version: 66.07
glider: 542
mission: 6
dive: 475
start: 3 4 113 21 8 36
data:
$ID,542
$MISSION,6
$DIVE,475
$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,-14899.528
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,040313,205734,-4330.792,704.889,24,0.8,24,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-61.5
$GPS2,040313,210736,-4330.778,705.109,15,1.7,16,-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,18414.9,-1098.5,-312.6,195952.8,7313.8
$KALMAN_Y,800457.2,-502.8,-231.5,-428376.6,1929.3
$MHEAD_RNG_PITCHd_Wd,323.7,6179,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.78,-63.1,0.0,0.0,0,83,0.00,0.00,-54.78,0.000,2,0.000,0.000,48,2882,2985,0,0,0,0,0,0
$GC,90,-0.86,-131.4,3.2,-2.7,7,116,6.43,1.65,-10.52,0.000,4,0.246,0.073,1536,3893,3356,0,0,0,0,0,0
$GC,264,-0.86,-131.4,41.6,-24.3,33,270,0.00,1.60,0.00,0.000,6,0.000,0.030,1536,2853,3357,0,0,0,0,0,0
$GC,505,-0.86,-131.4,95.6,-22.1,74,512,0.00,2.12,0.00,0.000,4,0.000,0.034,1537,1457,3357,0,0,0,0,0,0
$GC,554,-0.86,-131.4,105.5,-18.0,78,563,0.00,2.25,0.00,0.000,6,0.000,0.047,1526,2856,3358,0,0,0,0,0,0
$GC,878,-0.86,-131.4,172.0,-20.3,99,882,0.00,2.15,0.00,0.000,4,0.000,0.034,1526,1461,3358,0,0,0,0,0,0
$GC,902,-0.86,-131.4,177.8,-21.1,100,906,0.12,2.22,0.00,0.000,6,0.194,0.047,1544,2862,3358,0,0,0,0,0,0
$GC,1228,-0.86,-131.4,235.0,-17.4,120,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2862,3359,0,0,0,0,0,0
$GC,1564,-0.86,-131.4,290.2,-16.4,138,1568,0.00,2.17,0.00,0.000,4,0.000,0.035,1544,1454,3360,0,0,0,0,0,0
$GC,1593,-0.86,-131.4,294.2,-15.6,139,1597,0.00,2.22,0.00,0.000,6,0.000,0.047,1535,2863,3360,0,0,0,0,0,0
$GC,1924,-0.86,-131.4,347.1,-16.3,155,1928,0.00,1.62,0.00,0.000,4,0.000,0.054,1527,3922,3361,0,0,0,0,0,0
$GC,1965,-0.86,-131.4,354.8,-17.8,156,1974,0.00,1.62,0.00,0.000,6,0.000,0.028,1527,2844,3361,0,0,0,0,0,0
$GC,2303,-0.86,-131.4,412.3,-17.6,172,2307,0.00,2.10,0.00,0.000,4,0.000,0.034,1527,1472,3361,0,0,0,0,0,0
$GC,2321,-0.86,-131.4,416.1,-18.2,172,2326,0.12,2.22,0.00,0.000,6,0.195,0.047,1545,2868,3361,0,0,0,0,0,0
$GC,2637,-0.86,-131.4,468.7,-17.1,182,2641,0.00,2.15,0.00,0.000,4,0.000,0.034,1545,1477,3361,0,0,0,0,0,0
$GC,2678,-0.86,-131.4,476.0,-15.9,183,2682,0.00,2.22,0.00,0.000,6,0.000,0.048,1536,2869,3361,0,0,0,0,0,0
$GC,3004,-0.86,-131.4,532.5,-17.5,194,3008,0.00,1.62,0.00,0.000,4,0.000,0.055,1528,3922,3361,0,0,0,0,0,0
$GC,3035,-0.86,-131.4,538.3,-19.6,194,3042,0.00,1.60,0.00,0.000,6,0.000,0.030,1528,2855,3361,0,0,0,0,0,0
$GC,3352,-0.86,-131.4,595.5,-17.9,205,3356,0.00,2.10,0.00,0.000,4,0.000,0.035,1527,1483,3361,0,0,0,0,0,0
