version: 66.07
glider: 543
mission: 6
dive: 467
start: 3 4 113 14 52 20
data:
$ID,543
$MISSION,6
$DIVE,467
$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,-9237.0488
$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,55
$R_STBD_OVSHOOT,32
$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
$GPS1,040313,144204,-4240.947,918.816,23,0.9,23,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-63.1
$GPS2,040313,145123,-4240.944,918.938,19,1.0,20,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT8
$TGT_LATLONG,-4239.524,919.626
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.218,-0.021
$KALMAN_X,159048.2,-670.9,-64.0,-52804.0,5288.5
$KALMAN_Y,447888.8,-1493.8,-464.3,-466104.7,3018.6
$MHEAD_RNG_PITCHd_Wd,289.9,2793,-21.4,-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,-0.61,-100.4,0.0,0.0,0,64,0.00,0.00,-41.58,0.000,2,0.000,0.000,55,3412,2513,0,0,0,0,0,0
$GC,68,-0.64,-146.1,3.3,-4.3,5,95,5.65,0.00,-17.17,0.000,6,0.227,0.000,1412,3412,3070,0,0,0,0,0,0
$GC,175,-0.64,-146.1,14.5,-12.5,20,183,0.00,2.17,0.00,0.000,4,0.000,0.030,1412,1992,3074,0,0,0,0,0,0
$GC,238,-0.64,-146.1,22.2,-11.3,29,248,0.00,2.30,0.00,0.000,6,0.000,0.053,1403,3391,3074,0,0,0,0,0,0
$GC,327,-0.64,-146.1,33.5,-12.9,42,336,0.00,0.88,0.00,0.000,4,0.000,0.057,1399,3937,3074,0,0,0,0,0,0
$GC,358,-0.64,-146.1,37.4,-12.9,46,367,0.00,0.80,0.00,0.000,6,0.000,0.034,1399,3415,3074,0,0,0,0,0,0
$GC,611,-0.64,-146.1,67.0,-10.2,87,620,0.00,2.17,0.00,0.000,4,0.000,0.029,1399,1979,3075,0,0,0,0,0,0
$GC,667,-0.64,-146.1,72.9,-9.7,96,679,0.08,2.35,0.00,0.000,6,0.149,0.057,1411,3403,3075,0,0,0,0,0,0
$GC,1032,-0.64,-146.1,108.8,-10.8,149,1036,0.00,0.88,0.00,0.000,4,0.000,0.058,1408,3954,3076,0,0,0,0,0,0
$GC,1198,-0.64,-146.1,128.8,-11.5,158,1208,0.00,0.85,0.00,0.000,6,0.000,0.034,1408,3389,3077,0,0,0,0,0,0
$GC,1522,-0.64,-146.1,164.4,-10.3,179,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,1408,3389,3077,0,0,0,0,0,0
$GC,1832,-0.64,-146.1,194.4,-9.1,199,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,1408,3389,3077,0,0,0,0,0,0
$GC,2145,-0.64,-146.1,222.0,-9.1,219,2151,0.00,2.12,0.00,0.000,4,0.000,0.028,1408,1974,3077,0,0,0,0,0,0
$GC,2187,-0.64,-146.1,225.5,-8.7,221,2191,0.00,2.30,0.00,0.000,6,0.000,0.053,1398,3403,3077,0,0,0,0,0,0
$GC,2523,-0.64,-146.1,261.7,-11.0,241,2528,0.00,2.15,0.00,0.000,4,0.000,0.028,1398,1974,3077,0,0,0,0,0,0
$GC,2552,-0.64,-146.1,265.3,-11.5,242,2557,0.12,2.33,0.00,0.000,6,0.169,0.055,1417,3406,3078,0,0,0,0,0,0
$GC,2875,-0.64,-146.1,297.1,-9.8,258,2879,0.00,0.85,0.00,0.000,4,0.000,0.058,1415,3943,3078,0,0,0,0,0,0
