version: 66.07
glider: 542
mission: 6
dive: 451
start: 2 28 113 22 45 39
data:
$ID,542
$MISSION,6
$DIVE,451
$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,-14801.08
$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,38
$R_STBD_OVSHOOT,65
$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
$GPS1,280213,223435,-4327.039,710.777,30,1.3,30,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-65.9
$GPS2,280213,224440,-4326.983,710.955,18,1.4,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.158,0.122
$KALMAN_X,-22489.2,-4354.1,2539.7,244630.0,688.5
$KALMAN_Y,773664.2,-7640.4,5264.0,-392961.4,-6147.9
$MHEAD_RNG_PITCHd_Wd,332.3,4567,-23.7,-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,22,begin dive
$GC,27,-0.71,-82.9,0.0,0.0,0,91,0.00,0.00,-62.12,0.000,6,0.000,0.000,51,2912,3159,0,0,0,0,0,0
$GC,98,-0.79,-146.1,3.1,-2.7,8,117,6.45,2.35,-6.62,0.000,4,0.244,0.051,1577,1454,3417,0,0,0,0,0,0
$GC,166,-0.79,-146.1,17.0,-15.7,17,175,0.00,2.22,0.00,0.000,6,0.000,0.051,1569,2815,3419,0,0,0,0,0,0
$GC,251,-0.79,-146.1,33.2,-19.8,30,261,0.00,1.73,0.00,0.000,4,0.000,0.057,1561,3892,3419,0,0,0,0,0,0
$GC,293,-0.79,-146.1,40.8,-20.1,35,300,0.00,1.60,0.00,0.000,6,0.000,0.032,1560,2845,3420,0,0,0,0,0,0
$GC,538,-0.79,-146.1,90.9,-19.3,76,544,0.00,2.10,0.00,0.000,4,0.000,0.039,1560,1478,3420,0,0,0,0,0,0
$GC,650,-0.79,-146.1,108.9,-15.2,88,654,0.00,2.22,0.00,0.000,6,0.000,0.051,1550,2865,3420,0,0,0,0,0,0
$GC,973,-0.79,-146.1,166.5,-18.0,108,977,0.00,1.62,0.00,0.000,4,0.000,0.057,1542,3914,3420,0,0,0,0,0,0
$GC,1030,-0.79,-146.1,177.0,-19.1,111,1034,0.08,1.60,0.00,0.000,6,0.170,0.031,1573,2855,3421,0,0,0,0,0,0
$GC,1367,-0.79,-146.1,227.5,-14.6,132,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2849,3421,0,0,0,0,0,0
$GC,1679,-0.79,-146.1,271.7,-13.8,150,1683,0.00,1.70,0.00,0.000,4,0.000,0.058,1566,3898,3422,0,0,0,0,0,0
$GC,1692,-0.79,-146.1,273.7,-13.9,150,1695,0.00,1.58,0.00,0.000,6,0.000,0.031,1566,2850,3421,0,0,0,0,0,0
$GC,2015,-0.79,-146.1,320.1,-14.3,166,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2845,3422,0,0,0,0,0,0
$GC,2326,-0.79,-146.1,364.9,-14.8,181,2330,0.00,1.70,0.00,0.000,4,0.000,0.058,1558,3892,3422,0,0,0,0,0,0
$GC,2352,-0.79,-146.1,369.1,-15.3,182,2356,0.00,1.55,0.00,0.000,6,0.000,0.031,1558,2862,3423,0,0,0,0,0,0
$GC,2686,-0.79,-146.1,418.7,-14.9,196,2690,0.00,2.10,0.00,0.000,4,0.000,0.037,1558,1486,3423,0,0,0,0,0,0
$GC,2704,-0.79,-146.1,421.7,-15.2,196,2708,0.00,2.20,0.00,0.000,6,0.000,0.051,1548,2862,3423,0,0,0,0,0,0
$GC,3020,-0.79,-146.1,470.5,-15.7,206,3023,0.00,1.65,0.00,0.000,4,0.000,0.058,1540,3910,3423,0,0,0,0,0,0
$GC,3056,-0.79,-146.1,476.4,-16.4,207,3061,0.08,1.60,0.00,0.000,6,0.166,0.031,1571,2855,3423,0,0,0,0,0,0
$GC,3402,-0.79,-146.1,523.6,-13.7,218,3406,0.00,2.12,0.00,0.000,4,0.000,0.039,1571,1476,3423,0,0,0,0,0,0
$GC,3437,-0.79,-146.1,528.9,-12.8,219,3441,0.00,2.22,0.00,0.000,6,0.000,0.052,1562,2859,3423,0,0,0,0,0,0
