version: 66.07
glider: 542
mission: 6
dive: 449
start: 2 28 113 14 7 8
data:
$ID,542
$MISSION,6
$DIVE,449
$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,-14790.882
$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,48
$R_STBD_OVSHOOT,21
$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
$GPS1,280213,135428,-4330.521,708.330,36,1.0,36,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-58.2
$GPS2,280213,140612,-4330.591,708.450,19,0.9,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.118,0.231
$KALMAN_X,-52746.4,13256.5,8482.9,248230.4,-54385.3
$KALMAN_Y,721796.8,25404.3,16207.7,-391643.8,-104803.5
$MHEAD_RNG_PITCHd_Wd,51.7,3037,-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,-62.78,0.000,2,0.000,0.000,56,2836,3197,0,0,0,0,0,0
$GC,98,-0.63,-146.1,3.2,-2.4,8,117,6.45,2.20,-5.57,0.000,4,0.233,0.053,1618,1465,3417,0,0,0,0,0,0
$GC,214,-0.63,-146.1,23.9,-13.8,25,222,0.00,2.30,0.00,0.000,6,0.000,0.054,1610,2868,3419,0,0,0,0,0,0
$GC,298,-0.63,-146.1,37.0,-16.8,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2868,3419,0,0,0,0,0,0
$GC,549,-0.63,-146.1,76.0,-14.2,79,553,0.00,1.62,0.00,0.000,4,0.000,0.059,1602,3913,3420,0,0,0,0,0,0
$GC,604,-0.63,-146.1,84.6,-14.2,88,612,0.00,1.62,0.00,0.000,6,0.000,0.033,1601,2842,3420,0,0,0,0,0,0
$GC,944,-0.63,-146.1,133.8,-14.0,120,948,0.00,2.10,0.00,0.000,4,0.000,0.040,1601,1483,3420,0,0,0,0,0,0
$GC,968,-0.63,-146.1,137.6,-13.9,121,975,0.12,2.20,0.00,0.000,6,0.171,0.051,1623,2860,3420,0,0,0,0,0,0
$GC,1290,-0.63,-146.1,173.0,-10.5,142,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3421,0,0,0,0,0,0
$GC,1603,-0.63,-146.1,205.1,-10.1,162,1607,0.00,2.15,0.00,0.000,4,0.000,0.041,1624,1482,3421,0,0,0,0,0,0
$GC,1639,-0.63,-146.1,209.1,-9.7,164,1643,0.00,2.22,0.00,0.000,6,0.000,0.051,1614,2869,3422,0,0,0,0,0,0
$GC,1962,-0.63,-146.1,244.4,-11.4,184,1966,0.00,1.62,0.00,0.000,4,0.000,0.059,1606,3890,3421,0,0,0,0,0,0
$GC,1999,-0.63,-146.1,248.9,-12.1,186,2003,0.00,1.55,0.00,0.000,6,0.000,0.033,1606,2858,3422,0,0,0,0,0,0
$GC,2329,-0.63,-146.1,289.8,-12.7,202,2332,0.00,1.70,0.00,0.000,4,0.000,0.059,1598,3897,3422,0,0,0,0,0,0
$GC,2358,-0.63,-146.1,293.2,-13.1,203,2361,0.00,1.55,0.00,0.000,6,0.000,0.032,1598,2866,3422,0,0,0,0,0,0
$GC,2694,-0.63,-146.1,334.4,-11.6,219,2698,0.00,2.15,0.00,0.000,4,0.000,0.040,1598,1483,3422,0,0,0,0,0,0
$GC,2766,-0.63,-146.1,342.3,-9.9,222,2771,0.12,2.20,0.00,0.000,6,0.173,0.052,1620,2867,3422,0,0,0,0,0,0
$GC,3091,-0.63,-146.1,371.5,-8.6,238,3095,0.00,2.15,0.00,0.000,4,0.000,0.038,1621,1483,3422,0,0,0,0,0,0
$GC,3116,-0.63,-146.1,373.9,-8.5,239,3120,0.00,2.22,0.00,0.000,6,0.000,0.052,1611,2866,3422,0,0,0,0,0,0
$GC,3460,-0.63,-146.1,406.0,-9.7,255,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2866,3422,0,0,0,0,0,0
$GC,3768,-0.63,-146.1,436.8,-10.3,265,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2867,3422,0,0,0,0,0,0
$GC,4073,-0.63,-146.1,469.9,-11.0,275,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2867,3422,0,0,0,0,0,0
$GC,4378,-0.63,-146.1,504.2,-11.1,285,4382,0.00,2.15,0.00,0.000,4,0.000,0.041,1611,1484,3422,0,0,0,0,0,0
$GC,4396,-0.63,-146.1,506.4,-11.1,285,4400,0.00,2.22,0.00,0.000,6,0.000,0.053,1602,2862,3422,0,0,0,0,0,0
$GC,4717,-0.63,-146.1,544.1,-12.1,296,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2862,3422,0,0,0,0,0,0
