version: 66.07
glider: 543
mission: 6
dive: 453
start: 3 2 113 1 4 26
data:
$ID,543
$MISSION,6
$DIVE,453
$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,-9188.7314
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,020313,005404,-4244.062,857.461,40,0.8,40,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-57.0
$GPS2,020313,010329,-4243.952,857.495,18,1.2,19,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT1
$TGT_LATLONG,-4242.865,900.185
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.072,-0.158
$KALMAN_X,140118.8,153.6,-418.4,-63598.3,4646.8
$KALMAN_Y,431129.9,-610.2,-91.2,-456187.0,4168.2
$MHEAD_RNG_PITCHd_Wd,229.9,4177,-27.2,-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,-0.74,-63.1,0.0,0.0,0,64,0.00,0.00,-41.58,0.000,2,0.000,0.000,51,3412,2513,0,0,0,0,0,0
$GC,68,-0.77,-116.7,3.3,-4.3,5,94,5.57,0.00,-12.80,0.000,6,0.233,0.000,1370,3412,2951,0,0,0,0,0,0
$GC,174,-0.77,-116.7,18.8,-13.3,20,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3413,2953,0,0,0,0,0,0
$GC,261,-0.77,-116.7,32.1,-14.6,33,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3413,2953,0,0,0,0,0,0
$GC,507,-0.77,-116.7,68.3,-13.5,74,514,0.00,2.15,0.00,0.000,4,0.000,0.029,1371,1978,2953,0,0,0,0,0,0
$GC,599,-0.77,-117.0,77.7,-10.0,88,606,0.00,2.28,0.00,0.000,6,0.000,0.053,1362,3391,2954,0,0,0,0,0,0
$GC,941,-0.77,-117.0,119.6,-12.7,129,946,0.00,0.88,0.00,0.000,4,0.000,0.057,1358,3945,2954,0,0,0,0,0,0
$GC,1013,-0.77,-117.0,129.4,-14.0,133,1016,0.00,0.80,0.00,0.000,6,0.000,0.034,1358,3413,2955,0,0,0,0,0,0
$GC,1344,-0.77,-117.0,172.5,-13.1,154,1348,0.00,2.15,0.00,0.000,4,0.000,0.028,1357,1978,2955,0,0,0,0,0,0
$GC,1383,-0.77,-117.0,177.4,-11.3,156,1392,0.08,2.35,0.00,0.000,6,0.159,0.057,1369,3404,2955,0,0,0,0,0,0
$GC,1706,-0.77,-117.0,214.7,-11.8,177,1712,0.00,0.88,0.00,0.000,4,0.000,0.057,1367,3959,2956,0,0,0,0,0,0
$GC,1781,-0.77,-117.0,224.1,-12.4,181,1785,0.00,0.85,0.00,0.000,6,0.000,0.034,1367,3397,2956,0,0,0,0,0,0
$GC,2101,-0.77,-117.0,261.2,-11.6,200,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3396,2956,0,0,0,0,0,0
$GC,2413,-0.77,-117.0,297.8,-11.6,215,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3397,2956,0,0,0,0,0,0
$GC,2721,-0.77,-117.0,333.5,-11.6,230,2724,0.00,0.90,0.00,0.000,4,0.000,0.057,1362,3958,2956,0,0,0,0,0,0
$GC,2848,-0.77,-117.0,350.0,-12.0,235,2851,0.00,0.85,0.00,0.000,6,0.000,0.034,1362,3398,2956,0,0,0,0,0,0
$GC,3171,-0.77,-117.0,386.7,-11.2,251,3177,0.00,2.15,0.00,0.000,4,0.000,0.029,1363,1975,2956,0,0,0,0,0,0
$GC,3297,-0.77,-119.2,399.7,-9.8,256,3301,0.00,2.30,0.00,0.000,6,0.000,0.053,1352,3401,2956,0,0,0,0,0,0
$GC,3611,-0.77,-119.2,435.4,-11.6,266,3614,0.00,0.88,0.00,0.000,4,0.000,0.057,1347,3955,2956,0,0,0,0,0,0
