version: 66.07
glider: 543
mission: 6
dive: 457
start: 3 2 113 18 25 20
data:
$ID,543
$MISSION,6
$DIVE,457
$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,-9203.5225
$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,35
$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
$GPS1,020313,181428,-4242.845,903.000,38,1.0,38,-25.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.8
$GPS2,020313,182423,-4242.773,903.100,17,1.0,18,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT4
$TGT_LATLONG,-4241.734,909.950
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.259,-0.014
$KALMAN_X,144210.5,-1479.5,-473.0,-58342.0,3907.3
$KALMAN_Y,432516.8,-537.4,-426.5,-455121.0,2145.8
$MHEAD_RNG_PITCHd_Wd,118.4,9521,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.54,-146.1,0.0,0.0,0,66,0.00,0.00,-40.55,0.000,2,0.000,0.000,50,3413,2477,0,0,0,0,0,0
$GC,70,-0.54,-146.1,3.3,-3.6,5,99,5.78,2.25,-18.45,0.000,4,0.225,0.044,1448,1987,3071,0,0,0,0,0,0
$GC,235,-0.54,-146.1,19.4,-11.1,28,244,0.00,2.30,0.00,0.000,6,0.000,0.053,1438,3385,3074,0,0,0,0,0,0
$GC,325,-0.54,-146.1,29.9,-12.8,41,333,0.00,0.90,0.00,0.000,4,0.000,0.059,1434,3946,3074,0,0,0,0,0,0
$GC,417,-0.54,-146.1,41.1,-11.9,55,423,0.00,0.82,0.00,0.000,6,0.000,0.034,1434,3404,3075,0,0,0,0,0,0
$GC,661,-0.54,-146.1,66.8,-9.7,96,672,0.00,0.88,0.00,0.000,4,0.000,0.059,1430,3948,3076,0,0,0,0,0,0
$GC,815,-0.54,-146.1,82.0,-10.1,121,820,0.00,0.82,0.00,0.000,6,0.000,0.034,1430,3401,3075,0,0,0,0,0,0
$GC,1163,-0.54,-146.1,115.6,-9.7,164,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3401,3076,0,0,0,0,0,0
$GC,1474,-0.54,-146.1,144.3,-8.7,184,1478,0.00,0.88,0.00,0.000,4,0.000,0.059,1426,3945,3077,0,0,0,0,0,0
$GC,1534,-0.54,-146.1,150.4,-9.9,187,1538,0.00,0.82,0.00,0.000,6,0.000,0.033,1426,3398,3077,0,0,0,0,0,0
$GC,1860,-0.54,-146.1,180.7,-9.5,208,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,1426,3398,3077,0,0,0,0,0,0
$GC,2173,-0.54,-146.1,210.5,-9.6,228,2177,0.00,0.88,0.00,0.000,4,0.000,0.059,1422,3945,3078,0,0,0,0,0,0
$GC,2228,-0.54,-146.1,216.5,-10.6,231,2234,0.08,0.82,0.00,0.000,6,0.145,0.034,1446,3400,3077,0,0,0,0,0,0
$GC,2558,-0.54,-146.1,243.8,-8.4,252,2562,0.00,0.90,0.00,0.000,4,0.000,0.061,1443,3947,3078,0,0,0,0,0,0
$GC,2654,-0.54,-146.1,252.2,-8.7,257,2658,0.00,0.82,0.00,0.000,6,0.000,0.034,1443,3400,3077,0,0,0,0,0,0
$GC,2989,-0.54,-146.1,276.8,-7.0,273,2995,0.00,0.90,0.00,0.000,4,0.000,0.061,1439,3944,3078,0,0,0,0,0,0
$GC,3041,-0.54,-146.1,280.6,-8.2,275,3044,0.00,0.82,0.00,0.000,6,0.000,0.034,1439,3397,3078,0,0,0,0,0,0
