version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 139
start: 8 10 116 23 24 55
data:
$ID,542
$MISSION,14
$DIVE,139
$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,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,-40162.414
$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,1955
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,100816,231903,-4255.131,830.103,61,0.8,61,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.7
$GPS2,100816,232410,-4255.138,830.154,17,1.1,18,-25.0
$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,11.6,1988,-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,-97.3,162,1965,1970,1862,0.0,0.0,0,67,0.00,0.00,-46.85,0.000,16390,0.000,0.000,161,1965,3097,3175,3020,0,0,0,0,0,0,28.83,28.83,26.48
$GC,70,-0.60,-97.3,161,1965,3176,3020,3.3,-5.3,8,85,8.50,2.25,0.00,0.000,2308,0.229,0.054,2362,3380,3099,3179,3020,0,0,0,0,0,0,25.66,26.02,28.83
$GC,257,-0.60,-97.3,1416,3379,3157,3015,40.3,-17.1,44,265,0.00,2.30,0.00,0.000,1030,0.000,0.054,2362,1959,3101,3182,3020,0,0,0,0,0,0,28.83,26.08,28.83
$GC,578,-0.60,-97.3,2361,1959,3183,3020,87.6,-15.8,105,585,0.00,2.25,0.00,0.000,260,0.000,0.061,2352,3366,3101,3183,3020,0,0,0,0,0,0,28.83,26.14,28.83
$GC,596,-0.60,-97.3,2352,3367,3183,3020,90.7,-15.5,108,604,0.00,2.25,0.00,0.000,1030,0.000,0.054,2352,1946,3101,3183,3020,0,0,0,0,0,0,28.83,26.16,28.83
$GC,907,-0.60,-97.3,2352,1946,3185,3020,139.5,-15.6,144,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1946,3102,3184,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1207,-0.60,-97.3,2352,1946,3184,3020,187.4,-16.1,174,1211,0.00,2.25,0.00,0.000,516,0.000,0.067,2352,539,3102,3184,3020,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1243,-0.60,-97.3,2352,539,3184,3020,193.6,-16.8,177,1253,0.15,2.22,0.00,0.000,3078,0.197,0.053,2376,1960,3101,3184,3019,0,0,0,0,0,0,26.01,26.26,28.83
$GC,1553,-0.60,-97.3,2376,1960,3185,3020,237.9,-13.4,208,1557,0.00,2.22,0.00,0.000,260,0.000,0.060,2368,3373,3102,3185,3020,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1672,-0.60,-97.3,2367,3373,3185,3020,253.6,-13.4,219,1679,0.00,2.22,0.00,0.000,1030,0.000,0.053,2367,1954,3102,3185,3020,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1979,-0.60,-97.3,2367,1954,3186,3020,295.2,-13.7,250,1983,0.00,2.25,0.00,0.000,516,0.000,0.066,2368,543,3103,3186,3020,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2005,-0.60,-97.3,2367,543,3186,3020,299.0,-14.2,252,2009,0.00,2.20,0.00,0.000,1030,0.000,0.052,2357,1956,3103,3186,3020,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2310,-0.60,-97.3,2357,1956,3186,3020,340.5,-13.9,282,2314,0.00,2.22,0.00,0.000,260,0.000,0.060,2347,3372,3103,3186,3020,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2375,-0.60,-97.3,2346,3372,3187,3020,349.4,-13.5,288,2380,0.12,2.22,0.00,0.000,3078,0.184,0.052,2375,1944,3103,3187,3020,0,0,0,0,0,0,26.13,26.33,28.83
$GC,2680,-0.60,-97.3,2375,1944,3187,3020,387.3,-12.3,318,2685,0.00,2.25,0.00,0.000,260,0.000,0.061,2366,3367,3103,3187,3020,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2757,-0.60,-97.3,2366,3367,3187,3020,396.8,-12.4,325,2766,0.00,2.20,0.00,0.000,1030,0.000,0.052,2366,1954,3103,3187,3020,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3066,-0.60,-97.3,2366,1954,3188,3020,437.5,-13.2,342,3070,0.00,2.22,0.00,0.000,260,0.000,0.060,2356,3367,3103,3188,3019,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3125,-0.60,-97.3,1568,3366,3171,3016,444.7,-13.0,345,3130,0.00,2.25,0.00,0.000,1030,0.000,0.053,2356,1959,3104,3188,3020,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3443,-0.60,-97.3,2356,1958,3188,3020,489.0,-13.9,361,3449,0.00,2.28,0.00,0.000,516,0.000,0.068,2356,543,3104,3188,3020,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3495,-0.60,-97.3,2356,543,3188,3020,495.0,-14.4,363,3503,0.12,2.22,0.00,0.000,3078,0.200,0.055,2374,1959,3104,3188,3020,0,0,0,0,0,0,26.13,26.36,28.83
