version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 90
start: 8 1 116 4 35 46
data:
$ID,542
$MISSION,14
$DIVE,90
$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,-40078.379
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,010816,042806,-4306.108,829.862,300,0.9,300,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.9
$GPS2,010816,043501,-4306.072,829.839,37,0.9,38,-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,78.1,342,-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,14,-0.60,-97.3,151,1989,2210,2111,0.0,0.0,0,55,0.00,0.00,-36.42,0.000,16390,0.000,0.000,151,1989,3098,3181,3015,0,0,0,0,0,0,28.83,28.83,26.39
$GC,58,-0.60,-97.3,151,1989,3181,3015,3.2,-5.6,6,72,8.68,2.30,0.00,0.000,2308,0.240,0.059,2362,3395,3100,3185,3015,0,0,0,0,0,0,25.78,26.01,28.83
$GC,506,-0.60,-97.3,2362,3395,3190,3015,73.4,-14.9,93,513,0.00,2.25,0.00,0.000,1030,0.000,0.057,2362,1977,3102,3190,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,824,-0.60,-97.3,2362,1977,3191,3015,123.6,-15.3,140,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1977,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-0.60,-97.3,2362,1977,3192,3015,168.8,-15.0,170,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-0.60,-97.3,2362,1977,3192,3015,213.2,-14.4,200,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1977,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.60,-97.3,2362,1977,3193,3015,256.5,-14.7,230,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2024,-0.60,-97.3,2362,1977,3193,3015,300.4,-14.6,260,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2324,-0.60,-97.3,2362,1977,3193,3015,341.9,-13.8,290,2328,0.00,2.28,0.00,0.000,260,0.000,0.065,2352,3397,3104,3193,3015,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2404,-0.60,-97.3,1512,3396,3174,3011,352.5,-13.8,297,2410,0.00,2.25,0.00,0.000,1030,0.000,0.057,2353,1966,3104,3193,3015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2711,-0.60,-97.3,2352,1966,3193,3015,397.4,-14.2,328,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1966,3104,3193,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.60,-97.3,2352,1966,3193,3015,439.1,-13.8,344,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1966,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.60,-97.3,2352,1966,3193,3015,478.0,-12.6,359,3314,0.00,2.28,0.00,0.000,260,0.000,0.066,2342,3391,3104,3193,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3359,-0.60,-97.3,2342,3392,3193,3015,482.6,-12.7,361,3367,0.15,2.28,0.00,0.000,3078,0.190,0.057,2378,1982,3104,3193,3015,0,0,0,0,0,0,26.29,26.44,28.83
$GC,3666,-0.60,-97.3,2378,1982,3193,3015,517.1,-10.6,377,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1982,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3966,-0.60,-97.3,2378,1981,3193,3015,549.1,-10.6,392,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1982,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4266,-0.60,-97.3,2378,1981,3193,3015,581.2,-11.0,407,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1982,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-0.60,-97.3,2378,1981,3193,3015,615.1,-11.5,422,4570,0.00,2.25,0.00,0.000,260,0.000,0.070,2369,3387,3104,3193,3015,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4606,-0.60,-97.3,2369,3387,3193,3015,619.1,-11.3,424,4610,0.00,2.22,0.00,0.000,1030,0.000,0.060,2370,1978,3104,3193,3015,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4917,-0.60,-97.3,2370,1977,3193,3015,656.4,-11.7,440,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.60,-97.3,2369,1977,3193,3015,690.7,-11.6,455,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.60,-97.3,2369,1977,3193,3015,725.9,-11.8,470,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,-0.60,-97.3,2370,1977,3193,3015,760.3,-11.5,485,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6117,-0.60,-97.3,2369,1977,3193,3016,794.8,-11.4,500,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,-0.60,-97.3,2370,1977,3193,3015,828.1,-10.9,515,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,-0.60,-97.3,2369,1977,3193,3013,860.4,-11.0,530,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3103,3193,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-0.60,-97.3,2370,1977,3193,3012,893.1,-10.7,545,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1977,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7317,-0.60,-97.3,2369,1977,3193,3011,924.7,-10.4,560,7321,0.00,2.28,0.00,0.000,260,0.000,0.073,2360,3388,3102,3193,3012,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7373,-0.60,-97.3,2360,3387,3193,3012,930.6,-10.5,563,7377,0.00,2.25,0.00,0.000,1030,0.000,0.063,2360,1972,3102,3193,3011,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7688,-0.60,-97.3,2359,1971,3193,3011,964.6,-10.7,579,7693,0.00,2.28,0.00,0.000,260,0.000,0.072,2350,3388,3102,3193,3011,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7727,-0.60,-97.3,1568,3387,3176,3006,968.5,-10.8,581,7732,0.08,2.30,0.00,0.000,3078,0.181,0.063,2372,1973,3101,3193,3010,0,0,0,0,0,0,26.34,26.48,28.83
