version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 94
start: 8 2 116 0 6 30
data:
$ID,542
$MISSION,14
$DIVE,94
$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,-40083.406
$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,27
$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
$GPS1,010816,235923,-4304.748,832.316,292,1.1,292,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.9
$GPS2,020816,000547,-4304.742,832.332,42,1.1,43,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,NORTH
$TGT_LATLONG,-4254.070,830.000
$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,9.7,20017,-16.4,-10.010,-19.35,2733
$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,-0.58,-97.3,164,1986,2134,2037,0.0,0.0,0,57,0.00,0.00,-38.95,0.000,16390,0.000,0.000,164,1985,3098,3181,3015,0,0,0,0,0,0,28.83,28.83,26.39
$GC,59,-0.58,-97.3,164,1985,3181,3015,3.2,-5.4,6,74,8.70,2.35,0.00,0.000,2564,0.243,0.062,2387,559,3099,3184,3015,0,0,0,0,0,0,25.75,25.99,28.83
$GC,85,-0.58,-97.3,2386,560,3187,3015,11.2,-26.6,10,93,0.00,2.28,0.00,0.000,1030,0.000,0.059,2378,1976,3101,3188,3015,0,0,0,0,0,0,28.83,26.01,28.83
$GC,135,-0.58,-97.3,2378,1976,3189,3015,19.6,-16.1,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,183,-0.58,-97.3,1444,1974,3166,3010,27.2,-14.6,28,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,314,-0.58,-97.3,2378,1976,3190,3015,46.1,-15.1,53,321,0.00,2.30,0.00,0.000,260,0.000,0.067,2367,3397,3103,3190,3016,0,0,0,0,0,0,28.83,26.08,28.83
$GC,338,-0.58,-97.3,1472,3395,3170,3011,49.6,-14.3,57,344,0.00,2.28,0.00,0.000,1030,0.000,0.057,2368,1966,3102,3190,3015,0,0,0,0,0,0,28.83,26.10,28.83
$GC,654,-0.58,-97.3,2367,1966,3191,3015,97.1,-15.4,118,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1966,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,967,-0.58,-97.3,2367,1966,3192,3015,146.6,-15.2,151,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1966,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-0.58,-97.3,2367,1966,3192,3015,191.3,-14.0,181,1276,0.00,2.28,0.00,0.000,260,0.000,0.065,2357,3393,3103,3192,3015,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1288,-0.58,-97.3,2357,3392,3192,3015,194.4,-14.2,183,1292,0.00,2.22,0.00,0.000,1030,0.000,0.056,2358,1978,3103,3192,3014,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1594,-0.58,-97.3,2357,1977,3193,3015,239.4,-14.5,213,1603,0.00,2.22,0.00,0.000,260,0.000,0.066,2347,3394,3104,3193,3015,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1614,-0.58,-97.3,2347,3393,3192,3015,242.4,-14.3,215,1619,0.15,2.22,0.00,0.000,3078,0.190,0.056,2383,1978,3104,3193,3015,0,0,0,0,0,0,26.17,26.33,28.83
$GC,1920,-0.58,-97.3,2382,1977,3194,3015,279.7,-12.0,245,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1977,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.58,-97.3,2382,1977,3194,3015,315.1,-11.6,275,2223,0.00,2.25,0.00,0.000,260,0.000,0.065,2374,3400,3104,3193,3015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2255,-0.58,-97.3,2374,3399,3193,3015,319.3,-11.8,278,2259,0.00,2.25,0.00,0.000,1030,0.000,0.057,2374,1967,3104,3193,3015,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2562,-0.58,-97.3,2374,1967,3194,3015,355.6,-11.9,308,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1967,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.58,-97.3,2374,1967,3194,3015,390.6,-11.8,338,2864,0.00,2.28,0.00,0.000,260,0.000,0.066,2364,3397,3104,3194,3015,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2888,-0.58,-97.3,1560,3395,3176,3011,393.7,-11.9,340,2897,0.00,2.28,0.00,0.000