version: 66.07
glider: 543
mission: 6
dive: 475
start: 3 6 113 5 7 11
data:
$ID,543
$MISSION,6
$DIVE,475
$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,-9266.8809
$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,52
$R_STBD_OVSHOOT,34
$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
$GPS1,060313,045505,-4235.347,932.141,50,0.9,50,-25.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-49.5
$GPS2,060313,050611,-4235.157,932.160,17,1.0,18,-25.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4237.981,933.840
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.121,-0.230
$KALMAN_X,157250.3,-165.8,354.4,-33874.0,-1356.4
$KALMAN_Y,457301.8,161.4,581.7,-467548.9,2193.6
$MHEAD_RNG_PITCHd_Wd,177.6,5709,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-146.0,0.0,0.0,0,70,0.00,0.00,-48.55,0.000,2,0.000,0.000,43,3418,2693,0,0,0,0,0,0
$GC,75,-0.54,-146.1,3.2,-4.6,6,103,5.97,0.88,-11.07,0.000,4,0.233,0.094,1444,3932,3069,0,0,0,0,0,0
$GC,308,-0.54,-146.1,27.5,-14.1,40,319,0.00,0.80,0.00,0.000,6,0.000,0.034,1444,3410,3072,0,0,0,0,0,0
$GC,397,-0.54,-146.1,37.7,-10.1,53,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3410,3072,0,0,0,0,0,0
$GC,651,-0.54,-146.1,62.5,-10.4,94,657,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3410,3073,0,0,0,0,0,0
$GC,1011,-0.54,-146.1,92.7,-7.5,155,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3410,3073,0,0,0,0,0,0
$GC,1351,-0.54,-146.1,121.1,-8.6,187,1355,0.00,0.85,0.00,0.000,4,0.000,0.060,1440,3935,3074,0,0,0,0,0,0
$GC,1425,-0.54,-146.1,127.5,-7.7,191,1429,0.00,0.82,0.00,0.000,6,0.000,0.034,1440,3391,3074,0,0,0,0,0,0
$GC,1760,-0.54,-146.1,153.3,-8.3,212,1764,0.00,2.10,0.00,0.000,4,0.000,0.028,1440,1976,3074,0,0,0,0,0,0
$GC,1813,-0.54,-146.1,157.8,-9.0,215,1817,0.00,2.30,0.00,0.000,6,0.000,0.054,1430,3391,3074,0,0,0,0,0,0
$GC,2139,-0.54,-146.1,189.6,-10.2,236,2143,0.00,0.90,0.00,0.000,4,0.000,0.058,1425,3957,3074,0,0,0,0,0,0
$GC,2257,-0.54,-146.1,202.8,-11.2,242,2265,0.00,0.82,0.00,0.000,6,0.000,0.032,1425,3405,3074,0,0,0,0,0,0
$GC,2579,-0.54,-146.1,233.2,-9.7,263,2585,0.00,2.12,0.00,0.000,4,0.000,0.027,1425,1979,3074,0,0,0,0,0,0
$GC,2608,-0.54,-146.1,236.4,-9.2,264,2619,0.10,2.33,0.00,0.000,6,0.119,0.054,1448,3400,3074,0,0,0,0,0,0
$GC,2936,-0.54,-146.1,261.7,-7.8,283,2941,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3953,3074,0,0,0,0,0,0
$GC,2995,-0.54,-146.1,267.2,-9.0,285,2999,0.00,0.82,0.00,0.000,6,0.000,0.034,1445,3406,3074,0,0,0,0,0,0
$GC,3319,-0.54,-146.1,293.1,-8.0,301,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3406,3074,0,0,0,0,0,0