$GC,3376,-0.54,-146.1,305.3,-7.4,291,3381,0.00,2.12,0.00,0.000,4,0.000,0.028,1439,1980,3077,0,0,0,0,0,0
$GC,3404,-0.54,-146.1,307.8,-7.6,292,3409,0.00,2.30,0.00,0.000,6,0.000,0.053,1428,3405,3078,0,0,0,0,0,0
$GC,3728,-0.54,-146.1,333.3,-8.1,308,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,1428,3405,3078,0,0,0,0,0,0
$GC,4037,-0.54,-146.1,359.4,-8.8,323,4043,0.00,0.88,0.00,0.000,4,0.000,0.058,1424,3957,3078,0,0,0,0,0,0
$GC,4122,-0.54,-146.1,367.7,-9.8,326,4126,0.00,0.85,0.00,0.000,6,0.000,0.033,1424,3392,3077,0,0,0,0,0,0
$GC,4446,-0.54,-146.1,396.8,-8.8,342,4450,0.00,0.90,0.00,0.000,4,0.000,0.058,1421,3953,3078,0,0,0,0,0,0
$GC,4520,-0.54,-146.1,404.2,-9.5,345,4524,0.08,0.82,0.00,0.000,6,0.138,0.033,1445,3404,3078,0,0,0,0,0,0
$GC,4857,-0.54,-146.1,428.4,-7.1,356,4861,0.00,2.12,0.00,0.000,4,0.000,0.027,1445,1973,3077,0,0,0,0,0,0
$GC,4936,-0.54,-146.1,434.2,-7.2,358,4940,0.00,2.30,0.00,0.000,6,0.000,0.051,1436,3403,3078,0,0,0,0,0,0
$GC,5255,-0.54,-146.1,459.2,-8.2,369,5259,0.00,0.85,0.00,0.000,4,0.000,0.057,1432,3938,3078,0,0,0,0,0,0
$GC,5402,-0.54,-146.1,472.2,-8.8,373,5407,0.00,0.82,0.00,0.000,6,0.000,0.034,1432,3393,3078,0,0,0,0,0,0
$GC,5734,-0.54,-146.1,500.3,-8.6,384,5739,0.00,0.90,0.00,0.000,4,0.000,0.059,1428,3953,3077,0,0,0,0,0,0
$GC,5807,-0.54,-146.1,508.1,-10.4,386,5811,0.00,0.82,0.00,0.000,6,0.000,0.034,1428,3404,3077,0,0,0,0,0,0
$GC,6142,-0.54,-146.1,542.9,-10.7,397,6148,0.00,2.15,0.00,0.000,4,0.000,0.028,1428,1973,3077,0,0,0,0,0,0
$GC,6196,-0.54,-146.1,548.5,-10.7,398,6200,0.12,2.30,0.00,0.000,6,0.148,0.052,1450,3401,3077,0,0,0,0,0,0
$GC,6516,-0.54,-146.1,577.1,-8.6,409,6520,0.00,0.88,0.00,0.000,4,0.000,0.058,1447,3953,3076,0,0,0,0,0,0
$GC,6695,-0.54,-146.1,593.2,-8.5,414,6699,0.00,0.82,0.00,0.000,6,0.000,0.034,1448,3405,3076,0,0,0,0,0,0
$GC,7025,-0.54,-146.1,616.7,-6.7,425,7028,0.00,0.88,0.00,0.000,4,0.000,0.059,1444,3953,3075,0,0,0,0,0,0
$GC,7086,-0.54,-146.1,621.2,-7.2,426,7094,0.00,0.82,0.00,0.000,6,0.000,0.034,1444,3403,3075,0,0,0,0,0,0
$GC,7400,-0.54,-146.1,641.8,-6.7,437,7406,0.00,0.88,0.00,0.000,4,0.000,0.059,1440,3949,3075,0,0,0,0,0,0
$GC,7453,-0.54,-146.1,645.8,-7.4,438,7457,0.00,0.82,0.00,0.000,6,0.000,0.034,1440,3400,3074,0,0,0,0,0,0
$GC,7779,-0.54,-146.1,669.3,-7.6,449,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,1440,3400,3075,0,0,0,0,0,0
$GC,8084,-0.54,-146.1,693.5,-8.0,459,8089,0.00,2.15,0.00,0.000,4,0.000,0.028,1440,1975,3074,0,0,0,0,0,0
$GC,8120,-0.54,-146.1,696.5,-7.6,460,8124,0.00,2.30,0.00,0.000,6,0.000,0.051,1429,3404,3074,0,0,0,0,0,0
