version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 51
start: 7 24 116 19 34 47
data:
$ID,542
$MISSION,14
$DIVE,51
$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,-40028.355
$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,21
$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
$GPS1,240716,192028,-4259.811,851.291,63,4.5,83,-25.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.2
$GPS2,240716,193420,-4259.907,851.403,49,2.8,70,-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,276.0,1908,-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,-91.6,166,2071,2249,2143,0.0,0.0,0,49,0.00,0.00,-32.92,0.000,16390,0.000,0.000,166,2071,3074,3153,2995,0,0,0,0,0,0,28.83,28.83,26.39
$GC,52,-0.77,-116.8,166,2071,3155,2995,3.0,-4.1,5,74,8.38,2.33,-2.50,0.000,18692,0.241,0.080,2306,3487,3181,3275,3087,0,0,0,0,0,0,25.87,26.04,26.32
$GC,101,-0.77,-116.8,2305,3487,3276,3087,14.7,-19.2,13,108,0.00,2.28,0.00,0.000,1030,0.000,0.056,2305,2064,3182,3276,3088,0,0,0,0,0,0,28.83,26.06,28.83
$GC,150,-0.77,-116.8,1408,2062,3257,3083,24.0,-20.0,22,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2064,3182,3277,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,279,-0.77,-116.8,1432,2062,3259,3084,49.4,-19.1,47,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2064,3182,3277,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,592,-0.77,-116.8,2304,2064,3278,3088,109.9,-19.1,103,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2064,3182,3278,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.77,-116.8,2305,2064,3278,3087,166.9,-19.3,133,900,0.00,2.25,0.00,0.000,260,0.000,0.065,2296,3480,3182,3278,3087,0,0,0,0,0,0,28.83,26.28,28.83
$GC,922,-0.77,-116.8,2295,3480,3278,3088,172.9,-19.5,136,926,0.00,2.22,0.00,0.000,1030,0.000,0.057,2296,2069,3183,3278,3088,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1226,-0.77,-116.8,2295,2069,3279,3087,229.8,-19.1,166,1231,0.12,2.25,0.00,0.000,2308,0.220,0.063,2319,3484,3183,3279,3088,0,0,0,0,0,0,26.21,26.32,28.83
$GC,1315,-0.77,-116.8,1536,3483,3265,3084,245.0,-17.3,174,1323,0.00,2.28,0.00,0.000,1030,0.000,0.056,2319,2071,3183,3279,3088,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1624,-0.77,-116.8,2318,2071,3280,3087,298.3,-16.7,205,1633,0.00,2.28,0.00,0.000,516,0.000,0.070,2318,648,3184,3280,3088,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1655,-0.77,-116.8,2318,648,3280,3088,303.6,-16.8,208,1665,0.00,2.22,0.00,0.000,1030,0.000,0.059,2309,2067,3184,3280,3088,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1965,-0.77,-116.8,2308,2067,3280,3088,355.8,-16.2,239,1969,0.00,2.22,0.00,0.000,260,0.000,0.066,2297,3483,3184,3280,3088,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2032,-0.77,-116.8,2297,3484,3281,3088,366.7,-15.9,245,2040,0.00,2.22,0.00,0.000,1030,0.000,0.056,2297,2062,3184,3280,3088,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2341,-0.77,-116.8,2297,2062,3281,3088,417.2,-16.2,271,2345,0.00,2.25,0.00,0.000,260,0.000,0.065,2287,3483,3184,3281,3088,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2369,-0.77,-116.8,2287,3484,3281,3088,419.7,-16.2,272,2377,0.10,2.28,0.00,0.000,3078,0.188,0.055,2324,2063,3184,3281,3088,0,0,0,0,0,0,26.30,26.43,28.83
