version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 469
start: 10 20 116 16 0 41
data:
$ID,542
$MISSION,14
$DIVE,469
$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,-42056.48
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,201016,155233,-4302.909,830.041,29,1.1,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-63.7
$GPS2,201016,155959,-4302.872,830.102,16,1.7,16,-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,24.5,16301,-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,-97.3,138,1965,1536,1451,0.0,0.0,0,87,0.00,0.00,-64.90,0.000,16390,0.000,0.000,138,1964,3080,3138,3023,0,0,0,0,0,0,28.83,28.83,26.41
$GC,91,-0.55,-97.3,138,1964,3139,3023,3.8,-7.4,11,105,8.82,2.33,0.00,0.000,2564,0.217,0.047,2393,536,3082,3145,3019,0,0,0,0,0,0,24.82,25.72,28.83
$GC,188,-0.55,-97.3,1440,536,3133,3008,22.3,-11.6,29,196,0.00,2.25,0.00,0.000,1030,0.000,0.046,2385,1965,3084,3157,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,320,-0.55,-97.3,1440,1963,3134,3006,38.9,-13.1,54,327,0.00,2.25,0.00,0.000,260,0.000,0.053,2373,3383,3084,3158,3011,0,0,0,0,0,0,28.83,25.77,28.83
$GC,390,-0.55,-97.3,1456,3382,3136,3006,47.1,-11.0,67,397,0.00,2.25,0.00,0.000,1030,0.000,0.044,2374,1956,3084,3159,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,703,-0.55,-97.3,1456,1953,3138,3006,83.0,-11.9,128,710,0.00,2.28,0.00,0.000,260,0.000,0.053,2364,3363,3085,3160,3010,0,0,0,0,0,0,28.83,25.88,28.83
$GC,814,-0.55,-97.3,1472,3362,3138,3006,97.1,-12.7,149,822,0.12,2.20,0.00,0.000,3078,0.161,0.044,2394,1953,3085,3160,3010,0,0,0,0,0,0,25.67,25.92,28.83
$GC,1132,-0.55,-97.3,2394,1953,3161,3010,133.7,-11.4,182,1141,0.00,2.22,0.00,0.000,260,0.000,0.052,2386,3370,3085,3161,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1145,-0.55,-97.3,2386,3370,3161,3010,134.8,-11.3,183,1153,0.00,2.22,0.00,0.000,1030,0.000,0.044,2386,1953,3085,3161,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1454,-0.55,-97.3,2386,1953,3162,3010,170.1,-10.9,214,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1952,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.55,-97.3,2385,1953,3163,3010,204.1,-11.1,244,1763,0.00,2.22,0.00,0.000,260,0.000,0.052,2376,3369,3086,3162,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1847,-0.55,-97.3,2376,3369,3162,3010,214.2,-10.6,253,1856,0.00,2.20,0.00,0.000,1030,0.000,0.044,2376,1953,3086,3162,3010,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2156,-0.55,-97.3,2376,1952,3162,3010,250.1,-11.7,284,2165,0.00,2.25,0.00,0.000,260,0.000,0.052,2365,3377,3086,3162,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2191,-0.55,-97.3,2365,3377,3162,3010,253.9,-11.6,287,2198,0.12,2.22,0.00,0.000,3078,0.161,0.044,2396,1951,3086,3162,3011,0,0,0,0,0,0,25.72,25.97,28.83
$GC,2499,-0.55,-97.3,2396,1951,3163,3010,286.8,-10.5,318,2508,0.00,2.25,0.00,0.000,516,0.000,0.057,2396,545,3087,3163,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2542,-0.55,-97.3,2396,545,3163,3010,291.5,-11.0,322,2551,0.00,2.17,0.00,0.000,1030,0.000,0.045,2388,1959,3086,3163,3010,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2852,-0.55,-97.3,2387,1959,3163,3010,326.2,-11.5,353,2860,0.00,2.20,0.00,0.000,260,0.000,0.052,2377,3370,3086,3163,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2937,-0.55,-97.3,2377,3370,3163,3010,335.7,-11.2,361,2944,0.00,2.22,0.00,0.000,1030,0.000,0.044,2377,1957,3086,3163,3010,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3243,-0.55,-97.3,2377,1956,3163,3010,371.7,-11.5,392,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