version: 66.07
glider: 543
mission: 6
dive: 471
start: 3 5 113 8 21 32
data:
$ID,543
$MISSION,6
$DIVE,471
$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,-9251.0303
$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,33
$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
$GPS1,050313,081104,-4237.317,921.102,28,0.8,28,-25.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-51.1
$GPS2,050313,082035,-4237.349,921.302,16,1.2,17,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4238.509,925.664
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.246,-0.000
$KALMAN_X,159724.1,-982.6,-229.3,-49735.0,1009.9
$KALMAN_Y,444198.7,144.2,527.2,-458421.6,-2135.0
$MHEAD_RNG_PITCHd_Wd,115.3,6319,-18.7,-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,-0.56,-129.2,0.0,0.0,0,64,0.00,0.00,-41.55,0.000,2,0.000,0.000,49,3425,2501,0,0,0,0,0,0
$GC,68,-0.57,-146.1,3.0,-3.3,5,95,5.70,0.88,-17.55,0.000,4,0.223,0.094,1432,3938,3071,0,0,0,0,0,0
$GC,386,-0.57,-146.1,41.3,-12.0,53,392,0.00,0.80,0.00,0.000,6,0.000,0.035,1432,3417,3075,0,0,0,0,0,0
$GC,633,-0.57,-146.1,69.4,-9.8,94,641,0.00,2.17,0.00,0.000,4,0.000,0.030,1432,1980,3075,0,0,0,0,0,0
$GC,737,-0.57,-146.1,78.4,-8.6,111,744,0.00,2.30,0.00,0.000,6,0.000,0.053,1421,3384,3075,0,0,0,0,0,0
$GC,1088,-0.57,-146.1,112.4,-9.7,158,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,1421,3384,3076,0,0,0,0,0,0
$GC,1401,-0.57,-146.1,142.4,-9.8,178,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,1421,3384,3077,0,0,0,0,0,0
$GC,1712,-0.57,-146.1,174.1,-10.1,198,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,1421,3384,3077,0,0,0,0,0,0
$GC,2025,-0.57,-146.1,203.8,-9.2,218,2029,0.00,0.90,0.00,0.000,4,0.000,0.058,1417,3951,3077,0,0,0,0,0,0
$GC,2064,-0.57,-146.1,207.6,-10.0,220,2068,0.00,0.82,0.00,0.000,6,0.000,0.034,1417,3400,3078,0,0,0,0,0,0
$GC,2398,-0.57,-146.1,237.7,-9.1,241,2404,0.00,2.17,0.00,0.000,4,0.000,0.028,1417,1968,3078,0,0,0,0,0,0
$GC,2463,-0.57,-146.1,244.0,-8.4,244,2472,0.10,2.35,0.00,0.000,6,0.127,0.052,1440,3407,3077,0,0,0,0,0,0
$GC,2797,-0.57,-146.1,270.5,-8.1,262,2801,0.00,0.85,0.00,0.000,4,0.000,0.057,1437,3943,3078,0,0,0,0,0,0
$GC,2861,-0.57,-146.1,276.1,-9.0,264,2870,0.00,0.82,0.00,0.000,6,0.000,0.034,1437,3397,3078,0,0,0,0,0,0
$GC,3179,-0.57,-146.1,301.1,-7.8,280,3183,0.00,2.12,0.00,0.000,4,0.000,0.028,1437,1971,3078,0,0,0,0,0,0
$GC,3214,-0.57,-146.1,304.0,-7.5,281,3221,0.00,2.30,0.00,0.000,6,0.000,0.053,1426,3400,3078,0,0,0,0,0,0
$GC,3533,-0.57,-146.1,330.4,-8.8,297,3539,0.00,0.90,0.00,0.000,4,0.000,0.059,1422,3953,3078,0,0,0,0,0,0
