version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 479
start: 10 22 116 22 24 54
data:
$ID,542
$MISSION,14
$DIVE,479
$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,-42197.496
$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,24
$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
$GPS1,221016,221603,-4257.552,830.450,36,0.8,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.6
$GPS2,221016,222410,-4257.537,830.483,19,0.9,19,-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,205.8,15558,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,160,1964,1889,1783,0.0,0.0,0,69,0.00,0.00,-48.00,0.000,16390,0.000,0.000,160,1964,3080,3130,3030,0,0,0,0,0,0,28.83,28.83,26.41
$GC,73,-0.55,-97.3,160,1964,3130,3030,3.5,-6.1,8,87,8.77,2.33,0.00,0.000,2564,0.221,0.049,2393,537,3081,3132,3031,0,0,0,0,0,0,24.90,25.75,28.83
$GC,331,-0.55,-97.3,1440,536,3132,3011,40.3,-11.2,58,338,0.00,2.22,0.00,0.000,1030,0.000,0.046,2385,1956,3086,3157,3016,0,0,0,0,0,0,28.83,25.87,28.83
$GC,646,-0.55,-97.3,2385,1956,3159,3015,76.4,-11.7,119,653,0.00,2.22,0.00,0.000,260,0.000,0.053,2374,3372,3087,3159,3015,0,0,0,0,0,0,28.83,25.86,28.83
$GC,712,-0.55,-97.3,2374,3371,3159,3015,84.1,-11.8,131,718,0.00,2.22,0.00,0.000,1030,0.000,0.043,2374,1953,3087,3159,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1030,-0.55,-97.3,2374,1952,3160,3015,122.5,-12.4,175,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1339,-0.55,-97.3,2374,1952,3161,3015,160.5,-12.1,206,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1649,-0.55,-97.3,2374,1952,3161,3015,198.7,-12.4,237,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-0.55,-97.3,2374,1952,3161,3015,236.2,-11.7,268,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2270,-0.55,-97.3,2374,1952,3161,3015,271.7,-11.3,299,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2578,-0.55,-97.3,2374,1952,3161,3015,305.9,-10.9,330,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2878,-0.55,-97.3,2374,1952,3162,3015,338.3,-10.2,360,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3178,-0.55,-97.3,2374,1952,3161,3015,370.3,-10.4,390,3188,0.00,2.25,0.00,0.000,516,0.000,0.057,2374,546,3088,3161,3015,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3214,-0.55,-97.3,2374,546,3161,3015,374.0,-10.9,393,3221,0.12,2.20,0.00,0.000,3078,0.166,0.045,2394,1960,3088,3161,3015,0,0,0,0,0,0,25.72,26.00,28.83
$GC,3522,-0.55,-97.3,2394,1961,3161,3015,402.7,-9.3,423,3528,0.00,2.20,0.00,0.000,260,0.000,0.052,2386,3371,3088,3162,3015,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3595,-0.55,-97.3,2385,3371,3161,3015,408.2,-9.2,426,3602,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1948,3088,3162,3015,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3901,-0.55,-97.3,2385,1948,3161,3015,439.1,-9.9,442,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1948,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.55,-97.3,2386,1948,3161,3015,468.1,-9.6,457,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1948,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.55,-97.3,2385,1948,3161,3015,496.1,-9.1,472,4508,0.00,2.25,0.00,0.000,260,0.000,0.053,2376,3364,3088,3161,3015,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4562,-0.55,-97.3,2375,3364,3161,3015,501.5,-8.9,475,4567,0.00,2.20,0.00,0.000,1030,0.000,0.044,2375,1955,3088,3161,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4882,-0.55,-97.3,2376,1954,3161,3014,532.1,-9.6,491,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3087,3161,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5181,-0.55,-97.3,2376,1955,3161,3014,559.8,-9.3,506,5188,0.00,2.28,0.00,0.000,516,0.000,0.058,2376,541,3087,3161,3014,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5209,-0.55,-97.3,2376,541,3161,3014,561.7,-9.3,507,5213,0.00,2.20,0.00,0.000,1030,0.000,0.046,2365,1956,3087,3161,3014,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5517,-0.55,-97.3,2365,1956,3161,3013,593.0,-9.9,522,5523,0.12,2.22,0.00,0.000,2308,0.174,0.052,2392,3365,3087,3161,3013,0,0,0,0,0,0,26.01,25.86,28.83
$GC,5584,-0.55,-97.3,2392,3365,3161,3012,597.9,-8.5,525,5589,0.00,2.22,0.00,0.000,1030,0.000,0.044,2392,1949,3087,3161,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5892,-0.55,-97.3,2391,1949,3161,3012,622.6,-7.9,540,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1949,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.55,-97.3,2392,1949,3161,3011,645.9,-7.0,555,6197,0.00,2.25,0.00,0.000,516,0.000,0.060,2392,540,3086,3161,3011,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6260,-0.55,-97.3,2391,540,3161,3011,650.7,-7.9,558,6264,0.00,2.20,0.00,0.000,1030,0.000,0.047,2382,1955,3086,3161,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6567,-0.55,-97.3,2382,1955,3161,3010,678.7,-8.7,573,6573,0.00,2.22,0.00,0.000,260,0.000,0.054,2371,3365,3085,3161,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6609,-0.55,-97.3,1536,3363,3142,3006,682.1,-8.4,575,6613,0.00,2.22,0.00,0.000,1030,0.000,0.045,2371,1955,3085,3161,3010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6922,-0.55,-97.3,2371,1954,3162,3009,708.7,-8.6,591,6928,0.00,2.28,0.00,0.000,260,0.000,0.054,2361,3375,3085,3161,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6964,-0.55,-97.3,1536,3374,3142,3004,712.3,-8.9,593,6969,0.12,2.25,0.00,0.000,3078,0.161,0.045,2391,1946,3084,3161,3007,0,0,0,0,0,0,25.67,25.92,28.83
