version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 82
start: 7 30 116 15 3 37
data:
$ID,542
$MISSION,14
$DIVE,82
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-40067.801
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$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
$GPS1,300716,145614,-4305.500,829.686,82,0.9,82,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.0
$GPS2,300716,150252,-4305.517,829.733,35,0.9,36,-25.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$TGT_LATLONG,-4305.930,830.000
$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,185.2,847,-17.1,-10.010,-20.00,2523
$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,-0.60,-97.3,165,1981,2166,2061,0.0,0.0,0,55,0.00,0.00,-38.10,0.000,16390,0.000,0.000,165,1981,3097,3178,3016,0,0,0,0,0,0,28.83,28.83,26.42
$GC,58,-0.60,-97.3,165,1981,3179,3016,2.8,-3.6,6,73,8.65,2.33,0.00,0.000,2820,0.243,0.063,2383,561,3099,3182,3016,0,0,0,0,0,0,25.82,26.04,28.83
$GC,424,-0.60,-97.3,2383,561,3187,3016,58.5,-13.9,77,431,0.00,2.25,0.00,0.000,1030,0.000,0.059,2375,1982,3101,3187,3016,0,0,0,0,0,0,28.83,26.17,28.83
$GC,748,-0.60,-97.3,2374,1982,3188,3016,103.5,-14.4,137,756,0.00,2.22,0.00,0.000,260,0.000,0.066,2364,3395,3102,3188,3016,0,0,0,0,0,0,28.83,26.24,28.83
$GC,881,-0.60,-97.3,1536,3394,3169,3012,121.5,-13.4,150,888,0.00,2.28,0.00,0.000,1030,0.000,0.057,2364,1983,3102,3188,3016,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1189,-0.60,-97.3,2363,1983,3189,3016,165.3,-13.8,181,1197,0.00,2.25,0.00,0.000,260,0.000,0.064,2354,3399,3102,3189,3016,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1279,-0.60,-97.3,2354,3399,3189,3016,178.2,-13.9,190,1283,0.00,2.25,0.00,0.000,1030,0.000,0.057,2354,1966,3102,3188,3016,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1584,-0.60,-97.3,2354,1966,3190,3016,223.0,-15.0,220,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1966,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.60,-97.3,2354,1966,3190,3016,268.7,-15.4,250,1888,0.00,2.25,0.00,0.000,260,0.000,0.063,2344,3393,3103,3190,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1980,-0.60,-97.3,2344,3393,3190,3016,282.6,-14.4,259,1984,0.12,2.22,0.00,0.000,3078,0.191,0.057,2372,1970,3103,3190,3016,0,0,0,0,0,0,26.25,26.39,28.83
$GC,2285,-0.60,-97.3,2373,1970,3190,3016,320.9,-12.1,289,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1970,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.60,-97.3,2373,1970,3191,3016,357.1,-12.6,319,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1970,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2885,-0.60,-97.3,2373,1970,3191,3016,395.4,-13.0,349,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1970,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.60,-97.3,2373,1970,3192,3016,434.2,-12.9,366,3189,0.00,2.28,0.00,0.000,260,0.000,0.066,2364,3396,3104,3193,3016,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3249,-0.60,-97.3,2364,3397,3192,3016,441.2,-12.5,369,3253,0.00,2.25,0.00,0.000,1030,0.000,0.057,2364,1966,3104,3192,3016,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3561,-0.60,-97.3,2364,1966,3192,3016,482.2,-13.0,385,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1966,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.60,-97.3,2364,1966,3192,3016,519.9,-12.4,400,3865,0.00,2.28,0.00,0.000,260,0.000,0.067,2354,3396,3104,3192,3016,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3905,-0.60,-97.3,2354,3396,3192,3016,524.4,-12.4,402,3909,0.00,2.25,0.00,0.000,1030,0.000,0.059,2354,1969,3104,3192,3016,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4212,-0.60,-97.3,2354,1969,3192,3016,565.4,-12.9,417,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1969,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.60,-97.3,2354,1969,3192,3016,605.0,-12.9,432,4516,0.00,2.28,0.00,0.000,260,0.000,0.067,2344,3399,3104,3192,3016,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4555,-0.60,-97.3,2344,3399,3192,3016,609.5,-12.7,434,4560,0.12,2.25,0.00,0.000,3078,0.190,0.059,2373,1973,3104,3192,3016,0,0,0,0,0,0,26.34,26.48,28.83
$GC,4867,-0.60,-97.3,2373,1972,3192,3016,644.9,-10.8,450,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5168,-0.60,-97.3,2373,1972,3192,3016,677.4,-11.1,465,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,-0.60,-97.3,2373,1972,3191,3016,708.7,-10.5,480,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5768,-0.60,-97.3,2373,1972,3192,3016,740.3,-10.5,495,5772,0.00,2.28,0.00,0.000,260,0.000,0.069,2364,3394,3103,3191,3016,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5804,-0.60,-97.3,2364,3393,3192,3015,744.1,-10.5,497,5810,0.00,2.22,0.00,0.000,1030,0.000,0.061,2364,1981,3104,3192,3016,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6124,-0.60,-97.3,2364,1980,3192,3015,779.8,-11.5,513,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1981,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6423,-0.60,-97.3,2364,1980,3192,3014,814.2,-11.5,528,6427,0.00,2.25,0.00,0.000,260,0.000,0.071,2355,3390,3103,3192,3014,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6499,-0.60,-97.3,2354,3390,3192,3013,823.4,-12.1,532,6503,0.00,2.25,0.00,0.000,1030,0.000,0.063,2354,1967,3102,3192,3013,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6815,-0.60,-97.3,2354,1966,3192,3012,861.4,-11.9,548,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1967,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,-0.60,-97.3,2354,1967,3192,3012,895.0,-11.0,563,7119,0.00,2.28,0.00,0.000,260,0.000,0.071,2344,3389,3102,3192,3012,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7172,-0.60,-97.3,2344,3389,3191,3012,901.4,-11.5,566,7178,0.10,2.22,0.00,0.000,3078,0.172,0.063,2374,1974,3101,3191,3012,0,0,0,0,0,0,26.36,26.49,28.83