$GC,2678,-0.77,-116.8,2324,2063,3282,3088,466.8,-14.9,288,2684,0.00,2.22,0.00,0.000,516,0.000,0.071,2324,663,3184,3281,3088,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2719,-0.77,-116.8,2324,663,3281,3088,473.1,-15.3,290,2724,0.00,2.25,0.00,0.000,1030,0.000,0.060,2316,2067,3184,3281,3088,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3038,-0.77,-116.8,2315,2068,3281,3088,523.2,-15.7,306,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2068,3184,3281,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-0.77,-116.8,2315,2068,3281,3088,571.9,-16.3,321,3341,0.00,2.25,0.00,0.000,260,0.000,0.069,2304,3494,3184,3281,3087,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3395,-0.77,-116.8,1536,3493,3267,3084,581.1,-16.4,324,3400,0.00,2.28,0.00,0.000,1030,0.000,0.057,2304,2073,3184,3281,3087,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3713,-0.77,-116.8,2304,2073,3281,3087,633.3,-16.1,340,3719,0.00,2.28,0.00,0.000,516,0.000,0.073,2305,653,3184,3281,3087,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3766,-0.77,-116.8,2304,653,3281,3087,639.8,-16.1,342,3774,0.08,2.28,0.00,0.000,3078,0.207,0.062,2316,2064,3184,3281,3087,0,0,0,0,0,0,26.36,26.48,28.83
$GC,4073,-0.77,-116.8,2315,2064,3281,3087,687.0,-14.6,358,4077,0.00,2.28,0.00,0.000,260,0.000,0.070,2306,3493,3184,3281,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4179,-0.77,-116.8,2306,3493,3281,3087,700.9,-14.4,363,4183,0.00,2.25,0.00,0.000,1030,0.000,0.059,2306,2063,3184,3281,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4484,-0.77,-116.8,2306,2062,3281,3087,749.0,-15.7,378,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2063,3184,3282,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.77,-116.8,2306,2063,3282,3087,796.2,-15.8,393,4790,0.00,2.25,0.00,0.000,516,0.000,0.075,2306,659,3184,3281,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4807,-0.77,-116.8,2306,659,3281,3087,799.5,-15.9,394,4811,0.00,2.28,0.00,0.000,1030,0.000,0.063,2296,2064,3184,3281,3087,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5124,-0.77,-116.8,2295,2065,3281,3087,851.8,-16.0,410,5128,0.00,2.28,0.00,0.000,260,0.000,0.071,2285,3493,3184,3281,3087,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5147,-0.77,-116.8,2285,3493,3281,3087,854.4,-16.2,411,5152,0.10,2.30,0.00,0.000,3078,0.187,0.060,2322,2064,3184,3281,3087,0,0,0,0,0,0,26.39,26.51,28.83
$GC,5461,-0.77,-116.8,2322,2064,3281,3087,901.5,-14.4,427,5466,0.00,2.28,0.00,0.000,516,0.000,0.076,2322,651,3184,3281,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5502,-0.77,-116.8,1536,651,3267,3083,907.2,-14.3,429,5507,0.00,2.30,0.00,0.000,1030,0.000,0.064,2314,2071,3184,3282,3087,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5821,-0.77,-116.8,2313,2072,3281,3087,953.1,-14.0,445,5826,0.00,2.28,0.00,0.000,260,0.000,0.073,2301,3494,3184,3281,3087,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5880,-0.77,-116.8,2302,3494,3280,3086,961.5,-13.9,448,5885,0.00,2.25,0.00,0.000,1030,0.000,0.062,2302,2069,3183,3280,3087,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,6158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6158,begin apogee
$GC,6162,-0.14,0.0,2302,1920,3280,3086,1002.1,-15.1,462,6272,0.75,0.00,106.62,1.739,10246,0.177,0.000,2522,1919,2699,2786,2613,0,0,0,0,0,0,26.40,28.83,23.48
$STATE,6273,end apogee,CONTROL_FINISHED_OK
$STATE,6273,begin climb
$GC,6274,0.77,116.8,2522,1919,2786,2614,1006.4,0.0,467,6391,0.90,0.00,112.47,1.691,10758,0.106,0.000,2812,1919,2223,2290,2156,0,0,0,0,0,0,24.51,28.83,23.06
$GC,6679,0.77,116.8,2811,1919,2281,2139,955.9,15.0,488,6684,0.00,2.42,0.00,0.000,260,0.000,0.073,2812,3339,2210,2281,2139,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6735,0.77,116.8,2812,3339,2279,2139,947.3,15.2,491,6740,0.00,2.38,0.00,0.000,1030,0.000,0.066,2823,1921,2208,2278,2139,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7051,0.77,116.8,2823,1921,2278,2137,899.9,14.7,507,7055,0.00,2.38,0.00,0.000,260,0.000,0.073,2822,3339,2207,2278,2137,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7075,0.77,116.8,2822,3340,2278,2137,897.5,14.7,508,7079,0.00,2.35,0.00,0.000,1030,0.000,0.066,2831,