1956,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.55,-97.3,2377,1956,3163,3010,404.8,-10.4,421,3561,0.00,2.22,0.00,0.000,260,0.000,0.053,2367,3371,3086,3163,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3607,-0.55,-97.3,2367,3371,3163,3010,408.9,-10.3,423,3613,0.00,2.22,0.00,0.000,1030,0.000,0.044,2367,1951,3086,3163,3010,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3914,-0.55,-97.3,2367,1951,3163,3010,443.7,-10.8,439,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1951,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-0.55,-97.3,2366,1951,3163,3010,476.2,-10.9,454,4220,0.00,2.28,0.00,0.000,516,0.000,0.058,2367,543,3086,3163,3010,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4227,-0.55,-97.3,2366,543,3163,3010,476.2,-10.9,454,4234,0.15,2.20,0.00,0.000,3078,0.163,0.046,2394,1956,3086,3163,3010,0,0,0,0,0,0,25.63,25.98,28.83
$GC,4535,-0.55,-97.3,2394,1956,3163,3009,506.6,-9.2,470,4540,0.00,2.20,0.00,0.000,260,0.000,0.054,2385,3367,3086,3163,3009,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4608,-0.55,-97.3,2385,3367,3163,3009,512.2,-9.3,473,4615,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1950,3086,3163,3009,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4914,-0.55,-97.3,2384,1950,3163,3009,542.3,-9.4,489,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1950,3086,3163,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5215,-0.55,-97.3,2385,1950,3163,3008,569.8,-9.1,504,5220,0.00,2.25,0.00,0.000,260,0.000,0.054,2375,3372,3085,3163,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5287,-0.55,-97.3,2374,3372,3163,3007,575.5,-9.4,507,5293,0.00,2.22,0.00,0.000,1030,0.000,0.045,2375,1958,3085,3163,3007,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5594,-0.55,-97.3,2374,1957,3163,3007,606.7,-9.9,523,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1957,3085,3163,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,-0.55,-97.3,2374,1957,3163,3006,635.7,-9.6,538,5900,0.00,2.28,0.00,0.000,260,0.000,0.054,2364,3378,3084,3163,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5907,-0.55,-97.3,2364,3378,3163,3006,635.7,-9.6,538,5914,0.12,2.25,0.00,0.000,3078,0.163,0.046,2394,1949,3084,3163,3006,0,0,0,0,0,0,25.66,25.91,28.83
$GC,6215,-0.55,-97.3,2394,1948,3163,3005,663.9,-9.1,554,6221,0.00,2.25,0.00,0.000,260,0.000,0.054,2386,3370,3084,3163,3006,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6234,-0.55,-97.3,2386,3370,3163,3005,665.7,-9.1,555,6240,0.00,2.22,0.00,0.000,1030,0.000,0.046,2386,1954,3084,3163,3005,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6554,-0.55,-97.3,2386,1954,3163,3005,697.0,-9.9,571,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-0.55,-97.3,2385,1954,3163,3005,727.1,-10.3,586,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7154,-0.55,-97.3,2386,1954,3163,3005,757.7,-10.1,601,7160,0.00,2.28,0.00,0.000,260,0.000,0.055,2376,3372,3083,3163,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7182,-0.55,-97.3,2376,3372,3164,3004,759.7,-10.1,602,7186,0.00,2.25,0.00,0.000,1030,0.000,0.047,2376,1948,3083,3163,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7489,-0.55,-97.3,2376,1948,3163,3004,792.4,-9.9,617,7495,0.00,2.28,0.00,0.000,260,0.000,0.055,2366,3369,3083,3162,3004,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7511,-0.55,-97.3,1552,3367,3145,3000,794.4,-9.9,618,7515,0.00,2.25,0.00,0.000,1030,0.000,0.047,2365,1947,3083,3163,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7830,-0.55,-97.3,2365,1947,3164,3003,826.8,-9.5,634,7836,0.12,2.28,0.00,0.000,2308,0.179,0.054,2392,3373,3083,3163,3003,0,0,0,0,0,0,26.00,25.79,28.83
