version: 66.07
glider: 542
mission: 6
dive: 447
start: 2 28 113 5 4 6
data:
$ID,542
$MISSION,6
$DIVE,447
$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,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$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,-14783.944
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1830
$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,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2860
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-48.034508
$PRESSURE_SLOPE,0.00011816985
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$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,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,280213,045304,-4328.521,709.859,26,1.0,26,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.3
$GPS2,280213,050306,-4328.402,710.191,15,1.0,15,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.128,-0.226
$KALMAN_X,3051.9,-14734.7,-14736.4,245789.5,69507.0
$KALMAN_Y,828253.4,-28153.7,-27981.3,-396400.9,124835.8
$MHEAD_RNG_PITCHd_Wd,234.0,1947,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.63,-146.1,0.0,0.0,0,91,0.00,0.00,-62.80,0.000,2,0.000,0.000,49,2883,3168,0,0,0,0,0,0
$GC,98,-0.63,-146.1,3.3,-4.5,8,117,6.57,1.67,-6.50,0.000,4,0.239,0.076,1611,3897,3416,0,0,0,0,0,0
$GC,154,-0.63,-146.1,15.4,-22.7,15,162,0.00,1.65,0.00,0.000,6,0.000,0.034,1611,2837,3417,0,0,0,0,0,0
$GC,239,-0.63,-146.1,31.3,-18.1,28,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2834,3418,0,0,0,0,0,0
$GC,490,-0.63,-146.1,67.6,-12.9,69,497,0.00,2.15,0.00,0.000,4,0.000,0.041,1611,1468,3419,0,0,0,0,0,0
$GC,520,-0.63,-146.1,71.3,-13.3,73,525,0.00,2.22,0.00,0.000,6,0.000,0.054,1601,2857,3419,0,0,0,0,0,0
$GC,863,-0.63,-146.1,117.7,-13.6,118,864,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2857,3420,0,0,0,0,0,0
$GC,1174,-0.63,-146.1,158.1,-13.2,138,1177,0.00,1.65,0.00,0.000,4,0.000,0.060,1593,3903,3420,0,0,0,0,0,0
$GC,1211,-0.63,-146.1,163.3,-13.7,140,1216,0.08,1.60,0.00,0.000,6,0.155,0.033,1627,2849,3421,0,0,0,0,0,0
$GC,1550,-0.63,-146.1,199.7,-10.6,161,1554,0.00,2.12,0.00,0.000,4,0.000,0.041,1626,1474,3421,0,0,0,0,0,0
$GC,1589,-0.63,-146.1,204.3,-10.3,163,1593,0.00,2.25,0.00,0.000,6,0.000,0.054,1617,2871,3421,0,0,0,0,0,0
$GC,1918,-0.63,-146.1,240.9,-10.9,184,1921,0.00,1.65,0.00,0.000,4,0.000,0.060,1609,3916,3421,0,0,0,0,0,0
$GC,1955,-0.63,-146.1,245.5,-11.8,186,1958,0.00,1.60,0.00,0.000,6,0.000,0.032,1608,2858,3421,0,0,0,0,0,0
$GC,2274,-0.63,-146.1,282.1,-11.5,202,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2852,3421,0,0,0,0,0,0
$GC,2585,-0.63,-146.1,317.7,-11.5,217,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2852,3421,0,0,0,0,0,0
$GC,2892,-0.63,-146.1,352.7,-11.3,232,2896,0.00,2.12,0.00,0.000,4,0.000,0.041,1608,1479,3421,0,0,0,0,0,0
$GC,2936,-0.63,-146.1,357.3,-10.4,234,2940,0.00,2.22,0.00,0.000,6,0.000,0.053,1599,2862,3422,0,0,0,0,0,0
$GC,3265,-0.63,-146.1,395.9,-11.6,250,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3422,0,0,0,0,0,0
