version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 653
start: 12 2 116 16 8 11
data:
$ID,542
$MISSION,14
$DIVE,653
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,250
$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,83
$T_MISSION,93
$T_ABORT,220
$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,-42417.168
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,021216,155954,-4303.576,835.096,25,0.8,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.4
$GPS2,021216,160727,-4303.560,835.110,37,1.0,38,-25.1
$SPEED_LIMITS,0.276,0.286
$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,278.8,8186,-16.4,-10.040,-19.35,2736
$D_GRID,250
$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,-97.3,166,1962,1594,1499,0.0,0.0,0,82,0.00,0.00,-60.12,0.000,16390,0.000,0.000,165,1963,3082,3138,3027,0,0,0,0,0,0,28.83,28.83,26.55
$GC,86,-0.55,-97.3,165,1963,3139,3027,3.8,-7.5,10,100,8.55,2.22,0.00,0.000,2308,0.213,0.036,2382,3380,3084,3148,3020,0,0,0,0,0,0,24.94,25.95,28.83
$GC,109,-0.55,-97.3,2382,3380,3153,3016,11.6,-27.3,13,116,0.00,2.25,0.00,0.000,1030,0.000,0.037,2382,1928,3085,3156,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,159,-0.55,-97.3,1456,1927,3135,3009,18.7,-11.6,22,166,0.00,2.22,0.00,0.000,516,0.000,0.048,2382,544,3085,3158,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,255,-0.55,-97.3,1424,544,3135,3008,30.0,-11.4,40,263,0.00,2.22,0.00,0.000,1030,0.000,0.039,2372,1963,3086,3159,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,391,-0.55,-97.3,2371,1963,3159,3013,44.8,-10.8,65,397,0.00,2.17,0.00,0.000,260,0.000,0.045,2362,3369,3086,3159,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,488,-0.55,-97.3,2361,3369,3159,3013,56.5,-11.8,83,495,0.12,2.17,0.00,0.000,3078,0.155,0.037,2393,1958,3086,3159,3013,0,0,0,0,0,0,25.70,25.98,28.83
$GC,810,-0.55,-97.3,2393,1957,3161,3013,86.7,-8.8,144,818,0.00,2.25,0.00,0.000,516,0.000,0.048,2392,545,3086,3160,3013,0,0,0,0,0,0,28.83,25.83,28.83
$GC,904,-0.55,-97.3,2393,545,3161,3013,95.4,-8.9,161,911,0.00,2.17,0.00,0.000,1030,0.000,0.038,2384,1967,3087,3161,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1217,-0.55,-97.3,2384,1967,3162,3013,125.4,-10.0,196,1227,0.00,2.15,0.00,0.000,260,0.000,0.044,2374,3365,3087,3162,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1260,-0.55,-97.3,2374,3365,3162,3013,130.0,-10.2,200,1270,0.00,2.17,0.00,0.000,1030,0.000,0.036,2374,1954,3087,3162,3013,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1571,-0.55,-97.3,2373,1954,3163,3013,162.6,-10.6,231,1579,0.00,2.22,0.00,0.000,516,0.000,0.049,2373,541,3087,3162,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1655,-0.55,-97.3,2374,541,3162,3013,172.0,-11.1,239,1664,0.00,2.15,0.00,0.000,1030,0.000,0.038,2364,1958,3087,3162,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1964,-0.55,-97.3,2363,1958,3163,3013,206.6,-11.7,270,1966,0.12,0.00,0.00,0.000,2054,0.174,0.000,2394,1958,3088,3163,3013,0,0,0,0,0,0,25.98,28.83,28.83
$GC,2265,-0.55,-97.3,2394,1958,3163,3013,235.1,-9.3,300,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1958,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2433,begin apogee
$GC,2440,-0.14,0.0,2394,1874,3163,3013,250.5,-8.9,317,2535,0.40,0.00,88.05,2.029,10246,0.129,0.000,2523,1874,2683,2767,2600,0,0,0,0,0,0,25.48,28.83,22.39
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2536,begin climb
$GC,2538,0.55,97.3,2522,1874,2767,2600,255.4,0.0,327,2638,0.68,2.58,91.30,1.956,10756,0.083,0.053,2762,485,2286,2365,2207,0,0,0,0,0,0,24.48,23.25,21.23