$GC,8456,-0.54,-146.1,724.7,-8.4,471,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3404,3073,0,0,0,0,0,0
$GC,8762,-0.54,-146.1,749.6,-8.0,481,8765,0.00,0.88,0.00,0.000,4,0.000,0.059,1425,3954,3072,0,0,0,0,0,0
$GC,8832,-0.54,-146.1,755.4,-8.6,483,8836,0.00,0.82,0.00,0.000,6,0.000,0.034,1425,3403,3072,0,0,0,0,0,0
$GC,9175,-0.54,-146.1,782.2,-7.6,494,9179,0.00,2.12,0.00,0.000,4,0.000,0.028,1425,1977,3071,0,0,0,0,0,0
$GC,9213,-0.54,-146.1,785.5,-7.5,495,9218,0.15,2.30,0.00,0.000,6,0.146,0.052,1454,3402,3071,0,0,0,0,0,0
$GC,9539,-0.54,-146.1,807.1,-6.8,506,9542,0.00,0.88,0.00,0.000,4,0.000,0.059,1452,3948,3071,0,0,0,0,0,0
$GC,9648,-0.54,-146.1,815.3,-8.2,509,9652,0.00,0.82,0.00,0.000,6,0.000,0.035,1452,3404,3071,0,0,0,0,0,0
$GC,9985,-0.54,-146.1,841.2,-7.8,520,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3404,3071,0,0,0,0,0,0
$GC,10293,-0.54,-146.1,864.6,-7.6,530,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3404,3071,0,0,0,0,0,0
$STATE,10471,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10471,begin apogee
$GC,10478,-0.13,0.0,878.0,7.2,536,10630,0.43,0.00,148.32,1.166,6,0.122,0.000,1582,3271,2473,0,0,0,0,0,0
$STATE,10631,end apogee,CONTROL_FINISHED_OK
$STATE,10631,begin climb
$GC,10634,0.54,146.1,882.8,0.0,541,10793,0.62,1.20,149.02,1.124,4,0.070,0.051,1798,3953,1872,0,0,0,0,0,0
$GC,10911,0.54,146.1,848.7,15.5,549,10915,0.00,1.08,0.00,0.000,6,0.000,0.031,1803,3276,1863,0,0,0,0,0,0
$GC,11237,0.54,146.1,805.4,13.1,560,11240,0.00,1.10,0.00,0.000,4,0.000,0.056,1803,3951,1857,0,0,0,0,0,0
$GC,11343,0.54,146.1,789.6,14.3,563,11348,0.00,1.02,0.00,0.000,6,0.000,0.031,1809,3273,1857,0,0,0,0,0,0
$GC,11681,0.54,146.1,746.2,12.7,574,11684,0.00,1.10,0.00,0.000,4,0.000,0.056,1809,3953,1855,0,0,0,0,0,0
$GC,11827,0.54,146.1,725.8,13.7,578,11830,0.00,1.00,0.00,0.000,6,0.000,0.031,1814,3281,1855,0,0,0,0,0,0
$GC,12157,0.54,146.1,683.3,13.0,589,12160,0.00,1.08,0.00,0.000,4,0.000,0.056,1814,3947,1853,0,0,0,0,0,0
$GC,12304,0.54,146.1,662.0,14.5,593,12310,0.00,1.00,0.00,0.000,6,0.000,0.031,1819,3276,1853,0,0,0,0,0,0
$GC,12635,0.54,146.1,615.9,14.1,604,12641,0.00,1.08,0.00,0.000,4,0.000,0.056,1819,3943,1853,0,0,0,0,0,0
$GC,12786,0.54,146.1,592.4,15.6,608,12789,0.00,1.00,0.00,0.000,6,0.000,0.031,1824,3275,1853,0,0,0,0,0,0
$GC,13116,0.54,146.1,541.5,15.3,619,13120,0.00,1.08,0.00,0.000,4,0.000,0.055,1824,3944,1852,0,0,0,0,0,0
$GC,13290,0.54,146.1,512.7,16.3,624,13294,0.00,1.00,0.00,0.000,6,0.000,0.030,1829,3272,1852,0,0,0,0,0,0
$GC,13626,0.54,146.1,465.1,13.5,635,13630,0.00,1.08,0.00,0.000,4,0.000,0.054,1829,3942,1852,0,0,0,0,0,0
