version: 66.07
glider: 542
mission: 6
dive: 448
start: 2 28 113 9 30 37
data:
$ID,542
$MISSION,6
$DIVE,448
$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,-14787.432
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,280213,091805,-4329.545,709.130,34,1.0,34,-24.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.4
$GPS2,280213,092941,-4329.458,709.185,17,0.8,18,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.134,-0.223
$KALMAN_X,-33247.6,6609.3,-4560.8,249614.3,15950.7
$KALMAN_Y,760299.8,11389.0,-7858.5,-389499.5,27740.2
$MHEAD_RNG_PITCHd_Wd,235.6,884,-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,27,-0.63,-146.1,0.0,0.0,0,84,0.00,0.00,-54.95,0.000,2,0.000,0.000,55,2869,3003,0,0,0,0,0,0
$GC,90,-0.63,-146.1,3.1,-4.0,7,117,6.50,1.65,-11.93,0.000,4,0.236,0.076,1611,3900,3417,0,0,0,0,0,0
$GC,135,-0.63,-146.1,9.6,-14.1,12,144,0.00,1.62,0.00,0.000,6,0.000,0.033,1611,2829,3417,0,0,0,0,0,0
$GC,223,-0.63,-146.1,23.5,-16.8,25,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2829,3417,0,0,0,0,0,0
$GC,307,-0.63,-146.1,39.1,-15.9,38,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2829,3418,0,0,0,0,0,0
$GC,555,-0.63,-146.1,76.7,-13.9,79,560,0.00,2.08,0.00,0.000,4,0.000,0.041,1611,1485,3418,0,0,0,0,0,0
$GC,664,-0.63,-146.1,88.8,-11.0,97,669,0.00,2.22,0.00,0.000,6,0.000,0.053,1600,2868,3418,0,0,0,0,0,0
$GC,1008,-0.63,-146.1,133.8,-12.7,128,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2869,3419,0,0,0,0,0,0
$GC,1332,-0.63,-146.1,176.4,-13.2,149,1336,0.00,2.12,0.00,0.000,4,0.000,0.039,1600,1489,3419,0,0,0,0,0,0
$GC,1371,-0.63,-146.1,181.5,-13.0,151,1376,0.12,2.20,0.00,0.000,6,0.171,0.052,1623,2862,3419,0,0,0,0,0,0
$GC,1705,-0.63,-146.1,217.7,-10.4,172,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,2028,-0.63,-146.1,250.4,-9.5,193,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3420,0,0,0,0,0,0
$GC,2336,-0.63,-146.1,281.8,-9.9,208,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3420,0,0,0,0,0,0
$GC,2647,-0.63,-146.1,314.1,-10.4,223,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2861,3420,0,0,0,0,0,0
$GC,2955,-0.63,-146.1,344.0,-9.4,238,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,3266,-0.63,-146.1,373.1,-9.4,253,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,3584,-0.63,-146.1,403.4,-9.7,268,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,3889,-0.63,-146.1,434.2,-10.1,278,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,4195,-0.63,-146.1,465.1,-10.0,288,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,4502,-0.63,-146.1,495.6,-10.0,298,4506,0.00,2.15,0.00,0.000,4,0.000,0.041,1623,1490,3421,0,0,0,0,0,0
$GC,4526,-0.63,-146.1,498.2,-9.7,298,4530,0.00,2.22,0.00,0.000,6,0.000,0.054,1614,2866,3421,0,0,0,0,0,0
$GC,4841,-0.63,-146.1,529.7,-10.1,308,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2868,3421,0,0,0,0,0,0
$GC,5149,-0.63,-146.1,559.5,-9.7,318,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2867,3420,0,0,0,0,0,0
$GC,5454,-0.63,-146.1,589.3,-9.9,328,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2867,3420,0,0,0,0,0,0
$GC,5760,-0.63,-146.1,619.8,-10.0,338,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2867,3420,0,0,0,0,0,0
$GC,6067,-0.63,-146.1,650.0,-9.9,348,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2867,3419,0,0,0,0,0,0
$GC,6373,-0.63,-146.1,680.0,-9.8,358,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2867,3418,0,0,0,0,0,0
$GC,6679,-0.63,-146.1,709.5,-9.6,368,6683,0.00,2.17,0.00,0.000,4,0.000,0.042,1614,1487,3417,0,0,0,0,0,0
$GC,6732,-0.63,-146.1,714.3,-8.7,369,6736,0.00,2.22,0.00,0.000,6,0.000,0.055,1604,2859,3417,0,0,0,0,0,0
$GC,7047,-0.63,-146.1,745.1,-9.9,379,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2859,3417,0,0,0,0,0,0
$GC,7353,-0.63,-146.1,775.0,-9.7,389,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2859,3416,0,0,0,0,0,0
$GC,7660,-0.63,-146.1,805.0,-9.9,399,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2859,3416,0,0,0,0,0,0
$GC,7965,-0.63,-146.1,834.9,-10.1,409,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2859,3415,0,0,0,0,0,0
$GC,8272,-0.63,-146.1,866.5,-10.5,419,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2859,3415,0,0,0,0,0,0
$GC,8578,-0.63,-146.1,897.6,-9.8,429,8582,0.00,2.15,0.00,0.000,4,0.000,0.043,1604,1491,3414,0,0,0,0,0,0
$GC,8620,-0.63,-146.1,901.8,-9.4,430,8625,0.12,2.22,0.00,0.000,6,0.174,0.056,1626,2863,3414,0,0,0,0,0,0
