version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 32
start: 7 21 116 20 55 57
data:
$ID,542
$MISSION,14
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$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,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-40004.387
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,2069
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,0
$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
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,210716,204733,-4258.875,850.342,387,0.9,387,-25.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.9
$GPS2,210716,205529,-4258.859,850.470,20,0.9,21,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET1
$TGT_LATLONG,-4300.000,850.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,225.8,2206,-27.8,-10.010,-30.00,969
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.85,-63.2,136,2081,2111,2040,0.0,0.0,0,56,0.00,0.00,-34.95,0.000,16390,0.000,0.000,137,2081,2956,3013,2899,0,0,0,0,0,0,28.83,28.83,26.38
$GC,58,-0.93,-126.9,136,2081,3013,2899,2.8,-3.3,6,81,8.15,2.28,-6.50,0.000,18692,0.234,0.083,2252,3481,3220,3317,3123,0,0,0,0,0,0,25.86,26.02,26.32
$GC,153,-0.93,-126.9,1352,3481,3302,3120,24.3,-21.8,23,161,0.00,2.28,0.00,0.000,1030,0.000,0.059,2252,2066,3222,3319,3125,0,0,0,0,0,0,28.83,26.06,28.83
$GC,283,-0.93,-126.9,2253,2066,3320,3125,54.3,-22.9,48,291,0.00,2.30,0.00,0.000,260,0.000,0.067,2244,3486,3222,3320,3125,0,0,0,0,0,0,28.83,26.11,28.83
$GC,312,-0.93,-126.9,1376,3484,3304,3121,61.7,-25.4,53,319,0.00,2.25,0.00,0.000,1030,0.000,0.057,2244,2068,3222,3320,3125,0,0,0,0,0,0,28.83,26.13,28.83
$GC,626,-0.93,-126.9,2244,2068,3320,3126,136.8,-24.0,100,630,0.00,2.28,0.00,0.000,260,0.000,0.066,2234,3490,3223,3320,3126,0,0,0,0,0,0,28.83,26.21,28.83
$GC,725,-0.93,-126.9,2234,3489,3320,3126,159.9,-23.6,109,734,0.12,2.25,0.00,0.000,3078,0.215,0.057,2266,2069,3223,3320,3126,0,0,0,0,0,0,26.13,26.24,28.83
$GC,1033,-0.93,-126.9,2266,2069,3320,3126,225.4,-20.2,140,1038,0.00,2.25,0.00,0.000,516,0.000,0.071,2267,659,3223,3320,3126,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1052,-0.93,-126.9,2266,658,3320,3126,228.7,-20.3,141,1060,0.00,2.28,0.00,0.000,1030,0.000,0.060,2258,2061,3223,3320,3126,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1360,-0.93,-126.9,2258,2061,3320,3127,296.3,-21.7,172,1364,0.00,2.28,0.00,0.000,260,0.000,0.067,2247,3494,3223,3319,3127,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1580,-0.93,-126.9,2247,3494,3320,3127,344.3,-21.7,193,1589,0.00,2.25,0.00,0.000,1030,0.000,0.057,2247,2068,3223,3320,3127,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1899,-0.93,-126.9,2247,2067,3320,3128,414.4,-21.7,222,1903,0.00,2.25,0.00,0.000,260,0.000,0.067,2237,3487,3224,3320,3128,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2028,-0.93,-126.9,2237,3487,3320,3128,439.7,-21.9,228,2036,0.10,2.28,0.00,0.000,3078,0.192,0.056,2265,2066,3224,3320,3128,0,0,0,0,0,0,26.29,26.41,28.83
$GC,2336,-0.93,-126.9,2265,2066,3320,3128,506.5,-20.9,244,2342,0.00,2.25,0.00,0.000,516,0.000,0.072,2265,659,3224,3320,3128,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2357,-0.93,-126.9,1536,658,3308,3125,510.8,-21.0,245,2362,0.00,2.28,0.00,0.000,1030,0.000,0.061,2257,2069,3224,3320,3129,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2675,-0.93,-126.9,2256,2069,3320,3129,577.8,-20.7,261,2679,0.00,2.25,0.00,0.000,260,0.000,0.070,2246,3490,3224,3320,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2774,-0.93,-126.9,2246,3490,3320,3129,597.9,-20.8,266,2778,0.00,2.28,0.00,0.000,1030,0.000,0.057,2246,2070,3224,3320,3129,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3091,-0.93,-126.9,2245,2070,3320,3128,663.0,-20.2,282,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2070,3224,3320,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3392,-0.93,-126.9,2245,2070,3320,3129,722.3,-19.8,297,3398,0.00,2.28,0.00,0.000,260,0.000,0.070,2235,3494,3224,3320,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3451,-0.93,-126.9,2235,3495,3320,3129,734.4,-20.0,300,3456,0.15,2.25,0.00,0.000,3078,0.207,0.060,2269,2070,3224,3320,3129,0,0,0,0,0,0,26.35,26.47,28.83
