version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 43
start: 7 23 116 12 17 4
data:
$ID,542
$MISSION,14
$DIVE,43
$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,-40018.301
$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,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
$GPS1,230716,120721,-4300.333,849.226,149,0.8,149,-25.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-73.7
$GPS2,230716,121639,-4300.327,849.237,47,1.8,47,-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,110.9,1197,-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,15,-0.85,-59.9,173,2072,2106,2042,0.0,0.0,0,51,0.00,0.00,-33.67,0.000,16390,0.000,0.000,173,2073,2945,3003,2887,0,0,0,0,0,0,28.83,28.83,26.36
$GC,53,-0.93,-124.6,173,2072,3004,2888,2.6,-2.7,5,76,8.07,2.38,-6.80,0.000,18692,0.236,0.083,2255,3490,3211,3310,3112,0,0,0,0,0,0,25.84,26.00,26.31
$GC,440,-0.93,-124.6,2254,3491,3311,3115,96.7,-24.1,80,447,0.00,2.28,0.00,0.000,1030,0.000,0.058,2260,2063,3213,3311,3115,0,0,0,0,0,0,28.83,26.16,28.83
$GC,751,-0.93,-124.6,2259,2063,3311,3116,169.7,-23.4,112,760,0.00,2.25,0.00,0.000,260,0.000,0.065,2251,3483,3213,3311,3116,0,0,0,0,0,0,28.83,26.24,28.83
$GC,795,-0.93,-124.6,2250,3483,3310,3116,179.8,-23.7,116,802,0.00,2.28,0.00,0.000,1030,0.000,0.057,2253,2071,3213,3310,3116,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1101,-0.93,-124.6,2253,2071,3311,3117,246.8,-21.1,147,1105,0.00,2.25,0.00,0.000,260,0.000,0.065,2245,3487,3214,3311,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1128,-0.93,-124.6,2244,3487,3311,3117,252.2,-20.7,149,1137,0.12,2.25,0.00,0.000,3078,0.210,0.057,2271,2059,3214,3311,3117,0,0,0,0,0,0,26.18,26.30,28.83
$GC,1438,-0.93,-124.6,2270,2059,3311,3117,313.5,-19.9,180,1448,0.00,2.28,0.00,0.000,260,0.000,0.064,2262,3493,3214,3311,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1459,-0.93,-124.6,2262,3493,3311,3117,318.0,-20.3,182,1463,0.00,2.25,0.00,0.000,1030,0.000,0.056,2262,2060,3214,3311,3117,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1765,-0.93,-124.6,2262,2060,3311,3118,382.6,-21.1,212,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2060,3214,3311,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-0.93,-124.6,2262,2060,3311,3118,446.6,-20.5,232,2079,0.00,2.28,0.00,0.000,260,0.000,0.066,2252,3492,3214,3311,3118,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2143,-0.93,-124.6,2251,3493,3311,3118,458.1,-20.6,235,2151,0.00,2.28,0.00,0.000,1030,0.000,0.057,2251,2075,3214,3311,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2450,-0.93,-124.6,2251,2075,3311,3118,526.9,-21.6,251,2454,0.00,2.25,0.00,0.000,260,0.000,0.067,2241,3494,3214,3311,3118,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2528,-0.93,-124.6,1476,3493,3298,3115,543.1,-21.4,255,2534,0.10,2.30,0.00,0.000,3078,0.195,0.057,2269,2064,3214,3311,3118,0,0,0,0,0,0,26.31,26.44,28.83
$GC,2846,-0.93,-124.6,2269,2063,3311,3118,607.4,-20.0,271,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2063,3214,3311,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-0.93,-124.6,2269,2063,3311,3118,667.5,-20.3,286,3152,0.00,2.28,0.00,0.000,516,0.000,0.075,2269,648,3214,3311,3118,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3170,-0.93,-124.6,1448,648,3296,3115,671.6,-20.3,287,3174,0.00,2.25,0.00,0.000,1030,0.000,0.061,2261,2079,3214,3311,3118,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3481,-0.93,-124.6,2260,2079,3311,3118,736.0,-19.4,303,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2079,3214,3311,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3781,-0.93,-124.6,2260,2079,3311,3118,793.3,-19.0,318,3786,0.00,2.22,0.00,0.000,260,0.000,0.069,2250,3480,3214,3311,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3920,-0.93,-124.6,1472,3479,3297,3115,819.0,-18.6,325,3924,0.00,2.28,0.00,0.000,1030,0.000,0.060,2250,2069,3214,3311,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4237,-0.93,-124.6,2250,2068,3311,3118,881.8,-20.0,341,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2068,3214,3311,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,-0.93,-124.6,2250,2069,3311,3118,939.3,-18.8,356,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2068,3214,3311,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4838,-0.93,-124.6,2249,2069,3311,3118,994.1,-17.8,371,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2068,3214,3311,3117,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4876,begin apogee
$GC,4880,-0.14,0.0,2250,1921,3311,3117,1001.4,-18.0,373,4998,0.95,0.00,114.38,1.733,10246,0.195,0.000,2521,1919,2699,2786,2613,0,0,0,0,0,0,26.39,28.83,23.44
$STATE,4999,end apogee,CONTROL_FINISHED_OK
$STATE,5000,begin climb
$GC,5001,0.93,124.6,2520,1919,2786,2614,1005.7,0.0,379,5125,1.10,0.00,120.75,1.697,10246,0.109,0.000,2864,1919,2192,2257,2127,0,0,0,0,0,0,24.46,28.83,23.03
