version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 44
start: 7 23 116 15 30 18
data:
$ID,542
$MISSION,14
$DIVE,44
$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,345
$T_MISSION,400
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,120
$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,-40019.559
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,230716,152254,-4300.052,851.494,46,1.9,46,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.2
$GPS2,230716,152951,-4300.078,851.623,61,3.1,81,-25.2
$SPEED_LIMITS,0.207,0.232
$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,287.5,2203,-22.5,-9.662,-25.00,1454
$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,-0.74,-91.6,168,2084,2108,2044,0.0,0.0,0,55,0.00,0.00,-37.72,0.000,16390,0.000,0.000,169,2084,3075,3157,2994,0,0,0,0,0,0,28.83,28.83,26.43
$GC,58,-0.77,-116.8,169,2084,3158,2994,3.2,-5.3,6,80,8.40,2.38,-2.42,0.000,18948,0.243,0.081,2326,649,3180,3276,3085,0,0,0,0,0,0,25.89,26.07,26.35
$GC,314,-0.77,-116.8,2325,650,3279,3086,54.9,-17.5,55,321,0.00,2.25,0.00,0.000,1030,0.000,0.060,2317,2063,3181,3278,3085,0,0,0,0,0,0,28.83,26.17,28.83
$GC,627,-0.77,-116.8,2317,2064,3280,3086,112.0,-18.9,110,631,0.00,2.28,0.00,0.000,260,0.000,0.067,2307,3488,3183,3280,3086,0,0,0,0,0,0,28.83,26.24,28.83
$GC,747,-0.77,-116.8,2306,3488,3280,3086,134.6,-19.4,121,755,0.00,2.30,0.00,0.000,1030,0.000,0.057,2312,2065,3183,3280,3086,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1055,-0.77,-116.8,2312,2064,3281,3086,193.3,-17.8,152,1059,0.00,2.28,0.00,0.000,260,0.000,0.066,2303,3494,3183,3281,3086,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1091,-0.77,-116.8,2302,3494,3281,3086,200.1,-18.8,155,1096,0.00,2.25,0.00,0.000,1030,0.000,0.057,2303,2066,3183,3281,3086,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1398,-0.77,-116.8,2303,2065,3281,3085,257.0,-18.4,185,1407,0.00,2.25,0.00,0.000,516,0.000,0.071,2303,659,3183,3281,3086,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1440,-0.77,-116.8,2304,659,3281,3086,264.9,-18.9,189,1449,0.12,2.22,0.00,0.000,3078,0.219,0.060,2319,2075,3183,3281,3086,0,0,0,0,0,0,26.23,26.35,28.83
$GC,1749,-0.77,-116.8,2319,2075,3282,3086,316.6,-16.7,220,1759,0.00,2.22,0.00,0.000,260,0.000,0.067,2310,3481,3184,3282,3086,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1862,-0.77,-116.8,2310,3482,3282,3086,335.7,-16.5,231,1866,0.00,2.22,0.00,0.000,1030,0.000,0.057,2310,2063,3184,3282,3086,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2168,-0.77,-116.8,2310,2062,3283,3086,387.2,-16.6,261,2177,0.00,2.25,0.00,0.000,516,0.000,0.070,2310,654,3184,3283,3086,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2210,-0.77,-116.8,2310,653,3283,3087,394.4,-17.4,265,2219,0.00,2.22,0.00,0.000,1030,0.000,0.060,2300,2071,3185,3283,3087,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2529,-0.77,-116.8,2300,2072,3283,3087,449.7,-17.0,283,2533,0.00,2.25,0.00,0.000,260,0.000,0.068,2289,3492,3185,3283,3087,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2645,-0.77,-116.8,2289,3492,3282,3088,469.8,-17.3,289,2652,0.15,2.22,0.00,0.000,3078,0.201,0.057,2323,2068,3185,3282,3088,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2965,-0.77,-116.8,2323,2067,3283,3088,522.2,-16.7,305,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2067,3185,3283,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3265,-0.77,-116.8,2323,2067,3283,3088,573.1,-17.0,320,3270,0.00,2.28,0.00,0.000,516,0.000,0.073,2323,650,3185,3283,3087,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3344,-0.77,-116.8,2323,650,3283,3088,587.0,-17.4,324,3349,0.00,2.22,0.00,0.000,1030,0.000,0.063,2314,2066,3184,3282,3087,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