version: 66.07
glider: 543
mission: 6
dive: 458
start: 3 2 113 23 29 15
data:
$ID,543
$MISSION,6
$DIVE,458
$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,-9206.9795
$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,60
$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
$GPS1,020313,231804,-4242.110,906.231,28,1.3,28,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-59.7
$GPS2,020313,232818,-4242.096,906.266,19,1.3,20,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT4
$TGT_LATLONG,-4241.734,909.950
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.171,-0.029
$KALMAN_X,142364.4,-976.9,-296.4,-52852.6,2013.1
$KALMAN_Y,433109.3,-210.7,140.8,-455368.2,1170.2
$MHEAD_RNG_PITCHd_Wd,124.8,5060,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.74,-63.1,0.0,0.0,0,66,0.00,0.00,-41.15,0.000,2,0.000,0.000,43,3410,2511,0,0,0,0,0,0
$GC,70,-0.77,-122.1,3.2,-3.7,5,97,5.55,0.90,-14.73,0.000,4,0.229,0.093,1368,3940,2973,0,0,0,0,0,0
$GC,383,-0.77,-122.1,49.4,-15.9,53,390,0.00,0.80,0.00,0.000,6,0.000,0.034,1368,3413,2976,0,0,0,0,0,0
$GC,625,-0.77,-122.1,84.2,-12.1,94,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3413,2976,0,0,0,0,0,0
$GC,972,-0.77,-122.1,124.5,-12.1,131,977,0.00,2.17,0.00,0.000,4,0.000,0.029,1368,1976,2977,0,0,0,0,0,0
$GC,1020,-0.77,-122.1,130.5,-10.8,133,1027,0.00,2.28,0.00,0.000,6,0.000,0.054,1357,3387,2978,0,0,0,0,0,0
$GC,1340,-0.77,-122.1,168.5,-11.7,154,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3386,2978,0,0,0,0,0,0
$GC,1652,-0.77,-122.1,203.7,-11.5,174,1656,0.00,0.90,0.00,0.000,4,0.000,0.056,1353,3958,2978,0,0,0,0,0,0
$GC,1710,-0.77,-122.1,210.3,-12.9,177,1714,0.00,0.85,0.00,0.000,6,0.000,0.033,1353,3389,2978,0,0,0,0,0,0
$GC,2043,-0.77,-122.1,251.4,-12.7,198,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,1353,3389,2978,0,0,0,0,0,0
$GC,2352,-0.77,-122.1,289.9,-12.6,213,2358,0.00,0.90,0.00,0.000,4,0.000,0.057,1349,3953,2978,0,0,0,0,0,0
$GC,2437,-0.77,-122.1,301.2,-13.7,216,2441,0.00,0.82,0.00,0.000,6,0.000,0.033,1349,3404,2978,0,0,0,0,0,0
$GC,2759,-0.77,-122.1,342.6,-13.0,232,2763,0.00,2.12,0.00,0.000,4,0.000,0.028,1349,1979,2978,0,0,0,0,0,0
$GC,2828,-0.77,-122.1,350.9,-10.7,235,2834,0.10,2.33,0.00,0.000,6,0.151,0.054,1368,3398,2979,0,0,0,0,0,0
$GC,3159,-0.77,-122.1,386.7,-10.6,251,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3398,2978,0,0,0,0,0,0
$GC,3464,-0.77,-122.1,420.2,-10.6,263,3468,0.00,0.88,0.00,0.000,4,0.000,0.057,1366,3953,2978,0,0,0,0,0,0
$GC,3618,-0.77,-122.1,438.2,-12.1,267,3621,0.00,0.82,0.00,0.000,6,0.000,0.034,1365,3402,2978,0,0,0,0,0,0
$GC,3942,-0.77,-122.1,474.1,-11.0,278,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3402,2978,0,0,0,0,0,0