$GC,3375,-0.86,-131.4,600.4,-17.9,205,3383,0.12,2.20,0.00,0.000,6,0.198,0.049,1545,2862,3361,0,0,0,0,0,0
$GC,3691,-0.86,-131.4,650.5,-15.7,216,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2862,3361,0,0,0,0,0,0
$GC,3997,-0.86,-131.4,696.7,-14.9,226,4001,0.00,2.12,0.00,0.000,4,0.000,0.035,1545,1477,3360,0,0,0,0,0,0
$GC,4032,-0.86,-131.4,702.2,-13.9,227,4036,0.00,2.20,0.00,0.000,6,0.000,0.050,1536,2859,3360,0,0,0,0,0,0
$GC,4364,-0.86,-131.4,752.8,-15.5,238,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2859,3359,0,0,0,0,0,0
$GC,4671,-0.86,-131.4,801.4,-15.7,248,4675,0.00,2.12,0.00,0.000,4,0.000,0.035,1536,1484,3358,0,0,0,0,0,0
$GC,4723,-0.86,-131.4,809.8,-15.0,249,4727,0.00,2.22,0.00,0.000,6,0.000,0.050,1526,2870,3358,0,0,0,0,0,0
$GC,5041,-0.86,-131.4,859.9,-16.2,259,5044,0.00,2.15,0.00,0.000,4,0.000,0.036,1526,1480,3358,0,0,0,0,0,0
$GC,5058,-0.86,-131.4,863.6,-16.2,259,5063,0.15,2.22,0.00,0.000,6,0.196,0.049,1550,2865,3358,0,0,0,0,0,0
$GC,5374,-0.86,-131.4,906.8,-13.5,269,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2866,3357,0,0,0,0,0,0
$GC,5680,-0.86,-131.4,948.8,-13.6,279,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2865,3356,0,0,0,0,0,0
$GC,5987,-0.86,-131.4,990.8,-13.6,289,5991,0.00,2.12,0.00,0.000,4,0.000,0.036,1551,1478,3356,0,0,0,0,0,0
$GC,6044,-0.86,-131.4,998.7,-12.6,290,6051,0.00,2.22,0.00,0.000,6,0.000,0.050,1541,2862,3356,0,0,0,0,0,0
$STATE,6079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6079,begin apogee
$GC,6090,-0.18,0.0,1003.6,13.1,292,6232,0.82,0.00,132.40,1.784,6,0.180,0.000,1768,2666,2821,0,0,0,0,1,0
$STATE,6234,end apogee,CONTROL_FINISHED_OK
$STATE,6234,begin climb
$GC,6239,0.86,131.4,1009.1,0.0,297,6400,1.02,2.50,146.73,1.740,4,0.085,0.044,2109,1302,2287,0,0,0,0,1,0
$GC,6486,0.86,131.4,972.2,19.9,304,6491,0.00,2.38,0.00,0.000,6,0.000,0.050,2109,2671,2283,0,0,0,0,0,0
$GC,6807,0.86,131.4,899.3,22.9,315,6811,0.00,1.98,0.00,0.000,4,0.000,0.059,2109,3905,2279,0,0,0,0,0,0
$GC,6825,0.86,131.4,894.7,22.6,315,6829,0.00,1.92,0.00,0.000,6,0.000,0.038,2119,2681,2279,0,0,0,0,0,0
$GC,7152,0.86,131.4,821.4,22.4,326,7155,0.00,1.98,0.00,0.000,4,0.000,0.059,2119,3899,2277,0,0,0,0,0,0
$GC,7164,0.86,131.4,818.2,22.0,326,7167,0.00,1.90,0.00,0.000,6,0.000,0.037,2128,2666,2277,0,0,0,0,0,0
$GC,7495,0.86,131.4,741.4,23.5,337,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2663,2276,0,0,0,0,0,0
$GC,7803,0.86,131.4,670.3,23.3,347,7807,0.00,2.20,0.00,0.000,4,0.000,0.042,2139,1267,2275,0,0,0,0,0,0
