version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 40
start: 7 23 116 1 59 10
data:
$ID,542
$MISSION,14
$DIVE,40
$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,345
$T_MISSION,400
$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,-40014.531
$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,2069
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$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
$GPS1,230716,015333,-4259.135,850.087,331,1.0,331,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-75.2
$GPS2,230716,015844,-4259.157,850.136,16,0.9,17,-25.2
$SPEED_LIMITS,0.167,0.257
$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,208.1,1572,-27.8,-9.662,-30.00,953
$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,-59.9,157,2075,2100,2039,0.0,0.0,0,51,0.00,0.00,-33.90,0.000,16390,0.000,0.000,157,2075,2946,3005,2887,0,0,0,0,0,0,28.83,28.83,26.44
$GC,53,-0.92,-118.1,156,2075,3006,2888,2.7,-3.4,5,75,8.27,2.30,-6.05,0.000,18692,0.244,0.081,2258,3492,3183,3282,3084,0,0,0,0,0,0,25.91,26.09,26.39
$GC,102,-0.92,-118.1,1376,3491,3265,3081,13.2,-21.2,13,109,0.00,2.28,0.00,0.000,1030,0.000,0.057,2260,2067,3184,3284,3085,0,0,0,0,0,0,28.83,26.10,28.83
$GC,151,-0.92,-118.1,1360,2065,3265,3081,23.8,-22.1,22,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2067,3185,3285,3085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,279,-0.92,-118.1,2259,2067,3285,3085,52.5,-21.5,47,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2066,3185,3285,3085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,589,-0.92,-118.1,2259,2067,3285,3086,123.0,-23.0,98,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2067,3185,3284,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.92,-118.1,2260,2067,3285,3087,191.3,-21.7,128,899,0.00,2.28,0.00,0.000,260,0.000,0.067,2251,3493,3186,3285,3088,0,0,0,0,0,0,28.83,26.30,28.83
$GC,961,-0.92,-118.1,2251,3493,3285,3088,207.6,-22.7,135,965,0.00,2.25,0.00,0.000,1030,0.000,0.057,2259,2065,3186,3285,3088,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1268,-0.92,-118.1,2259,2064,3285,3088,273.8,-22.1,165,1277,0.00,2.25,0.00,0.000,260,0.000,0.067,2250,3486,3187,3285,3089,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1362,-0.92,-118.1,2250,3486,3285,3089,294.1,-20.6,174,1369,0.00,2.25,0.00,0.000,1030,0.000,0.056,2253,2058,3187,3285,3089,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1669,-0.92,-118.1,2253,2059,3285,3089,361.0,-21.7,205,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2059,3187,3285,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1978,-0.92,-118.1,2253,2059,3285,3089,427.8,-21.8,230,1982,0.00,2.25,0.00,0.000,516,0.000,0.070,2260,649,3187,3285,3089,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2015,-0.92,-118.1,2259,648,3285,3090,435.7,-22.2,232,2020,0.00,2.25,0.00,0.000,1030,0.000,0.061,2251,2080,3187,3285,3090,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2335,-0.92,-118.1,2250,2081,3285,3090,503.4,-20.8,248,2340,0.00,2.22,0.00,0.000,260,0.000,0.067,2240,3486,3187,3285,3090,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2382,-0.92,-118.1,2239,3486,3285,3090,511.7,-20.7,250,2387,0.15,2.25,0.00,0.000,3078,0.211,0.057,2275,2056,3187,3285,3090,0,0,0,0,0,0,26.31,26.44,28.83
$GC,2694,-0.92,-118.1,2274,2055,3285,3090,572.0,-18.7,266,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2055,3187,3285,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2995,-0.92,-118.1,2274,2056,3285,3090,629.3,-19.8,281,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2056,3187,3285,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.92,-118.1,2274,2055,3285,3090,689.5,-19.9,296,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2055,3187,3285,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3594,-0.92,-118.1,2274,2055,3285,3090,749.2,-19.7,311,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2055,3187,3285,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3895,-0.92,-118.1,2274,2055,3285,3090,804.8,-18.1,326,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2055,3187,3285,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4196,-0.92,-118.1,2274,2055,3284,3089,858.8,-17.6,341,4201,0.00,2.28,0.00,0.000,260,0.000,0.073,2265,3483,3187,3284,3090,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4257,-0.92,-118.1,1520,3482,3270,3086,869.3,-17.5,344,4261,0.00,2.30,0.00,0.000,1030,0.000,0.062,2266,2064,3187,3285,3090,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4575,-0.92,-118.1,2266,2064,3285,3090,927.4,-18.0,360,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2064,3187,3284,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.92,-118.1,2266,2064,3285,3089,980.9,-17.8,375,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2064,3187,3285,3090,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4993,begin apogee
$GC,4997,-0.14,0.0,2266,1915,3284,3089,1001.5,-17.1,381,5109,0.90,0.00,108.28,1.726,10246,0.193,0.000,2523,1914,2700,2789,2612,0,0,0,0,0,0,26.40,28.83,23.46
$STATE,5110,end apogee,CONTROL_FINISHED_OK
$STATE,5110,begin climb
$GC,5111,0.92,118.1,2522,1914,2789,2612,1006.5,0.0,386,5229,1.05,0.00,113.70,1.696,10758,0.108,0.000,2860,1914,2217,2282,2152,0,0,0,0,0,0,24.48,28.83,23.08