$GC,3705,-0.77,-119.2,447.4,-12.1,268,3713,0.08,0.85,0.00,0.000,6,0.170,0.033,1369,3392,2956,0,0,0,0,0,0
$GC,4019,-0.77,-119.2,481.1,-10.7,279,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3392,2956,0,0,0,0,0,0
$GC,4326,-0.77,-119.2,513.7,-11.2,289,4329,0.00,0.90,0.00,0.000,4,0.000,0.058,1366,3957,2956,0,0,0,0,0,0
$GC,4369,-0.77,-119.2,519.3,-12.0,290,4373,0.00,0.85,0.00,0.000,6,0.000,0.033,1366,3393,2956,0,0,0,0,0,0
$GC,4699,-0.77,-119.2,555.5,-10.9,301,4703,0.00,2.12,0.00,0.000,4,0.000,0.029,1366,1975,2956,0,0,0,0,0,0
$GC,4755,-0.77,-119.2,561.9,-10.6,302,4763,0.00,2.35,0.00,0.000,6,0.000,0.056,1355,3400,2956,0,0,0,0,0,0
$GC,5068,-0.77,-119.2,599.5,-12.5,313,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3400,2956,0,0,0,0,0,0
$GC,5375,-0.77,-119.2,637.7,-12.5,323,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3400,2956,0,0,0,0,0,0
$GC,5682,-0.77,-119.2,676.0,-12.4,333,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,1355,3400,2955,0,0,0,0,0,0
$GC,5987,-0.77,-119.2,715.4,-12.9,343,5992,0.00,2.20,0.00,0.000,4,0.000,0.030,1355,1972,2954,0,0,0,0,0,0
$GC,6092,-0.77,-119.2,727.3,-11.8,346,6097,0.12,2.33,0.00,0.000,6,0.175,0.053,1374,3409,2954,0,0,0,0,0,0
$GC,6429,-0.77,-119.2,766.2,-11.7,357,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3409,2953,0,0,0,0,0,0
$GC,6734,-0.77,-119.2,800.6,-11.1,367,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3409,2952,0,0,0,0,0,0
$GC,7042,-0.77,-119.2,832.2,-10.0,377,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3409,2952,0,0,0,0,0,0
$GC,7347,-0.78,-124.6,861.9,-9.4,387,7353,0.00,2.17,0.00,0.000,4,0.000,0.029,1374,1977,2951,0,0,0,0,0,0
$GC,7432,-0.78,-140.3,869.5,-8.3,389,7436,0.00,2.33,0.00,0.000,6,0.000,0.053,1365,3410,2951,0,0,0,0,0,0
$GC,7751,-0.79,-142.3,900.5,-9.8,400,7755,0.00,2.15,0.00,0.000,4,0.000,0.029,1365,1980,2950,0,0,0,0,0,0
$GC,7816,-0.79,-146.1,906.4,-9.2,402,7820,0.00,2.33,0.00,0.000,6,0.000,0.057,1354,3399,2950,0,0,0,0,0,0
$GC,8151,-0.79,-146.1,942.7,-11.0,413,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1354,3399,2950,0,0,0,0,0,0
$GC,8458,-0.79,-146.1,976.2,-10.9,423,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,1354,3399,2949,0,0,0,0,0,0
$STATE,8669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8669,begin apogee
$GC,8676,-0.13,0.0,1000.8,11.7,430,8804,0.82,0.00,118.97,1.777,6,0.164,0.000,1581,3274,2473,0,0,0,0,1,0
$STATE,8805,end apogee,CONTROL_FINISHED_OK
$STATE,8805,begin climb
$GC,8808,0.79,146.1,1003.1,0.0,434,8975,0.93,0.00,158.82,1.742,6,0.070,0.000,1879,3274,1877,0,0,0,0,1,0
$GC,9279,0.79,146.1,914.4,20.9,450,9283,0.00,1.12,0.00,0.000,4,0.000,0.054,1879,3957,1869,0,0,0,0,0,0