$GC,7862,-0.55,-97.3,2392,3373,3163,3003,828.5,-9.3,635,7870,0.00,2.25,0.00,0.000,1030,0.000,0.047,2392,1947,3083,3163,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8169,-0.55,-97.3,2392,1947,3162,3003,854.5,-8.2,651,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3083,3163,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,-0.55,-97.3,2392,1947,3163,3002,877.7,-7.6,666,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3082,3163,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8769,-0.55,-97.3,2392,1947,3163,3002,900.2,-7.4,681,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1947,3082,3163,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9070,-0.55,-97.3,2392,1947,3163,3002,923.7,-8.1,696,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3082,3163,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,-0.55,-97.3,2392,1947,3163,3001,947.3,-7.8,711,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3082,3163,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9670,-0.55,-97.3,2392,1947,3163,3001,969.3,-7.1,726,9675,0.00,2.28,0.00,0.000,260,0.000,0.057,2382,3371,3082,3163,3001,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9703,-0.55,-97.3,2383,3371,3163,3001,970.7,-7.0,727,9709,0.00,2.25,0.00,0.000,1030,0.000,0.047,2382,1951,3082,3163,3001,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10009,-0.55,-97.3,2382,1951,3163,3001,993.3,-7.0,743,10015,0.00,2.30,0.00,0.000,516,0.000,0.063,2382,536,3082,3163,3001,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10029,-0.55,-97.3,2382,536,3163,3001,994.9,-7.2,744,10035,0.00,2.25,0.00,0.000,1030,0.000,0.050,2372,1954,3082,3163,3001,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,10109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10109,begin apogee
$GC,10116,-0.14,0.0,2372,1878,3163,3002,1001.3,-8.0,748,10213,0.50,0.00,93.82,1.818,10246,0.138,0.000,2524,1878,2683,2761,2605,0,0,0,0,0,0,25.30,28.83,22.10
$STATE,10214,end apogee,CONTROL_FINISHED_OK
$STATE,10214,begin climb
$GC,10216,0.55,97.3,2524,1878,2761,2605,1004.2,0.0,753,10323,0.68,2.58,99.25,1.744,10756,0.084,0.063,2757,483,2286,2359,2214,0,0,0,0,0,0,24.08,23.20,21.37
$GC,10348,0.67,212.8,2758,483,2354,2214,998.8,5.0,759,10477,0.00,2.40,122.10,1.732,9222,0.000,0.049,2758,1882,1815,1891,1739,0,0,0,0,0,0,28.83,23.85,21.38
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$STATE,18150,end climb,SURFACE_DEPTH_REACHED
$STATE,18150,begin surface coast
$FINISH,-0.1,1.026720
$STATE,18171,end surface coast,CONTROL_FINISHED_OK
$STATE,18171,begin surface
$SM_CCo,18248,0.00,0.000,0,0,1795,217.82
$SM_GC,1.30,6.88,0.12,0.00,0.045,0.089,0.000,163,1961,1795,-7.40,-0.68,217.82,0,0,0,0,0,0,26.18,26.34,28.83
$IRIDIUM_FIX,-4256.74,827.46,170809,000042
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.81
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,21.4,70.471
$10V_AH,9.7,48.182
$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
$DEVICE_SECS,18.300,185.425,315.175,0.000,0.000,26.663,35.373,250.121,0.000,0.000,16.969,3563.400,11227.546,534.622,3051.119,323.773,0.000,1905.892,0.000,2542.312,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.245,282.937,903.624,414.680,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353124
$DATA_FILE_SIZE,93807,1389
$CAP_FILE_SIZE,183084,0
$CFSIZE,259252224,221446144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069, 26.0,1
$GPS,201016,210603,-4300.083,830.542,38,0.9,38,-25.0