$GC,3767,-0.93,-126.9,2269,2069,3320,3129,793.3,-18.5,316,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2069,3224,3320,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4067,-0.93,-126.9,2269,2069,3320,3128,848.6,-18.3,331,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2069,3224,3320,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.93,-126.9,2269,2069,3320,3128,903.3,-18.2,346,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2069,3224,3320,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4668,-0.93,-126.9,2269,2068,3320,3128,956.8,-17.7,361,4674,0.00,2.28,0.00,0.000,516,0.000,0.080,2269,658,3224,3320,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4710,-0.93,-126.9,1504,658,3307,3124,964.1,-18.0,363,4714,0.00,2.30,0.00,0.000,1030,0.000,0.066,2261,2073,3224,3320,3128,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4907,begin apogee
$GC,4910,-0.14,0.0,2261,1928,3320,3128,1000.2,-18.0,373,5030,0.90,0.00,115.80,1.728,10246,0.189,0.000,2520,1928,2700,2786,2614,0,0,0,0,0,0,26.39,28.83,23.42
$STATE,5031,end apogee,CONTROL_FINISHED_OK
$STATE,5031,begin climb
$GC,5032,0.93,126.9,2519,1927,2786,2615,1005.3,0.0,379,5162,1.08,2.60,121.32,1.691,10756,0.111,0.083,2872,517,2182,2248,2117,0,0,0,0,0,0,24.44,23.99,23.07
$GC,5207,0.93,126.9,1984,517,2201,2108,984.2,16.8,387,5212,0.00,2.50,0.00,0.000,1030,0.000,0.068,2872,1924,2177,2242,2113,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5524,0.93,126.9,2872,1925,2241,2100,919.5,20.1,403,5528,0.00,2.38,0.00,0.000,260,0.000,0.074,2872,3340,2171,2241,2101,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5568,0.93,126.9,2872,3340,2238,2100,912.5,19.8,405,5572,0.00,2.38,0.00,0.000,1030,0.000,0.067,2882,1922,2169,2238,2100,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5880,0.93,126.9,2882,1921,2238,2098,851.8,18.9,421,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1921,2168,2238,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6180,0.93,126.9,2882,1921,2238,2097,796.4,18.3,436,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1921,2167,2238,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6480,0.93,126.9,2882,1921,2238,2096,741.2,18.5,451,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1921,2166,2238,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,0.93,126.9,2882,1921,2238,2094,686.4,18.1,466,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1922,2166,2238,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,0.93,126.9,2882,1921,2238,2094,633.0,17.5,481,7087,0.00,2.33,0.00,0.000,260,0.000,0.076,2882,3341,2166,2238,2094,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7140,0.93,126.9,2882,3341,2237,2094,622.5,17.5,484,7144,0.00,2.30,0.00,0.000,1030,0.000,0.070,2893,1924,2165,2237,2094,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7457,0.93,126.9,2892,1924,2237,2093,570.3,16.3,500,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1924,2165,2237,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,0.93,126.9,2892,1924,2237,2093,521.2,16.7,515,7760,0.00,2.33,0.00,0.000,260,0.000,0.076,2893,3346,2164,2236,2093,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7794,0.93,126.9,2048,3345,2197,2087,515.1,16.7,517,7800,0.08,2.35,0.00,0.000,5126,0.227,0.068,2884,1926,2164,2236,2093,0,0,0,0,0,0,26.19,26.31,28.83