$GC,9497,0.79,146.1,862.5,23.7,456,9501,0.00,1.05,0.00,0.000,6,0.000,0.030,1884,3259,1867,0,0,0,0,0,0
$GC,9822,0.79,146.1,791.5,22.2,467,9826,0.00,1.12,0.00,0.000,4,0.000,0.054,1884,3958,1865,0,0,0,0,0,0
$GC,9986,0.79,146.1,752.4,23.8,471,9994,0.00,1.00,0.00,0.000,6,0.000,0.029,1889,3282,1865,0,0,0,0,0,0
$GC,10300,0.79,146.1,686.7,20.4,482,10305,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3955,1863,0,0,0,0,0,0
$GC,10538,0.79,146.1,632.9,22.5,489,10544,0.00,1.00,0.00,0.000,6,0.000,0.030,1895,3278,1863,0,0,0,0,0,0
$GC,10882,0.79,146.1,561.3,21.0,500,10885,0.00,1.08,0.00,0.000,4,0.000,0.053,1895,3953,1862,0,0,0,0,0,0
$GC,11139,0.79,146.1,501.1,23.5,507,11143,0.00,1.00,0.00,0.000,6,0.000,0.029,1900,3275,1862,0,0,0,0,0,0
$GC,11457,0.79,146.1,433.8,20.8,518,11461,0.00,1.10,0.00,0.000,4,0.000,0.054,1900,3958,1861,0,0,0,0,0,0
$GC,11716,0.79,146.1,375.7,21.6,527,11722,0.00,1.00,0.00,0.000,6,0.000,0.030,1905,3285,1860,0,0,0,0,0,0
$GC,12041,0.79,146.1,313.6,18.7,543,12047,0.00,1.08,0.00,0.000,4,0.000,0.053,1905,3959,1860,0,0,0,0,0,0
$GC,12303,0.79,146.1,259.7,19.0,554,12307,0.00,1.00,0.00,0.000,6,0.000,0.030,1910,3280,1860,0,0,0,0,0,0
$GC,12624,0.79,146.1,203.4,17.6,574,12628,0.00,1.08,0.00,0.000,4,0.000,0.054,1910,3956,1860,0,0,0,0,0,0
$GC,12804,0.79,146.1,169.8,19.3,584,12811,0.08,1.00,0.00,0.000,6,0.205,0.029,1894,3276,1860,0,0,0,0,0,0
$GC,13144,0.79,146.1,116.3,15.7,605,13148,0.00,1.10,0.00,0.000,4,0.000,0.053,1894,3961,1859,0,0,0,0,0,0
$GC,13357,0.79,146.1,77.2,18.9,631,13362,0.00,1.00,0.00,0.000,6,0.000,0.028,1898,3282,1859,0,0,0,0,0,0
$GC,13728,0.79,146.1,22.1,14.3,692,13738,0.00,1.08,0.00,0.000,4,0.000,0.053,1898,3954,1859,0,0,0,0,0,0
$STATE,13851,end climb,SURFACE_DEPTH_REACHED
$STATE,13851,begin surface coast
$FINISH,1.2,1.026239
$STATE,13880,end surface coast,CONTROL_FINISHED_OK
$STATE,13880,begin surface
$SM_CCo,13897,41.17,0.692,1,0,1533,230.09
$SM_GC,2.31,0.00,0.00,41.17,0.000,0.000,0.692,74,3392,1533,-4.85,-0.23,230.09
$IRIDIUM_FIX,-4227.40,855.46,010313,202050
$TT8_MAMPS,0.025466
$HUMID,58.11
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,21.4,71.928
$10V_AH,9.7,52.742
$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,12.600,58.850,277.800,41.175,0.000,27.011,23.446,326.550,0.000,0.000,20.746,1837.971,8987.055,421.281,2405.694,853.429,33.372,1305.760,0.000,2237.537,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,60.435,1777.095,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.687,1578.201,738.089,340.122,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354336
$DATA_FILE_SIZE,53772,714
$CAP_FILE_SIZE,113367,0
$CFSIZE,259252224,228556800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020313,045803,-4244.986,857.844,21,1.1,32,-25.2