version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 344
start: 9 23 116 7 11 42
data:
$ID,542
$MISSION,14
$DIVE,344
$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,353
$T_MISSION,395
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41898.758
$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,1955
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,230916,070352,-4258.474,830.102,68,0.9,69,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.7
$GPS2,230916,071058,-4258.503,830.155,17,1.0,18,-25.0
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$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,187.9,13757,-16.3,-9.443,-19.31,2668
$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,16,-0.55,-97.3,135,1965,1876,1808,0.0,0.0,0,68,0.00,0.00,-48.00,0.000,16390,0.000,0.000,136,1966,3083,3142,3024,0,0,0,0,0,0,28.83,28.83,26.36
$GC,71,-0.55,-97.3,135,1966,3143,3023,3.1,-4.5,8,86,8.90,2.28,0.00,0.000,2308,0.225,0.049,2377,3372,3084,3149,3019,0,0,0,0,0,0,25.05,25.75,28.83
$GC,270,-0.55,-97.3,1424,3371,3135,3008,32.9,-10.7,46,278,0.00,2.28,0.00,0.000,1030,0.000,0.049,2377,1943,3086,3160,3013,0,0,0,0,0,0,28.83,25.72,28.83
$GC,403,-0.55,-97.3,2377,1943,3161,3012,49.7,-13.4,71,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1943,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.55,-97.3,1488,1942,3140,3008,90.9,-12.8,132,720,0.00,2.28,0.00,0.000,260,0.000,0.057,2367,3364,3087,3162,3012,0,0,0,0,0,0,28.83,25.77,28.83
$GC,767,-0.55,-97.3,2367,3364,3161,3012,97.9,-12.7,142,775,0.00,2.22,0.00,0.000,1030,0.000,0.047,2367,1948,3087,3162,3012,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1077,-0.55,-97.3,2367,1947,3162,3013,139.9,-13.5,174,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1947,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1378,-0.55,-97.3,2367,1947,3163,3012,180.0,-13.0,204,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1947,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.55,-97.3,2367,1948,3163,3012,219.6,-12.8,234,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1947,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1978,-0.55,-97.3,2367,1947,3163,3013,255.5,-11.2,264,1988,0.00,2.25,0.00,0.000,260,0.000,0.056,2357,3366,3087,3163,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2024,-0.55,-97.3,2357,3367,3163,3012,260.4,-11.5,268,2032,0.15,2.25,0.00,0.000,3078,0.161,0.047,2395,1935,3087,3163,3012,0,0,0,0,0,0,25.60,25.91,28.83
$GC,2332,-0.55,-97.3,2394,1935,3164,3012,289.9,-9.9,299,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1935,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,-0.55,-97.3,2394,1935,3165,3013,322.7,-11.3,329,2641,0.00,2.20,0.00,0.000,516,0.000,0.060,2395,554,3088,3165,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2677,-0.55,-97.3,2395,554,3165,3012,327.9,-11.9,333,2685,0.00,2.22,0.00,0.000,1030,0.000,0.048,2387,1950,3088,3165,3012,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2985,-0.55,-97.3,2386,1950,3165,3012,362.8,-11.0,364,2994,0.00,2.25,0.00,0.000,260,0.000,0.056,2376,3378,3089,3165,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3038,-0.55,-97.3,2376,3378,3165,3012,368.5,-11.2,369,3047,0.00,2.22,0.00,0.000,1030,0.000,0.047,2376,1954,3088,3165,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3348,-0.55,-97.3,2376,1953,3165,3012,403.1,-10.8,399,3353,0.00,2.25,0.00,0.000,516,0.000,0.060,2376,547,3088,3165,3012,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3387,-0.55,-97.3,2376,547,3165,3012,407.8,-11.3,401,3391,0.00,2.20,0.00,0.000,1030,0.000,0.048,2366,1954,3088,3165,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3703,-0.55,-97.3,2365,1956,3165,3012,443.6,-11.6,417,3710,0.12,2.25,0.00,0.000,2308,0.184,0.055,2391,3375,3088,3165,3012,0,0,0,0,0,0,25.98,25.84,28.83
