version: 66.07
glider: 542
mission: 6
dive: 465
start: 3 3 113 7 41 35
data:
$ID,542
$MISSION,6
$DIVE,465
$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,-14855.622
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,030313,073105,-4330.981,707.582,24,1.3,24,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-64.5
$GPS2,030313,074035,-4331.018,707.705,19,1.1,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.152,0.084
$KALMAN_X,-3135.7,-403.6,-419.3,220198.0,2707.2
$KALMAN_Y,790673.9,-364.1,-503.0,-418904.0,3114.1
$MHEAD_RNG_PITCHd_Wd,323.5,4122,-27.2,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.78,-63.1,0.0,0.0,0,76,0.00,0.00,-47.00,0.000,2,0.000,0.000,57,2871,2808,0,0,0,0,0,0
$GC,82,-0.85,-120.5,3.1,-3.9,6,116,6.32,2.22,-18.42,0.000,4,0.244,0.047,1550,1459,3311,0,0,0,0,0,0
$GC,165,-0.85,-120.5,12.3,-16.4,17,174,0.00,2.28,0.00,0.000,6,0.000,0.049,1541,2859,3312,0,0,0,0,0,0
$GC,252,-0.85,-120.5,30.2,-22.1,30,261,0.00,1.62,0.00,0.000,4,0.000,0.054,1533,3891,3313,0,0,0,0,0,0
$GC,280,-0.85,-120.5,36.2,-22.1,33,286,0.00,1.60,0.00,0.000,6,0.000,0.029,1533,2829,3313,0,0,0,0,0,0
$GC,522,-0.85,-120.5,88.9,-18.3,74,528,0.00,1.73,0.00,0.000,4,0.000,0.054,1525,3897,3313,0,0,0,0,0,0
$GC,578,-0.85,-120.5,99.4,-19.5,83,583,0.08,1.55,0.00,0.000,6,0.186,0.028,1546,2862,3313,0,0,0,0,0,0
$GC,900,-0.85,-120.5,155.3,-17.1,104,904,0.00,2.08,0.00,0.000,4,0.000,0.034,1547,1478,3314,0,0,0,0,0,0
$GC,958,-0.85,-120.5,164.7,-14.2,107,965,0.00,2.20,0.00,0.000,6,0.000,0.048,1537,2863,3314,0,0,0,0,0,0
$GC,1281,-0.85,-120.5,218.6,-17.8,128,1285,0.00,1.62,0.00,0.000,4,0.000,0.054,1530,3894,3315,0,0,0,0,0,0
$GC,1393,-0.85,-120.5,240.3,-18.6,134,1396,0.00,1.55,0.00,0.000,6,0.000,0.028,1529,2859,3315,0,0,0,0,0,0
$GC,1724,-0.85,-120.5,298.5,-18.0,151,1728,0.00,2.08,0.00,0.000,4,0.000,0.034,1529,1480,3316,0,0,0,0,0,0
$GC,1760,-0.85,-120.5,305.7,-17.0,152,1769,0.10,2.22,0.00,0.000,6,0.170,0.048,1547,2859,3316,0,0,0,0,0,0
$GC,2078,-0.85,-120.5,358.2,-16.8,168,2082,0.00,1.65,0.00,0.000,4,0.000,0.055,1541,3919,3317,0,0,0,0,0,0
$GC,2119,-0.85,-120.5,365.8,-18.3,169,2126,0.00,1.60,0.00,0.000,6,0.000,0.029,1541,2848,3317,0,0,0,0,0,0
$GC,2457,-0.85,-120.5,422.6,-16.7,184,2461,0.00,1.70,0.00,0.000,4,0.000,0.057,1533,3901,3317,0,0,0,0,0,0
$GC,2497,-0.85,-120.5,430.2,-18.4,185,2501,0.00,1.55,0.00,0.000,6,0.000,0.029,1533,2865,3318,0,0,0,0,0,0
$GC,2835,-0.85,-120.5,489.3,-17.7,196,2839,0.00,1.67,0.00,0.000,4,0.000,0.057,1525,3897,3318,0,0,0,0,0,0
$GC,2853,-0.85,-120.5,493.0,-17.6,196,2858,0.08,1.55,0.00,0.000,6,0.179,0.029,1547,2867,3318,0,0,0,0,0,0
$GC,3180,-0.85,-120.5,545.1,-16.1,207,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2862,3318,0,0,0,0,0,0