$GC,4249,-0.77,-122.1,508.2,-11.4,288,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3402,2978,0,0,0,0,0,0
$GC,4556,-0.77,-122.1,542.8,-11.0,298,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3402,2978,0,0,0,0,0,0
$GC,4861,-0.77,-122.1,574.7,-10.2,308,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3402,2978,0,0,0,0,0,0
$GC,5167,-0.77,-122.6,605.7,-10.0,318,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3402,2977,0,0,0,0,0,0
$GC,5475,-0.77,-122.6,638.0,-10.8,328,5478,0.00,0.88,0.00,0.000,4,0.000,0.057,1362,3950,2976,0,0,0,0,0,0
$GC,5550,-0.77,-122.6,647.0,-12.2,330,5554,0.00,0.82,0.00,0.000,6,0.000,0.034,1362,3405,2976,0,0,0,0,0,0
$GC,5886,-0.77,-122.6,684.8,-11.0,341,5890,0.00,2.12,0.00,0.000,4,0.000,0.028,1362,1974,2975,0,0,0,0,0,0
$GC,5960,-0.77,-122.6,692.8,-10.7,343,5965,0.00,2.33,0.00,0.000,6,0.000,0.054,1351,3401,2975,0,0,0,0,0,0
$GC,6286,-0.77,-122.6,731.1,-12.1,354,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,1351,3401,2974,0,0,0,0,0,0
$GC,6594,-0.77,-122.6,768.5,-12.3,364,6598,0.00,2.15,0.00,0.000,4,0.000,0.029,1351,1975,2974,0,0,0,0,0,0
$GC,6630,-0.77,-122.6,773.0,-11.0,365,6634,0.15,2.33,0.00,0.000,6,0.172,0.054,1376,3401,2974,0,0,0,0,0,0
$GC,6960,-0.77,-122.6,808.2,-10.8,376,6964,0.00,0.88,0.00,0.000,4,0.000,0.059,1374,3951,2973,0,0,0,0,0,0
$GC,7016,-0.77,-122.6,815.1,-12.7,377,7022,0.00,0.82,0.00,0.000,6,0.000,0.035,1374,3407,2973,0,0,0,0,0,0
$GC,7337,-0.77,-122.6,850.7,-11.5,388,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3407,2973,0,0,0,0,0,0
$GC,7642,-0.77,-122.6,884.3,-10.9,398,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3407,2972,0,0,0,0,0,0
$GC,7950,-0.77,-122.6,916.4,-10.5,408,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3407,2971,0,0,0,0,0,0
$GC,8255,-0.77,-122.6,948.3,-10.6,418,8260,0.00,2.17,0.00,0.000,4,0.000,0.031,1374,1977,2970,0,0,0,0,0,0
$GC,8393,-0.78,-128.9,961.3,-9.3,422,8398,0.00,2.33,0.00,0.000,6,0.000,0.054,1363,3398,2970,0,0,0,0,0,0
$STATE,8732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8733,begin apogee
$GC,8740,-0.13,0.0,1000.6,11.8,433,8872,0.77,0.00,124.00,1.776,6,0.160,0.000,1579,3274,2474,0,0,0,0,1,0
$STATE,8873,end apogee,CONTROL_FINISHED_OK
$STATE,8873,begin climb
$GC,8877,0.78,128.9,1004.2,0.0,437,9030,0.90,0.00,141.07,1.735,6,0.071,0.000,1871,3274,1948,0,0,0,0,1,0
$GC,9338,0.78,128.9,927.3,18.6,452,9341,0.00,1.12,0.00,0.000,4,0.000,0.054,1871,3958,1939,0,0,0,0,0,0
$GC,9433,0.78,128.9,907.3,19.8,454,9440,0.00,1.05,0.00,0.000,6,0.000,0.031,1877,3263,1938,0,0,0,0,0,0
$GC,9746,0.78,128.9,850.1,18.7,465,9750,0.00,1.10,0.00,0.000,4,0.000,0.054,1877,3951,1935,0,0,0,0,0,0
$GC,10003,0.78,128.9,795.7,21.2,472,10007,0.00,1.00,0.00,0.000,6,0.000,0.030,1881,3276,1934,0,0,0,0,0,0
