GC,10624,0.54,146.1,878.4,0.0,549,10787,0.62,0.00,153.40,1.652,6,0.058,0.000,1799,3278,1878,0,0,0,0,1,0
$GC,11086,0.54,146.1,824.2,13.0,564,11090,0.00,1.10,0.00,0.000,4,0.000,0.057,1799,3940,1868,0,0,0,0,0,0
$GC,11343,0.54,146.1,787.5,14.8,571,11347,0.00,1.02,0.00,0.000,6,0.000,0.031,1804,3269,1867,0,0,0,0,0,0
$GC,11661,0.54,146.1,747.5,12.6,582,11665,0.00,1.10,0.00,0.000,4,0.000,0.056,1804,3948,1865,0,0,0,0,0,0
$GC,11913,0.54,146.1,711.9,14.5,589,11918,0.00,1.00,0.00,0.000,6,0.000,0.031,1809,3278,1865,0,0,0,0,0,0
$GC,12239,0.54,146.1,670.4,12.9,600,12244,0.00,1.08,0.00,0.000,4,0.000,0.056,1809,3946,1864,0,0,0,0,0,0
$GC,12376,0.54,146.1,650.2,15.4,604,12381,0.00,1.00,0.00,0.000,6,0.000,0.031,1814,3273,1864,0,0,0,0,0,0
$GC,12719,0.54,146.1,601.6,14.4,615,12722,0.00,1.08,0.00,0.000,4,0.000,0.055,1814,3941,1862,0,0,0,0,0,0
$GC,12921,0.54,146.1,568.5,16.7,621,12925,0.00,0.98,0.00,0.000,6,0.000,0.031,1819,3282,1862,0,0,0,0,0,0
$GC,13262,0.54,146.1,518.4,14.4,632,13268,0.00,1.08,0.00,0.000,4,0.000,0.056,1819,3951,1862,0,0,0,0,0,0
$GC,13412,0.54,146.1,494.5,16.0,636,13416,0.00,1.00,0.00,0.000,6,0.000,0.029,1824,3274,1862,0,0,0,0,0,0
$GC,13743,0.54,146.1,449.2,12.8,647,13746,0.00,1.10,0.00,0.000,4,0.000,0.054,1824,3958,1861,0,0,0,0,0,0
$GC,13938,0.54,146.1,421.1,14.1,652,13945,0.00,1.00,0.00,0.000,6,0.000,0.029,1830,3278,1861,0,0,0,0,0,0
$GC,14256,0.54,146.1,380.8,12.7,665,14260,0.00,1.08,0.00,0.000,4,0.000,0.054,1830,3948,1861,0,0,0,0,0,0
$GC,14454,0.54,146.1,350.2,14.1,673,14458,0.10,1.00,0.00,0.000,6,0.171,0.029,1805,3272,1860,0,0,0,0,0,0
$GC,14777,0.54,146.1,312.2,11.5,689,14783,0.00,1.10,0.00,0.000,4,0.000,0.054,1806,3958,1860,0,0,0,0,0,0
$GC,14922,0.54,146.1,293.0,12.2,695,14926,0.00,1.00,0.00,0.000,6,0.000,0.029,1809,3279,1860,0,0,0,0,0,0
$GC,15251,0.54,146.1,255.4,11.7,711,15256,0.00,1.08,0.00,0.000,4,0.000,0.054,1809,3949,1860,0,0,0,0,0,0
$GC,15386,0.54,146.1,237.9,13.5,718,15394,0.00,1.00,0.00,0.000,6,0.000,0.029,1814,3274,1859,0,0,0,0,0,0
$GC,15710,0.54,146.1,199.9,12.2,739,15713,0.00,1.10,0.00,0.000,4,0.000,0.054,1814,3957,1860,0,0,0,0,0,0
$GC,15852,0.54,146.1,180.5,14.1,747,15855,0.00,1.00,0.00,0.000,6,0.000,0.029,1819,3278,1860,0,0,0,0,0,0
$GC,16182,0.54,146.1,139.4,12.3,768,16186,0.00,1.08,0.00,0.000,4,0.000,0.054,1819,3950,1860,0,0,0,0,0,0
$GC,16288,0.54,146.1,124.3,14.1,774,16292,0.00,0.98,0.00,0.000,6,0.000,0.028,1824,3286,1860,0,0,0,0,0,0
$GC,16621,0.54,146.1,78.1,12.7,812,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3286,1860,0,0,0,0,0,0
$GC,16987,0.56,178.6,37.4,8.5,873,17018,0.00,1.08,22.50,0.676,4,0.000,0.051,1824,3948,1744,0,0,0,0,0,0
$GC,17109,0.56,178.6,23.7,12.8,891,17120,0.00,0.98,0.00,0.000,6,0.000,0.029,1829,3287,1743,0,0,0,0,0,0
$GC,17201,0.56,178.6,13.0,10.9,904,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3287,1742,0,0,0,0,0,0
$GC,17293,0.60,245.9,5.5,6.9,917,17322,0.00,0.00,26.80,0.633,2,0.000,0.000,1830,3287,1606,0,0,0,0,0,0
$STATE,17323,end climb,SURFACE_DEPTH_REACHED
$STATE,17323,begin surface coast
$FINISH,1.1,1.014853
$STATE,17360,end surface coast,CONTROL_FINISHED_OK
$STATE,17360,begin surface
$SM_CCo,17376,8.50,0.649,0,0,1536,230.09
$SM_GC,3.05,0.00,0.00,8.50,0.000,0.000,0.649,52,3419,1536,-4.92,0.54,230.09
$IRIDIUM_FIX,-4230.32,849.67,010313,020257
$TT8_MAMPS,0.025466
$HUMID,57.32
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,21.5,71.351
$10V_AH,9.7,52.309
$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,12.200,63.575,347.800,8.500,0.000,26.073,23.624,339.712,0.000,0.000,23.081,2348.393,11096.543,421.977,3048.948,1042.274,33.372,1582.776,0.000,2873.151,0.000,1.012,0.000
$DEVICE_MAMPS,234.090,90.270,1698.300,649.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.491,2064.481,1029.142,460.936,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,67342,925
$CAP_FILE_SIZE,147142,0
$CFSIZE,259252224,228777984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010313,122934,-4243.874,852.489,35,0.9,35,-25.1