$GC,3784,-0.55,-97.3,2391,3375,3165,3012,451.7,-10.0,421,3790,0.00,2.22,0.00,0.000,1030,0.000,0.048,2391,1956,3088,3165,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4103,-0.55,-97.3,2391,1956,3165,3012,485.6,-11.1,437,4109,0.00,2.28,0.00,0.000,516,0.000,0.061,2391,543,3088,3165,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4146,-0.55,-97.3,1568,543,3146,3008,490.4,-11.7,439,4151,0.00,2.22,0.00,0.000,1030,0.000,0.050,2381,1957,3088,3165,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4459,-0.55,-97.3,2381,1957,3165,3011,528.2,-12.1,455,4465,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3377,3088,3165,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4520,-0.55,-97.3,2370,3376,3165,3011,535.4,-12.0,458,4525,0.00,2.22,0.00,0.000,1030,0.000,0.049,2370,1949,3088,3165,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4839,-0.55,-97.3,2370,1948,3165,3010,574.5,-12.0,474,4845,0.00,2.28,0.00,0.000,516,0.000,0.062,2371,537,3087,3165,3010,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4872,-0.55,-97.3,2370,537,3164,3010,576.9,-11.9,475,4879,0.12,2.22,0.00,0.000,3078,0.174,0.050,2390,1957,3087,3165,3010,0,0,0,0,0,0,25.61,25.90,28.83
$GC,5179,-0.55,-97.3,2389,1957,3165,3009,609.6,-9.9,491,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5478,-0.55,-97.3,2389,1957,3165,3008,639.7,-10.2,506,5484,0.00,2.25,0.00,0.000,260,0.000,0.060,2380,3370,3086,3165,3008,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5561,-0.55,-97.3,2380,3370,3165,3007,647.9,-10.2,510,5566,0.00,2.25,0.00,0.000,1030,0.000,0.050,2380,1949,3086,3165,3007,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5874,-0.55,-97.3,2380,1949,3165,3006,680.5,-10.4,526,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1949,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6173,-0.55,-97.3,2380,1948,3165,3006,712.2,-10.5,541,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1948,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,-0.55,-97.3,2380,1948,3165,3005,743.2,-10.2,556,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1949,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.55,-97.3,2380,1948,3165,3005,773.7,-10.1,571,6780,0.00,2.28,0.00,0.000,260,0.000,0.061,2370,3364,3085,3165,3005,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6821,-0.55,-97.3,2370,3364,3165,3005,777.8,-10.0,573,6826,0.00,2.25,0.00,0.000,1030,0.000,0.051,2370,1954,3085,3165,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7129,-0.55,-97.3,2370,1953,3165,3004,811.5,-11.4,588,7135,0.00,2.30,0.00,0.000,260,0.000,0.060,2360,3374,3084,3165,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7172,-0.55,-97.3,2360,3374,3165,3004,816.3,-11.8,590,7177,0.12,2.28,0.00,0.000,3078,0.165,0.051,2390,1946,3084,3165,3004,0,0,0,0,0,0,25.56,25.79,28.83
$GC,7485,-0.55,-97.3,2389,1945,3165,3004,848.4,-9.7,606,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1946,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.55,-97.3,2389,1945,3165,3003,877.1,-9.2,621,7790,0.00,2.30,0.00,0.000,516,0.000,0.067,2390,540,3084,3165,3003,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7812,-0.55,-97.3,2389,540,3165,3003,879.0,-9.2,622,7817,0.00,2.25,0.00,0.000,1030,0.000,0.054,2381,1956,3083,3165,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8120,-0.55,-97.3,2381,1957,3165,3003,907.8,-9.1,637,8126,0.00,2.28,0.00,0.000,260,0.000,0.062,2370,3371,3084,3165,3003,