$GC,7278,-0.55,-97.3,2391,1946,3161,3007,737.3,-8.4,609,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1946,3084,3161,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7577,-0.55,-97.3,2391,1946,3161,3006,763.7,-9.0,624,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1946,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7878,-0.55,-97.3,2391,1946,3161,3005,789.8,-8.5,639,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1946,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8177,-0.55,-97.3,2391,1946,3161,3005,815.2,-8.8,654,8183,0.00,2.25,0.00,0.000,516,0.000,0.062,2391,549,3083,3161,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8210,-0.55,-97.3,2391,548,3161,3005,817.0,-9.0,655,8216,0.00,2.20,0.00,0.000,1030,0.000,0.048,2383,1953,3083,3161,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8517,-0.55,-97.3,2383,1954,3161,3004,846.5,-9.0,671,8523,0.00,2.22,0.00,0.000,260,0.000,0.055,2373,3365,3082,3161,3004,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8591,-0.55,-97.3,2372,3365,3161,3004,852.0,-9.1,674,8598,0.00,2.22,0.00,0.000,1030,0.000,0.046,2373,1954,3083,3162,3004,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8897,-0.55,-97.3,2373,1954,3161,3004,881.3,-9.0,690,8903,0.00,2.30,0.00,0.000,516,0.000,0.062,2372,541,3082,3161,3003,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8920,-0.55,-97.3,1536,541,3141,3000,883.2,-9.2,691,8925,0.12,2.22,0.00,0.000,3078,0.164,0.049,2392,1956,3082,3161,3003,0,0,0,0,0,0,25.62,25.88,28.83
$GC,9234,-0.55,-97.3,2393,1956,3162,3003,907.2,-7.3,707,9240,0.00,2.22,0.00,0.000,260,0.000,0.056,2384,3365,3082,3161,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9316,-0.55,-97.3,1536,3363,3142,2998,912.9,-7.2,711,9320,0.00,2.22,0.00,0.000,1030,0.000,0.047,2383,1955,3082,3161,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9628,-0.55,-97.3,2384,1955,3161,3002,935.0,-6.7,727,9634,0.00,2.28,0.00,0.000,516,0.000,0.063,2384,544,3082,3161,3003,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9668,-0.55,-97.3,2384,544,3161,3002,937.9,-6.9,729,9673,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1958,3081,3161,3002,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9988,-0.55,-97.3,2373,1958,3161,3002,961.9,-7.7,745,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10288,-0.55,-97.3,2373,1958,3161,3001,985.8,-8.1,760,10293,0.00,2.25,0.00,0.000,260,0.000,0.056,2363,3370,3081,3161,3001,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10381,-0.55,-97.3,2363,3370,3161,3001,992.7,-8.6,764,10389,0.12,2.25,0.00,0.000,3078,0.158,0.047,2393,1956,3081,3162,3001,0,0,0,0,0,0,25.60,25.84,28.83
$STATE,10465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10465,begin apogee
$GC,10471,-0.14,0.0,2393,1869,3162,3001,1000.6,-7.7,769,10568,0.43,0.00,93.35,1.808,10246,0.130,0.000,2526,1869,2682,2762,2603,0,0,0,0,0,0,25.45,28.83,22.31
$STATE,10569,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10571,0.55,97.3,2526,1869,2763,2604,1003.5,0.0,774,10674,0.68,0.00,99.93,1.714,10246,0.080,0.000,2749,1869,2286,2362,2210,0,0,0,0,0,0,24.17,28.83,21.52
$GC,10969,0.63,175.3,2749,1869,2358,2199,981.5,6.4,794,11054,0.00,2.53,76.62,1.726,8452,0.000,0.055,2750,3299,1968,2049,1888,0,0,0,0,0,0,28.83,23.96,22.32
$GC,11117,0.63,177.7,2749,3299,2043,1885,969.7,9.4,801,11122,0.00,2.38,0.00,0.000,1030,0.000,0.052,2759,1900,1964,2043,1885,0,0,0,0,0,0,28.83,24.63,28.83
$GC,11425,0.63,177.7,2759,1900,2043,1877,935.6,11.1,816,11431,0.00,2.35,0.00,0.000,516,0.000,0.068,2770,475,1960,2043,1877,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11488,0.63,177.7,2769,475,2042,1876,928.8,11.2,819,11492,0.00,2.25,0.00,0.000,1030,0.000,0.050,2770,1891,1959,2042,1876,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,19603,end climb,SURFACE_DEPTH_REACHED
$STATE,19603,begin surface coast
$FINISH,0.7,1.026676
$STATE,19625,end surface coast,CONTROL_FINISHED_OK
$STATE,19625,begin surface
$SM_CCo,19642,4.05,0.450,0,0,1866,200.16
$SM_GC,2.80,6.88,0.12,4.05,0.046,0.086,0.450,166,1965,1866,-7.41,-0.54,200.16,0,0,0,0,0,0,26.18,26.36,24.51
$IRIDIUM_FIX,-4239.11,831.12,190809,050543
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.61
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.5,72.151
$10V_AH,9.7,49.297
$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
$DEVICE_SECS,17.825,139.950,282.450,4.050,0.000,25.910,48.893,271.080,0.000,0.000,20.172,3822.713,12308.456,482.675,3179.733,346.570,0.000,1815.410,0.000,2644.886,0.000,1.010,0.000
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$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,353156
$DATA_FILE_SIZE,97070,1485
$CAP_FILE_SIZE,181497,0
$CFSIZE,259252224,220573696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,335.2,1
$GPS,231016,035351,-4258.872,829.901,52,0.9,52,-25.0