$GC,3488,-0.85,-120.5,592.4,-15.2,217,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2862,3317,0,0,0,0,0,0
$GC,3792,-0.85,-120.5,637.1,-14.5,227,3796,0.00,2.12,0.00,0.000,4,0.000,0.036,1547,1477,3317,0,0,0,0,0,0
$GC,3805,-0.85,-120.5,639.3,-14.7,227,3809,0.00,2.22,0.00,0.000,6,0.000,0.049,1538,2863,3317,0,0,0,0,0,0
$GC,4127,-0.85,-120.5,688.0,-15.4,238,4131,0.00,2.15,0.00,0.000,4,0.000,0.035,1538,1480,3316,0,0,0,0,0,0
$GC,4163,-0.85,-120.5,693.9,-15.1,239,4168,0.12,2.22,0.00,0.000,6,0.196,0.050,1555,2865,3316,0,0,0,0,0,0
$GC,4495,-0.85,-120.5,740.2,-14.3,250,4499,0.00,1.65,0.00,0.000,4,0.000,0.057,1549,3913,3316,0,0,0,0,0,0
$GC,4507,-0.85,-120.5,742.2,-14.3,250,4511,0.00,1.60,0.00,0.000,6,0.000,0.031,1549,2850,3315,0,0,0,0,0,0
$GC,4840,-0.85,-120.5,791.7,-14.9,261,4843,0.00,2.08,0.00,0.000,4,0.000,0.036,1549,1491,3315,0,0,0,0,0,0
$GC,4857,-0.85,-120.5,794.9,-15.2,261,4861,0.00,2.20,0.00,0.000,6,0.000,0.050,1539,2860,3315,0,0,0,0,0,0
$GC,5178,-0.85,-120.5,843.5,-15.1,272,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2860,3315,0,0,0,0,0,0
$GC,5484,-0.85,-120.5,888.3,-14.4,282,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2860,3314,0,0,0,0,0,0
$GC,5790,-0.85,-120.5,930.8,-13.6,292,5794,0.00,1.67,0.00,0.000,4,0.000,0.060,1530,3891,3314,0,0,0,0,0,0
$GC,5827,-0.85,-120.5,935.9,-15.1,293,5831,0.00,1.55,0.00,0.000,6,0.000,0.031,1531,2862,3314,0,0,0,0,0,0
$GC,6172,-0.85,-120.5,981.9,-13.1,304,6176,0.00,2.12,0.00,0.000,4,0.000,0.037,1531,1476,3314,0,0,0,0,0,0
$GC,6229,-0.85,-120.5,989.7,-13.0,305,6237,0.15,2.22,0.00,0.000,6,0.197,0.052,1556,2860,3313,0,0,0,0,0,0
$STATE,6326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6326,begin apogee
$GC,6336,-0.18,0.0,1001.4,11.9,309,6458,0.75,0.00,118.03,1.270,6,0.174,0.000,1766,2677,2819,0,0,0,0,0,0
$STATE,6460,end apogee,CONTROL_FINISHED_OK
$STATE,6460,begin climb
$GC,6465,0.85,120.5,1004.0,0.0,313,6610,1.00,2.47,128.90,1.742,4,0.090,0.042,2109,1292,2330,0,0,0,0,1,0
$GC,6658,0.85,120.5,974.8,20.6,318,6665,0.00,2.40,0.00,0.000,6,0.000,0.050,2109,2664,2328,0,0,0,0,0,0
$GC,6974,0.85,120.5,903.2,22.5,329,6977,0.00,2.20,0.00,0.000,4,0.000,0.044,2120,1293,2324,0,0,0,0,0,0
$GC,6991,0.85,120.5,898.8,22.5,329,6996,0.00,2.28,0.00,0.000,6,0.000,0.052,2120,2683,2323,0,0,0,0,0,0
$GC,7312,0.85,120.5,825.6,22.7,340,7316,0.00,1.92,0.00,0.000,4,0.000,0.060,2120,3894,2321,0,0,0,0,0,0
$GC,7342,0.85,120.5,818.3,24.8,340,7349,0.00,1.88,0.00,0.000,6,0.000,0.037,2129,2684,2321,0,0,0,0,0,0
$GC,7659,0.85,120.5,747.0,22.4,351,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2679,2320,0,0,0,0,0,0
$GC,7965,0.85,120.5,677.1,22.9,361,7969,0.00,1.98,0.00,0.000,4,0.000,0.057,2128,3900,2319,0,0,0,0,0,0