$GC,2793,0.68,224.7,2762,485,2356,2207,248.8,5.3,352,2924,0.00,2.17,118.07,1.987,9222,0.000,0.039,2762,1887,1765,1848,1683,0,0,0,0,0,0,28.83,25.79,21.71
$GC,3225,0.72,260.0,2762,1887,1843,1674,215.0,8.7,395,3266,0.12,2.35,33.28,2.010,10500,0.083,0.045,2828,3297,1622,1699,1545,0,0,0,0,0,0,26.20,25.22,23.32
$GC,3351,0.72,260.0,2828,3297,1694,1543,198.7,13.8,407,3360,0.08,2.20,0.00,0.000,5126,0.169,0.042,2815,1897,1618,1694,1542,0,0,0,0,0,0,25.65,25.89,28.83
$GC,3660,0.72,260.0,2814,1897,1694,1539,161.8,11.5,438,3670,0.00,2.28,0.00,0.000,516,0.000,0.055,2825,476,1616,1694,1539,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3725,0.72,260.0,2824,475,1693,1538,154.0,12.4,444,3734,0.00,2.12,0.00,0.000,1030,0.000,0.037,2825,1883,1616,1694,1538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4035,0.72,260.0,2824,1883,1693,1537,115.1,12.8,475,4043,0.00,2.17,0.00,0.000,260,0.000,0.044,2824,3298,1614,1693,1536,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4089,0.72,260.0,2824,3299,1692,1537,108.1,13.6,480,4100,0.08,2.20,0.00,0.000,5126,0.164,0.042,2811,1885,1614,1692,1536,0,0,0,0,0,0,25.72,26.03,28.83
$GC,4411,0.72,260.0,2811,1885,1692,1536,71.9,10.2,535,4417,0.00,2.25,0.00,0.000,516,0.000,0.056,2821,478,1614,1692,1536,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4471,0.72,260.0,2820,478,1692,1536,64.6,11.6,546,4477,0.00,2.17,0.00,0.000,1030,0.000,0.037,2821,1897,1613,1692,1534,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4793,0.72,260.0,1792,1896,1657,1530,29.0,11.4,607,4800,0.00,2.22,0.00,0.000,260,0.000,0.045,2821,3298,1612,1691,1533,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4871,0.72,260.0,1792,3297,1658,1529,19.8,11.8,621,4878,0.00,2.28,0.00,0.000,1030,0.000,0.043,2832,1864,1611,1691,1532,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4922,0.72,260.0,1824,1862,1658,1529,13.8,11.7,630,4929,0.00,2.25,0.00,0.000,516,0.000,0.057,2842,468,1611,1690,1533,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4952,0.72,260.0,1840,468,1659,1530,10.2,11.6,635,4960,0.15,2.22,0.00,0.000,5126,0.171,0.040,2804,1887,1611,1690,1533,0,0,0,0,0,0,25.65,26.05,28.83
$GC,5005,0.72,260.0,1792,1886,1658,1529,4.6,10.0,644,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1888,1612,1691,1533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5023,end climb,SURFACE_DEPTH_REACHED
$STATE,5023,begin surface coast
$FINISH,-0.1,1.026325
$STATE,5055,end surface coast,CONTROL_FINISHED_OK
$STATE,5055,begin surface
$SM_CCo,5133,0.00,0.000,0,0,1609,263.20
$SM_GC,1.13,6.78,0.10,0.00,0.035,0.093,0.000,157,1959,1609,-7.42,-0.93,263.20,0,0,0,0,0,0,26.13,26.32,28.83
$IRIDIUM_FIX,-4247.91,831.99,290909,020212
$TT8_MAMPS,0.020972,0.020972
$HUMID,62.36
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,21.2,106.713
$10V_AH,9.7,69.404
$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,17.075,58.100,330.700,0.000,0.000,26.000,17.197,244.236,0.000,0.000,38.652,1591.229,1768.898,394.984,1634.089,208.130,0.000,1036.038,0.000,1180.422,0.000,1.012,0.000
$DEVICE_MAMPS,212.670,93.330,2028.780,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.138,225.300,717.057,364.738,0.000,0.000,0.000,0.000,0.000,0.000
$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,47049,653
$CAP_FILE_SIZE,75865,0
$CFSIZE,259252224,204955648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.260, 81.7,1
$GPS,021216,173457,-4303.606,835.473,29,0.9,37,-25.1