1915,2207,2278,2137,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7387,0.77,116.8,2831,1915,2278,2137,848.6,15.3,524,7391,0.00,2.35,0.00,0.000,516,0.000,0.084,2842,513,2207,2278,2137,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7443,0.77,116.8,2842,512,2277,2137,839.6,15.9,527,7447,0.00,2.30,0.00,0.000,1030,0.000,0.068,2842,1923,2207,2277,2137,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7758,0.77,116.8,2842,1923,2277,2136,789.1,15.5,543,7763,0.00,2.33,0.00,0.000,260,0.000,0.075,2842,3344,2207,2277,2137,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7855,0.77,116.8,2842,3344,2276,2137,773.4,16.4,548,7861,0.12,2.30,0.00,0.000,5126,0.239,0.067,2828,1925,2206,2276,2136,0,0,0,0,0,0,25.99,26.13,28.83
$GC,8174,0.77,116.8,2827,1925,2276,2136,727.2,13.9,564,8178,0.00,2.35,0.00,0.000,516,0.000,0.085,2837,509,2206,2276,2137,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8224,0.77,116.8,2837,509,2276,2136,721.8,14.4,566,8231,0.00,2.30,0.00,0.000,1030,0.000,0.070,2834,1925,2206,2276,2136,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8530,0.77,116.8,2834,1926,2275,2136,674.7,14.9,582,8534,0.00,2.30,0.00,0.000,260,0.000,0.076,2834,3341,2205,2275,2136,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8668,0.77,116.8,1960,3339,2233,2130,653.5,15.3,589,8673,0.00,2.35,0.00,0.000,1030,0.000,0.067,2843,1924,2205,2275,2136,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8986,0.77,116.8,2843,1923,2275,2136,604.5,15.1,605,8992,0.00,2.35,0.00,0.000,516,0.000,0.086,2854,504,2205,2275,2136,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9009,0.77,116.8,2854,504,2274,2136,601.4,15.1,606,9014,0.08,2.35,0.00,0.000,5126,0.223,0.069,2827,1924,2205,2274,2136,0,0,0,0,0,0,26.17,26.30,28.83
$GC,9326,0.77,116.8,2827,1925,2274,2135,558.0,13.1,622,9330,0.00,2.30,0.00,0.000,260,0.000,0.075,2827,3343,2204,2274,2135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9409,0.77,116.8,2827,3343,2273,2135,547.7,13.7,626,9414,0.00,2.35,0.00,0.000,1030,0.000,0.067,2836,1919,2204,2273,2135,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9723,0.77,116.8,2836,1919,2273,2135,505.7,13.0,642,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1919,2204,2273,2135,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,10963,0.77,116.8,2846,1922,2272,2133,345.2,12.2,724,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1922,2203,2273,2133,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,11383,0.77,116.8,2846,3348,2272,2133,289.2,14.2,765,11392,0.10,2.33,0.00,0.000,5126,0.218,0.063,2830,1926,2202,2272,2133,0,0,0,0,0,0,26.31,26.44,28.83
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$STATE,13626,end climb,SURFACE_DEPTH_REACHED
$STATE,13626,begin surface coast
$FINISH,0.3,1.026668
$STATE,13648,end surface coast,CONTROL_FINISHED_OK
$STATE,13648,begin surface
$SM_CCo,13722,0.00,0.000,0,0,2201,122.40
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$IRIDIUM_FIX,-4242.04,849.02,210509,080809
$TT8_MAMPS,0.020972,0.020972
$HUMID,59.56
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.1,9.328
$10V_AH,10.2,5.664
$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
$DEVICE_SECS,17.900,133.325,219.100,0.000,0.000,148.795,88.116,183.077,0.000,0.000,70.498,2805.556,8642.778,368.020,2615.918,125.924,0.000,1386.503,0.000,2017.165,0.000,1.009,0.000
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$SENSOR_SECS,754.730,82.723,536.355,1115.176,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353332
$DATA_FILE_SIZE,67062,1063
$CAP_FILE_SIZE,186428,0
$CFSIZE,259252224,255242240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050, 62.4,1
$GPS,240716,233004,-4300.338,849.800,363,1.0,363,-25.2