version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 27
start: 7 21 116 3 15 49
data:
$ID,542
$MISSION,14
$DIVE,27
$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,333
$T_MISSION,343
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-39998.109
$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,1946
$C_ROLL_CLIMB,1879
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,210716,030835,-4259.731,848.939,196,0.8,196,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.0
$GPS2,210716,031522,-4259.729,849.004,52,1.6,52,-25.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET1
$TGT_LATLONG,-4300.000,850.000
$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,163.8,1440,-27.8,-10.010,-30.00,969
$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,14,-0.85,-63.2,168,1951,2125,2017,0.0,0.0,0,57,0.00,0.00,-35.00,0.000,16390,0.000,0.000,168,1950,2959,3019,2899,0,0,0,0,0,0,28.83,28.83,26.43
$GC,59,-0.92,-118.7,168,1951,3018,2899,2.9,-4.1,6,80,8.10,2.30,-5.38,0.000,18692,0.237,0.082,2260,3368,3186,3282,3090,0,0,0,0,0,0,25.91,26.06,26.37
$GC,313,-0.92,-118.7,1412,3367,3266,3087,62.0,-22.4,55,319,0.00,2.28,0.00,0.000,1030,0.000,0.060,2260,1945,3187,3283,3091,0,0,0,0,0,0,28.83,26.17,28.83
$GC,629,-0.92,-118.7,2260,1945,3284,3091,134.0,-22.2,102,637,0.00,2.28,0.00,0.000,260,0.000,0.067,2251,3369,3187,3284,3090,0,0,0,0,0,0,28.83,26.23,28.83
$GC,764,-0.92,-118.7,2251,3369,3284,3091,163.3,-22.6,115,771,0.00,2.28,0.00,0.000,1030,0.000,0.060,2251,1939,3187,3284,3091,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1070,-0.92,-118.7,2251,1938,3284,3091,230.9,-21.3,146,1079,0.00,2.28,0.00,0.000,260,0.000,0.066,2241,3363,3187,3284,3091,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1162,-0.92,-118.7,2241,3363,3284,3092,249.9,-20.6,155,1171,0.15,2.25,0.00,0.000,3078,0.211,0.059,2274,1938,3188,3284,3092,0,0,0,0,0,0,26.20,26.33,28.83
$GC,1472,-0.92,-118.7,2274,1938,3285,3092,309.9,-19.8,186,1481,0.00,2.28,0.00,0.000,260,0.000,0.066,2266,3367,3188,3285,3092,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1526,-0.92,-118.7,2265,3367,3285,3092,320.1,-19.9,191,1533,0.00,2.30,0.00,0.000,1030,0.000,0.058,2266,1942,3188,3285,3092,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1833,-0.92,-118.7,2265,1943,3286,3093,385.3,-21.0,222,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1943,3189,3285,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2133,-0.92,-118.7,2265,1942,3286,3094,445.4,-19.4,241,2137,0.00,2.25,0.00,0.000,260,0.000,0.067,2255,3359,3189,3285,3094,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2337,-0.92,-118.7,2255,3358,3286,3095,482.0,-19.0,251,2341,0.00,2.25,0.00,0.000,1030,0.000,0.060,2255,1938,3190,3286,3095,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2649,-0.92,-118.7,2255,1937,3286,3095,543.0,-19.0,267,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1937,3190,3286,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.92,-118.7,2255,1937,3286,3095,599.6,-18.8,282,2955,0.00,2.28,0.00,0.000,260,0.000,0.069,2245,3367,3190,3286,3095,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3042,-0.92,-118.7,2245,3367,3286,3095,615.1,-19.4,286,3049,0.08,2.30,0.00,0.000,3078,0.200,0.060,2280,1944,3190,3285,3095,0,0,0,0,0,0,26.35,26.48,28.83