$GC,3628,-0.54,-146.1,317.6,-7.9,316,3631,0.00,0.88,0.00,0.000,4,0.000,0.059,1441,3954,3074,0,0,0,0,0,0
$GC,3676,-0.54,-146.1,321.6,-8.8,318,3681,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3404,3074,0,0,0,0,0,0
$GC,4011,-0.54,-146.1,345.8,-6.9,334,4015,0.00,2.12,0.00,0.000,4,0.000,0.028,1441,1975,3074,0,0,0,0,0,0
$GC,4055,-0.54,-146.1,348.9,-7.3,336,4060,0.00,2.35,0.00,0.000,6,0.000,0.053,1430,3407,3074,0,0,0,0,0,0
$GC,4390,-0.54,-146.1,374.4,-7.9,352,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3407,3074,0,0,0,0,0,0
$GC,4701,-0.54,-146.1,398.7,-7.8,367,4707,0.00,2.15,0.00,0.000,4,0.000,0.027,1430,1972,3074,0,0,0,0,0,0
$GC,4730,-0.54,-146.1,401.2,-7.7,368,4737,0.12,2.33,0.00,0.000,6,0.147,0.053,1452,3411,3074,0,0,0,0,0,0
$GC,5043,-0.54,-146.1,421.4,-6.3,379,5047,0.00,0.85,0.00,0.000,4,0.000,0.058,1450,3948,3074,0,0,0,0,0,0
$GC,5156,-0.54,-146.1,429.6,-7.6,382,5162,0.00,0.82,0.00,0.000,6,0.000,0.034,1450,3401,3074,0,0,0,0,0,0
$GC,5490,-0.54,-146.1,452.9,-7.1,393,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3402,3074,0,0,0,0,0,0
$GC,5794,-0.54,-146.1,474.1,-6.8,403,5797,0.00,0.88,0.00,0.000,4,0.000,0.059,1446,3947,3073,0,0,0,0,0,0
$GC,5864,-0.54,-146.1,479.4,-7.7,405,5868,0.00,0.82,0.00,0.000,6,0.000,0.034,1446,3401,3073,0,0,0,0,0,0
$GC,6206,-0.54,-146.1,506.0,-7.9,416,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3401,3072,0,0,0,0,0,0
$GC,6512,-0.54,-146.1,531.0,-8.2,426,6516,0.00,0.88,0.00,0.000,4,0.000,0.060,1442,3948,3072,0,0,0,0,0,0
$GC,6569,-0.54,-146.1,536.2,-9.0,427,6573,0.00,0.85,0.00,0.000,6,0.000,0.035,1442,3385,3072,0,0,0,0,0,0
$GC,6888,-0.54,-146.1,562.5,-8.3,438,6892,0.00,2.10,0.00,0.000,4,0.000,0.028,1442,1976,3071,0,0,0,0,0,0
$GC,6927,-0.54,-146.1,565.9,-7.7,439,6931,0.00,2.33,0.00,0.000,6,0.000,0.053,1431,3405,3071,0,0,0,0,0,0
$GC,7251,-0.54,-146.1,593.6,-8.6,450,7255,0.00,0.88,0.00,0.000,4,0.000,0.058,1427,3954,3071,0,0,0,0,0,0
$GC,7346,-0.54,-146.1,602.6,-9.4,452,7353,0.00,0.82,0.00,0.000,6,0.000,0.034,1426,3406,3070,0,0,0,0,0,0
$GC,7661,-0.54,-146.1,628.1,-7.8,463,7665,0.00,2.15,0.00,0.000,4,0.000,0.028,1426,1968,3070,0,0,0,0,0,0
$GC,7699,-0.54,-146.1,631.3,-7.9,464,7704,0.12,2.35,0.00,0.000,6,0.151,0.053,1449,3411,3070,0,0,0,0,0,0
$GC,8024,-0.54,-146.1,652.9,-6.6,475,8028,0.00,2.15,0.00,0.000,4,0.000,0.028,1449,1976,3069,0,0,0,0,0,0
$GC,8070,-0.54,-146.1,656.2,-7.4,476,8074,0.00,2.33,0.00,0.000,6,0.000,0.053,1439,3399,3070,0,0,0,0,0,0
$GC,8389,-0.54,-146.1,679.0,-7.4,487,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3399,3069,0,0,0,0,0,0