$GC,5516,0.92,118.1,2859,1914,2277,2138,947.3,16.9,407,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1914,2207,2277,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,0.92,118.1,2859,1914,2276,2136,895.7,17.0,422,5824,0.00,2.35,0.00,0.000,260,0.000,0.076,2860,3331,2206,2276,2136,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5884,0.92,118.1,2860,3331,2274,2136,885.0,17.5,425,5889,0.00,2.30,0.00,0.000,1030,0.000,0.065,2870,1929,2205,2274,2136,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6196,0.92,118.1,2870,1929,2274,2133,827.9,17.7,441,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1929,2203,2274,2133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,0.92,118.1,2870,1929,2273,2131,774.9,17.3,456,6503,0.00,2.33,0.00,0.000,260,0.000,0.075,2870,3341,2202,2273,2131,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6525,0.92,118.1,2870,3341,2272,2131,771.4,17.3,457,6529,0.00,2.33,0.00,0.000,1030,0.000,0.066,2880,1916,2201,2272,2131,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6836,0.92,118.1,2880,1916,2272,2131,716.0,16.9,473,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1916,2201,2272,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,0.92,118.1,2880,1916,2272,2130,664.9,16.9,488,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1916,2201,2272,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,0.92,118.1,2880,1916,2271,2129,615.0,16.7,503,7444,0.00,2.30,0.00,0.000,260,0.000,0.076,2881,3335,2200,2271,2129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7516,0.92,118.1,2880,3335,2270,2129,601.4,17.1,507,7520,0.00,2.28,0.00,0.000,1030,0.000,0.066,2891,1925,2199,2270,2129,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7832,0.92,118.1,2890,1924,2270,2129,546.8,16.8,523,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1924,2200,2270,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,0.92,118.1,2890,1924,2269,2128,498.5,16.0,538,8139,0.00,2.30,0.00,0.000,516,0.000,0.085,2902,515,2199,2270,2129,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8200,0.92,118.1,2901,516,2269,2128,488.6,16.4,541,8205,0.15,2.28,0.00,0.000,5126,0.239,0.070,2870,1928,2198,2268,2128,0,0,0,0,0,0,26.20,26.34,28.83
$GC,8512,0.92,118.1,2870,1928,2269,2128,441.9,14.7,557,8516,0.00,2.30,0.00,0.000,260,0.000,0.076,2870,3344,2198,2268,2129,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8621,0.92,118.1,2870,3343,2268,2128,427.1,15.4,562,8628,0.00,2.30,0.00,0.000,1030,0.000,0.066,2880,1917,2198,2268,2128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8929,0.92,118.1,2879,1917,2268,2128,375.9,16.5,585,8938,0.00,2.30,0.00,0.000,260,0.000,0.075,2880,3335,2198,2268,2129,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8979,0.92,118.1,2879,3335,2268,2128,367.0,17.1,590,8983,0.00,2.28,0.00,0.000,1030,0.000,0.066,2890,1925,2198,2268,2129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9285,0.92,118.1,2890,1924,2268,2128,316.3,16.4,620,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1924,2198,2268,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9584,0.92,118.1,2890,1924,2268,2128,271.1,14.6,650,9588,0.00,2.33,0.00,0.000,516,0.000,0.083,2901,504,2198,2268,2128,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9611,0.92,118.1,2901,504,2268,2128,267.3,14.5,652,9621,0.12,2.28,0.00,0.000,5126,0.237,0.068,2876,1924,2198,2268,2128,0,0,0,0,0,0,26.28,26.41,28.83
$GC,9922,0.92,118.1,2875,1923,2268,2128,224.3,14.5,683,9931,0.00,2.25,0.00,0.000,260,0.000,0.073,2875,3335,2197,2267,2128,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10056,0.92,118.1,2048,3334,2229,2123,204.0,15.5,696,10064,0.00,2.30,0.00,0.000,1030,0.000,0.063,2885,1925,2197,2266,2128,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10363,0.92,118.1,2884,1925,2267,2128,157.3,14.8,727,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1925,2197,2267,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10664,0.92,118.1,2884,1925,2267,2128,111.8,15.7,757,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1924,2198,2268,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10965,0.92,118.1,1888,1923,2219,2122,66.9,14.3,809,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1925,2197,2267,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11275,0.92,118.1,1824,1923,2215,2121,19.4,17.1,870,11282,0.00,2.28,0.00,0.000,260,0.000,0.069,2884,3339,2197,2267,2128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11330,0.92,118.1,1864,3338,2217,2122,9.3,18.5,880,11337,0.00,2.28,0.00,0.000,1030,0.000,0.061,2895,1912,2197,2267,2128,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11368,end climb,SURFACE_DEPTH_REACHED
$STATE,11368,begin surface coast
$FINISH,0.2,1.014964
$STATE,11384,end surface coast,CONTROL_FINISHED_OK
$STATE,11384,begin surface
$SM_CCo,11398,10.65,0.168,0,0,2084,150.12
$SM_GC,3.35,7.12,0.28,10.65,0.053,0.086,0.168,177,2074,2084,-7.42,-0.59,150.12,0,0,0,0,0,0,26.49,26.48,26.34
$IRIDIUM_FIX,-4242.04,849.02,190509,111101
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.64
$INTERNAL_PRESSURE,9.40433
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,23.1,7.974
$10V_AH,10.3,4.705
$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,17.775,69.000,221.975,10.650,0.000,24.996,16.741,167.782,0.000,0.000,18.986,2304.230,7092.140,330.196,1893.971,105.767,0.000,1132.280,0.000,1599.052,0.000,1.010,0.000
$DEVICE_MAMPS,244.035,89.505,1725.840,168.300,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.964,65.830,446.239,927.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,57081,890
$CAP_FILE_SIZE,142970,0
$CFSIZE,259252224,256028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,258.0,1
$GPS,230716,051313,-4300.673,849.804,179,2.1,199,-25.2