$GC,2928,-0.64,-146.1,303.0,-10.0,260,2934,0.00,0.82,0.00,0.000,6,0.000,0.034,1415,3397,3078,0,0,0,0,0,0
$GC,3258,-0.64,-146.1,334.5,-9.4,276,3262,0.00,2.12,0.00,0.000,4,0.000,0.028,1414,1971,3078,0,0,0,0,0,0
$GC,3313,-0.64,-146.1,339.5,-8.9,278,3317,0.00,2.33,0.00,0.000,6,0.000,0.053,1404,3407,3078,0,0,0,0,0,0
$GC,3632,-0.64,-146.1,371.2,-9.8,293,3638,0.00,0.85,0.00,0.000,4,0.000,0.057,1401,3945,3078,0,0,0,0,0,0
$GC,3672,-0.64,-146.1,376.1,-11.1,294,3680,0.00,0.82,0.00,0.000,6,0.000,0.034,1400,3399,3078,0,0,0,0,0,0
$GC,3988,-0.64,-146.1,408.0,-10.2,309,3992,0.00,2.12,0.00,0.000,4,0.000,0.028,1400,1970,3078,0,0,0,0,0,0
$GC,4057,-0.64,-146.1,414.6,-9.3,311,4062,0.12,2.33,0.00,0.000,6,0.168,0.053,1419,3407,3078,0,0,0,0,0,0
$GC,4388,-0.64,-146.1,443.1,-8.6,322,4391,0.00,0.85,0.00,0.000,4,0.000,0.058,1417,3947,3077,0,0,0,0,0,0
$GC,4438,-0.64,-146.1,448.0,-9.8,323,4442,0.00,0.82,0.00,0.000,6,0.000,0.034,1417,3400,3077,0,0,0,0,0,0
$GC,4763,-0.64,-146.1,475.8,-8.3,334,4767,0.00,2.15,0.00,0.000,4,0.000,0.028,1417,1989,3077,0,0,0,0,0,0
$GC,4814,-0.64,-146.1,480.1,-7.5,335,4819,0.00,2.33,0.00,0.000,6,0.000,0.053,1406,3394,3077,0,0,0,0,0,0
$GC,5140,-0.64,-146.1,509.1,-9.2,346,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,1406,3393,3078,0,0,0,0,0,0
$GC,5446,-0.64,-146.1,537.6,-9.3,356,5450,0.00,2.12,0.00,0.000,4,0.000,0.028,1406,1973,3077,0,0,0,0,0,0
$GC,5475,-0.64,-146.1,540.3,-9.2,357,5479,0.00,2.33,0.00,0.000,6,0.000,0.052,1396,3407,3077,0,0,0,0,0,0
$GC,5811,-0.64,-146.1,574.1,-10.4,368,5815,0.00,0.85,0.00,0.000,4,0.000,0.058,1392,3948,3076,0,0,0,0,0,0
$GC,5866,-0.64,-146.1,580.8,-12.0,369,5872,0.00,0.82,0.00,0.000,6,0.000,0.034,1391,3401,3076,0,0,0,0,0,0
$GC,6186,-0.64,-146.1,614.5,-10.6,380,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,1392,3401,3076,0,0,0,0,0,0
$GC,6493,-0.64,-146.1,648.1,-11.0,390,6497,0.00,2.15,0.00,0.000,4,0.000,0.029,1391,1970,3075,0,0,0,0,0,0
$GC,6542,-0.64,-146.1,653.6,-10.5,391,6547,0.15,2.33,0.00,0.000,6,0.168,0.052,1418,3405,3075,0,0,0,0,0,0
$GC,6856,-0.64,-146.1,682.5,-9.1,401,6860,0.00,2.15,0.00,0.000,4,0.000,0.029,1418,1976,3074,0,0,0,0,0,0
$GC,6886,-0.64,-146.1,685.2,-9.2,402,6890,0.00,2.33,0.00,0.000,6,0.000,0.054,1409,3404,3074,0,0,0,0,0,0
$GC,7221,-0.64,-146.1,715.2,-8.8,413,7225,0.00,0.88,0.00,0.000,4,0.000,0.058,1405,3956,3074,0,0,0,0,0,0
$GC,7294,-0.64,-146.1,722.1,-9.6,415,7298,0.00,0.82,0.00,0.000,6,0.000,0.034,1405,3406,3074,0,0,0,0,0,0
$GC,7631,-0.64,-146.1,750.5,-8.4,426,7635,0.00,2.15,0.00,0.000,4,0.000,0.029,1405,1971,3073,0,0,0,0,0,0
