version: 66.07
glider: 543
mission: 6
dive: 476
start: 3 6 113 10 9 56
data:
$ID,543
$MISSION,6
$DIVE,476
$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,-9270.3496
$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,58
$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
$GPS1,060313,095834,-4235.812,934.106,42,1.0,42,-25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-43.5
$GPS2,060313,100859,-4235.773,934.044,18,1.7,19,-25.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FLOAT
$TGT_LATLONG,-4237.981,933.840
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.001,-0.260
$KALMAN_X,157848.1,-547.9,315.1,-31486.2,-43.2
$KALMAN_Y,461822.4,-193.1,-94.9,-472165.5,4759.5
$MHEAD_RNG_PITCHd_Wd,205.2,4097,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.54,-146.1,0.0,0.0,0,81,0.00,0.00,-56.35,0.000,2,0.000,0.000,52,3417,2709,0,0,0,0,0,0
$GC,86,-0.54,-146.1,3.4,-4.3,7,108,6.10,0.90,-10.05,0.000,4,0.245,0.091,1441,3948,3073,0,0,0,0,0,0
$GC,227,-0.54,-146.1,19.4,-10.4,27,235,0.00,0.80,0.00,0.000,6,0.000,0.036,1441,3426,3076,0,0,0,0,0,0
$GC,320,-0.54,-146.1,27.9,-8.8,40,328,0.00,2.20,0.00,0.000,4,0.000,0.030,1441,1984,3076,0,0,0,0,0,0
$GC,346,-0.54,-146.1,30.7,-9.8,43,353,0.00,2.33,0.00,0.000,6,0.000,0.060,1431,3392,3076,0,0,0,0,0,0
$GC,596,-0.54,-146.1,60.2,-12.8,84,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3392,3076,0,0,0,0,0,0
$GC,962,-0.54,-146.1,95.7,-9.2,145,966,0.00,2.15,0.00,0.000,4,0.000,0.029,1430,1969,3076,0,0,0,0,0,0
$GC,1026,-0.54,-146.1,102.3,-9.0,153,1033,0.12,2.35,0.00,0.000,6,0.150,0.057,1453,3405,3077,0,0,0,0,0,0
$GC,1348,-0.54,-146.1,127.4,-7.8,174,1351,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3955,3077,0,0,0,0,0,0
$GC,1414,-0.54,-146.1,133.0,-9.0,177,1420,0.00,0.85,0.00,0.000,6,0.000,0.034,1450,3396,3077,0,0,0,0,0,0
$GC,1734,-0.54,-146.1,156.9,-7.4,198,1737,0.00,2.12,0.00,0.000,4,0.000,0.028,1450,1977,3077,0,0,0,0,0,0
$GC,1774,-0.54,-146.1,160.2,-7.1,200,1782,0.00,2.35,0.00,0.000,6,0.000,0.057,1439,3400,3077,0,0,0,0,0,0
$GC,2098,-0.54,-146.1,185.6,-8.1,221,2101,0.00,0.88,0.00,0.000,4,0.000,0.059,1435,3952,3077,0,0,0,0,0,0
$GC,2175,-0.54,-146.1,192.8,-8.4,225,2182,0.00,0.82,0.00,0.000,6,0.000,0.034,1435,3400,3077,0,0,0,0,0,0
$GC,2495,-0.54,-146.1,220.6,-9.0,246,2499,0.00,2.12,0.00,0.000,4,0.000,0.028,1435,1974,3078,0,0,0,0,0,0
$GC,2527,-0.54,-146.1,223.4,-8.8,248,2531,0.00,2.33,0.00,0.000,6,0.000,0.055,1424,3403,3077,0,0,0,0,0,0
$GC,2866,-0.54,-146.1,253.7,-8.9,269,2872,0.00,0.88,0.00,0.000,4,0.000,0.058,1420,3954,3077,0,0,0,0,0,0
