version: 66.07
glider: 542
mission: 6
dive: 457
start: 3 1 113 23 29 7
data:
$ID,542
$MISSION,6
$DIVE,457
$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,-14829.002
$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,39
$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
$GPS1,010313,231704,-4325.408,709.606,38,1.0,38,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-60.9
$GPS2,010313,232811,-4325.414,709.690,16,1.2,17,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.246,-0.082
$KALMAN_X,-12098.0,-1230.4,-100.8,232188.5,5536.0
$KALMAN_Y,780583.1,-3119.6,383.0,-396601.8,6295.6
$MHEAD_RNG_PITCHd_Wd,276.2,6705,-17.6,-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,-144.9,0.0,0.0,0,75,0.00,0.00,-47.03,0.000,2,0.000,0.000,48,2871,2813,0,0,0,0,0,0
$GC,82,-0.63,-146.1,3.2,-4.9,6,116,6.80,0.00,-19.95,0.000,6,0.250,0.000,1617,2871,3413,0,0,0,0,0,0
$GC,195,-0.63,-146.1,14.8,-14.7,22,204,0.00,2.22,0.00,0.000,4,0.000,0.036,1617,1451,3415,0,0,0,0,0,0
$GC,222,-0.63,-146.1,19.1,-15.8,25,231,0.00,2.30,0.00,0.000,6,0.000,0.052,1607,2857,3415,0,0,0,0,0,0
$GC,308,-0.63,-146.1,33.3,-15.5,38,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2857,3415,0,0,0,0,0,0
$GC,557,-0.63,-146.1,69.8,-13.4,79,561,0.00,1.65,0.00,0.000,4,0.000,0.057,1599,3894,3415,0,0,0,0,0,0
$GC,643,-0.63,-146.1,82.2,-13.6,93,649,0.00,1.60,0.00,0.000,6,0.000,0.031,1599,2833,3416,0,0,0,0,0,0
$GC,974,-0.63,-146.1,128.2,-13.4,128,978,0.00,1.73,0.00,0.000,4,0.000,0.057,1591,3898,3416,0,0,0,0,0,0
$GC,1038,-0.63,-146.1,137.0,-13.0,131,1048,0.08,1.58,0.00,0.000,6,0.163,0.031,1614,2848,3417,0,0,0,0,0,0
$GC,1365,-0.63,-146.1,172.6,-11.3,152,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3417,0,0,0,0,0,0
$GC,1689,-0.63,-146.1,209.6,-11.0,173,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3417,0,0,0,0,0,0
$GC,2001,-0.63,-146.1,243.9,-11.0,193,2005,0.00,1.70,0.00,0.000,4,0.000,0.058,1608,3896,3418,0,0,0,0,0,0
$GC,2025,-0.63,-146.1,247.0,-11.3,194,2028,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2864,3418,0,0,0,0,0,0
$GC,2344,-0.63,-146.1,282.6,-11.2,210,2348,0.00,2.10,0.00,0.000,4,0.000,0.037,1607,1484,3418,0,0,0,0,0,0
$GC,2380,-0.63,-146.1,286.8,-10.6,211,2387,0.00,2.20,0.00,0.000,6,0.000,0.050,1597,2865,3418,0,0,0,0,0,0
$GC,2701,-0.63,-146.1,323.1,-11.9,227,2704,0.00,1.62,0.00,0.000,4,0.000,0.057,1589,3914,3418,0,0,0,0,0,0
$GC,2798,-0.63,-146.1,335.5,-12.4,231,2802,0.08,1.60,0.00,0.000,6,0.162,0.031,1621,2855,3418,0,0,0,0,0,0
$GC,3129,-0.63,-146.1,369.0,-10.6,247,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2849,3418,0,0,0,0,0,0
$GC,3447,-0.63,-146.1,403.9,-11.1,262,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2849,3419,0,0,0,0,0,0
$GC,3753,-0.63,-146.1,438.0,-11.0,272,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,4059,-0.63,-146.1,471.0,-10.7,282,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,4365,-0.63,-146.1,501.9,-10.0,292,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,4672,-0.63,-146.1,533.5,-10.4,302,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,4978,-0.63,-146.1,564.4,-10.0,312,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,5284,-0.63,-146.1,595.8,-10.4,322,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,5591,-0.63,-146.1,627.2,-10.3,332,5595,0.00,2.12,0.00,0.000,4,0.000,0.039,1621,1477,3417,0,0,0,0,0,0