$GC,13821,0.54,146.1,436.4,14.7,640,13828,0.00,0.98,0.00,0.000,6,0.000,0.030,1834,3283,1852,0,0,0,0,0,0
$GC,14135,0.54,146.1,396.8,12.9,651,14139,0.12,1.05,0.00,0.000,4,0.189,0.054,1802,3942,1852,0,0,0,0,0,0
$GC,14278,0.54,146.1,378.6,13.0,657,14284,0.00,0.98,0.00,0.000,6,0.000,0.030,1805,3284,1851,0,0,0,0,0,0
$GC,14614,0.54,146.1,336.2,12.7,673,14620,0.00,1.08,0.00,0.000,4,0.000,0.054,1805,3953,1851,0,0,0,0,0,0
$GC,14718,0.54,146.1,321.3,13.7,677,14723,0.00,1.00,0.00,0.000,6,0.000,0.030,1811,3275,1851,0,0,0,0,0,0
$GC,15043,0.54,146.1,280.5,12.5,693,15048,0.00,1.08,0.00,0.000,4,0.000,0.054,1811,3941,1851,0,0,0,0,0,0
$GC,15160,0.54,146.1,264.0,14.0,698,15164,0.00,0.98,0.00,0.000,6,0.000,0.030,1816,3283,1851,0,0,0,0,0,0
$GC,15494,0.54,146.1,221.9,12.4,717,15497,0.00,1.08,0.00,0.000,4,0.000,0.054,1816,3949,1851,0,0,0,0,0,0
$GC,15721,0.54,146.1,191.0,14.1,730,15724,0.00,0.98,0.00,0.000,6,0.000,0.030,1820,3283,1851,0,0,0,0,0,0
$GC,16055,0.54,146.1,152.8,11.2,751,16059,0.00,1.08,0.00,0.000,4,0.000,0.054,1821,3954,1851,0,0,0,0,0,0
$GC,16184,0.54,146.1,136.1,12.6,758,16189,0.00,1.00,0.00,0.000,6,0.000,0.028,1826,3274,1850,0,0,0,0,0,0
$GC,16512,0.54,146.1,99.7,10.8,779,16516,0.00,1.08,0.00,0.000,4,0.000,0.054,1826,3947,1851,0,0,0,0,0,0
$GC,16770,0.54,146.1,67.2,10.3,823,16775,0.00,0.98,0.00,0.000,6,0.000,0.029,1831,3281,1850,0,0,0,0,0,0
$GC,17135,0.55,169.4,33.7,8.9,884,17162,0.00,1.08,14.52,0.696,4,0.000,0.054,1831,3941,1777,0,0,0,0,0,0
$GC,17351,0.55,169.4,9.8,13.6,916,17360,0.00,0.98,0.00,0.000,6,0.000,0.028,1836,3276,1775,0,0,0,0,0,0
$STATE,17405,end climb,SURFACE_DEPTH_REACHED
$STATE,17405,begin surface coast
$FINISH,1.3,1.024379
$STATE,17439,end surface coast,CONTROL_FINISHED_OK
$STATE,17439,begin surface
$SM_CCo,17455,33.28,0.669,1,0,1532,230.09
$SM_GC,2.34,0.00,0.00,33.28,0.000,0.000,0.669,43,3410,1532,-4.95,0.28,230.09
$IRIDIUM_FIX,-4227.40,901.25,020313,141419
$TT8_MAMPS,0.025466
$HUMID,57.91
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,72.474
$10V_AH,9.7,53.234
$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,12.125,81.875,311.875,33.275,0.000,28.303,20.540,359.650,0.000,0.000,20.582,2401.680,11042.901,406.812,3144.448,1091.656,33.373,1611.885,0.000,2968.022,0.000,1.011,0.000
$DEVICE_MAMPS,224.910,71.145,1165.860,669.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.147,2064.302,1036.186,465.002,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,67155,929
$CAP_FILE_SIZE,155192,0
$CFSIZE,259252224,228225024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020313,231804,-4242.110,906.231,28,1.3,28,-25.2