version: 66.07
glider: 543
mission: 6
dive: 468
start: 3 4 113 19 48 44
data:
$ID,543
$MISSION,6
$DIVE,468
$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,-9240.5674
$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,21
$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
$GPS1,040313,193804,-4240.818,918.716,29,0.9,29,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-62.9
$GPS2,040313,194747,-4240.776,918.859,16,1.4,17,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4238.509,925.664
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.110,0.134
$KALMAN_X,164293.6,-1640.8,-163.5,-57077.9,8182.2
$KALMAN_Y,447678.3,-1080.3,-113.9,-466358.8,2835.5
$MHEAD_RNG_PITCHd_Wd,64.5,10177,-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,21,-0.74,-63.1,0.0,0.0,0,64,0.00,0.00,-40.95,0.000,2,0.000,0.000,44,3399,2507,0,0,0,0,0,0
$GC,68,-0.77,-122.1,3.3,-3.7,5,95,5.57,2.22,-15.12,0.000,4,0.230,0.044,1372,1986,2973,0,0,0,0,0,0
$GC,240,-0.77,-122.1,23.0,-12.4,30,248,0.00,2.33,0.00,0.000,6,0.000,0.053,1362,3398,2976,0,0,0,0,0,0
$GC,328,-0.77,-122.1,35.5,-14.4,43,336,0.00,0.88,0.00,0.000,4,0.000,0.057,1358,3948,2976,0,0,0,0,0,0
$GC,352,-0.77,-122.1,39.2,-14.6,46,361,0.00,0.82,0.00,0.000,6,0.000,0.034,1358,3415,2976,0,0,0,0,0,0
$GC,598,-0.77,-122.1,74.9,-14.1,87,606,0.00,2.20,0.00,0.000,4,0.000,0.030,1358,1972,2976,0,0,0,0,0,0
$GC,771,-0.77,-122.1,95.3,-12.2,115,777,0.12,2.33,0.00,0.000,6,0.178,0.054,1376,3410,2977,0,0,0,0,0,0
$GC,1107,-0.77,-122.1,136.4,-12.2,140,1111,0.00,2.17,0.00,0.000,4,0.000,0.028,1377,1963,2977,0,0,0,0,0,0
$GC,1201,-0.77,-122.1,147.2,-11.2,145,1208,0.00,2.33,0.00,0.000,6,0.000,0.055,1367,3400,2977,0,0,0,0,0,0
$GC,1521,-0.77,-122.1,186.9,-12.5,166,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3400,2977,0,0,0,0,0,0
$GC,1834,-0.77,-122.1,226.9,-12.7,186,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3400,2978,0,0,0,0,0,0
$GC,2162,-0.77,-122.1,266.2,-11.6,205,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3400,2978,0,0,0,0,0,0
$GC,2472,-0.77,-123.4,297.5,-9.9,220,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3400,2979,0,0,0,0,0,0
$GC,2781,-0.78,-127.8,327.4,-9.5,235,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3400,2979,0,0,0,0,0,0
$GC,3089,-0.78,-127.8,359.5,-10.9,250,3093,0.00,2.17,0.00,0.000,4,0.000,0.028,1367,1966,2979,0,0,0,0,0,0
$GC,3133,-0.78,-131.9,364.0,-9.6,252,3138,0.00,2.35,0.00,0.000,6,0.000,0.054,1356,3397,2979,0,0,0,0,0,0
$GC,3468,-0.78,-131.9,402.4,-11.8,268,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3398,2979,0,0,0,0,0,0
$GC,3773,-0.78,-131.9,439.4,-12.2,278,3779,0.00,0.88,0.00,0.000,4,0.000,0.057,1352,3950,2979,0,0,0,0,0,0
$GC,3826,-0.78,-131.9,445.7,-13.8,279,3830,0.00,0.85,0.00,0.000,6,0.000,0.033,1352,3385,2979,0,0,0,0,0,0
$GC,4152,-0.78,-131.9,485.1,-11.8,290,4156,0.00,2.10,0.00,0.000,4,0.000,0.028,1352,1975,2979,0,0,0,0,0,0
