version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 86
start: 7 31 116 9 25 49
data:
$ID,542
$MISSION,14
$DIVE,86
$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,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,120
$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,-40072.816
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,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
$GPS1,310716,091935,-4306.480,830.415,116,1.1,116,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.2
$GPS2,310716,092504,-4306.511,830.436,14,1.5,15,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$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,352.9,1227,-17.1,-10.010,-20.00,2523
$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,-0.60,-97.3,162,1992,2027,1941,0.0,0.0,0,62,0.00,0.00,-43.42,0.000,16390,0.000,0.000,162,1992,3097,3181,3013,0,0,0,0,0,0,28.83,28.83,26.39
$GC,64,-0.60,-97.3,161,1992,3182,3014,3.4,-6.4,7,79,8.68,2.30,0.00,0.000,2308,0.243,0.063,2366,3392,3099,3184,3014,0,0,0,0,0,0,25.79,26.01,28.83
$GC,147,-0.60,-97.3,1432,3391,3165,3009,20.6,-14.9,22,154,0.00,2.28,0.00,0.000,1030,0.000,0.057,2366,1979,3101,3189,3013,0,0,0,0,0,0,28.83,26.05,28.83
$GC,277,-0.60,-97.3,1424,1976,3167,3009,39.7,-14.1,47,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1978,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,405,-0.60,-97.3,2365,1978,3190,3013,58.7,-14.6,72,412,0.00,2.28,0.00,0.000,260,0.000,0.065,2356,3395,3101,3190,3013,0,0,0,0,0,0,28.83,26.13,28.83
$GC,420,-0.60,-97.3,2356,3395,3190,3013,60.6,-14.6,74,427,0.00,2.25,0.00,0.000,1030,0.000,0.057,2356,1977,3102,3191,3013,0,0,0,0,0,0,28.83,26.14,28.83
$GC,735,-0.60,-97.3,2356,1977,3191,3013,109.3,-15.4,130,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1977,3102,3191,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.60,-97.3,2356,1977,3192,3013,155.8,-15.9,160,1038,0.00,2.25,0.00,0.000,260,0.000,0.064,2346,3390,3103,3192,3014,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1062,-0.60,-97.3,1560,3388,3175,3010,159.9,-15.8,162,1071,0.10,2.28,0.00,0.000,3078,0.177,0.057,2375,1978,3102,3192,3013,0,0,0,0,0,0,26.15,26.27,28.83
$GC,1370,-0.60,-97.3,2375,1977,3193,3013,201.9,-13.3,193,1374,0.00,2.25,0.00,0.000,260,0.000,0.064,2367,3392,3103,3193,3013,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1436,-0.60,-97.3,2367,3392,3193,3013,210.4,-12.8,199,1440,0.00,2.22,0.00,0.000,1030,0.000,0.056,2367,1977,3103,3193,3013,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1741,-0.60,-97.3,2366,1976,3193,3013,251.5,-14.0,229,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1976,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.60,-97.3,2367,1976,3194,3013,290.0,-12.5,259,2045,0.00,2.25,0.00,0.000,260,0.000,0.064,2357,3393,3104,3194,3014,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2096,-0.60,-97.3,2357,3394,3194,3013,296.8,-12.3,264,2101,0.00,2.22,0.00,0.000,1030,0.000,0.057,2357,1976,3103,3194,3013,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2402,-0.60,-97.3,2357,1976,3194,3013,336.9,-13.4,294,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1976,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-0.60,-97.3,2357,1976,3194,3013,378.5,-13.8,324,2705,0.00,2.25,0.00,0.000,516,0.000,0.071,2357,569,3103,3194,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2709,-0.60,-97.3,2356,568,3194,3013,378.5,-13.8,324,2718,0.10,2.25,0.00,0.000,3078,0.185,0.055,2376,1981,3103,3194,3013,0,0,0,0,0,0,26.27,26.41,28.83