$GC,3769,-0.79,-146.1,577.2,-14.8,230,3772,0.00,1.62,0.00,0.000,4,0.000,0.060,1554,3904,3423,0,0,0,0,0,0
$GC,3815,-0.79,-146.1,584.7,-15.6,231,3818,0.00,1.60,0.00,0.000,6,0.000,0.032,1554,2854,3423,0,0,0,0,0,0
$GC,4147,-0.79,-146.1,636.8,-16.1,242,4150,0.00,2.12,0.00,0.000,4,0.000,0.040,1554,1478,3423,0,0,0,0,0,0
$GC,4164,-0.79,-146.1,640.1,-16.1,242,4169,0.12,2.20,0.00,0.000,6,0.185,0.052,1573,2858,3423,0,0,0,0,0,0
$GC,4481,-0.79,-146.1,683.6,-13.7,252,4485,0.00,1.62,0.00,0.000,4,0.000,0.060,1567,3896,3423,0,0,0,0,0,0
$GC,4519,-0.79,-146.1,689.0,-14.4,253,4522,0.00,1.58,0.00,0.000,6,0.000,0.033,1567,2861,3422,0,0,0,0,0,0
$GC,4863,-0.79,-146.1,737.6,-14.2,264,4867,0.00,2.12,0.00,0.000,4,0.000,0.040,1566,1484,3422,0,0,0,0,0,0
$GC,4886,-0.79,-146.1,741.4,-14.4,264,4893,0.00,2.22,0.00,0.000,6,0.000,0.053,1556,2867,3422,0,0,0,0,0,0
$GC,5204,-0.79,-146.1,787.9,-14.8,275,5207,0.00,1.62,0.00,0.000,4,0.000,0.060,1548,3906,3421,0,0,0,0,0,0
$GC,5249,-0.79,-146.1,795.7,-15.3,276,5253,0.00,1.60,0.00,0.000,6,0.000,0.034,1548,2857,3421,0,0,0,0,0,0
$GC,5581,-0.79,-146.1,845.5,-14.9,287,5585,0.00,2.12,0.00,0.000,4,0.000,0.041,1548,1482,3420,0,0,0,0,0,0
$GC,5613,-0.79,-146.1,850.1,-14.3,288,5618,0.15,2.20,0.00,0.000,6,0.181,0.054,1575,2859,3419,0,0,0,0,0,0
$GC,5951,-0.79,-146.1,892.9,-12.4,299,5955,0.00,1.65,0.00,0.000,4,0.000,0.061,1568,3898,3419,0,0,0,0,0,0
$GC,5991,-0.79,-146.1,898.3,-13.1,300,5995,0.00,1.58,0.00,0.000,6,0.000,0.034,1568,2867,3419,0,0,0,0,0,0
$GC,6331,-0.79,-146.1,939.7,-12.2,311,6335,0.00,2.15,0.00,0.000,4,0.000,0.041,1568,1481,3418,0,0,0,0,0,0
$GC,6354,-0.79,-146.1,943.1,-12.4,311,6361,0.00,2.25,0.00,0.000,6,0.000,0.054,1558,2870,3418,0,0,0,0,0,0
$GC,6670,-0.79,-146.1,983.4,-13.0,322,6673,0.00,1.62,0.00,0.000,4,0.000,0.061,1550,3907,3418,0,0,0,0,0,0
$GC,6710,-0.79,-146.1,989.4,-14.5,323,6714,0.00,1.60,0.00,0.000,6,0.000,0.034,1550,2861,3418,0,0,0,0,0,0
$STATE,6798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6798,begin apogee
$GC,6809,-0.18,0.0,1001.5,13.3,326,6955,0.77,0.00,143.05,1.260,6,0.171,0.000,1768,2666,2820,0,0,0,0,0,0
$STATE,6957,end apogee,CONTROL_FINISHED_OK
$STATE,6957,begin climb
$GC,6962,0.79,146.1,1005.8,0.0,331,7133,0.95,2.55,155.82,1.746,4,0.091,0.049,2091,1292,2226,0,0,0,0,1,0
$GC,7175,0.79,146.1,972.6,21.6,337,7179,0.00,2.45,0.00,0.000,6,0.000,0.054,2091,2667,2225,0,0,0,0,0,0
$GC,7491,0.79,146.1,899.8,23.4,347,7495,0.00,2.25,0.00,0.000,4,0.000,0.052,2102,1284,2221,0,0,0,0,0,0
$GC,7509,0.79,146.1,895.2,22.5,347,7513,0.00,2.30,0.00,0.000,6,0.000,0.056,2102,2677,2219,0,0,0,0,0,0
$GC,7830,0.79,146.1,819.5,23.6,358,7833,0.00,2.22,0.00,0.000,4,0.000,0.051,2112,1282,2218,0,0,0,0,0,0
$GC,7848,0.79,146.1,814.9,23.4,358,7852,0.00,2.28,0.00,0.000,6,0.000,0.055,2112,2675,2217,0,0,0,0,0,0
$GC,8169,0.79,146.1,738.6,23.7,369,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2675,2217,0,0,0,0,0,0