$GC,3582,-0.63,-146.1,430.3,-10.6,261,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3421,0,0,0,0,0,0
$GC,3889,-0.63,-146.1,460.6,-9.8,271,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3421,0,0,0,0,0,0
$GC,4195,-0.63,-146.1,492.1,-10.4,281,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3422,0,0,0,0,0,0
$GC,4501,-0.63,-146.1,524.6,-10.7,291,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3421,0,0,0,0,0,0
$GC,4807,-0.63,-146.1,558.4,-11.1,301,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2861,3421,0,0,0,0,0,0
$GC,5114,-0.63,-146.1,591.1,-10.7,311,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3421,0,0,0,0,0,0
$GC,5419,-0.63,-146.1,623.0,-10.6,321,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3421,0,0,0,0,0,0
$GC,5726,-0.63,-146.1,655.9,-10.8,331,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2862,3420,0,0,0,0,0,0
$GC,6032,-0.63,-146.1,689.2,-10.9,341,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3419,0,0,0,0,0,0
$GC,6338,-0.63,-146.1,723.5,-11.3,351,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3419,0,0,0,0,0,0
$GC,6644,-0.63,-146.1,757.7,-10.9,361,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2862,3418,0,0,0,0,0,0
$GC,6951,-0.63,-146.1,789.9,-10.5,371,6955,0.00,2.17,0.00,0.000,4,0.000,0.044,1599,1485,3417,0,0,0,0,0,0
$GC,6986,-0.63,-146.1,793.6,-9.9,372,6991,0.12,2.25,0.00,0.000,6,0.176,0.056,1620,2867,3417,0,0,0,0,0,0
$GC,7319,-0.63,-146.1,822.0,-8.8,383,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2867,3417,0,0,0,0,0,0
$GC,7628,-0.63,-146.1,849.3,-8.8,393,7632,0.00,2.20,0.00,0.000,4,0.000,0.043,1620,1476,3416,0,0,0,0,0,0
$GC,7663,-0.63,-146.1,853.0,-9.0,394,7667,0.00,2.28,0.00,0.000,6,0.000,0.057,1611,2866,3416,0,0,0,0,0,0
$GC,7996,-0.63,-146.1,885.0,-10.0,405,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2866,3416,0,0,0,0,0,0
$GC,8302,-0.63,-146.1,915.1,-9.8,415,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2866,3415,0,0,0,0,0,0
$GC,8608,-0.63,-146.1,944.2,-9.5,425,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2866,3414,0,0,0,0,0,0
$GC,8914,-0.63,-146.1,972.7,-9.2,435,8918,0.00,2.20,0.00,0.000,4,0.000,0.044,1611,1479,3414,0,0,0,0,0,0
$GC,8961,-0.63,-146.1,977.3,-9.5,436,8965,0.00,2.25,0.00,0.000,6,0.000,0.057,1601,2863,3414,0,0,0,0,0,0
$STATE,9196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9196,begin apogee
$GC,9207,-0.18,0.0,1000.5,10.1,444,9354,0.55,0.00,143.05,1.260,6,0.150,0.000,1765,2684,2819,0,0,0,0,0,0
$STATE,9355,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9360,0.63,146.1,1004.9,0.0,449,9531,0.80,2.58,155.48,1.745,4,0.096,0.050,2036,1274,2228,0,0,0,0,1,0
$GC,9612,0.63,146.1,971.9,16.6,456,9619,0.00,2.42,0.00,0.000,6,0.000,0.054,2036,2662,2224,0,0,0,0,0,0
$GC,9928,0.63,146.1,914.7,18.4,467,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2662,2221,0,0,0,0,0,0
$GC,10234,0.63,146.1,857.7,18.6,477,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2662,2220,0,0,0,0,0,0