$GC,7704,-0.64,-146.1,756.4,-7.8,428,7708,0.00,2.33,0.00,0.000,6,0.000,0.052,1395,3402,3073,0,0,0,0,0,0
$GC,8029,-0.64,-146.1,785.0,-8.8,439,8033,0.00,2.15,0.00,0.000,4,0.000,0.028,1394,1970,3072,0,0,0,0,0,0
$GC,8068,-0.64,-146.1,788.6,-8.4,440,8073,0.15,2.33,0.00,0.000,6,0.166,0.053,1421,3398,3072,0,0,0,0,0,0
$GC,8393,-0.64,-146.1,813.4,-7.6,451,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,1421,3399,3071,0,0,0,0,0,0
$GC,8700,-0.64,-146.1,838.1,-8.3,461,8704,0.00,2.15,0.00,0.000,4,0.000,0.030,1421,1972,3071,0,0,0,0,0,0
$GC,8740,-0.64,-146.1,841.5,-8.2,462,8744,0.00,2.35,0.00,0.000,6,0.000,0.054,1412,3410,3071,0,0,0,0,0,0
$GC,9064,-0.64,-146.1,871.1,-9.5,473,9068,0.00,2.15,0.00,0.000,4,0.000,0.029,1412,1978,3070,0,0,0,0,0,0
$GC,9098,-0.64,-146.1,874.4,-9.2,474,9102,0.00,2.33,0.00,0.000,6,0.000,0.053,1401,3403,3071,0,0,0,0,0,0
$GC,9427,-0.64,-146.1,907.0,-10.0,485,9433,0.00,2.17,0.00,0.000,4,0.000,0.029,1401,1971,3070,0,0,0,0,0,0
$GC,9498,-0.64,-146.1,913.4,-8.8,487,9503,0.12,2.33,0.00,0.000,6,0.168,0.053,1420,3401,3069,0,0,0,0,0,0
$GC,9839,-0.64,-146.1,942.9,-8.8,498,9843,0.00,2.15,0.00,0.000,4,0.000,0.029,1421,1976,3069,0,0,0,0,0,0
$GC,9875,-0.64,-146.1,946.3,-7.8,499,9879,0.00,2.33,0.00,0.000,6,0.000,0.054,1411,3399,3069,0,0,0,0,0,0
$GC,10206,-0.64,-146.1,974.2,-8.3,510,10210,0.00,2.15,0.00,0.000,4,0.000,0.029,1411,1973,3069,0,0,0,0,0,0
$GC,10250,-0.64,-146.1,978.0,-8.1,511,10254,0.00,2.35,0.00,0.000,6,0.000,0.054,1401,3409,3069,0,0,0,0,0,0
$STATE,10474,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10474,begin apogee
$GC,10481,-0.13,0.0,997.1,8.5,519,10638,0.62,0.00,148.68,1.782,6,0.146,0.000,1581,3281,2473,0,0,0,0,1,0
$STATE,10640,end apogee,CONTROL_FINISHED_OK
$STATE,10640,begin climb
$GC,10643,0.64,146.1,999.8,0.0,524,10816,0.80,1.27,158.07,1.741,4,0.070,0.055,1835,3949,1878,0,0,0,0,1,0
$GC,10927,0.64,146.1,955.3,21.3,533,10930,0.00,1.08,0.00,0.000,6,0.000,0.031,1840,3277,1873,0,0,0,0,0,0
$GC,11262,0.64,146.1,894.1,18.1,544,11266,0.00,1.10,0.00,0.000,4,0.000,0.056,1840,3952,1868,0,0,0,0,0,0
$GC,11519,0.64,146.1,842.0,19.6,551,11523,0.00,1.02,0.00,0.000,6,0.000,0.032,1845,3272,1867,0,0,0,0,0,0
$GC,11837,0.64,146.1,786.2,17.4,562,11841,0.00,1.10,0.00,0.000,4,0.000,0.057,1845,3954,1866,0,0,0,0,0,0
$GC,12094,0.64,146.1,737.4,18.7,569,12100,0.00,1.00,0.00,0.000,6,0.000,0.031,1850,3285,1865,0,0,0,0,0,0
$GC,12414,0.64,146.1,683.3,16.7,580,12419,0.00,1.08,0.00,0.000,4,0.000,0.056,1850,3953,1864,0,0,0,0,0,0
$GC,12672,0.64,146.1,636.1,17.3,587,12676,0.00,1.00,0.00,0.000,6,0.000,0.031,1855,3280,1864,0,0,0,0,0,0
