version: 66.07
glider: 543
mission: 6
dive: 389
start: 2 23 113 1 47 1
data:
$ID,543
$MISSION,6
$DIVE,389
$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,400
$T_MISSION,420
$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,-8973.0215
$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,60
$R_STBD_OVSHOOT,18
$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
$GPS1,230213,013357,-4235.379,842.373,39,1.3,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-56.2
$GPS2,230213,014600,-4235.273,842.381,17,0.9,18,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,0.033
$KALMAN_X,38843.1,-71.8,146.6,16674.6,3631.4
$KALMAN_Y,351626.6,-570.1,-543.3,-360179.8,5040.2
$MHEAD_RNG_PITCHd_Wd,302.9,32082,-14.7,-8.333
$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,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.85,0.000,2,0.000,0.000,46,3384,2537,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-3.4,5,98,5.95,2.20,-17.30,0.000,4,0.230,0.045,1470,1988,3072,0,0,0,0,0,0
$GC,152,-0.47,-146.1,9.1,-9.1,16,163,0.00,2.35,0.00,0.000,6,0.000,0.056,1461,3407,3074,0,0,0,0,0,0
$GC,248,-0.47,-146.1,19.5,-10.2,29,256,0.00,0.88,0.00,0.000,4,0.000,0.059,1457,3953,3074,0,0,0,0,0,0
$GC,298,-0.47,-146.1,26.1,-12.8,36,309,0.00,0.80,0.00,0.000,6,0.000,0.034,1457,3429,3075,0,0,0,0,0,0
$GC,387,-0.47,-146.1,34.8,-9.7,49,394,0.00,2.20,0.00,0.000,4,0.000,0.031,1457,1987,3075,0,0,0,0,0,0
$GC,423,-0.47,-146.1,39.0,-10.6,54,432,0.08,2.35,0.00,0.000,6,0.127,0.060,1471,3398,3075,0,0,0,0,0,0
$GC,676,-0.47,-146.1,61.1,-8.5,95,681,0.00,0.90,0.00,0.000,4,0.000,0.060,1469,3961,3075,0,0,0,0,0,0
$GC,693,-0.47,-146.1,62.1,-8.3,97,698,0.00,0.85,0.00,0.000,6,0.000,0.035,1469,3403,3075,0,0,0,0,0,0
$GC,1053,-0.47,-146.1,91.0,-7.1,158,1059,0.00,2.12,0.00,0.000,4,0.000,0.028,1468,1970,3076,0,0,0,0,0,0
$GC,1120,-0.47,-146.1,95.6,-6.8,169,1125,0.00,2.33,0.00,0.000,6,0.000,0.055,1458,3407,3076,0,0,0,0,0,0
$GC,1453,-0.47,-146.1,120.7,-7.8,197,1457,0.00,0.85,0.00,0.000,4,0.000,0.059,1454,3947,3076,0,0,0,0,0,0
$GC,1568,-0.47,-146.1,131.0,-8.9,203,1575,0.00,0.82,0.00,0.000,6,0.000,0.034,1454,3398,3077,0,0,0,0,0,0
$GC,1889,-0.47,-146.1,157.5,-8.4,224,1893,0.00,2.12,0.00,0.000,4,0.000,0.028,1454,1969,3077,0,0,0,0,0,0
$GC,1949,-0.47,-146.1,162.9,-8.1,227,1956,0.12,2.33,0.00,0.000,6,0.145,0.054,1476,3410,3077,0,0,0,0,0,0
$GC,2271,-0.47,-146.1,186.9,-7.5,248,2274,0.00,0.85,0.00,0.000,4,0.000,0.059,1474,3950,3077,0,0,0,0,0,0
$GC,2328,-0.47,-146.1,191.4,-8.8,251,2332,0.00,0.82,0.00,0.000,6,0.000,0.035,1474,3401,3077,0,0,0,0,0,0