$GC,3017,-0.60,-97.3,2375,1981,3195,3013,418.2,-12.5,348,3021,0.00,2.22,0.00,0.000,260,0.000,0.066,2366,3391,3103,3194,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3093,-0.60,-97.3,2366,3391,3195,3013,427.7,-12.5,352,3097,0.00,2.22,0.00,0.000,1030,0.000,0.057,2366,1972,3103,3194,3013,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3409,-0.60,-97.3,2366,1972,3195,3013,469.2,-13.2,368,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1971,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,-0.60,-97.3,2366,1972,3195,3013,509.3,-13.3,383,3712,0.00,2.28,0.00,0.000,260,0.000,0.067,2356,3398,3103,3194,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3744,-0.60,-97.3,2356,3399,3195,3013,514.1,-13.3,385,3748,0.00,2.25,0.00,0.000,1030,0.000,0.058,2356,1969,3103,3194,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4060,-0.60,-97.3,2356,1969,3194,3013,556.9,-13.5,401,4064,0.00,2.28,0.00,0.000,260,0.000,0.067,2346,3398,3104,3195,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4078,-0.60,-97.3,1560,3397,3177,3010,559.0,-13.4,402,4084,0.08,2.28,0.00,0.000,3078,0.178,0.057,2369,1979,3104,3195,3013,0,0,0,0,0,0,26.32,26.45,28.83
$GC,4397,-0.60,-97.3,2368,1979,3195,3013,598.6,-12.1,418,4402,0.00,2.28,0.00,0.000,516,0.000,0.075,2369,566,3104,3195,3013,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4416,-0.60,-97.3,2368,566,3195,3013,601.1,-12.2,419,4420,0.00,2.22,0.00,0.000,1030,0.000,0.060,2360,1980,3104,3195,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4731,-0.60,-97.3,2360,1980,3195,3013,640.6,-12.8,435,4736,0.00,2.28,0.00,0.000,260,0.000,0.070,2349,3397,3103,3194,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4836,-0.60,-97.3,2349,3397,3194,3013,652.8,-12.7,440,4840,0.12,2.25,0.00,0.000,3078,0.190,0.059,2377,1971,3104,3195,3013,0,0,0,0,0,0,26.33,26.46,28.83
$GC,5142,-0.60,-97.3,2377,1970,3194,3013,688.9,-11.3,455,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1970,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.60,-97.3,2377,1970,3195,3013,722.6,-11.5,470,5449,0.00,2.28,0.00,0.000,260,0.000,0.070,2369,3394,3104,3195,3013,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5456,-0.60,-97.3,2369,3394,3195,3013,722.6,-11.5,470,5462,0.00,2.25,0.00,0.000,1030,0.000,0.060,2369,1974,3103,3194,3013,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5763,-0.60,-97.3,2369,1975,3194,3013,760.4,-11.7,486,5768,0.00,2.30,0.00,0.000,516,0.000,0.077,2369,564,3104,3195,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5775,-0.60,-97.3,2369,564,3195,3013,760.4,-11.7,486,5783,0.00,2.22,0.00,0.000,1030,0.000,0.061,2359,1977,3103,3194,3013,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6083,-0.60,-97.3,2359,1977,3195,3013,799.2,-12.1,502,6088,0.00,2.25,0.00,0.000,260,0.000,0.070,2348,3391,3104,3196,3013,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6110,-0.60,-97.3,2348,3391,3195,3013,801.6,-12.1,503,6115,0.12,2.22,0.00,0.000,3078,0.190,0.061,2376,1979,3104,3195,3013,0,0,0,0,0,0,26.34,26.46,28.83
$GC,6423,-0.60,-97.3,2376,1979,3194,3013,837.0,-11.1,519,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1979,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.60,-97.3,2376,1979,3194,3013,871.8,-12.0,534,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1979,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.60,-97.3,2376,1978,3194,3013,906.7,-11.5,549,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1979,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,-0.60,-97.3,2376,1979,3194,3013,939.7,-10.6,564,7326,0.00,2.30,0.00,0.000,516,0.000,0.080,2377,563,3103,3194,3013,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7338,-0.60,-97.3,2376,562