$GC,7821,0.86,131.4,665.2,23.3,347,7826,0.12,2.28,0.00,0.000,6,0.245,0.049,2114,2682,2274,0,0,0,0,0,0
$GC,8137,0.86,131.4,596.0,22.0,357,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2682,2273,0,0,0,0,0,0
$GC,8443,0.86,131.4,531.6,20.6,367,8447,0.00,1.95,0.00,0.000,4,0.000,0.057,2114,3896,2274,0,0,0,0,0,0
$GC,8552,0.86,131.4,505.7,24.9,370,8555,0.00,1.90,0.00,0.000,6,0.000,0.035,2122,2661,2274,0,0,0,0,0,0
$GC,8889,0.86,131.4,432.4,21.6,381,8892,0.00,2.00,0.00,0.000,4,0.000,0.058,2122,3904,2273,0,0,0,0,0,0
$GC,9008,0.86,131.4,403.4,23.7,384,9012,0.00,1.90,0.00,0.000,6,0.000,0.036,2132,2670,2273,0,0,0,0,0,0
$GC,9337,0.86,131.4,333.0,20.9,400,9341,0.00,2.00,0.00,0.000,4,0.000,0.060,2132,3899,2273,0,0,0,0,0,0
$GC,9432,0.86,131.4,309.9,26.0,404,9436,0.15,1.90,0.00,0.000,6,0.249,0.036,2110,2668,2273,0,0,0,0,0,0
$GC,9757,0.86,131.4,240.8,21.0,420,9761,0.00,2.00,0.00,0.000,4,0.000,0.057,2109,3907,2272,0,0,0,0,0,0
$GC,9779,0.86,131.4,236.3,22.1,421,9783,0.00,1.95,0.00,0.000,6,0.000,0.036,2118,2664,2272,0,0,0,0,0,0
$GC,10112,0.86,131.4,164.3,21.7,442,10116,0.00,2.00,0.00,0.000,4,0.000,0.057,2118,3899,2272,0,0,0,0,0,0
$GC,10141,0.86,131.4,157.6,22.4,443,10150,0.00,1.90,0.00,0.000,6,0.000,0.035,2128,2663,2272,0,0,0,0,0,0
$GC,10469,0.86,131.4,90.1,20.6,468,10478,0.00,2.20,0.00,0.000,4,0.000,0.041,2138,1268,2271,0,0,0,0,0,0
$GC,10520,0.86,131.4,79.6,20.5,475,10525,0.12,2.25,0.00,0.000,6,0.233,0.048,2113,2670,2271,0,0,0,0,0,0
$GC,10884,0.86,131.4,13.1,16.1,536,10893,0.00,2.20,0.00,0.000,4,0.000,0.038,2122,1269,2270,0,0,0,0,0,0
$STATE,10931,end climb,SURFACE_DEPTH_REACHED
$STATE,10931,begin surface coast
$FINISH,1.7,1.026208
$STATE,10939,end surface coast,CONTROL_FINISHED_OK
$STATE,10939,begin surface
$SM_CCo,10964,52.28,0.716,1,0,1880,230.09
$SM_GC,2.30,0.00,0.00,52.28,0.000,0.000,0.716,46,2869,1880,-5.58,0.28,230.09
$IRIDIUM_FIX,-4317.42,659.77,040313,171758
$TT8_MAMPS,0.026215
$HUMID,60.35
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,21.1,88.423
$10V_AH,9.9,47.946
$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,14.700,99.400,279.125,52.275,0.000,27.972,18.741,321.936,0.000,0.000,21.950,1396.939,7369.081,430.841,1843.432,578.398,33.370,1093.280,0.000,1424.448,0.000,1.010,0.000
$DEVICE_MAMPS,249.390,72.675,1783.980,716.040,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.191,1084.487,587.331,228.157,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,40471,544
$CAP_FILE_SIZE,95352,0
$CFSIZE,259252224,199114752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050313,001335,-4329.845,704.697,29,1.3,29,-24.6