$GC,2931,-0.54,-146.1,260.6,-9.7,271,2938,0.10,0.82,0.00,0.000,6,0.144,0.034,1451,3407,3077,0,0,0,0,0,0
$GC,3250,-0.54,-146.1,283.9,-7.5,287,3255,0.00,2.15,0.00,0.000,4,0.000,0.028,1451,1975,3077,0,0,0,0,0,0
$GC,3275,-0.54,-146.1,285.8,-6.9,288,3279,0.00,2.33,0.00,0.000,6,0.000,0.056,1442,3406,3077,0,0,0,0,0,0
$GC,3604,-0.54,-146.1,311.6,-7.7,304,3607,0.00,0.88,0.00,0.000,4,0.000,0.058,1438,3957,3077,0,0,0,0,0,0
$GC,3669,-0.54,-146.1,317.3,-8.5,306,3678,0.00,0.85,0.00,0.000,6,0.000,0.034,1438,3391,3077,0,0,0,0,0,0
$GC,3987,-0.54,-146.1,343.8,-8.7,322,3991,0.00,0.90,0.00,0.000,4,0.000,0.060,1433,3953,3077,0,0,0,0,0,0
$GC,4036,-0.54,-146.1,348.3,-9.1,324,4042,0.00,0.82,0.00,0.000,6,0.000,0.034,1433,3404,3077,0,0,0,0,0,0
$GC,4372,-0.54,-146.1,377.7,-8.4,340,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,3403,3077,0,0,0,0,0,0
$GC,4691,-0.54,-146.1,403.5,-7.9,355,4695,0.00,0.88,0.00,0.000,4,0.000,0.060,1429,3948,3077,0,0,0,0,0,0
$GC,4753,-0.54,-146.1,408.9,-8.5,356,4761,0.00,0.82,0.00,0.000,6,0.000,0.034,1429,3401,3077,0,0,0,0,0,0
$GC,5066,-0.54,-146.1,433.0,-7.7,367,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,1429,3401,3077,0,0,0,0,0,0
$GC,5373,-0.54,-146.1,456.9,-7.9,377,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3401,3077,0,0,0,0,0,0
$GC,5680,-0.54,-146.1,482.4,-8.3,387,5684,0.00,0.88,0.00,0.000,4,0.000,0.059,1425,3946,3076,0,0,0,0,0,0
$GC,5756,-0.54,-146.1,489.6,-9.4,389,5759,0.00,0.82,0.00,0.000,6,0.000,0.034,1425,3402,3076,0,0,0,0,0,0
$GC,6092,-0.54,-146.1,521.1,-9.4,400,6096,0.00,2.12,0.00,0.000,4,0.000,0.028,1425,1976,3075,0,0,0,0,0,0
$GC,6131,-0.54,-146.1,525.0,-9.5,401,6136,0.12,2.33,0.00,0.000,6,0.151,0.054,1447,3403,3076,0,0,0,0,0,0
$GC,6456,-0.54,-146.1,552.8,-8.4,412,6460,0.00,0.88,0.00,0.000,4,0.000,0.060,1445,3952,3075,0,0,0,0,0,0
$GC,6552,-0.54,-146.1,561.5,-8.7,414,6558,0.00,0.85,0.00,0.000,6,0.000,0.035,1445,3389,3075,0,0,0,0,0,0
$GC,6865,-0.54,-146.1,587.2,-8.0,425,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3390,3074,0,0,0,0,0,0
$GC,7173,-0.54,-146.1,610.5,-7.5,435,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3390,3074,0,0,0,0,0,0
$GC,7478,-0.54,-146.1,632.1,-7.1,445,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,1445,3390,3073,0,0,0,0,0,0
$GC,7784,-0.54,-146.1,653.3,-6.8,455,7787,0.00,0.90,0.00,0.000,4,0.000,0.061,1441,3950,3073,0,0,0,0,0,0
$GC,7886,-0.54,-146.1,661.2,-7.9,458,7890,0.00,0.82,0.00,0.000,6,0.000,0.035,1441,3405,3073,0,0,0,0,0,0
$GC,8229,-0.54,-146.1,685.8,-7.2,469,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3404,3073,0,0,0,0,0,0