$GC,12991,0.64,146.1,584.6,15.9,598,12995,0.00,1.08,0.00,0.000,4,0.000,0.054,1855,3947,1862,0,0,0,0,0,0
$GC,13248,0.64,146.1,537.3,17.5,605,13252,0.00,1.00,0.00,0.000,6,0.000,0.031,1860,3278,1863,0,0,0,0,0,0
$GC,13568,0.64,146.1,483.2,16.7,616,13571,0.00,1.08,0.00,0.000,4,0.000,0.056,1860,3947,1862,0,0,0,0,0,0
$GC,13825,0.64,146.1,435.9,17.6,623,13831,0.10,1.00,0.00,0.000,6,0.190,0.031,1838,3275,1862,0,0,0,0,0,0
$GC,14151,0.64,146.1,390.8,13.7,635,14155,0.00,1.10,0.00,0.000,4,0.000,0.055,1837,3958,1860,0,0,0,0,0,0
$GC,14416,0.64,146.1,349.8,15.4,646,14419,0.00,1.00,0.00,0.000,6,0.000,0.032,1841,3288,1860,0,0,0,0,0,0
$GC,14739,0.64,146.1,304.8,13.8,662,14742,0.00,1.08,0.00,0.000,4,0.000,0.055,1841,3954,1860,0,0,0,0,0,0
$GC,15004,0.64,146.1,263.4,15.9,673,15008,0.00,1.00,0.00,0.000,6,0.000,0.030,1847,3279,1860,0,0,0,0,0,0
$GC,15322,0.64,146.1,220.4,13.3,692,15326,0.00,1.08,0.00,0.000,4,0.000,0.055,1846,3945,1860,0,0,0,0,0,0
$GC,15587,0.64,146.1,181.5,14.3,707,15591,0.00,0.98,0.00,0.000,6,0.000,0.030,1851,3288,1860,0,0,0,0,0,0
$GC,15913,0.64,146.1,138.7,12.9,728,15917,0.00,1.08,0.00,0.000,4,0.000,0.054,1851,3955,1860,0,0,0,0,0,0
$GC,16182,0.64,146.1,99.6,14.6,743,16185,0.00,1.00,0.00,0.000,6,0.000,0.029,1856,3275,1861,0,0,0,0,0,0
$GC,16539,0.64,146.1,55.6,11.0,803,16546,0.00,2.12,0.00,0.000,4,0.000,0.028,1867,1874,1861,0,0,0,0,0,0
$GC,16657,0.65,166.2,44.1,8.7,822,16674,0.00,2.28,10.77,0.728,6,0.000,0.048,1867,3281,1794,0,0,0,0,0,0
$GC,16930,0.65,166.2,10.3,13.1,864,16941,0.00,1.05,0.00,0.000,4,0.000,0.054,1867,3945,1792,0,0,0,0,0,0
$STATE,16990,end climb,SURFACE_DEPTH_REACHED
$STATE,16990,begin surface coast
$FINISH,1.3,1.013707
$STATE,17016,end surface coast,CONTROL_FINISHED_OK
$STATE,17016,begin surface
$SM_CCo,17033,33.97,0.672,1,0,1532,230.09
$SM_GC,2.22,0.00,0.00,33.97,0.000,0.000,0.672,45,3399,1532,-4.95,-0.03,230.09
$IRIDIUM_FIX,-4227.40,919.07,040313,101033
$TT8_MAMPS,0.025466
$HUMID,57.40
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,21.3,73.968
$10V_AH,9.8,54.419
$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,12.750,115.425,317.525,33.975,0.000,26.813,21.284,321.000,0.000,0.000,22.392,2311.051,10771.339,463.166,3024.491,1058.853,33.368,1639.198,0.000,2866.532,0.000,1.010,0.000
$DEVICE_MAMPS,227.205,58.140,1782.450,671.670,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.071,1912.284,914.286,414.999,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,63784,876
$CAP_FILE_SIZE,154799,0
$CFSIZE,259252224,227516416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,040313,193804,-4240.818,918.716,29,0.9,29,-25.3