$GC,8695,-0.54,-146.1,702.0,-7.6,497,8699,0.00,2.17,0.00,0.000,4,0.000,0.029,1439,1967,3068,0,0,0,0,0,0
$GC,8734,-0.54,-146.1,705.2,-8.0,498,8738,0.00,2.35,0.00,0.000,6,0.000,0.052,1428,3410,3068,0,0,0,0,0,0
$GC,9059,-0.54,-146.1,731.5,-8.0,509,9063,0.00,0.85,0.00,0.000,4,0.000,0.060,1424,3945,3067,0,0,0,0,0,0
$GC,9137,-0.54,-146.1,738.6,-8.4,511,9141,0.00,0.82,0.00,0.000,6,0.000,0.035,1424,3402,3067,0,0,0,0,0,0
$GC,9467,-0.54,-146.1,766.7,-8.6,522,9471,0.00,2.15,0.00,0.000,4,0.000,0.028,1424,1968,3067,0,0,0,0,0,0
$GC,9506,-0.54,-146.1,770.3,-8.9,523,9510,0.15,2.33,0.00,0.000,6,0.145,0.053,1453,3399,3067,0,0,0,0,0,0
$GC,9831,-0.54,-146.1,794.2,-7.6,534,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3399,3067,0,0,0,0,0,0
$GC,10138,-0.54,-146.1,817.5,-7.5,544,10142,0.00,2.12,0.00,0.000,4,0.000,0.029,1453,1969,3066,0,0,0,0,0,0
$GC,10171,-0.54,-146.1,820.3,-7.3,545,10175,0.00,2.30,0.00,0.000,6,0.000,0.052,1444,3400,3065,0,0,0,0,0,0
$STATE,10467,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10467,begin apogee
$GC,10475,-0.13,0.0,843.1,7.7,555,10627,0.45,0.00,144.32,1.694,6,0.125,0.000,1581,3272,2474,0,0,0,0,1,0
$STATE,10628,end apogee,CONTROL_FINISHED_OK
$STATE,10628,begin climb
$GC,10631,0.54,146.1,847.9,0.0,560,10798,0.65,2.45,153.45,1.647,4,0.076,0.028,1806,1870,1879,0,0,0,0,1,0
$GC,10826,0.54,146.1,829.6,11.6,566,10831,0.00,2.47,0.00,0.000,6,0.000,0.047,1806,3282,1876,0,0,0,0,0,0
$GC,11157,0.54,146.1,784.7,13.8,577,11162,0.00,1.10,0.00,0.000,4,0.000,0.057,1806,3958,1868,0,0,0,0,0,0
$GC,11415,0.54,146.1,744.6,15.9,584,11419,0.00,1.02,0.00,0.000,6,0.000,0.031,1811,3274,1867,0,0,0,0,0,0
$GC,11736,0.54,146.1,699.9,14.3,595,11740,0.00,1.10,0.00,0.000,4,0.000,0.057,1811,3957,1865,0,0,0,0,0,0
$GC,11973,0.54,146.1,663.0,14.9,602,11976,0.00,1.00,0.00,0.000,6,0.000,0.031,1816,3282,1865,0,0,0,0,0,0
$GC,12315,0.54,146.1,616.9,13.4,613,12318,0.00,1.08,0.00,0.000,4,0.000,0.056,1816,3952,1864,0,0,0,0,0,0
$GC,12493,0.54,146.1,590.2,14.8,618,12496,0.00,1.00,0.00,0.000,6,0.000,0.030,1821,3274,1864,0,0,0,0,0,0
$GC,12823,0.54,146.1,547.4,12.8,629,12827,0.00,1.10,0.00,0.000,4,0.000,0.056,1821,3958,1863,0,0,0,0,0,0
$GC,12984,0.54,146.1,525.6,13.8,633,12987,0.00,1.00,0.00,0.000,6,0.000,0.030,1826,3282,1862,0,0,0,0,0,0
$GC,13305,0.54,146.1,484.2,12.8,644,13308,0.00,1.08,0.00,0.000,4,0.000,0.056,1827,3953,1861,0,0,0,0,0,0
$GC,13531,0.54,146.1,450.9,14.8,650,13535,0.00,1.00,0.00,0.000,6,0.000,0.030,1832,3276,1861,0,0,0,0,0,0