$GC,5643,-0.63,-146.1,632.7,-10.1,333,5647,0.00,2.25,0.00,0.000,6,0.000,0.053,1612,2867,3418,0,0,0,0,0,0
$GC,5958,-0.63,-146.1,665.5,-10.5,343,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2867,3417,0,0,0,0,0,0
$GC,6265,-0.63,-146.1,696.5,-9.9,353,6269,0.00,1.65,0.00,0.000,4,0.000,0.061,1604,3891,3416,0,0,0,0,0,0
$GC,6302,-0.63,-146.1,700.5,-10.9,354,6306,0.00,1.58,0.00,0.000,6,0.000,0.034,1604,2855,3416,0,0,0,0,0,0
$GC,6645,-0.63,-146.1,736.5,-10.7,365,6649,0.00,2.12,0.00,0.000,4,0.000,0.039,1604,1477,3415,0,0,0,0,0,0
$GC,6678,-0.63,-146.1,739.9,-11.1,366,6683,0.12,2.22,0.00,0.000,6,0.178,0.053,1625,2856,3415,0,0,0,0,0,0
$GC,7017,-0.63,-146.1,769.8,-8.9,377,7021,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3896,3415,0,0,0,0,0,0
$GC,7054,-0.63,-146.1,773.3,-9.3,378,7058,0.00,1.58,0.00,0.000,6,0.000,0.033,1618,2867,3415,0,0,0,0,0,0
$GC,7398,-0.63,-146.1,805.3,-9.3,389,7402,0.00,2.15,0.00,0.000,4,0.000,0.039,1618,1475,3415,0,0,0,0,0,0
$GC,7433,-0.63,-146.1,809.1,-9.9,390,7437,0.00,2.25,0.00,0.000,6,0.000,0.054,1608,2863,3414,0,0,0,0,0,0
$GC,7765,-0.63,-146.1,843.7,-10.4,401,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2863,3414,0,0,0,0,0,0
$GC,8072,-0.63,-146.1,875.0,-10.1,411,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2863,3414,0,0,0,0,0,0
$GC,8378,-0.63,-146.1,905.7,-10.0,421,8381,0.00,1.65,0.00,0.000,4,0.000,0.062,1600,3899,3413,0,0,0,0,0,0
$GC,8406,-0.63,-146.1,909.1,-10.4,421,8413,0.00,1.60,0.00,0.000,6,0.000,0.034,1600,2850,3413,0,0,0,0,0,0
$GC,8722,-0.63,-146.1,941.4,-10.3,432,8726,0.00,2.12,0.00,0.000,4,0.000,0.039,1600,1481,3413,0,0,0,0,0,0
$GC,8746,-0.63,-146.1,944.3,-11.0,432,8753,0.12,2.22,0.00,0.000,6,0.182,0.054,1620,2859,3412,0,0,0,0,0,0
$GC,9061,-0.63,-146.1,971.5,-8.6,443,9065,0.00,1.67,0.00,0.000,4,0.000,0.062,1613,3892,3412,0,0,0,0,0,0
$GC,9086,-0.63,-146.1,974.0,-9.4,443,9090,0.00,1.58,0.00,0.000,6,0.000,0.034,1613,2866,3412,0,0,0,0,0,0
$STATE,9404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9415,-0.18,0.0,1002.5,8.8,454,9570,0.52,0.00,147.52,1.797,6,0.155,0.000,1768,2674,2820,0,0,0,0,1,0
$STATE,9572,end apogee,CONTROL_FINISHED_OK
$STATE,9572,begin climb
$GC,9577,0.63,146.1,1007.4,0.0,459,9767,0.82,2.55,166.02,1.724,4,0.092,0.048,2036,1287,2225,0,0,0,0,3,0
$GC,9786,0.63,146.1,982.3,17.1,466,9791,0.00,2.47,0.00,0.000,6,0.000,0.053,2036,2662,2225,0,0,0,0,0,0
$GC,10114,0.63,146.1,921.4,19.1,477,10118,0.00,2.25,0.00,0.000,4,0.000,0.049,2046,1275,2220,0,0,0,0,0,0
$GC,10149,0.63,146.1,914.6,18.2,478,10153,0.00,2.30,0.00,0.000,6,0.000,0.055,2046,2673,2218,0,0,0,0,0,0
$GC,10481,0.63,146.1,848.7,20.3,489,10485,0.00,2.22,0.00,0.000,4,0.000,0.049,2057,1284,2218,0,0,0,0,0,0
$GC,10505,0.63,146.1,843.7,19.1,489,10512,0.00,2.25,0.00,0.000,6,0.000,0.053,2056,2674,2217,0,0,0,0,0,0
$GC,10822,0.63,146.1,779.4,20.8,500,10826,0.00,2.22,0.00,0.000,4,0.000,0.047,2067,1281,2216,0,0,0,0,0,0
