version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 120
start: 8 7 116 3 38 36
data:
$ID,542
$MISSION,14
$DIVE,120
$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,-40116.863
$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,21
$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
$GPS1,070816,033234,-4255.179,830.432,49,1.1,49,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.5
$GPS2,070816,033753,-4255.151,830.490,28,0.9,29,-25.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$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,201.8,19973,-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,-97.3,140,1966,1961,1848,0.0,0.0,0,63,0.00,0.00,-45.62,0.000,16386,0.000,0.000,140,1966,3084,3166,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.58,-97.3,140,1966,3167,3004,3.1,-4.8,7,81,8.75,2.38,-0.30,0.000,19204,0.239,0.076,2370,3401,3098,3183,3014,0,0,0,0,0,0,25.71,26.05,26.23
$GC,234,-0.58,-97.3,2370,3401,3187,3013,32.7,-13.1,39,242,0.00,2.28,0.00,0.000,1030,0.000,0.055,2370,1972,3100,3187,3013,0,0,0,0,0,0,28.83,26.11,28.83
$GC,365,-0.58,-97.3,2370,1971,3188,3013,53.4,-16.8,64,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1971,3100,3187,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,675,-0.58,-97.3,1472,1970,3166,3009,98.2,-15.2,125,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1971,3100,3188,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.58,-97.3,2370,1971,3189,3014,144.4,-14.3,157,992,0.00,2.25,0.00,0.000,260,0.000,0.062,2361,3392,3101,3189,3014,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1085,-0.58,-97.3,2360,3392,3189,3013,158.0,-14.0,166,1093,0.00,2.22,0.00,0.000,1030,0.000,0.054,2360,1974,3101,3189,3013,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1394,-0.58,-97.3,2360,1973,3190,3013,202.7,-15.2,197,1398,0.00,2.25,0.00,0.000,260,0.000,0.063,2350,3393,3101,3190,3013,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1443,-0.58,-97.3,2350,3394,3190,3014,209.7,-15.3,201,1451,0.15,2.22,0.00,0.000,3078,0.184,0.053,2386,1977,3101,3190,3013,0,0,0,0,0,0,26.10,26.30,28.83
$GC,1750,-0.58,-97.3,2386,1977,3190,3013,249.8,-13.0,232,1754,0.00,2.25,0.00,0.000,516,0.000,0.067,2386,567,3102,3191,3013,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1849,-0.58,-97.3,2386,567,3190,3013,263.2,-13.8,241,1857,0.00,2.22,0.00,0.000,1030,0.000,0.054,2378,1990,3101,3190,3013,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2157,-0.58,-97.3,2377,1990,3191,3013,304.0,-13.2,272,2166,0.00,2.20,0.00,0.000,260,0.000,0.061,2367,3389,3102,3191,3013,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2280,-0.58,-97.3,1536,3388,3173,3010,319.8,-12.9,284,2287,0.00,2.25,0.00,0.000,1030,0.000,0.053,2367,1977,3102,3191,3014,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2588,-0.58,-97.3,2367,1977,3192,3014,361.3,-13.7,315,2592,0.00,2.22,0.00,0.000,260,0.000,0.063,2357,3395,3102,3191,3014,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2643,-0.58,-97.3,2357,3395,3192,3013,368.7,-13.3,320,2647,0.00,2.22,0.00,0.000,1030,0.000,0.053,2357,1969,3102,3191,3013,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2960,-0.58,-97.3,2357,1968,3192,3013,412.4,-14.1,347,2965,0.00,2.22,0.00,0.000,516,0.000,0.067,2357,558,3102,3192,3013,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3038,-0.58,-97.3,2357,558,3192,3014,424.1,-14.6,351,3043,0.15,2.22,0.00,0.000,3078,0.195,0.054,2382,1982,3103,3192,3014,0,0,0,0,0,0,26.16,26.37,28.83