$GC,5417,0.93,124.6,2864,1919,2249,2111,936.2,19.7,400,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1919,2179,2249,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5719,0.93,124.6,2864,1919,2248,2107,879.8,18.8,415,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1919,2178,2248,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,0.93,124.6,2864,1919,2247,2106,825.1,18.1,430,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1919,2177,2248,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6318,0.93,124.6,2864,1918,2248,2106,772.8,17.2,445,6324,0.00,2.33,0.00,0.000,260,0.000,0.075,2864,3332,2176,2248,2105,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6360,0.93,124.6,1984,3331,2206,2100,765.7,17.6,447,6365,0.00,2.35,0.00,0.000,1030,0.000,0.066,2875,1924,2176,2247,2105,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6678,0.93,124.6,2874,1923,2247,2105,709.0,17.3,463,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1923,2176,2247,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,0.93,124.6,2874,1924,2247,2104,657.1,16.8,478,6982,0.00,2.30,0.00,0.000,260,0.000,0.075,2874,3331,2175,2247,2104,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7006,0.93,124.6,2874,3331,2247,2104,654.3,16.7,479,7014,0.00,2.30,0.00,0.000,1030,0.000,0.067,2885,1915,2175,2246,2104,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7315,0.93,124.6,2885,1915,2246,2105,601.7,16.1,495,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1914,2175,2246,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7614,0.93,124.6,2885,1915,2246,2104,553.7,16.4,510,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1915,2174,2246,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,0.93,124.6,2884,1915,2246,2103,503.7,17.3,525,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1915,2174,2246,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8214,0.93,124.6,2885,1915,2246,2103,452.5,17.2,540,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1915,2174,2246,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,0.93,124.6,2885,1915,2246,2103,403.6,15.6,555,8520,0.00,2.30,0.00,0.000,260,0.000,0.074,2884,3332,2174,2246,2103,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8595,0.93,124.6,2884,3332,2246,2103,390.8,15.9,561,8603,0.00,2.25,0.00,0.000,1030,0.000,0.066,2895,1921,2174,2245,2103,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8905,0.93,124.6,2895,1921,2245,2103,342.5,15.5,592,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1921,2174,2245,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9203,0.93,124.6,2895,1921,2245,2103,293.7,16.8,622,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1921,2174,2245,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9503,0.93,124.6,2895,1921,2245,2103,243.4,16.2,652,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1921,2174,2245,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9803,0.93,124.6,2895,1921,2245,2103,195.8,15.2,682,9808,0.00,2.28,0.00,0.000,260,0.000,0.073,2895,3332,2174,2245,2103,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9873,0.93,124.6,2895,3332,2244,2103,184.8,16.5,688,9883,0.10,2.30,0.00,0.000,5126,0.224,0.064,2879,1924,2173,2244,2103,0,0,0,0,0,0,26.31,26.44,28.83
$GC,10180,0.93,124.6,2879,1924,2244,2103,138.7,15.2,719,10184,0.00,2.30,0.00,0.000,516,0.000,0.081,2888,513,2173,2244,2103,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10220,0.93,124.6,1984,512,2202,2097,132.8,15.6,722,10227,0.00,2.28,0.00,0.000,1030,0.000,0.064,2888,1915,2173,2244,2103,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10528,0.93,124.6,1872,1914,2195,2097,85.3,15.5,762,10535,0.00,2.33,0.00,0.000,260,0.000,0.071,2888,3342,2173,2244,2103,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10552,0.93,124.6,1920,3341,2198,2097,81.5,15.9,766,10559,0.00,2.25,0.00,0.000,1030,0.000,0.063,2899,1925,2173,2244,2103,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10863,0.93,124.6,1872,1923,2193,2096,29.2,16.4,827,10871,0.00,2.28,0.00,0.000,260,0.000,0.070,2898,3340,2173,2244,2103,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10909,0.93,124.6,1864,3339,2193,2096,21.4,18.5,835,10917,0.15,2.28,0.00,0.000,5126,0.234,0.063,2877,1914,2173,2244,2103,0,0,0,0,0,0,26.32,26.46,28.83
$STATE,11024,end climb,SURFACE_DEPTH_REACHED
$STATE,11024,begin surface coast
$FINISH,0.4,1.026636
$STATE,11047,end surface coast,CONTROL_FINISHED_OK
$STATE,11047,begin surface
$SM_CCo,11061,8.12,0.168,0,0,2085,150.12
$SM_GC,3.27,7.20,0.28,8.12,0.063,0.083,0.168,176,2084,2085,-7.42,-0.48,150.12,0,0,0,0,0,0,26.49,26.48,26.34
$IRIDIUM_FIX,-4242.04,849.02,200509,010103
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.00
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,23.0,8.345
$10V_AH,10.2,4.936
$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,17.800,68.950,235.125,8.125,0.000,50.990,57.013,234.438,0.000,0.000,48.999,2217.599,6976.505,361.853,1967.623,110.552,0.000,1096.063,0.000,1492.375,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,89.505,1733.490,168.300,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.452,65.639,433.399,906.914,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353312
$DATA_FILE_SIZE,57016,861
$CAP_FILE_SIZE,139147,0
$CFSIZE,259252224,255848448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049, 37.8,1
$GPS,230716,152254,-4300.052,851.494,46,1.9,46,-25.2