version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 361
start: 9 26 116 22 58 18
data:
$ID,542
$MISSION,14
$DIVE,361
$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,-41920.191
$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,23
$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,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
$GPS1,260916,225054,-4257.269,829.524,38,1.1,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-57.3
$GPS2,260916,225735,-4257.242,829.537,16,0.9,18,-25.0
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,NORTH
$TGT_LATLONG,-4254.070,830.000
$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,53.8,5908,-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,15,-0.55,-97.3,137,1965,1200,1079,0.0,0.0,0,96,0.00,0.00,-77.20,0.000,16390,0.000,0.000,137,1964,3079,3130,3029,0,0,0,0,0,0,28.83,28.83,26.34
$GC,99,-0.55,-97.3,137,1963,3130,3030,3.7,-7.2,12,114,8.68,2.35,0.00,0.000,2564,0.216,0.054,2396,534,3081,3132,3031,0,0,0,0,0,0,25.13,25.70,28.83
$GC,262,-0.55,-97.3,1504,533,3113,3027,33.1,-18.3,43,270,0.00,2.25,0.00,0.000,1030,0.000,0.048,2388,1954,3083,3136,3031,0,0,0,0,0,0,28.83,25.82,28.83
$GC,394,-0.55,-97.3,2388,1955,3136,3030,50.5,-14.6,68,401,0.00,2.28,0.00,0.000,260,0.000,0.057,2377,3362,3083,3136,3031,0,0,0,0,0,0,28.83,25.79,28.83
$GC,439,-0.55,-97.3,2377,3362,3136,3030,57.6,-16.5,76,446,0.00,2.25,0.00,0.000,1030,0.000,0.047,2377,1959,3083,3136,3031,0,0,0,0,0,0,28.83,25.87,28.83
$GC,751,-0.55,-97.3,2377,1959,3136,3030,103.4,-15.2,135,759,0.00,2.22,0.00,0.000,260,0.000,0.057,2367,3361,3083,3136,3030,0,0,0,0,0,0,28.83,25.87,28.83
$GC,802,-0.55,-97.3,2367,3361,3136,3031,111.2,-14.4,140,811,0.00,2.22,0.00,0.000,1030,0.000,0.046,2367,1944,3083,3136,3030,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1112,-0.55,-97.3,2367,1943,3136,3030,154.1,-13.3,171,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1943,3083,3136,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1413,-0.55,-97.3,2367,1943,3137,3030,191.2,-12.5,201,1422,0.00,2.25,0.00,0.000,260,0.000,0.054,2357,3364,3083,3136,3030,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1446,-0.55,-97.3,2357,3364,3137,3031,195.3,-12.0,204,1456,0.15,2.22,0.00,0.000,3078,0.160,0.046,2395,1947,3083,3137,3030,0,0,0,0,0,0,25.68,25.97,28.83
$GC,1757,-0.55,-97.3,2395,1947,3138,3031,227.4,-10.3,235,1765,0.00,2.22,0.00,0.000,516,0.000,0.059,2395,551,3083,3137,3030,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1808,-0.55,-97.3,2395,551,3138,3030,232.9,-10.6,240,1817,0.00,2.20,0.00,0.000,1030,0.000,0.047,2387,1964,3084,3138,3031,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2118,-0.55,-97.3,2387,1964,3138,3030,265.9,-10.2,271,2127,0.00,2.20,0.00,0.000,260,0.000,0.054,2376,3368,3084,3138,3030,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2241,-0.55,-97.3,2376,3368,3138,3030,277.7,-9.5,283,2250,0.00,2.17,0.00,0.000,1030,0.000,0.046,2376,1958,3084,3138,3031,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2550,-0.55,-97.3,2376,1958,3138,3030,311.9,-11.3,314,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1958,3084,3138,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.55,-97.3,2376,1958,3138,3030,348.6,-12.6,344,2860,0.00,2.20,0.00,0.000,260,0.000,0.054,2366,3367,3084,3138,3030,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2873,-0.55,-97.3,2366,3367,3138,3031,351.4,-12.1,346,2883,0.00,2.20,0.00,0.000,1030,0.000,0.045,2366,1954,3084,3138,3030,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3183,-0.55,-97.3,2366,1954,3138,3030,391.8,-12.9,377,3193,0.00,2.25,0.00,0.000,516,0.000,0.058,2366,543,3084,3138,3030,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3205,-0.55,-97.3,2366,543,3138,3030,394.8,-13.4,379,3215,0.15,2.20,0.00,0.000,3078,0.168,0.046,2393,1960,3084,3138,3030,0,0,0,0,0,0,25.68,26.03,28.83