$GC,10840,0.63,146.1,775.0,20.4,500,10845,0.12,2.22,0.00,0.000,6,0.210,0.053,2038,2670,2215,0,0,0,0,0,0
$GC,11162,0.63,146.1,716.6,18.2,511,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2215,0,0,0,0,0,0
$GC,11468,0.63,146.1,663.3,17.2,521,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2214,0,0,0,0,0,0
$GC,11774,0.63,146.1,611.6,17.0,531,11778,0.00,2.22,0.00,0.000,4,0.000,0.046,2048,1272,2214,0,0,0,0,0,0
$GC,11811,0.63,146.1,605.6,16.0,532,11815,0.00,2.25,0.00,0.000,6,0.000,0.054,2048,2671,2212,0,0,0,0,0,0
$GC,12154,0.63,146.1,545.3,17.9,543,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2212,0,0,0,0,0,0
$GC,12460,0.63,146.1,490.8,17.8,553,12464,0.00,2.22,0.00,0.000,4,0.000,0.046,2058,1270,2212,0,0,0,0,0,0
$GC,12491,0.63,146.1,485.5,16.4,554,12495,0.00,2.28,0.00,0.000,6,0.000,0.052,2058,2675,2212,0,0,0,0,0,0
$GC,12829,0.63,146.1,422.8,19.1,565,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2676,2212,0,0,0,0,0,0
$GC,13137,0.63,146.1,363.8,18.9,578,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2676,2212,0,0,0,0,0,0
$GC,13449,0.63,146.1,304.4,19.1,593,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2676,2212,0,0,0,0,0,0
$GC,13756,0.63,146.1,246.4,18.5,608,13760,0.00,2.20,0.00,0.000,4,0.000,0.044,2068,1276,2211,0,0,0,0,0,0
$GC,13788,0.63,146.1,240.5,18.3,610,13793,0.12,2.28,0.00,0.000,6,0.195,0.052,2039,2682,2211,0,0,0,0,0,0
$GC,14122,0.63,146.1,183.9,17.1,631,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2682,2211,0,0,0,0,0,0
$GC,14443,0.63,146.1,128.8,16.1,652,14447,0.00,2.22,0.00,0.000,4,0.000,0.043,2048,1275,2211,0,0,0,0,0,0
$GC,14467,0.63,146.1,124.6,15.6,653,14474,0.00,2.25,0.00,0.000,6,0.000,0.051,2048,2673,2211,0,0,0,0,0,0
$GC,14805,0.63,146.1,67.6,17.5,696,14814,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1281,2211,0,0,0,0,0,0
$GC,14830,0.63,146.1,63.8,16.6,699,14837,0.00,2.28,0.00,0.000,6,0.000,0.051,2058,2674,2211,0,0,0,0,0,0
$GC,15204,0.63,146.1,3.4,17.9,760,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2675,2211,0,0,0,0,0,0
$STATE,15221,end climb,SURFACE_DEPTH_REACHED
$STATE,15221,begin surface coast
$FINISH,0.9,1.004666
$STATE,15241,end surface coast,CONTROL_FINISHED_OK
$STATE,15241,begin surface
$SM_CCo,15265,46.03,0.709,1,0,1880,230.09
$SM_GC,2.26,0.00,0.00,46.03,0.000,0.000,0.709,49,2889,1880,-5.57,0.82,230.09
$IRIDIUM_FIX,-4311.50,710.81,010313,181848
$TT8_MAMPS,0.026215
$HUMID,58.62
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.1,85.737
$10V_AH,9.9,46.313
$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,14.350,93.750,313.550,46.025,0.000,26.440,26.214,359.188,0.000,0.000,19.431,1886.515,10579.744,479.081,2328.794,695.779,33.376,1291.311,0.000,1844.747,0.000,1.010,0.000
$DEVICE_MAMPS,250.155,65.025,1796.985,709.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.276,1516.735,814.768,310.843,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,56964,765
$CAP_FILE_SIZE,117072,0
$CFSIZE,259252224,200105984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,020313,034552,-4324.574,708.908,40,0.8,41,-24.6