$GC,3349,-0.92,-118.7,2279,1944,3285,3094,672.0,-17.8,302,3353,0.00,2.28,0.00,0.000,260,0.000,0.070,2271,3367,3190,3286,3095,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3467,-0.92,-118.7,1508,3366,3271,3091,692.9,-17.9,308,3472,0.00,2.30,0.00,0.000,1030,0.000,0.061,2271,1947,3189,3285,3094,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3786,-0.92,-118.7,2270,1946,3285,3094,754.2,-19.2,324,3792,0.00,2.25,0.00,0.000,260,0.000,0.071,2261,3358,3189,3285,3094,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3853,-0.92,-118.7,2261,3359,3286,3094,765.8,-19.4,327,3857,0.00,2.30,0.00,0.000,1030,0.000,0.063,2261,1942,3190,3286,3094,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4165,-0.92,-118.7,2261,1941,3286,3094,829.4,-19.9,343,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1941,3190,3285,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-0.92,-118.7,2261,1941,3286,3094,888.7,-19.4,358,4471,0.00,2.28,0.00,0.000,260,0.000,0.072,2251,3358,3190,3286,3094,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4505,-0.92,-118.7,2250,3358,3285,3094,896.4,-19.4,360,4510,0.00,2.25,0.00,0.000,1030,0.000,0.063,2251,1940,3190,3286,3094,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4823,-0.92,-118.7,2250,1939,3285,3094,958.3,-19.5,376,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1939,3189,3285,3093,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5040,begin apogee
$GC,5044,-0.14,0.0,2250,1876,3285,3094,1000.3,-19.0,387,5156,0.93,0.00,108.35,1.729,10246,0.187,0.000,2518,1876,2699,2787,2612,0,0,0,0,0,0,26.41,28.83,23.45
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5158,0.92,118.7,2518,1876,2787,2612,1005.6,0.0,392,5283,1.08,2.60,113.43,1.681,10756,0.109,0.085,2870,472,2214,2282,2147,0,0,0,0,0,0,24.46,24.07,23.16
$GC,5318,0.92,118.7,2869,471,2276,2144,990.8,14.0,400,5325,0.00,2.45,0.00,0.000,1030,0.000,0.067,2869,1883,2209,2276,2143,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5626,0.92,118.7,2869,1883,2275,2131,931.7,18.3,416,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1883,2203,2276,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,0.92,118.7,2869,1883,2275,2128,877.7,17.6,431,5931,0.00,2.35,0.00,0.000,260,0.000,0.075,2870,3301,2201,2275,2128,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6065,0.92,118.7,2869,3300,2272,2128,851.7,18.5,438,6070,0.00,2.35,0.00,0.000,1030,0.000,0.069,2880,1875,2200,2272,2128,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6381,0.92,118.7,2880,1874,2272,2126,794.3,17.9,454,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1874,2199,2272,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,0.92,118.7,2880,1874,2272,2126,742.3,17.1,469,6686,0.00,2.33,0.00,0.000,260,0.000,0.075,2880,3293,2199,2272,2126,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6740,0.92,118.7,2000,3292,2229,2120,732.3,17.5,472,6745,0.00,2.35,0.00,0.000,1030,0.000,0.068,2890,1882,2198,2270,2126,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7057,0.92,118.7,2890,1882,2270,2125,676.8,17.2,488,7061,0.00,2.33,0.00,0.000,260,0.000,0.076,2891,3300,2198,2270,2126,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7081,0.92,118.7,2890,3300,2270,2126,674.0,17.5,489,7086,0.12,2.35,0.00,0.000,5126,0.259,0.069,2877,1885,2198,2270,2126,0,0,0,0,0,0,26.06,26.20,28.83