$GC,3515,-0.55,-97.3,2393,1961,3139,3030,430.1,-11.0,397,3520,0.00,2.22,0.00,0.000,260,0.000,0.054,2384,3375,3084,3139,3030,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3538,-0.55,-97.3,1552,3374,3119,3027,432.2,-11.0,398,3542,0.00,2.22,0.00,0.000,1030,0.000,0.046,2384,1952,3084,3138,3030,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3850,-0.55,-97.3,2384,1951,3156,3016,468.4,-11.4,414,3856,0.00,2.25,0.00,0.000,260,0.000,0.054,2374,3370,3086,3156,3016,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3892,-0.55,-97.3,1552,3368,3137,3012,473.0,-11.4,416,3896,0.00,2.28,0.00,0.000,1030,0.000,0.046,2374,1953,3086,3156,3016,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4210,-0.55,-97.3,2374,1952,3157,3016,509.6,-11.4,432,4216,0.00,2.28,0.00,0.000,516,0.000,0.060,2374,535,3086,3157,3016,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4232,-0.55,-97.3,1544,536,3138,3012,512.1,-11.5,433,4237,0.12,2.25,0.00,0.000,3078,0.170,0.047,2393,1949,3086,3157,3016,0,0,0,0,0,0,25.77,26.03,28.83
$GC,4550,-0.55,-97.3,2393,1950,3158,3015,544.9,-9.8,449,4556,0.00,2.25,0.00,0.000,260,0.000,0.056,2384,3374,3086,3158,3015,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4623,-0.55,-97.3,2384,3374,3158,3014,550.6,-9.6,452,4630,0.00,2.22,0.00,0.000,1030,0.000,0.047,2384,1954,3086,3158,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4930,-0.55,-97.3,2384,1953,3158,3014,582.7,-10.1,468,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1953,3086,3158,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5230,-0.55,-97.3,2384,1953,3158,3013,613.6,-10.6,483,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1953,3085,3158,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5530,-0.55,-97.3,2384,1953,3158,3012,645.6,-10.5,498,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1953,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.55,-97.3,2384,1953,3156,3010,676.8,-10.4,513,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1953,3084,3158,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6130,-0.55,-97.3,2384,1953,3157,3009,707.6,-10.3,528,6136,0.00,2.30,0.00,0.000,516,0.000,0.063,2384,537,3083,3158,3009,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6173,-0.55,-97.3,1552,537,3139,3005,712.1,-10.7,530,6177,0.00,2.25,0.00,0.000,1030,0.000,0.050,2374,1961,3083,3158,3009,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6486,-0.55,-97.3,2374,1962,3158,3007,746.5,-11.1,546,6491,0.00,2.25,0.00,0.000,260,0.000,0.058,2363,3371,3082,3158,3007,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6518,-0.55,-97.3,2363,3371,3158,3007,748.7,-11.1,547,6525,0.12,2.25,0.00,0.000,3078,0.167,0.050,2393,1951,3082,3158,3007,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6825,-0.55,-97.3,2393,1951,3158,3006,778.1,-8.7,563,6831,0.00,2.30,0.00,0.000,516,0.000,0.065,2393,537,3081,3157,3006,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6854,-0.55,-97.3,2393,537,3158,3006,779.9,-8.7,564,6858,0.00,2.25,0.00,0.000,1030,0.000,0.050,2385,1962,3082,3158,3006,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7160,-0.55,-97.3,2385,1962,3157,3005,807.6,-8.5,579,7166,0.00,2.25,0.00,0.000,260,0.000,0.059,2374,3371,3081,3158,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7221,-0.55,-97.3,2374,3371,3158,3005,812.7,-8.5,582,7226,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1957,3081,3158,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7541,-0.55,-97.3,2374,1956,3157,3004,841.7,-9.0,598,7546,0.00,2.30,0.00,0.000,516,0.000,0.065,2374,544,3080,3157,3004,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7573,-0.55,-97.3,2374,545,3158,3004,843.6,-9.1,599,7580,0.12,2.25,0.00,0.000,3078,0.171,0.052,2393,1966,3081,3158,3004,0,0,0,0,0,0,25.62,25.89,28.83