$GC,8960,-0.63,-146.1,927.6,-7.5,441,8964,0.00,2.17,0.00,0.000,4,0.000,0.042,1626,1485,3414,0,0,0,0,0,0
$GC,8996,-0.63,-146.1,930.7,-7.5,442,9000,0.00,2.25,0.00,0.000,6,0.000,0.056,1618,2861,3414,0,0,0,0,0,0
$GC,9328,-0.63,-146.1,958.3,-8.5,453,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3414,0,0,0,0,0,0
$GC,9634,-0.63,-146.1,983.8,-8.3,463,9638,0.00,2.15,0.00,0.000,4,0.000,0.042,1618,1491,3413,0,0,0,0,0,0
$GC,9681,-0.63,-146.1,987.7,-8.5,464,9685,0.00,2.22,0.00,0.000,6,0.000,0.057,1608,2860,3414,0,0,0,0,0,0
$STATE,9824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9824,begin apogee
$GC,9836,-0.18,0.0,1000.1,8.7,469,9982,0.52,0.00,143.40,1.260,6,0.145,0.000,1765,2691,2819,0,0,0,0,0,0
$STATE,9984,end apogee,CONTROL_FINISHED_OK
$STATE,9984,begin climb
$GC,9989,0.63,146.1,1003.7,0.0,474,10160,0.80,2.58,155.80,1.747,4,0.096,0.049,2037,1283,2226,0,0,0,0,1,0
$GC,10238,0.63,146.1,970.4,16.0,481,10243,0.00,2.42,0.00,0.000,6,0.000,0.054,2037,2666,2224,0,0,0,0,0,0
$GC,10554,0.63,146.1,912.9,18.3,491,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2666,2221,0,0,0,0,0,0
$GC,10860,0.63,146.1,858.7,17.6,501,10864,0.00,2.22,0.00,0.000,4,0.000,0.051,2047,1279,2220,0,0,0,0,0,0
$GC,10900,0.63,146.1,851.7,15.8,502,10905,0.00,2.28,0.00,0.000,6,0.000,0.055,2047,2675,2219,0,0,0,0,0,0
$GC,11227,0.63,146.1,793.0,18.7,513,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2218,0,0,0,0,0,0
$GC,11533,0.63,146.1,737.7,17.9,523,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2218,0,0,0,0,0,0
$GC,11839,0.63,146.1,681.4,18.3,533,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2217,0,0,0,0,0,0
$GC,12148,0.63,146.1,625.8,18.1,543,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2217,0,0,0,0,0,0
$GC,12452,0.63,146.1,570.0,18.6,553,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2216,0,0,0,0,0,0
$GC,12758,0.63,146.1,514.6,17.9,563,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2216,0,0,0,0,0,0
$GC,13064,0.63,146.1,460.4,17.7,573,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2216,0,0,0,0,0,0
$GC,13372,0.63,146.1,405.7,17.8,583,13376,0.00,2.25,0.00,0.000,4,0.000,0.049,2057,1277,2216,0,0,0,0,0,0
$GC,13408,0.63,146.1,398.9,17.4,584,13416,0.00,2.30,0.00,0.000,6,0.000,0.054,2057,2671,2215,0,0,0,0,0,0
$GC,13726,0.63,146.1,339.1,19.2,600,13730,0.00,1.98,0.00,0.000,4,0.000,0.063,2057,3900,2215,0,0,0,0,0,0
$GC,13824,0.63,146.1,318.1,21.1,604,13828,0.12,1.92,0.00,0.000,6,0.230,0.041,2040,2671,2215,0,0,0,0,0,0
$GC,14154,0.63,146.1,257.3,18.0,620,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2667,2215,0,0,0,0,0,0
$GC,14470,0.63,146.1,201.7,17.9,639,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2667,2215,0,0,0,0,0,0
$GC,14780,0.63,146.1,148.1,16.5,659,14783,0.00,2.03,0.00,0.000,4,0.000,0.062,2040,3907,2215,0,0,0,0,0,0
$GC,14820,0.63,146.1,140.3,18.9,661,14824,0.00,1.95,0.00,0.000,6,0.000,0.040,2048,2658,2215,0,0,0,0,0,0
$GC,15153,0.63,146.1,82.7,16.2,693,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2652,2215,0,0,0,0,0,0
$GC,15518,0.63,146.1,29.0,15.1,754,15527,0.00,2.05,0.00,0.000,4,0.000,0.060,2048,3900,2215,0,0,0,0,0,0
$GC,15539,0.63,146.1,25.4,16.1,756,15548,0.00,1.95,0.00,0.000,6,0.000,0.041,2058,2672,2215,0,0,0,0,0,0
$GC,15631,0.63,146.1,10.7,16.9,769,15639,0.00,2.03,0.00,0.000,4,0.000,0.060,2058,3898,2215,0,0,0,0,0,0
$STATE,15666,end climb,SURFACE_DEPTH_REACHED
$STATE,15666,begin surface coast
$FINISH,0.9,1.026239
$STATE,15673,end surface coast,CONTROL_FINISHED_OK
$STATE,15674,begin surface
$SM_CCo,15697,45.45,0.703,1,0,1881,230.09
$SM_GC,1.97,0.00,0.00,45.45,0.000,0.000,0.703,57,2837,1881,-5.54,-0.65,230.09
$IRIDIUM_FIX,-4314.46,711.18,280213,040427
$TT8_MAMPS,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.2,84.265
$10V_AH,9.9,45.413
$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,13.650,63.700,299.200,45.450,0.000,24.929,22.014,397.907,0.000,0.000,20.566,1888.763,11149.126,425.660,2298.604,670.447,33.369,1198.644,0.000,1787.833,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,76.500,1747.260,703.035,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.309,1509.306,791.626,288.032,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,57251,775
$CAP_FILE_SIZE,110346,0
$CFSIZE,259252224,200675328
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,280213,135428,-4330.521,708.330,36,1.0,36,-24.6