$GC,3355,-0.58,-97.3,2382,1981,3193,3013,462.4,-11.8,367,3359,0.00,2.22,0.00,0.000,260,0.000,0.063,2373,3388,3103,3193,3014,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3540,-0.58,-97.3,2373,3388,3193,3013,483.2,-11.7,376,3545,0.00,2.20,0.00,0.000,1030,0.000,0.054,2373,1978,3103,3193,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3846,-0.58,-97.3,2373,1978,3193,3013,522.7,-12.9,391,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1978,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4146,-0.58,-97.3,2373,1978,3193,3013,558.6,-12.1,406,4152,0.00,2.22,0.00,0.000,260,0.000,0.064,2363,3389,3103,3193,3013,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4186,-0.58,-97.3,2362,3389,3193,3013,563.5,-12.1,408,4190,0.00,2.22,0.00,0.000,1030,0.000,0.055,2363,1969,3102,3192,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4502,-0.58,-97.3,2362,1968,3193,3013,603.1,-12.5,424,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1967,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.58,-97.3,2362,1968,3193,3013,640.5,-12.2,439,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1968,3103,3193,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5103,-0.58,-97.3,2362,1968,3192,3013,677.4,-12.2,454,5108,0.00,2.25,0.00,0.000,260,0.000,0.067,2353,3388,3103,3193,3013,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5162,-0.58,-97.3,2352,3388,3192,3013,684.5,-11.9,457,5167,0.12,2.22,0.00,0.000,3078,0.186,0.057,2381,1980,3102,3192,3013,0,0,0,0,0,0,26.22,26.41,28.83
$GC,5479,-0.58,-97.3,2381,1980,3192,3013,717.0,-10.4,473,5483,0.00,2.30,0.00,0.000,516,0.000,0.073,2382,562,3103,3193,3013,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5507,-0.58,-97.3,2381,562,3193,3013,718.8,-10.5,474,5515,0.00,2.28,0.00,0.000,1030,0.000,0.060,2373,1998,3103,3193,3013,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5815,-0.58,-97.3,2373,1998,3193,3013,754.2,-11.1,490,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1998,3103,3193,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.58,-97.3,2372,1998,3193,3012,787.2,-11.0,505,6119,0.00,2.22,0.00,0.000,260,0.000,0.069,2362,3391,3102,3193,3011,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6164,-0.58,-97.3,2362,3391,3193,3011,791.2,-11.1,507,6171,0.00,2.22,0.00,0.000,1030,0.000,0.059,2362,1979,3101,3192,3011,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6471,-0.58,-97.3,2362,1978,3192,3010,826.6,-11.1,523,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1978,3101,3193,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6771,-0.58,-97.3,2362,1978,3193,3009,861.0,-11.6,538,6777,0.00,2.25,0.00,0.000,260,0.000,0.069,2352,3392,3101,3193,3009,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6811,-0.58,-97.3,2351,3393,3193,3009,865.8,-11.9,540,6815,0.12,2.25,0.00,0.000,3078,0.187,0.059,2380,1976,3101,3193,3009,0,0,0,0,0,0,26.22,26.41,28.83
$GC,7127,-0.58,-97.3,2380,1976,3192,3008,900.0,-10.6,556,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1976,3100,3193,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7427,-0.58,-97.3,2379,1976,3192,3007,931.2,-10.3,571,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1976,3099,3193,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7728,-0.58,-97.3,2379,1976,3192,3006,962.4,-10.8,586,7733,0.00,2.28,0.00,0.000,260,0.000,0.070,2371,3393,3099,3192,3006,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7775,-0.58,-97.3,2371,3393,3192,3006,966.7,-10.8,588,7779,0.00,2.25,0.00,0.000,1030,0.000,0.060,2372,1977,3099,3192,3006,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8086,begin apogee