,1030,0.000,0.056,2364,1977,3104,3194,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3206,-0.58,-97.3,2363,1977,3194,3015,434.4,-12.9,359,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1977,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.58,-97.3,2364,1977,3194,3015,474.2,-13.5,374,3510,0.00,2.25,0.00,0.000,260,0.000,0.067,2354,3398,3104,3193,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3525,-0.58,-97.3,2353,3398,3194,3014,476.4,-13.4,375,3530,0.08,2.28,0.00,0.000,3078,0.177,0.057,2376,1979,3104,3194,3015,0,0,0,0,0,0,26.29,26.42,28.83
$GC,3842,-0.58,-97.3,2376,1978,3194,3015,515.7,-12.0,391,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1979,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4142,-0.58,-97.3,2376,1978,3194,3015,551.7,-11.8,406,4146,0.00,2.25,0.00,0.000,260,0.000,0.067,2368,3391,3104,3194,3015,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4159,-0.58,-97.3,2368,3391,3194,3015,553.6,-11.8,407,4165,0.00,2.22,0.00,0.000,1030,0.000,0.058,2368,1978,3104,3194,3015,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4478,-0.58,-97.3,2367,1977,3194,3015,592.4,-12.1,423,4482,0.00,2.25,0.00,0.000,260,0.000,0.068,2358,3394,3104,3194,3014,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4497,-0.58,-97.3,2357,3394,3194,3015,594.3,-12.1,424,4501,0.00,2.28,0.00,0.000,1030,0.000,0.058,2358,1981,3104,3194,3015,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4814,-0.58,-97.3,2357,1980,3194,3015,635.5,-12.8,440,4818,0.00,2.25,0.00,0.000,260,0.000,0.070,2347,3391,3104,3193,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4843,-0.58,-97.3,2347,3391,3193,3015,637.6,-12.8,441,4851,0.15,2.25,0.00,0.000,3078,0.187,0.060,2383,1965,3104,3193,3015,0,0,0,0,0,0,26.29,26.44,28.83
$GC,5150,-0.58,-97.3,2383,1965,3194,3015,673.3,-10.7,457,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1964,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5450,-0.58,-97.3,2383,1964,3194,3014,704.7,-10.2,472,5454,0.00,2.28,0.00,0.000,260,0.000,0.070,2375,3391,3104,3194,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5468,-0.58,-97.3,1584,3389,3177,3011,706.3,-10.2,473,5473,0.00,2.28,0.00,0.000,1030,0.000,0.060,2375,1984,3104,3194,3015,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5786,-0.58,-97.3,2374,1984,3194,3015,739.8,-10.4,489,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1984,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,-0.58,-97.3,2374,1984,3194,3014,771.4,-10.7,504,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1984,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.58,-97.3,2375,1984,3194,3015,804.7,-11.4,519,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1984,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,-0.58,-97.3,2374,1984,3193,3014,838.6,-11.2,534,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1984,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.58,-97.3,2375,1984,3193,3015,872.7,-11.5,549,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1984,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-0.58,-97.3,2374,1983,3193,3014,905.9,-11.0,564,7290,0.00,2.30,0.00,0.000,516,0.000,0.079,2375,567,3103,3193,3014,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7316,-0.58,-97.3,2375,567,3193,3014,907.7,-11.2,565,7323,0.00,2.25,0.00,0.000,1030,0.000,0.065,2365,1983,3103,3193,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7622,-0.58,-97.3,2364,1983,3193,3013,945.1,-11.5,581,7628,0.00,2.28,0.00,0.000,260,0.000,0.073,2354,3395,3102,3193,3012,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7663,-0.58,-97.3,2354,3395,3193,3012,949.6,-11.4,583,7669,0.10,2.25,0.00,0.000,3078,0.200,0.062,2378,1973,3102,3193,3012,0,0,0,0,0,0,26.32,26.46,28.83