$GC,8476,0.79,146.1,668.4,23.0,379,8480,0.00,2.20,0.00,0.000,4,0.000,0.048,2122,1285,2216,0,0,0,0,0,0
$GC,8489,0.79,146.1,664.7,23.1,379,8494,0.15,2.25,0.00,0.000,6,0.235,0.052,2090,2675,2216,0,0,0,0,0,0
$GC,8811,0.79,146.1,596.5,21.6,390,8814,0.00,1.98,0.00,0.000,4,0.000,0.062,2090,3907,2215,0,0,0,0,0,0
$GC,8829,0.79,146.1,592.0,21.5,390,8833,0.00,1.90,0.00,0.000,6,0.000,0.041,2098,2673,2216,0,0,0,0,0,0
$GC,9156,0.79,146.1,519.3,22.5,401,9160,0.00,2.20,0.00,0.000,4,0.000,0.048,2109,1271,2215,0,0,0,0,0,0
$GC,9175,0.79,146.1,514.6,22.4,401,9179,0.00,2.28,0.00,0.000,6,0.000,0.051,2109,2677,2214,0,0,0,0,0,0
$GC,9495,0.79,146.1,440.2,23.4,412,9499,0.00,1.98,0.00,0.000,4,0.000,0.063,2109,3893,2214,0,0,0,0,0,0
$GC,9532,0.79,146.1,431.0,25.6,413,9537,0.10,1.92,0.00,0.000,6,0.236,0.041,2086,2676,2214,0,0,0,0,0,0
$GC,9858,0.79,146.1,358.5,22.5,426,9862,0.00,2.00,0.00,0.000,4,0.000,0.062,2085,3896,2214,0,0,0,0,0,0
$GC,9870,0.79,146.1,355.1,22.5,426,9874,0.00,1.90,0.00,0.000,6,0.000,0.041,2093,2666,2214,0,0,0,0,0,0
$GC,10194,0.79,146.1,281.6,22.6,442,10198,0.00,2.17,0.00,0.000,4,0.000,0.046,2104,1271,2214,0,0,0,0,0,0
$GC,10216,0.79,146.1,277.1,22.2,443,10220,0.00,2.28,0.00,0.000,6,0.000,0.052,2104,2677,2213,0,0,0,0,0,0
$GC,10543,0.79,146.1,202.0,22.7,462,10547,0.00,2.22,0.00,0.000,4,0.000,0.045,2114,1268,2213,0,0,0,0,0,0
$GC,10583,0.79,146.1,192.8,20.8,464,10588,0.12,2.28,0.00,0.000,6,0.225,0.052,2088,2671,2212,0,0,0,0,0,0
$GC,10911,0.79,146.1,127.5,19.7,484,10915,0.00,2.20,0.00,0.000,4,0.000,0.045,2097,1270,2212,0,0,0,0,0,0
$GC,10952,0.79,146.1,118.2,19.6,486,10961,0.00,2.30,0.00,0.000,6,0.000,0.053,2090,2672,2212,0,0,0,0,0,0
$GC,11300,0.79,146.1,53.1,16.6,535,11307,0.00,1.98,0.00,0.000,4,0.000,0.060,2090,3909,2212,0,0,0,0,0,0
$GC,11331,0.79,146.1,47.4,19.1,539,11338,0.00,1.90,0.00,0.000,6,0.000,0.038,2099,2670,2212,0,0,0,0,0,0
$STATE,11548,end climb,SURFACE_DEPTH_REACHED
$STATE,11548,begin surface coast
$FINISH,1.0,1.023909
$STATE,11568,end surface coast,CONTROL_FINISHED_OK
$STATE,11568,begin surface
$SM_CCo,11591,45.33,0.702,1,0,1879,230.09
$SM_GC,1.95,0.00,0.00,45.33,0.000,0.000,0.702,52,2885,1879,-5.56,0.71,230.09
$IRIDIUM_FIX,-4311.50,704.93,280213,181816
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.2,84.774
$10V_AH,9.9,45.705
$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,14.475,119.925,298.875,45.325,0.000,28.021,19.640,320.489,0.000,0.000,24.728,1496.838,7738.019,434.385,1942.645,627.709,33.368,1145.602,0.000,1517.840,0.000,1.010,0.000
$DEVICE_MAMPS,244.035,62.730,1745.730,701.505,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.861,1152.029,626.843,240.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,43736,577
$CAP_FILE_SIZE,106591,0
$CFSIZE,259252224,200499200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010313,020104,-4325.549,710.781,35,0.9,35,-24.6