$GC,8090,-0.14,0.0,2371,1868,3192,3005,1001.8,-11.2,604,8182,0.50,0.00,88.68,1.747,10246,0.158,0.000,2520,1868,2700,2791,2609,0,0,0,0,0,0,26.20,28.83,23.63
$STATE,8183,end apogee,CONTROL_FINISHED_OK
$STATE,8183,begin climb
$GC,8185,0.58,97.3,2520,1868,2791,2609,1005.7,0.0,608,8282,0.73,0.00,92.57,1.712,10758,0.107,0.000,2755,1869,2303,2377,2229,0,0,0,0,0,0,24.63,28.83,23.05
$GC,8568,0.58,97.3,2755,1868,2368,2219,974.8,10.2,628,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1868,2293,2368,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,0.58,97.3,2755,1868,2366,2216,944.8,10.0,643,8874,0.00,2.38,0.00,0.000,260,0.000,0.071,2755,3290,2291,2366,2216,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8951,0.58,97.3,2755,3290,2366,2216,936.4,10.5,647,8956,0.00,2.38,0.00,0.000,1030,0.000,0.064,2765,1877,2290,2365,2216,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9269,0.58,97.7,2765,1877,2365,2215,904.6,10.0,663,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1877,2290,2365,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9570,0.61,125.2,2765,1877,2365,2214,876.9,9.0,678,9601,0.00,2.45,25.12,1.634,8452,0.000,0.071,2765,3286,2188,2265,2112,0,0,0,0,0,0,28.83,25.30,24.34
$GC,9652,0.62,131.9,2765,3286,2260,2111,869.1,9.8,682,9669,0.00,2.38,7.45,1.439,9222,0.000,0.065,2775,1865,2162,2238,2086,0,0,0,0,0,0,28.83,25.48,24.28
$GC,9969,0.62,131.9,2775,1864,2236,2082,834.4,10.8,698,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1864,2158,2236,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10269,0.62,131.9,2775,1864,2235,2080,801.4,11.1,713,10273,0.00,2.35,0.00,0.000,260,0.000,0.072,2775,3292,2157,2235,2080,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10309,0.62,131.9,2775,3292,2233,2080,797.3,11.3,715,10314,0.00,2.33,0.00,0.000,1030,0.000,0.066,2786,1869,2157,2234,2080,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10620,0.62,131.9,2785,1869,2234,2080,758.7,12.6,731,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1869,2157,2234,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10921,0.62,131.9,2785,1869,2234,2079,722.5,11.8,746,10927,0.00,2.33,0.00,0.000,260,0.000,0.072,2786,3295,2156,2234,2079,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10961,0.62,131.9,2786,3294,2233,2079,717.5,12.1,748,10965,0.00,2.30,0.00,0.000,1030,0.000,0.066,2796,1876,2156,2233,2079,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11277,0.62,131.9,2795,1876,2233,2079,680.0,11.5,764,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1876,2156,2234,2079,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.9,1.026614
$STATE,16973,end surface coast,CONTROL_FINISHED_OK
$STATE,16973,begin surface
$SM_CCo,17047,0.00,0.000,0,0,1984,175.63
$SM_GC,1.91,6.80,0.20,0.00,0.041,0.088,0.000,179,1983,1984,-7.40,-0.57,175.63,0,0,0,0,0,0,26.34,26.30,28.83
$IRIDIUM_FIX,-4236.17,830.25,030609,121257
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.47
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,23.0,18.220
$10V_AH,10.2,11.525
$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
$DEVICE_SECS,17.775,137.300,250.075,0.000,0.000,26.083,19.622,153.533,0.000,0.000,29.720,3336.097,10886.957,401.665,2597.252,161.981,0.000,1606.422,0.000,2276.586,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.730,109.210,298.740,334.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353180
$DATA_FILE_SIZE,80403,1280
$CAP_FILE_SIZE,169181,0
$CFSIZE,259252224,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,360.0,1
$GPS,070816,082420,-4256.502,830.573,64,1.3,64,-25.0