3662,-0.77,-116.8,2314,2066,3283,3087,639.1,-16.5,340,3667,0.00,2.28,0.00,0.000,260,0.000,0.071,2304,3493,3185,3283,3088,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3748,-0.77,-116.8,2303,3493,3283,3087,652.0,-16.1,344,3752,0.00,2.25,0.00,0.000,1030,0.000,0.060,2304,2066,3185,3283,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4062,-0.77,-116.8,2303,2066,3283,3087,703.7,-15.6,360,4067,0.00,2.28,0.00,0.000,260,0.000,0.070,2293,3502,3185,3283,3087,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4083,-0.77,-116.8,1536,3501,3268,3084,706.8,-15.7,361,4089,0.08,2.30,0.00,0.000,3078,0.196,0.060,2314,2071,3185,3283,3087,0,0,0,0,0,0,26.38,26.48,28.83
$GC,4401,-0.77,-116.8,2314,2071,3283,3087,754.3,-14.6,377,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2071,3185,3283,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.77,-116.8,2314,2071,3283,3087,798.8,-14.8,392,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2071,3185,3283,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,-0.77,-116.8,2314,2071,3282,3087,844.1,-15.3,407,5007,0.00,2.28,0.00,0.000,260,0.000,0.073,2305,3491,3184,3282,3087,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5033,-0.77,-116.8,2305,3491,3283,3087,847.2,-15.2,408,5041,0.00,2.28,0.00,0.000,1030,0.000,0.060,2305,2073,3185,3283,3087,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5342,-0.77,-116.8,2305,2073,3283,3087,897.3,-16.2,424,5347,0.00,2.28,0.00,0.000,516,0.000,0.076,2305,653,3185,3283,3087,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5370,-0.77,-116.8,2305,652,3282,3087,900.7,-16.4,425,5375,0.12,2.25,0.00,0.000,3078,0.224,0.064,2321,2076,3184,3282,3087,0,0,0,0,0,0,26.38,26.51,28.83
$GC,5675,-0.77,-116.8,2321,2076,3283,3087,948.8,-15.1,440,5679,0.00,2.25,0.00,0.000,260,0.000,0.072,2312,3488,3185,3283,3087,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5714,-0.77,-116.8,1536,3487,3267,3083,954.2,-15.1,442,5718,0.00,2.28,0.00,0.000,1030,0.000,0.061,2312,2073,3184,3282,3087,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,6010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6010,begin apogee
$GC,6014,-0.14,0.0,2311,1923,3282,3086,1000.9,-15.5,457,6125,0.73,0.00,107.50,1.735,10246,0.180,0.000,2523,1923,2700,2786,2614,0,0,0,0,0,0,26.41,28.83,23.46
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6128,0.77,116.8,2523,1923,2786,2614,1006.4,0.0,462,6246,0.90,0.00,112.65,1.701,10758,0.109,0.000,2810,1923,2223,2289,2157,0,0,0,0,0,0,24.49,28.83,23.08
$GC,6548,0.77,116.8,2810,1923,2280,2141,957.5,14.5,483,6553,0.00,2.38,0.00,0.000,260,0.000,0.074,2810,3332,2210,2280,2141,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6614,0.77,116.8,2810,3332,2278,2140,948.2,15.4,486,6618,0.00,2.40,0.00,0.000,1030,0.000,0.067,2820,1931,2209,2278,2140,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6926,0.77,116.8,2820,1930,2278,2138,899.6,15.0,502,6930,0.00,2.40,0.00,0.000,516,0.000,0.085,2832,509,2208,2278,2138,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6951,0.77,116.8,2831,509,2277,2138,897.2,15.1,503,6956,0.00,2.33,0.00,0.000,1030,0.000,0.068,2832,1922,2207,2277,2138,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7257,0.77,116.8,2832,1922,2278,2138,847.0,15.8,518,7261,0.00,2.33,0.00,0.000,260,0.000,0.076,2832,3337,2207,2277,2138,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7325,0.77,116.8,2832,3337,2277,2138,837.7,16.5,521,7333,0.00,2.38,0.00,0.000,1030,0.000,0.067,2842,1887,2207,2276,2138,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7633,0.77,116.8,2842,1887,2277,2137,785.2,16.3,537,7639,0.00,2.40,0.00,0.000,260,0.000,0.075,2842,3346,2207,2277,2137,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7656,0.77,116.8,2842,3346,2276,2137,781.9,16.4,538,7660,0.15,2.33,0.00,0.000,5126,0.243,0.067,2822,1919,2206,2276,2137,0,0,0,0,0,0,25.98,26.11,28.83