$GC,4235,-0.78,-131.9,494.1,-10.3,292,4240,0.12,2.30,0.00,0.000,6,0.179,0.053,1370,3405,2979,0,0,0,0,0,0
$GC,4550,-0.78,-134.5,525.1,-9.7,302,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3404,2979,0,0,0,0,0,0
$GC,4858,-0.79,-144.5,553.3,-9.0,312,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3404,2978,0,0,0,0,0,0
$GC,5161,-0.79,-146.1,582.1,-9.8,322,5165,0.00,2.15,0.00,0.000,4,0.000,0.029,1370,1976,2978,0,0,0,0,0,0
$GC,5229,-0.79,-146.1,588.7,-9.0,324,5233,0.00,2.33,0.00,0.000,6,0.000,0.053,1361,3403,2978,0,0,0,0,0,0
$GC,5559,-0.79,-146.1,624.3,-11.3,335,5563,0.00,2.15,0.00,0.000,4,0.000,0.028,1362,1973,2977,0,0,0,0,0,0
$GC,5591,-0.79,-146.1,628.1,-10.8,336,5596,0.00,2.33,0.00,0.000,6,0.000,0.056,1350,3406,2977,0,0,0,0,0,0
$GC,5922,-0.79,-146.1,666.5,-11.9,347,5927,0.00,2.17,0.00,0.000,4,0.000,0.028,1350,1974,2976,0,0,0,0,0,0
$GC,5984,-0.79,-146.1,673.9,-11.1,348,5991,0.12,2.33,0.00,0.000,6,0.181,0.055,1368,3403,2976,0,0,0,0,0,0
$GC,6297,-0.79,-146.1,708.0,-11.1,359,6301,0.00,0.88,0.00,0.000,4,0.000,0.057,1365,3954,2975,0,0,0,0,0,0
$GC,6372,-0.79,-146.1,717.2,-12.6,361,6376,0.00,0.82,0.00,0.000,6,0.000,0.034,1366,3406,2975,0,0,0,0,0,0
$GC,6707,-0.79,-146.1,758.9,-12.6,372,6711,0.00,2.15,0.00,0.000,4,0.000,0.029,1366,1973,2975,0,0,0,0,0,0
$GC,6737,-0.79,-146.1,762.5,-12.6,373,6741,0.00,2.33,0.00,0.000,6,0.000,0.054,1355,3410,2975,0,0,0,0,0,0
$GC,7072,-0.79,-146.1,806.5,-12.9,384,7076,0.00,2.15,0.00,0.000,4,0.000,0.028,1355,1977,2974,0,0,0,0,0,0
$GC,7161,-0.79,-146.1,817.2,-11.8,386,7168,0.00,2.33,0.00,0.000,6,0.000,0.054,1344,3407,2974,0,0,0,0,0,0
$GC,7475,-0.79,-146.1,857.0,-12.7,397,7479,0.00,2.15,0.00,0.000,4,0.000,0.029,1344,1979,2973,0,0,0,0,0,0
$GC,7599,-0.79,-146.1,871.0,-10.4,400,7607,0.15,2.33,0.00,0.000,6,0.176,0.053,1369,3409,2973,0,0,0,0,0,0
$GC,7914,-0.79,-146.1,904.3,-10.5,411,7918,0.00,2.15,0.00,0.000,4,0.000,0.029,1369,1978,2972,0,0,0,0,0,0
$GC,7964,-0.79,-146.1,909.6,-9.9,412,7968,0.00,2.33,0.00,0.000,6,0.000,0.055,1360,3398,2972,0,0,0,0,0,0
$GC,8277,-0.79,-146.1,946.2,-12.3,422,8281,0.00,2.15,0.00,0.000,4,0.000,0.031,1360,1975,2971,0,0,0,0,0,0
$GC,8308,-0.79,-146.1,949.5,-11.3,423,8312,0.00,2.35,0.00,0.000,6,0.000,0.057,1349,3404,2971,0,0,0,0,0,0
$GC,8643,-0.79,-146.1,988.1,-11.2,434,8647,0.00,2.15,0.00,0.000,4,0.000,0.029,1349,1978,2970,0,0,0,0,0,0
$GC,8692,-0.79,-146.1,993.5,-10.3,435,8699,0.10,2.35,0.00,0.000,6,0.158,0.057,1367,3393,2970,0,0,0,0,0,0
$STATE,8769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8769,begin apogee
$GC,8777,-0.13,0.0,1000.7,9.9,438,8906,0.75,0.00,126.60,1.238,6,0.161,0.000,1578,3287,2473,0,0,0,0,0,0
$STATE,8908,end apogee,CONTROL_FINISHED_OK
$STATE,8908,begin climb
$GC,8911,0.79,146.1,1002.9,0.0,442,9072,0.93,1.20,152.38,1.200,4,0.075,0.051,1888,3948,1872,0,0,0,0,0,0