$GC,2660,-0.47,-146.1,217.3,-7.5,272,2664,0.00,2.12,0.00,0.000,4,0.000,0.028,1474,1971,3077,0,0,0,0,0,0
$GC,2708,-0.47,-146.1,220.8,-7.2,275,2712,0.00,2.33,0.00,0.000,6,0.000,0.054,1463,3408,3077,0,0,0,0,0,0
$GC,3035,-0.47,-146.1,244.3,-6.8,296,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3408,3077,0,0,0,0,0,0
$GC,3355,-0.47,-146.1,265.8,-6.7,313,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3408,3077,0,0,0,0,0,0
$GC,3664,-0.47,-146.1,287.5,-7.3,328,3668,0.00,2.15,0.00,0.000,4,0.000,0.028,1463,1972,3077,0,0,0,0,0,0
$GC,3700,-0.47,-146.1,290.5,-7.6,329,3707,0.00,2.30,0.00,0.000,6,0.000,0.053,1452,3400,3077,0,0,0,0,0,0
$GC,4018,-0.47,-146.1,314.6,-7.8,345,4024,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3954,3077,0,0,0,0,0,0
$GC,4072,-0.47,-146.1,319.5,-9.1,347,4075,0.00,0.85,0.00,0.000,6,0.000,0.034,1448,3387,3077,0,0,0,0,0,0
$GC,4401,-0.47,-146.1,347.4,-8.8,363,4407,0.00,2.12,0.00,0.000,4,0.000,0.028,1448,1974,3077,0,0,0,0,0,0
$GC,4435,-0.47,-146.1,350.8,-9.1,364,4440,0.15,2.33,0.00,0.000,6,0.139,0.054,1478,3411,3077,0,0,0,0,0,0
$GC,4754,-0.47,-146.1,372.2,-6.6,379,4760,0.00,0.85,0.00,0.000,4,0.000,0.060,1476,3947,3077,0,0,0,0,0,0
$GC,4818,-0.47,-146.1,377.1,-7.0,381,4825,0.00,0.82,0.00,0.000,6,0.000,0.036,1476,3403,3076,0,0,0,0,0,0
$GC,5137,-0.47,-146.1,396.4,-5.9,397,5143,0.00,2.15,0.00,0.000,4,0.000,0.028,1476,1969,3076,0,0,0,0,0,0
$GC,5252,-0.47,-146.1,403.5,-5.9,401,5256,0.00,2.33,0.00,0.000,6,0.000,0.052,1465,3411,3075,0,0,0,0,0,0
$GC,5577,-0.47,-146.1,423.1,-6.0,412,5581,0.00,0.85,0.00,0.000,4,0.000,0.059,1462,3950,3075,0,0,0,0,0,0
$GC,5616,-0.47,-146.1,426.0,-6.5,413,5619,0.00,0.82,0.00,0.000,6,0.000,0.034,1461,3404,3075,0,0,0,0,0,0
$GC,5952,-0.47,-146.1,448.3,-6.8,424,5957,0.00,2.15,0.00,0.000,4,0.000,0.028,1461,1973,3075,0,0,0,0,0,0
$GC,6026,-0.47,-146.1,453.7,-6.9,426,6030,0.00,2.30,0.00,0.000,6,0.000,0.052,1451,3400,3075,0,0,0,0,0,0
$GC,6357,-0.47,-146.1,479.9,-8.2,437,6363,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3936,3074,0,0,0,0,0,0
$GC,6413,-0.47,-146.1,485.2,-9.2,438,6418,0.08,0.82,0.00,0.000,6,0.130,0.034,1471,3391,3074,0,0,0,0,0,0
$GC,6734,-0.47,-146.1,508.3,-7.3,449,6738,0.00,2.12,0.00,0.000,4,0.000,0.028,1471,1967,3074,0,0,0,0,0,0
$GC,6778,-0.47,-146.1,511.8,-6.9,450,6783,0.00,2.33,0.00,0.000,6,0.000,0.053,1462,3399,3074,0,0,0,0,0,0
$GC,7098,-0.47,-146.1,534.6,-7.0,461,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3399,3073,0,0,0,0,0,0
$GC,7405,-0.47,-146.1,554.8,-6.4,471,7408,0.00,2.12,0.00,0.000,4,0.000,0.029,1462,1976,3072,0,0,0,0,0,0