$GC,13853,0.54,146.1,408.3,13.3,661,13856,0.00,1.10,0.00,0.000,4,0.000,0.056,1831,3958,1861,0,0,0,0,0,0
$GC,14018,0.54,146.1,384.2,15.5,667,14023,0.10,1.00,0.00,0.000,6,0.179,0.030,1808,3281,1861,0,0,0,0,0,0
$GC,14354,0.54,146.1,342.8,12.4,683,14359,0.00,1.08,0.00,0.000,4,0.000,0.055,1808,3951,1861,0,0,0,0,0,0
$GC,14484,0.54,146.1,324.2,14.3,688,14495,0.00,1.00,0.00,0.000,6,0.000,0.030,1811,3275,1860,0,0,0,0,0,0
$GC,14803,0.54,146.1,283.3,12.8,704,14806,0.00,1.10,0.00,0.000,4,0.000,0.054,1811,3957,1860,0,0,0,0,0,0
$GC,14976,0.54,146.1,258.8,13.8,711,14979,0.00,1.00,0.00,0.000,6,0.000,0.029,1817,3279,1860,0,0,0,0,0,0
$GC,15303,0.54,146.1,219.4,11.9,731,15308,0.00,1.08,0.00,0.000,4,0.000,0.054,1816,3951,1860,0,0,0,0,0,0
$GC,15378,0.54,146.1,209.8,13.5,735,15381,0.00,0.98,0.00,0.000,6,0.000,0.029,1821,3287,1860,0,0,0,0,0,0
$GC,15709,0.54,146.1,168.2,12.7,756,15712,0.00,1.08,0.00,0.000,4,0.000,0.054,1821,3957,1861,0,0,0,0,0,0
$GC,15868,0.54,146.1,147.2,13.7,765,15872,0.00,1.00,0.00,0.000,6,0.000,0.029,1826,3273,1860,0,0,0,0,0,0
$GC,16199,0.54,146.1,105.6,11.7,786,16203,0.00,1.10,0.00,0.000,4,0.000,0.054,1826,3959,1861,0,0,0,0,0,0
$GC,16433,0.54,146.1,76.3,12.4,820,16439,0.00,1.00,0.00,0.000,6,0.000,0.028,1832,3275,1860,0,0,0,0,0,0
$GC,16801,0.56,187.6,43.7,8.1,881,16839,0.00,2.20,32.20,0.664,4,0.000,0.026,1843,1860,1706,0,0,0,0,0,0
$GC,16914,0.56,187.6,33.5,10.5,898,16925,0.08,2.33,0.00,0.000,6,0.135,0.047,1817,3285,1703,0,0,0,0,0,0
$GC,17189,0.66,343.4,6.6,2.8,939,17264,0.00,0.00,72.38,0.601,2,0.000,0.000,1817,3286,1380,0,0,0,0,0,0
$STATE,17265,end climb,SURFACE_DEPTH_REACHED
$STATE,17266,begin surface coast
$FINISH,1.2,1.014191
$STATE,17327,end surface coast,CONTROL_FINISHED_OK
$STATE,17327,begin surface
$SM_CCo,17403,0.00,0.000,0,0,1368,271.30
$SM_GC,1.83,4.68,0.00,0.00,0.035,0.000,0.000,54,3413,1368,-4.78,0.37,271.30
$IRIDIUM_FIX,-4218.64,926.78,050313,232305
$TT8_MAMPS,0.025466
$HUMID,57.24
$INTERNAL_PRESSURE,9.00542
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.4,75.247
$10V_AH,9.7,55.471
$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,12.425,94.350,402.350,0.000,0.000,26.923,42.676,393.628,0.000,0.000,20.698,2410.857,10851.286,433.280,3219.171,1143.802,33.376,1660.353,0.000,3062.072,0.000,1.014,0.000
$DEVICE_MAMPS,233.325,94.095,1694.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.281,2164.050,1115.839,525.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,70648,957
$CAP_FILE_SIZE,155474,0
$CFSIZE,259252224,226897920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060313,095834,-4235.812,934.106,42,1.0,42,-25.4