$GC,9154,0.79,146.1,957.1,24.6,450,9158,0.00,1.10,0.00,0.000,6,0.000,0.029,1893,3259,1864,0,0,0,0,0,0
$GC,9484,0.79,146.1,884.4,22.0,461,9487,0.00,1.12,0.00,0.000,4,0.000,0.054,1893,3952,1857,0,0,0,0,0,0
$GC,9729,0.79,146.1,826.0,24.2,468,9734,0.00,1.00,0.00,0.000,6,0.000,0.030,1898,3275,1857,0,0,0,0,0,0
$GC,10060,0.79,146.1,756.5,21.1,479,10065,0.00,1.10,0.00,0.000,4,0.000,0.054,1898,3958,1854,0,0,0,0,0,0
$GC,10318,0.79,146.1,697.9,22.8,486,10322,0.00,1.00,0.00,0.000,6,0.000,0.031,1902,3286,1854,0,0,0,0,0,0
$GC,10636,0.79,146.1,635.2,19.4,497,10640,0.00,1.08,0.00,0.000,4,0.000,0.054,1902,3958,1853,0,0,0,0,0,0
$GC,10894,0.79,146.1,580.7,21.1,504,10897,0.00,1.00,0.00,0.000,6,0.000,0.030,1907,3278,1853,0,0,0,0,0,0
$GC,11212,0.79,146.1,519.8,19.2,515,11216,0.00,1.10,0.00,0.000,4,0.000,0.054,1907,3962,1852,0,0,0,0,0,0
$GC,11469,0.79,146.1,464.5,21.3,522,11475,0.10,1.02,0.00,0.000,6,0.199,0.031,1886,3274,1851,0,0,0,0,0,0
$GC,11790,0.79,146.1,406.7,17.7,533,11796,0.00,2.15,0.00,0.000,4,0.000,0.028,1895,1864,1851,0,0,0,0,0,0
$GC,11955,0.79,146.1,383.1,14.4,539,11960,0.00,2.30,0.00,0.000,6,0.000,0.047,1895,3294,1849,0,0,0,0,0,0
$GC,12285,0.79,146.1,324.1,18.2,555,12291,0.00,1.05,0.00,0.000,4,0.000,0.054,1895,3954,1849,0,0,0,0,0,0
$GC,12547,0.79,146.1,270.0,20.4,566,12551,0.00,1.00,0.00,0.000,6,0.000,0.031,1900,3279,1849,0,0,0,0,0,0
$GC,12870,0.79,146.1,211.4,17.7,585,12874,0.00,2.12,0.00,0.000,4,0.000,0.028,1911,1863,1849,0,0,0,0,0,0
$GC,13039,0.79,146.1,185.7,14.5,595,13043,0.00,2.28,0.00,0.000,6,0.000,0.048,1911,3282,1847,0,0,0,0,0,0
$GC,13364,0.79,146.1,128.4,17.5,616,13368,0.00,1.08,0.00,0.000,4,0.000,0.054,1911,3957,1848,0,0,0,0,0,0
$GC,13630,0.79,146.1,80.2,17.6,644,13639,0.10,1.00,0.00,0.000,6,0.200,0.031,1889,3276,1848,0,0,0,0,0,0
$GC,13999,0.79,146.1,29.3,13.1,705,14009,0.00,1.08,0.00,0.000,4,0.000,0.054,1889,3948,1848,0,0,0,0,0,0
$STATE,14172,end climb,SURFACE_DEPTH_REACHED
$STATE,14172,begin surface coast
$FINISH,1.2,1.026102
$STATE,14200,end surface coast,CONTROL_FINISHED_OK
$STATE,14200,begin surface
$SM_CCo,14216,40.80,0.695,1,0,1535,230.09
$SM_GC,2.07,0.00,0.00,40.80,0.000,0.000,0.695,55,3402,1535,-4.91,0.03,230.09
$IRIDIUM_FIX,-4224.47,918.60,040313,141436
$TT8_MAMPS,0.025466
$HUMID,58.66
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.0,74.095
$10V_AH,9.6,54.530
$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,12.850,93.725,278.975,40.800,0.000,27.991,26.692,335.658,0.000,0.000,18.907,1915.638,9051.745,413.634,2558.425,897.734,33.370,1364.326,0.000,2350.246,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,61.965,1237.770,695.385,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.735,1618.924,785.458,357.785,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,53730,735
$CAP_FILE_SIZE,124008,0
$CFSIZE,259252224,227479552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,040313,234752,-4239.823,919.662,44,1.1,44,-25.3