$GC,7491,-0.60,-97.3,2374,1973,3192,3011,935.0,-10.3,582,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3101,3192,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7791,-0.60,-97.3,2374,1973,3192,3010,966.7,-10.7,597,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3100,3191,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8091,-0.60,-97.3,2373,1973,3191,3010,997.5,-10.0,612,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3100,3191,3010,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8129,begin apogee
$GC,8133,-0.14,0.0,2374,1868,3191,3010,1001.4,-10.0,614,8225,0.50,0.00,88.35,1.740,10246,0.159,0.000,2526,1868,2700,2787,2613,0,0,0,0,0,0,26.38,28.83,23.58
$STATE,8226,end apogee,CONTROL_FINISHED_OK
$STATE,8226,begin climb
$GC,8227,0.60,97.3,2525,1868,2787,2612,1004.2,0.0,618,8324,0.73,0.00,93.25,1.703,10246,0.104,0.000,2762,1868,2302,2372,2233,0,0,0,0,0,0,24.61,28.83,23.14
$GC,8612,0.60,97.3,2761,1868,2364,2222,970.1,10.0,638,8617,0.00,2.40,0.00,0.000,260,0.000,0.072,2762,3289,2292,2363,2222,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8659,0.60,97.3,2761,3289,2362,2222,965.8,10.3,640,8663,0.00,2.38,0.00,0.000,1030,0.000,0.066,2772,1872,2292,2362,2222,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8971,0.60,97.3,2772,1872,2361,2220,931.6,10.9,656,8977,0.00,2.38,0.00,0.000,516,0.000,0.083,2783,462,2290,2361,2220,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9014,0.60,97.3,2782,462,2360,2220,926.9,11.3,658,9018,0.00,2.33,0.00,0.000,1030,0.000,0.068,2782,1873,2290,2360,2220,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9331,0.60,97.3,2782,1873,2360,2219,890.3,12.1,674,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1873,2289,2360,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,0.60,97.3,2782,1873,2359,2219,852.9,12.4,689,9637,0.00,2.33,0.00,0.000,260,0.000,0.075,2783,3296,2289,2359,2219,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9694,0.60,97.3,2782,3296,2358,2219,845.2,12.7,692,9698,0.00,2.33,0.00,0.000,1030,0.000,0.068,2793,1872,2288,2358,2219,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10011,0.60,97.3,2793,1871,2358,2218,807.3,11.5,708,10015,0.00,2.33,0.00,0.000,260,0.000,0.073,2793,3296,2288,2358,2218,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10068,0.60,97.3,2793,3295,2357,2218,800.4,12.2,711,10075,0.10,2.30,0.00,0.000,5126,0.210,0.068,2776,1875,2287,2357,2218,0,0,0,0,0,0,26.04,26.18,28.83
$GC,10387,0.60,97.3,2776,1875,2357,2217,766.5,10.2,727,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1875,2287,2357,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10687,0.60,97.3,2776,1875,2357,2216,735.8,10.3,742,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1875,2286,2357,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10987,0.60,97.3,2776,1875,2357,2216,705.3,10.1,757,10993,0.00,2.30,0.00,0.000,260,0.000,0.075,2768,3289,2286,2357,2216,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11035,0.60,100.4,2768,3289,2356,2216,701.3,9.9,759,11040,0.00,2.28,0.00,0.000,1030,0.000,0.067,2777,1875,2286,2356,2216,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11342,0.60,100.4,2777,1874,2357,2216,669.3,10.2,774,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1875,2286,2356,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11642,0.60,100.4,2776,1874,2355,2216,638.0,10.5,789,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1875,2286,2357,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11942,0.62,115.3,2777,1875,2356,2216,608.1,9.4,804,11963,0.00,0.00,14.73,1.468,8198,0.000,0.000,2777,1875,2229,2300,2158,0,0,0,0,0,0,28.83,28.83,24.96
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$STATE,17710,end climb,SURFACE_DEPTH_REACHED
$STATE,17710,begin surface coast
$FINISH,0.4,1.026655
$STATE,17731,end surface coast,CONTROL_FINISHED_OK
$STATE,17731,begin surface
$SM_CCo,17806,0.00,0.000,0,0,2061,156.74
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$IRIDIUM_FIX,-4247.91,829.08,260509,232320
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.37
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,23.1,13.186
$10V_AH,10.2,8.345
$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
$DEVICE_SECS,17.350,100.600,221.275,0.000,0.000,22.993,48.959,195.406,0.000,0.000,36.690,3525.192,11532.796,356.031,2655.260,152.434,0.000,1498.237,0.000,2241.995,0.000,1.395,0.000
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$MEM,353284
$DATA_FILE_SIZE,86927,1366
$CAP_FILE_SIZE,164395,0
$CFSIZE,259252224,253009920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.009,178.0,1
$GPS,300716,200403,-4307.500,830.627,186,1.1,187,-25.1