$GC,5024,-0.63,-146.1,580.4,-11.6,306,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2862,3421,0,0,0,0,0,0
$GC,5329,-0.63,-146.1,616.7,-11.6,316,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2862,3421,0,0,0,0,0,0
$GC,5636,-0.63,-146.1,651.3,-11.2,326,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2862,3420,0,0,0,0,0,0
$GC,5942,-0.63,-146.1,684.2,-10.6,336,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2863,3419,0,0,0,0,0,0
$GC,6248,-0.63,-146.1,715.7,-10.1,346,6252,0.00,2.15,0.00,0.000,4,0.000,0.041,1601,1484,3418,0,0,0,0,0,0
$GC,6266,-0.63,-146.1,717.8,-10.2,346,6271,0.12,2.25,0.00,0.000,6,0.172,0.054,1624,2868,3418,0,0,0,0,0,0
$GC,6588,-0.63,-146.1,743.4,-7.9,357,6592,0.00,2.17,0.00,0.000,4,0.000,0.041,1624,1484,3418,0,0,0,0,0,0
$GC,6620,-0.63,-146.1,746.0,-7.7,358,6624,0.00,2.22,0.00,0.000,6,0.000,0.055,1615,2867,3418,0,0,0,0,0,0
$GC,6958,-0.63,-146.1,773.8,-8.1,369,6962,0.00,1.65,0.00,0.000,4,0.000,0.063,1606,3900,3418,0,0,0,0,0,0
$GC,6999,-0.63,-146.1,777.4,-8.7,370,7003,0.00,1.60,0.00,0.000,6,0.000,0.035,1607,2860,3417,0,0,0,0,0,0
$GC,7337,-0.63,-146.1,804.9,-8.2,381,7341,0.00,2.12,0.00,0.000,4,0.000,0.041,1606,1482,3417,0,0,0,0,0,0
$GC,7400,-0.63,-146.1,810.3,-7.7,382,7407,0.10,2.25,0.00,0.000,6,0.182,0.055,1620,2868,3417,0,0,0,0,0,0
$GC,7716,-0.63,-146.1,832.2,-7.1,393,7720,0.00,2.17,0.00,0.000,4,0.000,0.041,1620,1473,3416,0,0,0,0,0,0
$GC,7734,-0.63,-146.1,833.8,-7.2,393,7738,0.00,2.25,0.00,0.000,6,0.000,0.055,1611,2859,3417,0,0,0,0,0,0
$GC,8055,-0.63,-146.1,860.8,-8.7,404,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2859,3416,0,0,0,0,0,0
$GC,8362,-0.63,-146.1,889.1,-9.5,414,8366,0.00,2.17,0.00,0.000,4,0.000,0.041,1611,1481,3415,0,0,0,0,0,0
$GC,8397,-0.63,-146.1,892.8,-9.9,415,8402,0.00,2.25,0.00,0.000,6,0.000,0.055,1602,2858,3415,0,0,0,0,0,0
$GC,8729,-0.63,-146.1,929.5,-11.7,426,8733,0.00,1.65,0.00,0.000,4,0.000,0.063,1594,3903,3415,0,0,0,0,0,0
$GC,8767,-0.63,-146.1,934.0,-12.7,427,8771,0.08,1.60,0.00,0.000,6,0.151,0.035,1627,2859,3415,0,0,0,0,0,0
$GC,9111,-0.63,-146.1,967.9,-9.4,438,9114,0.00,2.15,0.00,0.000,4,0.000,0.042,1627,1477,3415,0,0,0,0,0,0
$GC,9147,-0.63,-146.1,971.6,-10.2,439,9152,0.00,2.25,0.00,0.000,6,0.000,0.057,1619,2866,3414,0,0,0,0,0,0
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9467,-0.18,0.0,1002.0,9.6,449,9623,0.50,0.00,148.00,1.789,6,0.146,0.000,1770,2682,2820,0,0,0,0,1,0
$STATE,9625,end apogee,CONTROL_FINISHED_OK
$STATE,9625,begin climb
$GC,9630,0.63,146.1,1008.1,0.0,454,9812,0.80,2.60,163.90,1.732,4,0.091,0.050,2033,1278,2226,0,0,0,0,2,0
$GC,9823,0.63,146.1,988.8,15.9,460,9827,0.00,2.53,0.00,0.000,6,0.000,0.053,2033,2664,2226,0,0,0,0,0,0
$GC,10160,0.63,146.1,927.8,18.5,471,10164,0.00,2.00,0.00,0.000,4,0.000,0.063,2033,3900,2220,0,0,0,0,0,0
$GC,10179,0.63,146.1,923.9,18.6,471,10183,0.00,1.95,0.00,0.000,6,0.000,0.042,2042,2673,2220,0,0,0,0,0,0
$GC,10505,0.63,146.1,861.2,19.3,482,10509,0.00,2.22,0.00,0.000,4,0.000,0.050,2053,1271,2218,0,0,0,0,0,0
$GC,10534,0.63,146.1,855.5,18.4,482,10541,0.00,2.28,0.00,0.000,6,0.000,0.054,2053,2672,2217,0,0,0,0,0,0
$GC,10850,0.63,146.1,793.4,19.6,493,10854,0.00,2.25,0.00,0.000,4,0.000,0.050,2063,1266,2217,0,0,0,0,0,0