$GC,8534,-0.54,-146.1,707.6,-7.2,479,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3404,3071,0,0,0,0,0,0
$GC,8842,-0.54,-146.1,730.3,-7.7,489,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3404,3071,0,0,0,0,0,0
$GC,9151,-0.54,-146.1,754.0,-7.6,499,9154,0.00,2.12,0.00,0.000,4,0.000,0.028,1441,1975,3070,0,0,0,0,0,0
$GC,9200,-0.54,-146.1,758.3,-7.5,500,9205,0.00,2.33,0.00,0.000,6,0.000,0.052,1430,3404,3070,0,0,0,0,0,0
$GC,9515,-0.54,-146.1,783.4,-8.1,510,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3404,3070,0,0,0,0,0,0
$GC,9821,-0.54,-146.1,808.7,-8.4,520,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3404,3070,0,0,0,0,0,0
$GC,10127,-0.54,-146.1,834.6,-8.5,530,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3404,3069,0,0,0,0,0,0
$GC,10434,-0.54,-146.1,860.3,-8.4,540,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1430,3404,3069,0,0,0,0,0,0
$STATE,10460,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10460,begin apogee
$GC,10468,-0.13,0.0,862.7,8.3,541,10621,0.50,0.00,150.02,1.128,6,0.129,0.000,1581,3276,2473,0,0,0,0,0,0
$STATE,10622,end apogee,CONTROL_FINISHED_OK
$STATE,10623,begin climb
$GC,10625,0.54,146.1,867.4,0.0,546,10779,0.68,0.00,150.02,1.105,6,0.077,0.000,1803,3275,1877,0,0,0,0,0,0
$GC,11070,0.54,146.1,814.4,13.1,561,11074,0.00,1.10,0.00,0.000,4,0.000,0.057,1803,3940,1856,0,0,0,0,0,0
$GC,11287,0.54,146.1,781.1,15.2,567,11291,0.00,1.02,0.00,0.000,6,0.000,0.031,1808,3262,1855,0,0,0,0,0,0
$GC,11614,0.54,146.1,735.5,14.0,578,11617,0.00,1.10,0.00,0.000,4,0.000,0.055,1808,3942,1853,0,0,0,0,0,0
$GC,11850,0.54,146.1,698.4,16.0,585,11854,0.00,1.00,0.00,0.000,6,0.000,0.031,1814,3273,1852,0,0,0,0,0,0
$GC,12191,0.54,146.1,650.4,13.7,596,12195,0.00,1.10,0.00,0.000,4,0.000,0.056,1814,3955,1851,0,0,0,0,0,0
$GC,12449,0.54,146.1,610.5,15.0,603,12454,0.00,1.00,0.00,0.000,6,0.000,0.031,1819,3280,1851,0,0,0,0,0,0
$GC,12769,0.54,146.1,566.2,13.6,614,12775,0.00,1.08,0.00,0.000,4,0.000,0.055,1819,3955,1850,0,0,0,0,0,0
$GC,13023,0.54,146.1,527.1,15.4,621,13026,0.00,1.00,0.00,0.000,6,0.000,0.030,1824,3280,1850,0,0,0,0,0,0
$GC,13348,0.54,146.1,483.5,13.1,632,13352,0.00,1.08,0.00,0.000,4,0.000,0.055,1824,3957,1849,0,0,0,0,0,0
$GC,13545,0.54,146.1,453.8,14.5,637,13552,0.00,1.00,0.00,0.000,6,0.000,0.030,1829,3279,1849,0,0,0,0,0,0
$GC,13858,0.54,146.1,411.3,13.4,648,13862,0.00,1.08,0.00,0.000,4,0.000,0.054,1829,3949,1848,0,0,0,0,0,0
$GC,14023,0.54,146.1,386.9,15.8,654,14027,0.08,1.00,0.00,0.000,6,0.177,0.029,1812,3271,1848,0,0,0,0,0,0
$GC,14352,0.54,146.1,348.3,11.4,670,14355,0.00,1.10,0.00,0.000,4,0.000,0.054,1812,3953,1848,0,0,0,0,0,0