$GC,3654,-0.57,-146.1,342.8,-9.4,302,3657,0.00,0.82,0.00,0.000,6,0.000,0.034,1422,3400,3078,0,0,0,0,0,0
$GC,3983,-0.57,-146.1,374.1,-9.8,318,3987,0.00,2.15,0.00,0.000,4,0.000,0.028,1422,1970,3078,0,0,0,0,0,0
$GC,4038,-0.57,-146.1,379.2,-9.1,320,4043,0.12,2.33,0.00,0.000,6,0.150,0.051,1444,3408,3078,0,0,0,0,0,0
$GC,4355,-0.57,-146.1,405.3,-8.1,334,4358,0.00,0.85,0.00,0.000,4,0.000,0.057,1441,3943,3078,0,0,0,0,0,0
$GC,4432,-0.57,-146.1,412.3,-9.0,336,4436,0.00,0.82,0.00,0.000,6,0.000,0.034,1442,3396,3078,0,0,0,0,0,0
$GC,4763,-0.57,-146.1,439.2,-8.1,347,4767,0.00,0.88,0.00,0.000,4,0.000,0.057,1438,3947,3078,0,0,0,0,0,0
$GC,4847,-0.57,-146.1,446.7,-8.8,349,4851,0.00,0.82,0.00,0.000,6,0.000,0.034,1438,3401,3078,0,0,0,0,0,0
$GC,5171,-0.57,-146.1,472.6,-7.9,360,5175,0.00,2.12,0.00,0.000,4,0.000,0.028,1438,1974,3078,0,0,0,0,0,0
$GC,5238,-0.57,-146.1,477.9,-7.0,362,5242,0.00,2.30,0.00,0.000,6,0.000,0.051,1427,3400,3077,0,0,0,0,0,0
$GC,5569,-0.57,-146.1,505.3,-8.3,373,5572,0.00,0.90,0.00,0.000,4,0.000,0.059,1423,3949,3077,0,0,0,0,0,0
$GC,5678,-0.57,-146.1,515.4,-9.2,376,5682,0.00,0.82,0.00,0.000,6,0.000,0.034,1422,3402,3077,0,0,0,0,0,0
$GC,6014,-0.57,-146.1,546.4,-9.3,387,6018,0.00,2.12,0.00,0.000,4,0.000,0.028,1422,1963,3076,0,0,0,0,0,0
$GC,6098,-0.57,-146.1,554.2,-9.4,389,6103,0.12,2.33,0.00,0.000,6,0.153,0.052,1445,3398,3076,0,0,0,0,0,0
$GC,6413,-0.57,-146.1,578.4,-7.7,399,6417,0.00,2.15,0.00,0.000,4,0.000,0.028,1445,1963,3076,0,0,0,0,0,0
$GC,6446,-0.57,-146.1,581.2,-7.2,400,6450,0.00,2.35,0.00,0.000,6,0.000,0.054,1436,3404,3076,0,0,0,0,0,0
$GC,6776,-0.57,-146.1,606.5,-7.4,411,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3404,3075,0,0,0,0,0,0
$GC,7083,-0.57,-146.1,627.0,-6.3,421,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3404,3074,0,0,0,0,0,0
$GC,7389,-0.57,-146.1,645.2,-6.0,431,7393,0.00,0.88,0.00,0.000,4,0.000,0.059,1431,3952,3074,0,0,0,0,0,0
$GC,7428,-0.57,-146.1,648.0,-6.3,432,7432,0.00,0.85,0.00,0.000,6,0.000,0.034,1431,3389,3074,0,0,0,0,0,0
$GC,7764,-0.57,-146.1,669.2,-6.6,443,7768,0.00,2.12,0.00,0.000,4,0.000,0.028,1432,1967,3073,0,0,0,0,0,0
$GC,7830,-0.57,-146.1,673.2,-5.7,445,7834,0.00,2.33,0.00,0.000,6,0.000,0.052,1420,3402,3073,0,0,0,0,0,0
$GC,8166,-0.57,-146.1,699.1,-8.1,456,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,1420,3402,3073,0,0,0,0,0,0
$GC,8472,-0.57,-146.1,724.7,-8.4,466,8476,0.00,2.15,0.00,0.000,4,0.000,0.028,1421,1971,3072,0,0,0,0,0,0
$GC,8551,-0.57,-146.1,731.5,-8.4,468,8556,0.12,2.33,0.00,0.000,6,0.153,0.052,1442,3401,3072,0,0,0,0,0,0