$GC,7443,-0.47,-146.1,557.6,-6.7,472,7447,0.00,2.33,0.00,0.000,6,0.000,0.053,1451,3407,3073,0,0,0,0,0,0
$GC,7768,-0.47,-146.1,579.3,-6.6,483,7772,0.00,0.85,0.00,0.000,4,0.000,0.059,1447,3943,3072,0,0,0,0,0,0
$GC,7803,-0.47,-146.1,581.8,-7.4,484,7807,0.00,0.82,0.00,0.000,6,0.000,0.035,1448,3397,3071,0,0,0,0,0,0
$GC,8144,-0.47,-146.1,604.6,-6.6,495,8150,0.00,2.15,0.00,0.000,4,0.000,0.029,1447,1976,3071,0,0,0,0,0,0
$GC,8198,-0.47,-146.1,608.1,-7.0,496,8203,0.15,2.33,0.00,0.000,6,0.142,0.054,1477,3407,3071,0,0,0,0,0,0
$GC,8518,-0.47,-146.1,625.2,-5.5,507,8522,0.00,0.88,0.00,0.000,4,0.000,0.060,1475,3956,3071,0,0,0,0,0,0
$GC,8555,-0.47,-146.1,627.2,-5.9,508,8559,0.00,0.85,0.00,0.000,6,0.000,0.036,1475,3394,3070,0,0,0,0,0,0
$GC,8898,-0.47,-146.1,646.7,-5.7,519,8901,0.00,2.12,0.00,0.000,4,0.000,0.029,1475,1973,3070,0,0,0,0,0,0
$GC,8964,-0.47,-146.1,650.7,-6.0,521,8968,0.00,2.33,0.00,0.000,6,0.000,0.053,1464,3404,3070,0,0,0,0,0,0
$GC,9295,-0.47,-146.1,670.8,-6.2,532,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3404,3069,0,0,0,0,0,0
$GC,9602,-0.47,-146.1,690.6,-6.5,542,9605,0.00,2.15,0.00,0.000,4,0.000,0.029,1464,1972,3069,0,0,0,0,0,0
$GC,9623,-0.47,-146.1,692.2,-6.5,542,9631,0.00,2.35,0.00,0.000,6,0.000,0.054,1454,3402,3069,0,0,0,0,0,0
$GC,9938,-0.47,-146.1,713.5,-6.8,553,9943,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3949,3068,0,0,0,0,0,0
$GC,9977,-0.47,-146.1,716.7,-7.9,554,9983,0.00,0.82,0.00,0.000,6,0.000,0.036,1449,3404,3068,0,0,0,0,0,0
$GC,10316,-0.47,-146.1,741.4,-7.6,565,10319,0.00,2.15,0.00,0.000,4,0.000,0.030,1449,1971,3067,0,0,0,0,0,0
$GC,10366,-0.47,-146.1,745.4,-8.0,566,10371,0.12,2.33,0.00,0.000,6,0.148,0.054,1471,3402,3067,0,0,0,0,0,0
$GC,10680,-0.47,-146.1,766.7,-6.8,576,10683,0.00,0.88,0.00,0.000,4,0.000,0.061,1468,3948,3067,0,0,0,0,0,0
$GC,10741,-0.47,-146.1,771.4,-7.7,577,10749,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3407,3067,0,0,0,0,0,0
$GC,11058,-0.47,-146.1,794.3,-7.4,588,11062,0.00,2.15,0.00,0.000,4,0.000,0.030,1468,1974,3066,0,0,0,0,0,0
$GC,11097,-0.47,-146.1,797.6,-7.2,589,11102,0.00,2.33,0.00,0.000,6,0.000,0.054,1458,3402,3066,0,0,0,0,0,0
$GC,11422,-0.47,-146.1,821.8,-7.4,600,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3402,3065,0,0,0,0,0,0
$GC,11730,-0.47,-146.1,844.1,-7.1,610,11734,0.00,2.15,0.00,0.000,4,0.000,0.030,1458,1975,3065,0,0,0,0,0,0
$GC,11774,-0.47,-146.1,847.4,-7.8,611,11778,0.00,2.33,0.00,0.000,6,0.000,0.054,1447,3402,3065,0,0,0,0,0,0
$GC,12094,-0.47,-146.1,871.6,-7.9,622,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3402,3065,0,0,0,0,0,0