$GC,7394,0.92,118.7,2876,1884,2270,2125,620.6,16.6,505,7400,0.00,2.30,0.00,0.000,260,0.000,0.075,2872,3294,2197,2269,2125,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7521,0.92,118.7,2872,3294,2269,2125,599.6,17.6,511,7525,0.00,2.35,0.00,0.000,1030,0.000,0.068,2881,1877,2197,2269,2125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7833,0.92,118.7,2881,1877,2269,2125,544.6,17.2,527,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1877,2197,2269,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8135,0.92,118.7,2881,1877,2268,2124,493.5,17.0,542,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1877,2196,2269,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,0.92,118.7,2881,1877,2269,2123,442.4,16.5,557,8439,0.00,2.30,0.00,0.000,260,0.000,0.075,2881,3294,2196,2268,2124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8566,0.92,118.7,2881,3294,2268,2123,422.8,16.3,563,8573,0.00,2.33,0.00,0.000,1030,0.000,0.068,2891,1881,2196,2268,2124,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8873,0.92,118.7,2891,1881,2268,2123,372.4,15.4,587,8877,0.00,2.30,0.00,0.000,260,0.000,0.075,2891,3298,2195,2268,2123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8922,0.92,118.7,2891,3298,2268,2123,365.0,16.2,591,8930,0.15,2.30,0.00,0.000,5126,0.250,0.067,2872,1873,2195,2267,2123,0,0,0,0,0,0,26.25,26.39,28.83
$GC,9230,0.92,118.7,2870,1873,2267,2123,320.4,14.4,622,9239,0.00,2.30,0.00,0.000,260,0.000,0.074,2871,3294,2195,2267,2124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9293,0.92,118.7,2871,3295,2267,2123,310.8,16.0,628,9302,0.00,2.33,0.00,0.000,1030,0.000,0.067,2881,1880,2195,2267,2124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9601,0.92,118.7,2880,1880,2267,2123,262.2,15.6,659,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1880,2195,2267,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9903,0.92,118.7,2880,1880,2266,2123,216.8,15.3,689,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1880,2195,2267,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10201,0.92,118.7,2880,1880,2267,2123,171.1,14.5,719,10205,0.00,2.28,0.00,0.000,260,0.000,0.071,2881,3296,2195,2267,2123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10367,0.92,118.7,2880,3296,2267,2123,144.6,15.8,735,10371,0.00,2.28,0.00,0.000,1030,0.000,0.065,2891,1870,2195,2267,2123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10673,0.92,118.7,2890,1870,2267,2123,100.1,13.6,765,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1870,2195,2267,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10974,0.92,118.7,1920,1868,2220,2117,56.4,13.9,824,10981,0.00,2.30,0.00,0.000,260,0.000,0.070,2891,3299,2195,2267,2123,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11049,0.92,118.7,2891,3299,2267,2123,45.3,15.6,838,11056,0.12,2.25,0.00,0.000,5126,0.244,0.063,2876,1879,2195,2267,2123,0,0,0,0,0,0,26.33,26.47,28.83
$STATE,11334,end climb,SURFACE_DEPTH_REACHED
$STATE,11334,begin surface coast
$FINISH,0.0,1.026685
$STATE,11357,end surface coast,CONTROL_FINISHED_OK
$STATE,11357,begin surface
$SM_CCo,11371,10.77,0.163,0,0,2084,150.12
$SM_GC,2.98,7.12,0.12,10.77,0.060,0.105,0.163,183,1949,2084,-7.40,-0.62,150.12,0,0,0,0,0,0,26.50,26.50,26.36
$IRIDIUM_FIX,-4242.04,849.02,170509,121235
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.31
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.2,6.361
$10V_AH,10.2,3.619
$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,17.850,87.875,221.775,10.775,0.000,23.299,65.247,177.559,0.000,0.000,53.591,2352.917,6829.226,337.546,2164.949,108.832,0.000,1214.982,0.000,1767.672,0.000,1.011,0.000
$DEVICE_MAMPS,259.335,123.930,1728.900,162.945,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.683,73.036,467.740,945.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,57106,898
$CAP_FILE_SIZE,149396,0
$CFSIZE,259252224,256868352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,156.6,1
$GPS,210716,062730,-4301.147,850.459,85,0.9,85,-25.2