$GC,7972,0.77,116.8,2822,1919,2276,2137,732.9,15.1,554,7977,0.00,2.33,0.00,0.000,260,0.000,0.075,2822,3338,2206,2276,2137,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7996,0.77,116.8,2821,3338,2276,2137,730.3,15.3,555,8001,0.00,2.35,0.00,0.000,1030,0.000,0.067,2830,1921,2206,2276,2137,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8308,0.77,116.8,2830,1921,2276,2137,681.9,15.0,571,8312,0.00,2.33,0.00,0.000,260,0.000,0.074,2830,3346,2206,2276,2137,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8326,0.77,116.8,1952,3345,2232,2130,679.5,14.8,572,8331,0.00,2.35,0.00,0.000,1030,0.000,0.067,2841,1926,2205,2275,2136,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8645,0.77,116.8,2841,1925,2275,2136,631.9,14.6,588,8651,0.00,2.30,0.00,0.000,260,0.000,0.074,2841,3338,2205,2275,2136,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8692,0.77,116.8,2841,3338,2275,2136,625.7,15.1,590,8697,0.12,2.33,0.00,0.000,5126,0.251,0.066,2827,1925,2205,2275,2136,0,0,0,0,0,0,26.15,26.28,28.83
$GC,9004,0.77,116.8,2827,1925,2275,2136,581.5,13.6,606,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1925,2205,2275,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9306,0.77,116.8,2827,1925,2275,2136,542.0,12.9,621,9312,0.00,2.30,0.00,0.000,516,0.000,0.084,2837,517,2205,2275,2136,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9347,0.77,116.8,1936,517,2231,2130,536.5,13.3,623,9351,0.00,2.33,0.00,0.000,1030,0.000,0.067,2834,1928,2205,2274,2136,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9665,0.77,116.8,2834,1928,2274,2136,494.6,12.8,639,9671,0.00,2.28,0.00,0.000,260,0.000,0.076,2834,3338,2205,2274,2136,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9752,0.77,116.8,2834,3338,2273,2136,483.9,13.4,643,9756,0.00,2.28,0.00,0.000,1030,0.000,0.065,2843,1926,2204,2273,2136,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10065,0.77,116.8,2843,1925,2273,2136,440.8,13.5,659,10071,0.00,2.30,0.00,0.000,260,0.000,0.073,2843,3347,2204,2273,2136,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10127,0.77,116.8,1952,3346,2230,2130,432.1,14.4,662,10132,0.10,2.33,0.00,0.000,5126,0.230,0.065,2827,1926,2204,2272,2136,0,0,0,0,0,0,26.25,26.39,28.83
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$GC,11700,0.77,116.8,2845,1923,2271,2136,231.5,13.0,805,11708,0.00,2.25,0.00,0.000,260,0.000,0.072,2845,3335,2203,2271,2136,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,13532,end climb,SURFACE_DEPTH_REACHED
$STATE,13533,begin surface coast
$FINISH,0.2,1.026651
$STATE,13554,end surface coast,CONTROL_FINISHED_OK
$STATE,13554,begin surface
$SM_CCo,13627,0.00,0.000,0,0,2201,122.40
$SM_GC,1.96,6.95,0.28,0.00,0.050,0.085,0.000,156,2080,2201,-7.42,-0.51,122.40,0,0,0,0,0,0,26.53,26.48,28.83
$IRIDIUM_FIX,-4244.98,849.47,200509,010115
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.13
$INTERNAL_PRESSURE,9.41409
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,8.466
$10V_AH,10.3,5.024
$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,18.125,142.375,220.150,0.000,0.000,23.952,44.556,174.586,0.000,0.000,82.813,2792.626,8327.788,366.939,2429.268,135.630,0.000,1401.905,0.000,2001.674,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,90.270,1735.020,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.100,83.570,547.144,1113.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353396
$DATA_FILE_SIZE,66989,1062
$CAP_FILE_SIZE,184441,0
$CFSIZE,259252224,255721472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090, 81.5,1
$GPS,230716,192704,-4300.154,850.364,547,0.9,547,-25.2