$GC,10322,0.78,128.9,734.2,19.4,483,10325,0.00,1.08,0.00,0.000,4,0.000,0.054,1880,3948,1933,0,0,0,0,0,0
$GC,10584,0.78,128.9,677.7,21.9,490,10587,0.00,1.00,0.00,0.000,6,0.000,0.030,1886,3275,1933,0,0,0,0,0,0
$GC,10905,0.78,128.9,616.6,18.4,501,10909,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3947,1931,0,0,0,0,0,0
$GC,11164,0.78,128.9,563.7,19.2,508,11168,0.00,0.98,0.00,0.000,6,0.000,0.030,1891,3291,1931,0,0,0,0,0,0
$GC,11483,0.78,128.9,506.6,17.7,519,11487,0.00,1.05,0.00,0.000,4,0.000,0.054,1891,3949,1930,0,0,0,0,0,0
$GC,11740,0.78,128.9,456.3,19.9,526,11746,0.00,1.00,0.00,0.000,6,0.000,0.030,1896,3276,1930,0,0,0,0,0,0
$GC,12061,0.78,128.9,400.9,17.0,537,12066,0.00,1.08,0.00,0.000,4,0.000,0.054,1897,3945,1929,0,0,0,0,0,0
$GC,12324,0.78,128.9,352.1,18.6,548,12327,0.00,0.98,0.00,0.000,6,0.000,0.031,1901,3287,1930,0,0,0,0,0,0
$GC,12648,0.78,128.9,298.7,16.4,564,12651,0.00,1.08,0.00,0.000,4,0.000,0.054,1901,3957,1929,0,0,0,0,0,0
$GC,12880,0.78,128.9,255.9,18.0,574,12884,0.08,1.00,0.00,0.000,6,0.203,0.030,1886,3276,1929,0,0,0,0,0,0
$GC,13209,0.78,128.9,204.4,15.8,594,13212,0.00,1.08,0.00,0.000,4,0.000,0.054,1886,3949,1928,0,0,0,0,0,0
$GC,13387,0.78,128.9,174.1,16.4,604,13391,0.00,0.98,0.00,0.000,6,0.000,0.030,1889,3288,1928,0,0,0,0,0,0
$GC,13721,0.78,128.9,122.9,15.5,625,13726,0.00,1.08,0.00,0.000,4,0.000,0.053,1889,3959,1928,0,0,0,0,0,0
$GC,13926,0.78,128.9,88.6,16.4,644,13933,0.00,1.00,0.00,0.000,6,0.000,0.029,1894,3279,1928,0,0,0,0,0,0
$GC,14292,0.78,128.9,35.2,14.8,705,14299,0.00,2.12,0.00,0.000,4,0.000,0.026,1905,1852,1928,0,0,0,0,0,0
$GC,14340,0.78,128.9,28.5,12.4,712,14351,0.00,2.30,0.00,0.000,6,0.000,0.047,1905,3277,1927,0,0,0,0,0,0
$GC,14431,0.78,128.9,16.1,13.8,725,14441,0.00,1.08,0.00,0.000,4,0.000,0.050,1905,3957,1927,0,0,0,0,0,0
$STATE,14519,end climb,SURFACE_DEPTH_REACHED
$STATE,14520,begin surface coast
$FINISH,1.3,1.013128
$STATE,14537,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14555,47.88,0.706,1,0,1533,230.09
$SM_GC,2.66,0.00,0.00,47.88,0.000,0.000,0.706,47,3401,1533,-4.94,0.03,230.09
$IRIDIUM_FIX,-4224.47,900.79,020313,181801
$TT8_MAMPS,0.025466
$HUMID,57.40
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,21.3,72.638
$10V_AH,9.8,53.345
$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,12.575,57.800,265.075,47.875,0.000,27.139,21.797,364.026,0.000,0.000,22.058,1912.925,9435.887,408.478,2556.600,899.483,33.368,1327.102,0.000,2349.977,0.000,1.011,0.000
$DEVICE_MAMPS,228.735,92.565,1776.330,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.842,1645.528,767.019,342.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,53988,740
$CAP_FILE_SIZE,117474,0
$CFSIZE,259252224,228196352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,030313,033404,-4241.216,908.985,39,0.8,39,-25.2