$GC,3802,-0.60,-97.3,2373,1960,3188,3019,535.7,-12.2,379,3807,0.00,2.22,0.00,0.000,260,0.000,0.063,2365,3369,3103,3188,3019,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3906,-0.60,-97.3,2364,3369,3188,3019,547.4,-12.2,384,3910,0.00,2.22,0.00,0.000,1030,0.000,0.054,2364,1952,3103,3188,3019,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4218,-0.60,-97.3,2364,1952,3188,3020,587.4,-12.5,400,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1952,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4519,-0.60,-97.3,2364,1952,3188,3018,623.7,-12.1,415,4524,0.00,2.25,0.00,0.000,260,0.000,0.065,2354,3368,3102,3188,3017,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4561,-0.60,-97.3,1540,3366,3170,3013,628.6,-12.2,417,4565,0.00,2.28,0.00,0.000,1030,0.000,0.057,2355,1952,3102,3188,3017,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4879,-0.60,-97.3,2354,1952,3188,3017,669.7,-12.9,433,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1952,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5178,-0.60,-97.3,2354,1952,3188,3016,707.1,-12.2,448,5182,0.00,2.25,0.00,0.000,260,0.000,0.066,2344,3367,3102,3188,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5207,-0.60,-97.3,2344,3367,3188,3016,709.0,-12.1,449,5215,0.15,2.25,0.00,0.000,3078,0.184,0.057,2380,1944,3102,3188,3016,0,0,0,0,0,0,26.13,26.36,28.83
$GC,5515,-0.60,-97.3,2379,1944,3188,3016,744.0,-10.7,465,5520,0.00,2.28,0.00,0.000,260,0.000,0.067,2371,3368,3101,3188,3015,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5547,-0.60,-97.3,2371,3368,3188,3016,746.1,-10.7,466,5554,0.00,2.25,0.00,0.000,1030,0.000,0.058,2371,1948,3102,3188,3016,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5854,-0.60,-97.3,2371,1948,3188,3015,782.3,-11.6,482,5858,0.00,2.28,0.00,0.000,260,0.000,0.067,2361,3369,3101,3188,3015,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5883,-0.60,-97.3,2361,3369,3188,3015,784.1,-11.6,483,5890,0.00,2.25,0.00,0.000,1030,0.000,0.057,2361,1951,3101,3188,3015,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6190,-0.60,-97.3,2361,1951,3188,3013,822.8,-12.3,499,6194,0.00,2.30,0.00,0.000,516,0.000,0.073,2361,535,3101,3188,3014,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6226,-0.60,-97.3,2360,535,3188,3013,827.5,-12.6,501,6232,0.00,2.25,0.00,0.000,1030,0.000,0.060,2351,1956,3100,3188,3013,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6547,-0.60,-97.3,2351,1956,3188,3013,868.9,-12.7,517,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1956,3100,3188,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.60,-97.3,2351,1957,3188,3012,903.7,-11.5,532,6850,0.00,2.25,0.00,0.000,260,0.000,0.069,2340,3366,3100,3188,3012,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6922,-0.60,-97.3,2340,3366,3188,3012,912.6,-11.7,536,6929,0.15,2.25,0.00,0.000,3078,0.188,0.060,2376,1946,3100,3188,3012,0,0,0,0,0,0,26.11,26.35,28.83
$GC,7242,-0.60,-97.3,2375,1945,3188,3012,944.6,-10.1,552,7246,0.00,2.30,0.00,0.000,260,0.000,0.070,2367,3374,3100,3188,3012,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7301,-0.60,-97.3,2367,3374,3188,3011,950.3,-10.1,555,7305,0.00,2.25,0.00,0.000,1030,0.000,0.060,2367,1956,3099,3188,3011,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7618,-0.60,-97.3,2367,1955,3188,3010,983.4,-10.5,571,7624,0.00,2.25,0.00,0.000,260,0.000,0.070,2357,3365,3099,3188,3010,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7681,-0.60,-97.3,1544,3365,3170,3006,989.7,-10.6,574,7685,0.00,2.30,0.00,0.000,1030,0.000,0.060,2357,1949,3099,3188,3010,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,7777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7777,begin apogee