$GC,8114,0.93,126.9,2883,1926,2235,2093,463.1,16.5,533,8119,0.00,2.33,0.00,0.000,516,0.000,0.086,2893,508,2164,2235,2093,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8155,0.93,126.9,2893,507,2234,2093,456.4,16.5,535,8159,0.00,2.35,0.00,0.000,1030,0.000,0.070,2890,1933,2164,2235,2093,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8473,0.93,126.9,2890,1933,2235,2093,404.3,16.2,551,8479,0.00,2.28,0.00,0.000,260,0.000,0.076,2890,3335,2164,2235,2093,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8625,0.93,126.9,2016,3334,2195,2087,378.5,17.2,564,8635,0.00,2.33,0.00,0.000,1030,0.000,0.067,2899,1921,2163,2234,2093,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8933,0.93,126.9,2899,1921,2235,2093,325.3,17.7,595,8937,0.00,2.30,0.00,0.000,260,0.000,0.075,2899,3337,2163,2234,2093,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9024,0.93,126.9,2899,3336,2234,2093,310.0,17.0,603,9031,0.15,2.28,0.00,0.000,5126,0.248,0.066,2879,1918,2163,2234,2093,0,0,0,0,0,0,26.25,26.39,28.83
$GC,9331,0.93,126.9,2878,1918,2234,2093,260.0,16.0,634,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1918,2163,2234,2093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,0.93,126.9,2878,1918,2234,2093,211.9,16.0,664,9642,0.00,2.30,0.00,0.000,260,0.000,0.074,2868,3340,2163,2235,2092,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9687,0.93,126.9,2868,3341,2234,2092,203.5,15.7,669,9695,0.00,2.25,0.00,0.000,1030,0.000,0.065,2877,1925,2163,2234,2093,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9996,0.93,126.9,2876,1925,2234,2093,158.4,13.9,700,10006,0.00,2.30,0.00,0.000,516,0.000,0.083,2888,508,2163,2234,2093,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10090,0.93,126.9,2888,508,2234,2092,144.7,14.6,709,10098,0.00,2.25,0.00,0.000,1030,0.000,0.067,2888,1932,2163,2234,2093,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10399,0.93,126.9,2888,1932,2234,2093,98.4,14.3,741,10406,0.00,2.30,0.00,0.000,260,0.000,0.073,2888,3337,2163,2234,2093,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10494,0.93,126.9,2887,3337,2234,2093,83.1,14.3,759,10501,0.00,2.30,0.00,0.000,1030,0.000,0.064,2898,1922,2163,2234,2093,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10807,0.93,126.9,1896,1920,2186,2086,29.5,19.9,820,10815,0.00,2.30,0.00,0.000,260,0.000,0.072,2898,3347,2163,2234,2093,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10887,0.93,126.9,1856,3345,2183,2086,14.7,20.0,835,10895,0.15,2.28,0.00,0.000,5126,0.236,0.062,2877,1921,2163,2234,2093,0,0,0,0,0,0,26.32,26.46,28.83
$GC,10938,0.93,126.9,1872,1919,2186,2086,4.5,21.1,844,10946,0.00,2.30,0.00,0.000,516,0.000,0.080,2886,512,2163,2234,2093,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10953,end climb,SURFACE_DEPTH_REACHED
$STATE,10953,begin surface coast
$FINISH,0.2,1.018136
$STATE,10971,end surface coast,CONTROL_FINISHED_OK
$STATE,10971,begin surface
$SM_CCo,10987,7.20,0.174,0,0,2085,150.12
$SM_GC,2.21,6.97,2.55,7.20,0.042,0.063,0.174,155,2068,2085,-7.42,-0.54,150.12,0,0,0,0,0,0,26.51,26.44,26.34
$IRIDIUM_FIX,-4242.04,846.11,180509,101015
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.12
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.1,6.973
$10V_AH,10.2,4.027
$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,17.850,101.725,237.125,7.200,0.000,53.938,73.420,186.770,0.000,0.000,21.442,2230.107,6755.179,365.580,2032.024,97.842,0.000,1204.144,0.000,1620.740,0.000,1.010,0.000
$DEVICE_MAMPS,247.860,85.680,1728.135,173.655,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.856,61.191,416.179,887.139,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353380
$DATA_FILE_SIZE,53755,849
$CAP_FILE_SIZE,147415,0
$CFSIZE,259252224,256544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.081,343.4,1
$GPS,220716,000121,-4259.753,849.591,95,1.1,95,-25.2