$GC,7881,-0.55,-97.3,2393,1966,3158,3003,869.9,-8.5,615,7886,0.00,2.25,0.00,0.000,260,0.000,0.060,2384,3377,3080,3158,3003,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7941,-0.55,-97.3,2384,3377,3158,3003,875.4,-9.0,618,7947,0.00,2.28,0.00,0.000,1030,0.000,0.050,2384,1948,3080,3158,3003,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8261,-0.55,-97.3,2384,1948,3158,3003,906.8,-9.7,634,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1948,3081,3159,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,-0.55,-97.3,2384,1947,3158,3002,934.7,-9.4,649,8566,0.00,2.30,0.00,0.000,260,0.000,0.060,2374,3371,3079,3157,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8628,-0.55,-97.3,2373,3371,3157,3002,940.4,-9.5,652,8632,0.00,2.28,0.00,0.000,1030,0.000,0.051,2374,1950,3079,3157,3002,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8935,-0.55,-97.3,2374,1949,3158,3002,971.5,-9.7,667,8941,0.00,2.30,0.00,0.000,260,0.000,0.060,2363,3371,3079,3157,3002,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8978,-0.55,-97.3,1536,3370,3138,2998,975.5,-9.8,669,8982,0.12,2.28,0.00,0.000,3078,0.167,0.051,2394,1951,3079,3157,3002,0,0,0,0,0,0,25.58,25.81,28.83
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9274,-0.14,0.0,2393,1865,3158,3002,1000.4,-8.3,684,9370,0.43,0.00,90.43,1.790,10246,0.138,0.000,2524,1864,2683,2762,2604,0,0,0,0,0,0,25.39,28.83,22.83
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9373,0.55,97.3,2524,1864,2762,2604,1003.5,0.0,689,9473,0.70,0.00,96.68,1.708,10246,0.090,0.000,2751,1864,2286,2358,2215,0,0,0,0,0,0,24.33,28.83,21.94
$GC,9772,0.56,107.8,2751,1864,2352,2203,973.8,9.0,709,9784,0.00,0.00,10.12,1.620,8198,0.000,0.000,2751,1864,2243,2320,2167,0,0,0,0,0,0,28.83,28.83,23.48
$GC,10071,0.56,108.3,2751,1864,2319,2163,945.8,9.4,724,10077,0.00,2.35,0.00,0.000,260,0.000,0.060,2751,3300,2241,2319,2163,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10159,0.56,108.3,2751,3300,2318,2163,937.7,10.2,728,10163,0.00,2.28,0.00,0.000,1030,0.000,0.056,2761,1900,2239,2317,2162,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10467,0.56,108.3,2761,1899,2317,2161,905.3,10.3,743,10472,0.00,2.28,0.00,0.000,260,0.000,0.060,2761,3304,2239,2318,2160,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,18262,end climb,SURFACE_DEPTH_REACHED
$STATE,18262,begin surface coast
$FINISH,0.8,1.026680
$STATE,18279,end surface coast,CONTROL_FINISHED_OK
$STATE,18279,begin surface
$SM_CCo,18357,0.00,0.000,0,0,1790,218.80
$SM_GC,0.97,6.82,2.38,0.00,0.037,0.043,0.000,156,1959,1790,-7.41,-0.79,218.80,0,0,0,0,0,0,26.06,25.91,28.83
$IRIDIUM_FIX,-4242.04,828.21,240709,070741
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.15
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,21.9,53.289
$10V_AH,9.9,36.693
$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
$DEVICE_SECS,17.850,163.625,282.150,0.000,0.000,27.632,20.996,230.011,0.000,0.000,18.778,3488.291,11572.718,513.513,2912.451,283.823,0.000,1799.509,0.000,2455.413,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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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,353108
$DATA_FILE_SIZE,90419,1356
$CAP_FILE_SIZE,173428,0
$CFSIZE,259252224,230481920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,273.3,1
$GPS,270916,040803,-4255.231,829.704,194,0.9,194,-25.0