$GC,7781,-0.14,0.0,2356,1868,3188,3009,1000.7,-11.0,579,7873,0.57,0.00,88.60,1.750,10246,0.161,0.000,2527,1867,2700,2790,2610,0,0,0,0,0,0,26.09,28.83,23.61
$STATE,7874,end apogee,CONTROL_FINISHED_OK
$STATE,7874,begin climb
$GC,7876,0.60,97.3,2527,1867,2790,2610,1003.7,0.0,583,7972,0.73,0.00,92.80,1.700,10758,0.102,0.000,2762,1867,2303,2376,2231,0,0,0,0,0,0,24.63,28.83,22.96
$GC,8259,0.60,97.3,2762,1867,2367,2220,969.4,10.6,603,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1867,2293,2367,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8559,0.60,97.7,2762,1867,2365,2217,938.9,10.0,618,8565,0.00,2.38,0.00,0.000,260,0.000,0.070,2762,3291,2291,2365,2217,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8679,0.60,97.7,2762,3291,2364,2217,925.9,10.8,624,8684,0.00,2.33,0.00,0.000,1030,0.000,0.063,2773,1872,2290,2364,2217,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8996,0.60,97.7,2772,1872,2364,2215,892.2,10.4,640,9001,0.00,2.33,0.00,0.000,260,0.000,0.070,2772,3289,2289,2364,2215,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9057,0.60,97.7,2772,3289,2363,2215,885.6,10.8,643,9062,0.00,2.28,0.00,0.000,1030,0.000,0.063,2782,1880,2289,2363,2215,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9376,0.60,97.7,2782,1880,2363,2215,851.1,10.5,659,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1880,2288,2362,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9675,0.60,97.7,2782,1880,2362,2214,819.9,10.7,674,9679,0.00,2.35,0.00,0.000,516,0.000,0.080,2794,458,2288,2362,2215,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9711,0.60,97.7,2794,457,2361,2214,815.8,11.0,676,9715,0.00,2.28,0.00,0.000,1030,0.000,0.063,2794,1873,2287,2361,2214,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10028,0.60,97.7,2794,1873,2361,2214,780.8,11.0,692,10033,0.00,2.30,0.00,0.000,260,0.000,0.071,2794,3291,2287,2361,2214,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10050,0.60,97.7,1936,3289,2323,2209,778.5,11.2,693,10055,0.10,2.33,0.00,0.000,5126,0.197,0.063,2776,1877,2288,2361,2215,0,0,0,0,0,0,25.94,26.17,28.83
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$STATE,17319,end climb,SURFACE_DEPTH_REACHED
$STATE,17319,begin surface coast
$FINISH,-0.1,1.026349
$STATE,17340,end surface coast,CONTROL_FINISHED_OK
$STATE,17341,begin surface
$SM_CCo,17417,0.00,0.000,0,0,1964,180.54
$SM_GC,1.33,6.80,2.45,0.00,0.037,0.059,0.000,166,1961,1964,-7.42,-0.45,180.54,0,0,0,0,0,0,26.17,26.10,28.83
$IRIDIUM_FIX,-4239.11,827.77,070609,080818
$TT8_MAMPS,0.021721,0.021721
$HUMID,58.89
$INTERNAL_PRESSURE,9.41409
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.0,20.702
$10V_AH,10.2,13.148
$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,18.050,187.025,233.025,0.000,0.000,25.130,16.655,149.026,0.000,0.000,19.424,3455.794,10975.093,429.943,2702.564,180.302,0.000,1712.378,0.000,2379.255,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,107.865,1750.320,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.821,121.434,343.223,365.441,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353216
$DATA_FILE_SIZE,83687,1318
$CAP_FILE_SIZE,184632,0
$CFSIZE,259252224,248836096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 13.4,1
$GPS,110816,041857,-4252.944,829.690,192,0.8,192,-25.0