$GC,8871,-0.57,-146.1,755.7,-7.7,479,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3400,3071,0,0,0,0,0,0
$GC,9178,-0.57,-146.1,779.4,-7.9,489,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3401,3071,0,0,0,0,0,0
$GC,9483,-0.57,-146.1,802.7,-7.4,499,9488,0.00,2.17,0.00,0.000,4,0.000,0.030,1443,1969,3071,0,0,0,0,0,0
$GC,9537,-0.57,-146.1,806.6,-7.0,500,9541,0.00,2.33,0.00,0.000,6,0.000,0.052,1433,3401,3070,0,0,0,0,0,0
$GC,9857,-0.57,-146.1,831.4,-7.8,511,9860,0.00,2.15,0.00,0.000,4,0.000,0.028,1433,1971,3069,0,0,0,0,0,0
$GC,9888,-0.57,-146.1,833.7,-7.6,512,9892,0.00,2.33,0.00,0.000,6,0.000,0.053,1422,3400,3070,0,0,0,0,0,0
$GC,10224,-0.57,-146.1,860.7,-7.9,523,10228,0.00,2.15,0.00,0.000,4,0.000,0.028,1422,1970,3069,0,0,0,0,0,0
$GC,10268,-0.57,-146.1,864.3,-8.4,524,10273,0.12,2.33,0.00,0.000,6,0.151,0.053,1444,3399,3069,0,0,0,0,0,0
$STATE,10462,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10462,begin apogee
$GC,10469,-0.13,0.0,877.0,6.5,531,10623,0.45,0.00,146.02,1.704,6,0.126,0.000,1583,3273,2474,0,0,0,0,1,0
$STATE,10625,end apogee,CONTROL_FINISHED_OK
$STATE,10625,begin climb
$GC,10628,0.57,146.1,881.0,0.0,536,10801,0.70,1.25,157.23,1.647,4,0.057,0.055,1814,3940,1878,0,0,0,0,2,0
$GC,10874,0.57,146.1,851.1,15.8,544,10878,0.00,1.08,0.00,0.000,6,0.000,0.031,1819,3278,1875,0,0,0,0,0,0
$GC,11205,0.57,146.1,803.0,14.2,555,11209,0.00,1.10,0.00,0.000,4,0.000,0.055,1819,3953,1868,0,0,0,0,0,0
$GC,11462,0.57,146.1,762.4,15.4,562,11467,0.00,1.02,0.00,0.000,6,0.000,0.031,1824,3273,1867,0,0,0,0,0,0
$GC,11782,0.57,146.1,716.6,14.0,573,11787,0.00,2.15,0.00,0.000,4,0.000,0.028,1835,1868,1865,0,0,0,0,0,0
$GC,11911,0.57,146.1,700.4,11.8,576,11918,0.00,2.28,0.00,0.000,6,0.000,0.050,1835,3285,1863,0,0,0,0,0,0
$GC,12226,0.57,146.1,653.6,15.4,587,12229,0.00,1.08,0.00,0.000,4,0.000,0.057,1835,3957,1863,0,0,0,0,0,0
$GC,12247,0.57,146.1,649.6,16.7,587,12251,0.00,1.00,0.00,0.000,6,0.000,0.031,1840,3284,1863,0,0,0,0,0,0
$GC,12567,0.57,146.1,600.1,15.6,598,12570,0.00,2.12,0.00,0.000,4,0.000,0.028,1851,1864,1862,0,0,0,0,0,0
$GC,12633,0.57,146.1,590.4,13.6,600,12638,0.15,2.28,0.00,0.000,6,0.177,0.049,1815,3283,1861,0,0,0,0,0,0
$GC,12964,0.57,146.1,546.0,13.2,611,12969,0.00,2.17,0.00,0.000,4,0.000,0.028,1824,1856,1861,0,0,0,0,0,0
$GC,13105,0.57,146.1,529.7,10.4,615,13110,0.00,2.30,0.00,0.000,6,0.000,0.048,1824,3276,1860,0,0,0,0,0,0
$GC,13443,0.57,146.1,484.3,13.4,626,13447,0.00,2.12,0.00,0.000,4,0.000,0.027,1835,1858,1860,0,0,0,0,0,0
$GC,13606,0.57,146.1,465.9,10.9,631,13610,0.00,2.28,0.00,0.000,6,0.000,0.048,1835,3280,1859,0,0,0,0,0,0