$GC,10540,0.63,146.1,800.8,18.5,487,10544,0.00,2.22,0.00,0.000,4,0.000,0.051,2046,1274,2220,0,0,0,0,0,0
$GC,10581,0.63,146.1,793.1,18.5,488,10585,0.00,2.30,0.00,0.000,6,0.000,0.055,2046,2685,2218,0,0,0,0,0,0
$GC,10908,0.63,146.1,732.2,18.8,499,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2686,2218,0,0,0,0,0,0
$GC,11214,0.63,146.1,676.3,18.1,509,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2685,2217,0,0,0,0,0,0
$GC,11521,0.63,146.1,620.0,18.1,519,11525,0.00,2.25,0.00,0.000,4,0.000,0.050,2056,1272,2217,0,0,0,0,0,0
$GC,11552,0.63,146.1,614.3,17.7,520,11556,0.00,2.28,0.00,0.000,6,0.000,0.054,2056,2670,2216,0,0,0,0,0,0
$GC,11889,0.63,146.1,552.3,18.7,531,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2670,2216,0,0,0,0,0,0
$GC,12198,0.63,146.1,495.1,18.8,541,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2670,2215,0,0,0,0,0,0
$GC,12502,0.63,146.1,437.8,18.7,551,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2670,2215,0,0,0,0,0,0
$GC,12821,0.63,146.1,380.1,18.2,563,12825,0.00,2.00,0.00,0.000,4,0.000,0.064,2056,3925,2215,0,0,0,0,0,0
$GC,12873,0.63,146.1,369.0,19.9,565,12878,0.12,1.98,0.00,0.000,6,0.226,0.042,2039,2671,2215,0,0,0,0,0,0
$GC,13201,0.63,146.1,316.0,16.3,581,13205,0.00,2.22,0.00,0.000,4,0.000,0.051,2048,1265,2215,0,0,0,0,0,0
$GC,13253,0.63,146.1,307.1,15.0,583,13257,0.00,2.30,0.00,0.000,6,0.000,0.054,2049,2676,2214,0,0,0,0,0,0
$GC,13572,0.63,146.1,253.7,17.2,598,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2676,2213,0,0,0,0,0,0
$GC,13894,0.63,146.1,196.2,18.6,618,13897,0.00,1.98,0.00,0.000,4,0.000,0.063,2049,3911,2214,0,0,0,0,0,0
$GC,13984,0.63,146.1,177.9,20.9,623,13988,0.00,1.95,0.00,0.000,6,0.000,0.040,2058,2663,2214,0,0,0,0,0,0
$GC,14318,0.63,146.1,115.9,17.7,644,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2656,2214,0,0,0,0,0,0
$GC,14652,0.63,146.1,62.8,14.3,692,14659,0.00,2.20,0.00,0.000,4,0.000,0.048,2069,1259,2214,0,0,0,0,0,0
$GC,14826,0.63,146.1,39.9,14.8,720,14838,0.10,2.33,0.00,0.000,6,0.164,0.054,2039,2674,2214,0,0,0,0,0,0
$STATE,15059,end climb,SURFACE_DEPTH_REACHED
$STATE,15059,begin surface coast
$FINISH,0.9,1.025632
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15107,45.22,0.708,1,0,1879,230.09
$SM_GC,1.76,0.00,0.00,45.22,0.000,0.000,0.708,55,2870,1879,-5.55,0.28,230.09
$IRIDIUM_FIX,-4314.46,759.41,280213,010152
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,21.2,84.103
$10V_AH,9.9,45.310
$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,13.700,67.850,298.525,45.225,0.000,27.756,28.944,313.671,0.000,0.000,21.295,1861.978,10614.372,410.693,2230.354,637.891,33.364,1167.060,0.000,1791.934,0.000,1.011,0.000
$DEVICE_MAMPS,239.445,75.735,1744.965,708.390,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.310,1492.380,794.999,308.595,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,53802,761
$CAP_FILE_SIZE,106947,0
$CFSIZE,259252224,200736768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,280213,091805,-4329.545,709.130,34,1.0,34,-24.6