$GC,12400,-0.47,-146.1,895.3,-7.7,632,12404,0.00,2.15,0.00,0.000,4,0.000,0.030,1447,1974,3064,0,0,0,0,0,0
$GC,12433,-0.47,-146.1,897.6,-8.1,633,12438,0.15,2.33,0.00,0.000,6,0.142,0.054,1477,3401,3064,0,0,0,0,0,0
$STATE,12613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12613,begin apogee
$GC,12621,-0.13,0.0,908.8,5.8,639,12774,0.32,0.00,145.02,1.741,6,0.119,0.000,1580,3274,2473,0,0,0,0,1,0
$STATE,12775,end apogee,CONTROL_FINISHED_OK
$STATE,12775,begin climb
$GC,12778,0.47,146.1,913.8,0.0,644,12948,0.60,0.00,155.32,1.685,6,0.077,0.000,1776,3274,1878,0,0,0,0,2,0
$GC,13242,0.47,146.1,864.0,12.0,659,13245,0.00,1.12,0.00,0.000,4,0.000,0.060,1777,3947,1869,0,0,0,0,0,0
$GC,13378,0.47,146.1,844.7,15.0,663,13382,0.00,1.02,0.00,0.000,6,0.000,0.033,1781,3274,1868,0,0,0,0,0,0
$GC,13719,0.47,146.1,800.0,13.1,674,13723,0.00,1.10,0.00,0.000,4,0.000,0.058,1781,3950,1865,0,0,0,0,0,0
$GC,13847,0.47,146.1,781.1,15.0,677,13853,0.00,1.02,0.00,0.000,6,0.000,0.034,1786,3272,1865,0,0,0,0,0,0
$GC,14160,0.47,146.1,740.9,12.8,688,14164,0.00,1.10,0.00,0.000,4,0.000,0.058,1786,3952,1863,0,0,0,0,0,0
$GC,14331,0.47,146.1,716.2,14.3,693,14335,0.00,1.00,0.00,0.000,6,0.000,0.032,1791,3282,1864,0,0,0,0,0,0
$GC,14673,0.47,146.1,673.4,12.2,704,14677,0.00,1.08,0.00,0.000,4,0.000,0.058,1791,3947,1863,0,0,0,0,0,0
$GC,14863,0.47,146.1,645.9,13.6,709,14867,0.00,1.00,0.00,0.000,6,0.000,0.033,1797,3277,1863,0,0,0,0,0,0
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$STATE,20139,end climb,SURFACE_DEPTH_REACHED
$STATE,20139,begin surface coast
$FINISH,1.2,1.013773
$STATE,20180,end surface coast,CONTROL_FINISHED_OK
$STATE,20180,begin surface
$SM_CCo,20196,40.70,0.685,1,0,1533,230.09
$SM_GC,2.16,0.00,0.00,40.70,0.000,0.000,0.685,43,3424,1533,-4.95,0.68,230.09
$IRIDIUM_FIX,-4221.55,845.44,220213,191950
$TT8_MAMPS,0.026215
$HUMID,55.94
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,21.5,65.039
$10V_AH,9.8,46.697
$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,12.600,130.375,300.350,40.700,0.000,26.485,21.261,471.853,0.000,0.000,21.336,2756.606,12920.099,473.431,3531.930,1275.067,33.397,1820.685,0.000,3320.122,0.000,1.015,0.000
$DEVICE_MAMPS,229.500,73.440,1741.140,684.675,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.421,2332.614,1141.576,509.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354024
$DATA_FILE_SIZE,77109,1064
$CAP_FILE_SIZE,183566,0
$CFSIZE,259252224,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,230213,072534,-4234.462,840.597,28,1.0,28,-25.1