,3194,3013,941.4,-10.6,565,7342,0.00,2.25,0.00,0.000,1030,0.000,0.064,2368,1981,3103,3194,3012,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7654,-0.60,-97.3,2368,1981,3193,3011,975.9,-10.8,581,7658,0.00,2.25,0.00,0.000,260,0.000,0.073,2358,3390,3102,3193,3011,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7693,-0.60,-97.3,2358,3389,3193,3011,979.8,-10.8,583,7697,0.00,2.28,0.00,0.000,1030,0.000,0.063,2358,1985,3102,3193,3011,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,7888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7893,-0.14,0.0,2358,1864,3194,3011,1001.2,-10.6,593,7985,0.55,0.00,88.70,1.740,10246,0.161,0.000,2522,1863,2700,2788,2612,0,0,0,0,0,0,26.35,28.83,23.57
$STATE,7986,end apogee,CONTROL_FINISHED_OK
$STATE,7986,begin climb
$GC,7987,0.60,97.3,2522,1864,2789,2612,1004.1,0.0,597,8092,0.73,2.62,93.30,1.697,10500,0.107,0.072,2757,3288,2301,2371,2232,0,0,0,0,0,0,24.60,24.03,23.11
$GC,8102,0.71,194.2,2757,3288,2370,2231,999.0,6.1,603,8208,0.12,2.47,97.57,1.679,11270,0.093,0.064,2816,1879,1908,1979,1838,0,0,0,0,0,0,24.39,24.36,22.49
$GC,8515,0.71,194.2,2815,1879,1968,1820,926.6,18.3,624,8519,0.00,2.47,0.00,0.000,516,0.000,0.085,2827,461,1894,1968,1820,0,0,0,0,0,0,28.83,25.21,28.83
$GC,8534,0.71,194.2,2826,461,1967,1820,923.6,18.2,625,8538,0.00,2.38,0.00,0.000,1030,0.000,0.065,2826,1873,1893,1967,1820,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8851,0.71,194.2,2827,1873,1967,1817,862.2,19.0,641,8855,0.00,2.35,0.00,0.000,260,0.000,0.074,2827,3289,1892,1967,1817,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8889,0.71,194.2,1984,3287,1931,1812,855.0,19.5,643,8895,0.10,2.40,0.00,0.000,5126,0.194,0.068,2810,1870,1890,1964,1817,0,0,0,0,0,0,25.60,25.72,28.83
$GC,9208,0.71,194.2,2810,1871,1964,1816,797.8,18.0,659,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1870,1890,1964,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9507,0.71,194.2,2809,1870,1964,1815,744.3,17.6,674,9513,0.00,2.38,0.00,0.000,516,0.000,0.085,2819,462,1889,1964,1814,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9540,0.71,194.2,2819,462,1964,1815,740.7,17.6,675,9547,0.00,2.33,0.00,0.000,1030,0.000,0.067,2819,1886,1889,1964,1814,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9848,0.71,194.2,2819,1885,1963,1814,682.8,18.1,691,9854,0.00,2.30,0.00,0.000,260,0.000,0.075,2819,3296,1888,1963,1814,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9915,0.71,194.2,2819,3296,1961,1813,671.6,18.6,694,9919,0.00,2.33,0.00,0.000,1030,0.000,0.069,2829,1873,1887,1961,1813,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,14096,end climb,SURFACE_DEPTH_REACHED
$STATE,14097,begin surface coast
$FINISH,0.0,1.026651
$STATE,14113,end surface coast,CONTROL_FINISHED_OK
$STATE,14113,begin surface
$SM_CCo,14186,0.00,0.000,0,0,1885,199.92
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$IRIDIUM_FIX,-4247.91,826.16,270509,171754
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.59
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,22.5,13.742
$10V_AH,10.2,8.656
$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
$DEVICE_SECS,17.925,137.900,279.575,0.000,0.000,24.922,21.692,167.957,0.000,0.000,15.854,2836.675,8973.491,428.738,2162.587,132.642,0.000,1425.849,0.000,1838.449,0.000,1.008,0.000
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$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,353344
$DATA_FILE_SIZE,70547,1090
$CAP_FILE_SIZE,146768,0
$CFSIZE,259252224,252764160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,120.6,1
$GPS,310716,132333,-4305.018,829.492,45,1.0,45,-25.0