$GC,7983,0.85,120.5,672.0,23.3,361,7988,0.15,1.92,0.00,0.000,6,0.256,0.037,2108,2662,2319,0,0,0,0,0,0
$GC,8305,0.85,120.5,602.6,21.5,372,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2657,2319,0,0,0,0,0,0
$GC,8611,0.85,120.5,538.3,21.1,382,8614,0.00,2.03,0.00,0.000,4,0.000,0.058,2105,3907,2318,0,0,0,0,0,0
$GC,8629,0.85,120.5,534.1,21.5,382,8632,0.00,1.90,0.00,0.000,6,0.000,0.037,2114,2669,2318,0,0,0,0,0,0
$GC,8954,0.85,120.5,464.7,21.2,393,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2667,2318,0,0,0,0,0,0
$GC,9261,0.85,120.5,399.3,21.4,403,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2667,2317,0,0,0,0,0,0
$GC,9570,0.85,120.5,333.0,21.2,418,9574,0.00,2.00,0.00,0.000,4,0.000,0.057,2113,3911,2316,0,0,0,0,0,0
$GC,9588,0.85,120.5,328.6,21.6,418,9597,0.00,1.95,0.00,0.000,6,0.000,0.037,2123,2668,2317,0,0,0,0,0,0
$GC,9907,0.85,120.5,258.8,21.7,434,9910,0.00,2.00,0.00,0.000,4,0.000,0.057,2122,3904,2317,0,0,0,0,0,0
$GC,9924,0.85,120.5,254.4,21.8,434,9933,0.00,1.95,0.00,0.000,6,0.000,0.037,2132,2664,2316,0,0,0,0,0,0
$GC,10253,0.85,120.5,182.5,23.4,455,10257,0.00,2.03,0.00,0.000,4,0.000,0.057,2131,3917,2316,0,0,0,0,0,0
$GC,10328,0.85,120.5,162.9,25.6,459,10333,0.15,1.95,0.00,0.000,6,0.245,0.036,2108,2657,2316,0,0,0,0,0,0
$GC,10658,0.85,120.5,98.7,19.6,479,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2652,2316,0,0,0,0,0,0
$GC,11014,0.85,120.5,38.3,15.2,540,11023,0.00,2.17,0.00,0.000,4,0.000,0.040,2118,1270,2315,0,0,0,0,0,0
$GC,11113,0.85,120.5,23.0,15.5,555,11121,0.00,2.28,0.00,0.000,6,0.000,0.049,2118,2670,2314,0,0,0,0,0,0
$GC,11200,0.85,120.5,8.0,17.4,568,11209,0.00,2.25,0.00,0.000,4,0.000,0.042,2129,1258,2314,0,0,0,0,0,0
$STATE,11223,end climb,SURFACE_DEPTH_REACHED
$STATE,11223,begin surface coast
$FINISH,1.1,1.019995
$STATE,11243,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11267,56.88,0.732,1,0,1881,230.09
$SM_GC,2.32,0.00,0.00,56.88,0.000,0.000,0.732,42,2864,1881,-5.59,0.11,230.09
$IRIDIUM_FIX,-4317.42,705.66,030313,040434
$TT8_MAMPS,0.026215
$HUMID,59.01
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.2,86.951
$10V_AH,9.8,47.051
$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,14.275,98.725,246.925,56.875,0.000,24.807,28.918,293.933,0.000,0.000,22.459,1444.841,7610.234,414.185,1851.041,576.803,33.377,1081.144,0.000,1444.877,0.000,1.010,0.000
$DEVICE_MAMPS,256.275,59.670,1741.905,732.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.133,1142.714,630.001,252.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354364
$DATA_FILE_SIZE,40389,574
$CAP_FILE_SIZE,96926,0
$CFSIZE,259252224,199684096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,105153,-4330.115,707.549,41,1.0,41,-24.6