$GC,13942,0.57,146.1,422.5,12.8,642,13947,0.00,2.15,0.00,0.000,4,0.000,0.028,1846,1860,1859,0,0,0,0,0,0
$GC,14112,0.57,149.2,404.8,9.8,647,14117,0.12,2.28,0.00,0.000,6,0.176,0.048,1815,3280,1859,0,0,0,0,0,0
$GC,14441,0.57,149.2,369.8,10.7,662,14445,0.00,2.15,0.00,0.000,4,0.000,0.028,1824,1859,1858,0,0,0,0,0,0
$GC,14605,0.57,152.0,353.7,9.9,669,14609,0.00,2.30,0.00,0.000,6,0.000,0.047,1825,3289,1858,0,0,0,0,0,0
$GC,14929,0.57,152.0,313.8,12.7,685,14934,0.00,1.05,0.00,0.000,4,0.000,0.054,1825,3954,1858,0,0,0,0,0,0
$GC,15161,0.57,152.0,280.8,13.9,695,15166,0.00,1.00,0.00,0.000,6,0.000,0.030,1830,3277,1858,0,0,0,0,0,0
$GC,15492,0.57,152.0,238.8,12.2,712,15496,0.00,1.08,0.00,0.000,4,0.000,0.054,1830,3955,1858,0,0,0,0,0,0
$GC,15700,0.57,152.0,210.0,14.2,724,15703,0.00,1.00,0.00,0.000,6,0.000,0.030,1835,3276,1858,0,0,0,0,0,0
$GC,16034,0.57,152.0,167.4,12.7,745,16038,0.00,1.08,0.00,0.000,4,0.000,0.054,1835,3954,1858,0,0,0,0,0,0
$GC,16290,0.57,152.0,131.1,14.3,760,16294,0.00,1.00,0.00,0.000,6,0.000,0.030,1840,3274,1858,0,0,0,0,0,0
$GC,16621,0.57,152.0,89.7,13.0,789,16628,0.00,1.08,0.00,0.000,4,0.000,0.053,1840,3953,1859,0,0,0,0,0,0
$GC,16777,0.57,152.0,69.8,12.4,816,16788,0.10,1.00,0.00,0.000,6,0.171,0.028,1816,3272,1858,0,0,0,0,0,0
$GC,17154,0.58,169.8,34.3,9.1,877,17177,0.00,2.15,14.10,0.692,4,0.000,0.026,1825,1876,1779,0,0,0,0,0,0
$GC,17317,0.59,185.9,18.1,9.2,901,17334,0.00,2.28,8.70,0.673,6,0.000,0.047,1825,3283,1714,0,0,0,0,0,0
$GC,17414,0.60,193.0,8.7,9.6,915,17424,0.00,1.02,2.78,0.448,4,0.000,0.048,1825,3952,1683,0,0,0,0,0,0
$STATE,17460,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
$FINISH,1.4,1.026102
$STATE,17467,end surface coast,CONTROL_FINISHED_OK
$STATE,17467,begin surface
$SM_CCo,17484,23.08,0.607,1,0,1533,230.09
$SM_GC,1.90,0.00,0.00,23.08,0.000,0.000,0.607,46,3393,1533,-4.94,-0.20,230.09
$IRIDIUM_FIX,-4224.47,921.48,050313,030309
$TT8_MAMPS,0.025466
$HUMID,57.44
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.4,74.564
$10V_AH,9.7,54.891
$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,12.450,115.100,328.825,23.075,0.000,36.309,19.823,326.487,0.000,0.000,19.346,2377.767,11137.429,473.461,3012.099,1078.829,33.372,1607.561,0.000,2856.320,0.000,1.010,0.000
$DEVICE_MAMPS,223.380,94.095,1703.655,607.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.852,2034.430,995.284,438.789,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,67072,922
$CAP_FILE_SIZE,154258,0
$CFSIZE,259252224,227225600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,050313,131435,-4236.573,923.571,27,1.1,28,-25.3