$STATE,8044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8044,begin apogee
$GC,8048,-0.14,0.0,2372,1867,3193,3010,1001.2,-10.4,597,8144,0.50,0.00,88.68,1.753,10246,0.162,0.000,2522,1867,2699,2787,2612,0,0,0,0,0,0,26.35,28.83,23.58
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8147,0.60,97.3,2522,1867,2787,2612,1004.9,0.0,602,8245,0.73,0.00,93.22,1.715,10758,0.106,0.000,2757,1867,2303,2372,2234,0,0,0,0,0,0,24.69,28.83,23.10
$GC,8545,0.60,97.3,2757,1867,2363,2222,971.3,10.1,622,8551,0.00,2.40,0.00,0.000,260,0.000,0.073,2757,3288,2292,2363,2222,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8605,0.60,97.3,2757,3288,2362,2222,964.6,10.9,625,8611,0.00,2.38,0.00,0.000,1030,0.000,0.066,2767,1875,2292,2362,2222,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8926,0.60,97.3,2766,1875,2361,2220,929.4,11.0,641,8932,0.00,2.30,0.00,0.000,260,0.000,0.073,2767,3275,2290,2361,2220,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8997,0.60,97.3,2767,3275,2360,2220,922.6,11.2,644,9005,0.00,2.35,0.00,0.000,1030,0.000,0.066,2777,1850,2290,2360,2220,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9304,0.60,97.3,2777,1850,2360,2219,886.3,11.4,660,9309,0.00,2.38,0.00,0.000,260,0.000,0.073,2778,3291,2289,2360,2219,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9333,0.60,97.3,2777,3292,2359,2219,884.4,11.5,661,9341,0.00,2.33,0.00,0.000,1030,0.000,0.067,2788,1869,2289,2359,2219,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9641,0.60,97.3,2788,1869,2358,2219,848.5,10.8,677,9647,0.00,2.33,0.00,0.000,260,0.000,0.073,2788,3288,2288,2358,2219,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9674,0.60,97.3,2787,3288,2358,2219,846.2,10.9,678,9681,0.12,2.30,0.00,0.000,5126,0.220,0.067,2773,1876,2288,2358,2219,0,0,0,0,0,0,25.96,26.10,28.83
$GC,9981,0.60,104.2,2772,1876,2358,2218,813.7,9.7,694,9987,0.00,0.00,4.72,1.295,8198,0.000,0.000,2773,1876,2275,2347,2204,0,0,0,0,0,0,28.83,28.83,24.93
$GC,10281,0.60,104.2,2772,1876,2346,2204,782.9,10.2,709,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1876,2275,2346,2204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10581,0.61,105.7,2772,1876,2347,2204,753.2,10.0,724,10586,0.00,2.33,0.00,0.000,260,0.000,0.074,2767,3288,2275,2347,2204,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10608,0.61,107.0,2767,3287,2347,2204,751.1,10.0,725,10621,0.00,2.30,4.62,1.261,9222,0.000,0.067,2776,1872,2262,2334,2191,0,0,0,0,0,0,28.83,26.20,24.94
$GC,10921,0.61,107.0,2776,1872,2334,2190,718.8,10.2,741,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1872,2262,2334,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11220,0.61,107.0,2776,1872,2334,2190,687.9,10.5,756,11225,0.00,2.33,0.00,0.000,260,0.000,0.074,2776,3285,2261,2333,2190,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11276,0.61,107.0,2776,3285,2333,2190,681.7,10.8,759,11280,0.00,2.28,0.00,0.000,1030,0.000,0.067,2786,1876,2261,2333,2190,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11592,0.61,107.0,2786,1876,2334,2190,648.1,10.4,775,11596,0.00,2.35,0.00,0.000,516,0.000,0.085,2797,457,2261,2333,2190,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11616,0.61,107.0,2797,457,2333,2190,646.4,10.4,776,11621,0.00,2.28,0.00,0.000,1030,0.000,0.067,2797,1869,2261,2333,2190,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11923,0.61,107.0,2797,1869,2333,2190,611.5,11.1,791,11927,0.00,2.30,0.00,0.000,260,0.000,0.073,2797,3293,2261,2333,2189,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11999,0.61,107.0,2797,3293,2332,2190,602.2,12.3,795,12004,0.15,2.28,0.00,0.000,5126,0.216,0.066,2775,1875,2261,2332,2190,0,0,0,0,0,0,26.13,26.29,28.83
$GC,12317,0.62,117.9,2774,1875,2332,2190,570.9,9.6,811,12337,0.00,2.38,11.55,1.419,8452,0.000,0.073,2769,3283,2218,2290,2146,0,0,0,0,0,0,28.83,25.99,25.01
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$STATE,17478,end climb,SURFACE_DEPTH_REACHED
$STATE,17478,begin surface coast
$FINISH,-0.0,1.026648
$STATE,17504,end surface coast,CONTROL_FINISHED_OK
$STATE,17504,begin surface
$SM_CCo,17579,0.00,0.000,0,0,2137,137.86
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$IRIDIUM_FIX,-4247.91,826.16,280509,121253
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.49
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,23.1,14.229
$10V_AH,10.2,9.008
$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
$DEVICE_SECS,17.500,110.650,224.375,0.000,0.000,26.733,29.544,228.016,0.000,0.000,38.901,3420.623,11454.855,372.576,2621.610,142.477,0.000,1496.156,0.000,2190.348,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.677,129.254,356.270,367.937,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353328
$DATA_FILE_SIZE,83773,1332
$CAP_FILE_SIZE,160519,0
$CFSIZE,259252224,252448768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.111,328.2,1
$GPS,010816,093237,-4303.981,831.245,199,1.7,199,-25.1