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8219,-0.55,-97.3,2370,3371,3165,3002,917.2,-9.3,642,8225,0.00,2.25,0.00,0.000,1030,0.000,0.052,2370,1958,3083,3165,3002,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8539,-0.55,-97.3,2370,1957,3165,3002,948.8,-9.9,658,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1957,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8839,-0.55,-97.3,2370,1957,3165,3002,978.7,-10.2,673,8845,0.00,2.30,0.00,0.000,260,0.000,0.062,2360,3375,3083,3165,3002,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8929,-0.55,-97.3,2360,3375,3165,3002,986.7,-10.0,677,8934,0.12,2.28,0.00,0.000,3078,0.168,0.053,2390,1951,3083,3164,3002,0,0,0,0,0,0,25.50,25.73,28.83
$STATE,9092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9092,begin apogee
$GC,9098,-0.14,0.0,2389,1866,3165,3002,1001.2,-8.1,685,9194,0.45,0.00,90.47,1.763,10246,0.137,0.000,2528,1866,2683,2760,2606,0,0,0,0,0,0,25.32,28.83,22.92
$STATE,9195,end apogee,CONTROL_FINISHED_OK
$STATE,9195,begin climb
$GC,9197,0.55,97.3,2528,1866,2760,2606,1003.6,0.0,690,9297,0.68,0.00,96.72,1.712,10246,0.085,0.000,2750,1865,2285,2354,2217,0,0,0,0,0,0,24.39,28.83,22.01
$GC,9596,0.56,112.1,2750,1866,2350,2205,972.0,8.9,710,9614,0.00,0.00,14.75,1.638,8198,0.000,0.000,2750,1866,2225,2298,2152,0,0,0,0,0,0,28.83,28.83,23.51
$GC,9914,0.58,124.9,2750,1866,2296,2146,943.1,9.0,726,9935,0.00,2.38,13.35,1.627,8452,0.000,0.062,2750,3300,2172,2246,2099,0,0,0,0,0,0,28.83,25.40,23.89
$GC,10005,0.58,124.9,2750,3300,2244,2099,935.0,9.7,730,10010,0.00,2.30,0.00,0.000,1030,0.000,0.057,2760,1900,2171,2244,2099,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10312,0.58,124.9,2760,1900,2244,2096,904.7,9.8,745,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1900,2170,2244,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10613,0.58,124.9,2760,1900,2243,2095,875.4,9.5,760,10618,0.00,2.25,0.00,0.000,260,0.000,0.063,2761,3299,2169,2243,2096,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10675,0.58,124.9,1856,3297,2201,2089,869.4,9.9,763,10679,0.00,2.30,0.00,0.000,1030,0.000,0.057,2770,1885,2168,2241,2095,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10992,0.58,124.9,2770,1885,2241,2095,837.0,10.5,779,10998,0.00,2.35,0.00,0.000,516,0.000,0.073,2781,467,2168,2242,2095,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11040,0.58,124.9,2781,467,2240,2095,832.7,10.6,781,11044,0.00,2.28,0.00,0.000,1030,0.000,0.056,2781,1896,2168,2241,2095,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,14174,0.64,188.0,2765,1873,2099,1953,519.4,8.4,937,14207,0.00,2.40,27.48,1.464,8452,0.000,0.061,2765,3303,1916,1986,1846,0,0,0,0,0,0,28.83,25.25,23.96
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$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,-0.0,1.026620
$STATE,18483,end surface coast,CONTROL_FINISHED_OK
$STATE,18483,begin surface
$SM_CCo,18558,0.00,0.000,0,0,1831,208.75
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$IRIDIUM_FIX,-4236.17,824.43,200709,151548
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.90
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.0,50.715
$10V_AH,10.0,34.933
$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
$DEVICE_SECS,17.750,118.375,295.000,0.000,0.000,31.294,39.175,228.499,0.000,0.000,19.237,3582.188,11715.982,454.692,2975.268,265.030,0.000,1705.732,0.000,2491.722,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,93615,1384
$CAP_FILE_SIZE,167872,0
$CFSIZE,259252224,231886848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,249.2,1
$GPS,230916,122204,-4300.883,830.478,29,1.1,30,-25.0