$GC,7982,-0.58,-97.3,2378,1973,3193,3011,981.9,-10.3,599,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1973,3101,3192,3011,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8160,begin apogee
$GC,8165,-0.14,0.0,2378,1866,3193,3011,1000.8,-10.6,608,8255,0.47,0.00,87.68,1.743,10246,0.161,0.000,2520,1866,2699,2787,2612,0,0,0,0,0,0,26.32,28.83,23.59
$STATE,8256,end apogee,CONTROL_FINISHED_OK
$STATE,8256,begin climb
$GC,8258,0.58,97.3,2521,1866,2787,2612,1004.1,0.0,612,8357,0.73,2.55,91.57,1.717,10756,0.107,0.079,2766,470,2302,2372,2233,0,0,0,0,0,0,24.61,24.01,23.08
$GC,8363,0.75,240.9,2765,470,2370,2233,1001.2,4.6,617,8515,0.15,2.47,144.32,1.705,11270,0.090,0.063,2824,1873,1717,1788,1647,0,0,0,0,0,0,24.25,24.22,22.40
$GC,8815,0.75,240.9,2823,1873,1773,1624,911.4,21.1,639,8819,0.00,2.40,0.00,0.000,260,0.000,0.070,2823,3290,1698,1773,1624,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8844,0.75,240.9,2823,3290,1771,1623,907.9,21.2,640,8851,0.00,2.38,0.00,0.000,1030,0.000,0.067,2834,1884,1697,1771,1623,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9151,0.75,240.9,2834,1883,1770,1620,838.3,21.9,656,9155,0.00,2.42,0.00,0.000,516,0.000,0.084,2845,455,1695,1770,1620,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9187,0.75,240.9,2845,455,1769,1620,830.2,22.0,658,9194,0.12,2.35,0.00,0.000,5126,0.215,0.066,2820,1880,1694,1769,1620,0,0,0,0,0,0,25.58,25.72,28.83
$GC,9507,0.75,240.9,2820,1880,1769,1618,766.9,19.1,674,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1880,1693,1769,1618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9807,0.75,240.9,2820,1880,1769,1616,711.0,18.3,689,9811,0.00,2.30,0.00,0.000,260,0.000,0.072,2820,3289,1693,1769,1617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9815,0.75,240.9,2820,3289,1769,1616,711.0,18.3,689,9823,0.00,2.35,0.00,0.000,1030,0.000,0.064,2829,1873,1692,1769,1616,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10122,0.75,240.9,2828,1873,1768,1616,650.8,19.6,705,10127,0.00,2.35,0.00,0.000,516,0.000,0.083,2840,461,1692,1768,1616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10146,0.75,240.9,2839,461,1768,1616,647.6,19.7,706,10151,0.00,2.30,0.00,0.000,1030,0.000,0.067,2840,1879,1692,1768,1616,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,13513,end climb,SURFACE_DEPTH_REACHED
$STATE,13513,begin surface coast
$FINISH,-0.0,1.023144
$STATE,13530,end surface coast,CONTROL_FINISHED_OK
$STATE,13530,begin surface
$SM_CCo,13603,0.00,0.000,0,0,1687,248.48
$SM_GC,0.89,6.90,0.17,0.00,0.046,0.088,0.000,166,1992,1687,-7.42,-0.59,248.48,0,0,0,0,0,0,26.44,26.43,28.83
$IRIDIUM_FIX,-4250.85,829.51,290509,080857
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.82
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,22.4,14.771
$10V_AH,10.2,9.335
$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,17.975,119.725,323.575,0.000,0.000,26.292,23.335,197.040,0.000,0.000,43.997,2666.519,8707.346,418.516,2087.094,123.177,0.000,1374.396,0.000,1710.174,0.000,1.009,0.000
$DEVICE_MAMPS,243.270,97.155,1743.435,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.651,93.607,264.010,282.933,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353224
$DATA_FILE_SIZE,67106,1031
$CAP_FILE_SIZE,137835,0
$CFSIZE,259252224,252198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,315.8,1
$GPS,020816,035422,-4302.560,831.139,36,1.0,36,-25.1