$GC,10868,0.63,146.1,789.5,19.4,493,10872,0.00,2.30,0.00,0.000,6,0.000,0.054,2064,2680,2216,0,0,0,0,0,0
$GC,11189,0.63,146.1,724.4,20.2,504,11193,0.00,2.25,0.00,0.000,4,0.000,0.050,2074,1269,2215,0,0,0,0,0,0
$GC,11213,0.63,146.1,719.3,19.4,504,11218,0.15,2.28,0.00,0.000,6,0.206,0.054,2039,2668,2214,0,0,0,0,0,0
$GC,11528,0.63,146.1,664.8,17.3,514,11532,0.00,1.95,0.00,0.000,4,0.000,0.063,2038,3900,2214,0,0,0,0,0,0
$GC,11546,0.63,146.1,661.4,16.9,514,11550,0.00,1.95,0.00,0.000,6,0.000,0.042,2047,2672,2214,0,0,0,0,0,0
$GC,11872,0.63,146.1,607.0,15.9,525,11876,0.00,2.20,0.00,0.000,4,0.000,0.049,2057,1265,2213,0,0,0,0,0,0
$GC,11913,0.63,146.1,600.4,14.8,526,11917,0.00,2.28,0.00,0.000,6,0.000,0.054,2057,2674,2213,0,0,0,0,0,0
$GC,12252,0.63,146.1,540.2,18.3,537,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2674,2213,0,0,0,0,0,0
$GC,12557,0.63,146.1,482.4,19.2,547,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2674,2213,0,0,0,0,0,0
$GC,12863,0.63,146.1,424.3,18.7,557,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2674,2213,0,0,0,0,0,0
$GC,13181,0.63,146.1,365.6,18.0,570,13185,0.00,2.22,0.00,0.000,4,0.000,0.048,2067,1269,2213,0,0,0,0,0,0
$GC,13233,0.63,146.1,356.2,16.4,572,13238,0.12,2.28,0.00,0.000,6,0.193,0.053,2037,2677,2211,0,0,0,0,0,0
$GC,13554,0.63,146.1,303.8,16.6,587,13558,0.00,2.25,0.00,0.000,4,0.000,0.047,2047,1268,2211,0,0,0,0,0,0
$GC,13572,0.63,146.1,300.0,16.7,587,13579,0.00,2.28,0.00,0.000,6,0.000,0.052,2047,2676,2211,0,0,0,0,0,0
$GC,13902,0.63,146.1,242.9,17.6,604,13905,0.00,1.95,0.00,0.000,4,0.000,0.061,2047,3907,2211,0,0,0,0,0,0
$GC,13939,0.63,146.1,235.5,20.6,606,13942,0.00,1.95,0.00,0.000,6,0.000,0.041,2056,2659,2211,0,0,0,0,0,0
$GC,14273,0.63,146.1,174.0,18.4,627,14277,0.00,2.20,0.00,0.000,4,0.000,0.047,2067,1263,2211,0,0,0,0,0,0
$GC,14293,0.63,146.1,169.9,18.4,628,14298,0.12,2.28,0.00,0.000,6,0.190,0.051,2037,2670,2211,0,0,0,0,0,0
$GC,14620,0.63,146.1,116.8,16.3,648,14624,0.00,2.22,0.00,0.000,4,0.000,0.047,2046,1255,2211,0,0,0,0,0,0
$GC,14661,0.63,146.1,108.9,15.7,650,14670,0.00,2.33,0.00,0.000,6,0.000,0.052,2046,2672,2211,0,0,0,0,0,0
$GC,15011,0.63,146.1,50.9,14.2,705,15018,0.00,2.25,0.00,0.000,4,0.000,0.046,2056,1259,2211,0,0,0,0,0,0
$GC,15090,0.63,146.1,40.4,12.0,717,15099,0.00,2.30,0.00,0.000,6,0.000,0.050,2057,2683,2211,0,0,0,0,0,0
$STATE,15325,end climb,SURFACE_DEPTH_REACHED
$STATE,15325,begin surface coast
$FINISH,0.8,1.026233
$STATE,15345,end surface coast,CONTROL_FINISHED_OK
$STATE,15345,begin surface
$SM_CCo,15367,45.10,0.701,1,0,1879,230.09
$SM_GC,2.17,0.00,0.00,45.10,0.000,0.000,0.701,57,2874,1879,-5.55,0.40,230.09
$IRIDIUM_FIX,-4311.50,708.24,280213,090944
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.2,84.454
$10V_AH,9.9,45.518
$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,14.100,126.950,311.900,45.100,0.000,35.354,44.042,363.241,0.000,0.000,22.154,1915.653,10620.649,468.476,2388.621,716.199,33.378,1302.938,0.000,1863.287,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,71.910,1788.570,700.740,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.366,1498.138,791.694,295.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,53835,758
$CAP_FILE_SIZE,124644,0
$CFSIZE,259252224,200593408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,280213,182534,-4328.611,709.820,40,0.8,40,-24.6