$GC,14507,0.54,146.1,328.2,13.2,676,14515,0.00,1.00,0.00,0.000,6,0.000,0.030,1815,3276,1848,0,0,0,0,0,0
$GC,14825,0.54,146.1,289.5,12.3,692,14829,0.00,1.08,0.00,0.000,4,0.000,0.054,1815,3944,1848,0,0,0,0,0,0
$GC,14933,0.54,146.1,274.3,13.8,696,14944,0.00,0.98,0.00,0.000,6,0.000,0.029,1820,3285,1848,0,0,0,0,0,0
$GC,15251,0.54,146.1,233.7,12.4,714,15255,0.00,1.08,0.00,0.000,4,0.000,0.054,1820,3958,1848,0,0,0,0,0,0
$GC,15385,0.54,146.1,214.5,14.4,721,15391,0.00,1.00,0.00,0.000,6,0.000,0.028,1826,3276,1848,0,0,0,0,0,0
$GC,15705,0.54,146.1,176.0,11.6,742,15708,0.00,1.08,0.00,0.000,4,0.000,0.054,1826,3943,1848,0,0,0,0,0,0
$GC,15834,0.54,146.1,160.3,11.4,749,15841,0.00,0.98,0.00,0.000,6,0.000,0.029,1830,3284,1848,0,0,0,0,0,0
$GC,16154,0.54,146.1,124.7,11.6,770,16158,0.00,1.05,0.00,0.000,4,0.000,0.054,1831,3941,1848,0,0,0,0,0,0
$GC,16230,0.54,146.1,114.7,12.6,774,16235,0.10,0.98,0.00,0.000,6,0.171,0.029,1805,3276,1848,0,0,0,0,0,0
$GC,16569,0.54,157.9,80.7,9.5,816,16580,0.00,1.10,2.22,0.376,4,0.000,0.051,1806,3945,1833,0,0,0,0,0,0
$GC,16654,0.54,157.9,73.1,10.5,829,16659,0.00,0.98,0.00,0.000,6,0.000,0.029,1809,3283,1835,0,0,0,0,0,0
$GC,17014,0.56,176.6,38.8,9.1,890,17039,0.00,1.12,18.77,0.680,4,0.000,0.054,1809,3959,1747,0,0,0,0,0,0
$GC,17144,0.57,194.2,27.1,9.2,909,17160,0.00,1.00,12.27,0.682,6,0.000,0.029,1815,3282,1679,0,0,0,0,0,0
$GC,17241,0.57,194.2,16.9,11.3,923,17249,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3282,1671,0,0,0,0,0,0
$GC,17330,0.60,248.2,8.8,7.5,936,17382,0.00,1.15,46.70,0.597,4,0.000,0.057,1814,3958,1455,0,0,0,0,0,0
$STATE,17389,end climb,SURFACE_DEPTH_REACHED
$STATE,17389,begin surface coast
$FINISH,1.2,1.018693
$STATE,17432,end surface coast,CONTROL_FINISHED_OK
$STATE,17432,begin surface
$SM_CCo,17509,0.00,0.000,0,0,1445,252.16
$SM_GC,2.00,4.57,0.00,0.00,0.026,0.000,0.000,51,3401,1445,-4.77,0.03,252.16
$IRIDIUM_FIX,-4221.55,1017.24,060313,040453
$TT8_MAMPS,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.9,75.380
$10V_AH,9.7,55.610
$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,12.375,77.675,380.025,0.000,0.000,33.880,41.596,350.998,0.000,0.000,21.211,2376.039,11137.371,482.166,3034.486,1090.922,33.379,1613.410,0.000,2873.786,0.000,1.010,0.000
$DEVICE_MAMPS,244.800,91.035,1128.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.098,2120.598,1073.740,485.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,70493,949
$CAP_FILE_SIZE,151115,0
$CFSIZE,259252224,226820096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060313,150305,-4236.966,935.980,42,1.1,42,-25.4