version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 143
start: 8 11 116 18 8 25
data:
$ID,542
$MISSION,14
$DIVE,143
$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,-40167.629
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,110816,175833,-4256.965,830.550,122,1.0,122,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.9
$GPS2,110816,180742,-4257.033,830.711,31,1.6,31,-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,210.5,16505,-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,14,begin dive
$GC,15,-0.58,-97.3,156,1945,2015,1919,0.0,0.0,0,67,0.00,0.00,-44.60,0.000,16390,0.000,0.000,154,1945,3096,3173,3019,0,0,0,0,0,0,28.83,28.83,26.30
$GC,70,-0.58,-97.3,154,1945,3174,3019,3.8,-8.2,8,84,8.52,2.25,0.00,0.000,2564,0.225,0.052,2386,537,3098,3177,3019,0,0,0,0,0,0,25.53,25.88,28.83
$GC,463,-0.58,-97.3,2385,536,3182,3018,61.1,-12.9,85,470,0.00,2.25,0.00,0.000,1030,0.000,0.054,2377,1963,3099,3181,3018,0,0,0,0,0,0,28.83,26.06,28.83
$GC,779,-0.58,-97.3,2377,1964,3182,3018,103.3,-15.0,145,787,0.00,2.22,0.00,0.000,260,0.000,0.060,2366,3369,3100,3182,3018,0,0,0,0,0,0,28.83,26.11,28.83
$GC,842,-0.58,-97.3,1568,3368,3164,3014,113.0,-16.4,151,849,0.00,2.28,0.00,0.000,1030,0.000,0.052,2366,1951,3100,3182,3018,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1149,-0.58,-97.3,2366,1951,3183,3018,158.0,-14.5,182,1153,0.00,2.25,0.00,0.000,260,0.000,0.060,2356,3371,3100,3182,3018,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1248,-0.58,-97.3,1568,3369,3164,3014,172.2,-15.3,191,1255,0.00,2.28,0.00,0.000,1030,0.000,0.053,2356,1955,3100,3183,3018,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1555,-0.58,-97.3,2356,1955,3183,3018,218.0,-14.6,222,1557,0.12,0.00,0.00,0.000,2054,0.201,0.000,2383,1954,3100,3183,3018,0,0,0,0,0,0,26.09,28.83,28.83
$GC,1855,-0.58,-97.3,2383,1954,3183,3018,254.2,-11.1,252,1859,0.00,2.25,0.00,0.000,516,0.000,0.066,2384,543,3100,3183,3018,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1904,-0.58,-97.3,2384,543,3183,3018,259.3,-11.3,256,1911,0.00,2.22,0.00,0.000,1030,0.000,0.052,2375,1967,3100,3183,3018,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2211,-0.58,-97.3,2375,1968,3183,3018,294.6,-11.8,287,2220,0.00,2.20,0.00,0.000,260,0.000,0.060,2364,3373,3100,3183,3018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2315,-0.58,-97.3,2363,3373,3183,3018,306.8,-12.4,297,2322,0.00,2.22,0.00,0.000,1030,0.000,0.051,2364,1948,3100,3183,3018,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2623,-0.58,-97.3,2364,1948,3184,3018,347.5,-13.7,328,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3101,3184,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.58,-97.3,2364,1948,3185,3018,386.7,-12.4,358,2926,0.00,2.25,0.00,0.000,260,0.000,0.060,2354,3373,3101,3185,3018,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3046,-0.58,-97.3,2354,3373,3185,3018,401.1,-12.4,369,3051,0.12,2.22,0.00,0.000,3078,0.182,0.052,2383,1952,3101,3185,3018,0,0,0,0,0,0,26.14,26.34,28.83
$GC,3358,-0.58,-97.3,2383,1951,3185,3018,438.6,-11.9,385,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3101,3185,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-0.58,-97.3,2383,1951,3185,3018,474.1,-11.7,400,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3101,3185,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.58,-97.3,2383,1951,3185,3018,508.3,-11.3,415,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3101,3185,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4258,-0.58,-97.3,2383,1951,3185,3018,542.1,-11.5,430,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3101,3185,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-0.58,-97.3,2383,1951,3185,3017,575.1,-10.9,445,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3101,3185,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.58,-97.3,2383,1951,3185,3016,607.6,-10.9,460,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3100,3185,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.58,-97.3,2383,1951,3185,3016,640.5,-11.0,475,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3100,3185,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.58,-97.3,2382,1951,3185,3015,673.6,-11.2,490,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3100,3185,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,-0.58,-97.3,2383,1951,3185,3014,706.7,-10.9,505,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3099,3185,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6058,-0.58,-97.3,2382,1951,3185,3013,739.2,-10.7,520,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3098,3185,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,-0.58,-97.3,2383,1951,3185,3012,771.2,-10.9,535,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3098,3185,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,-0.58,-97.3,2383,1951,3185,3011,803.8,-10.8,550,6664,0.00,2.28,0.00,0.000,260,0.000,0.067,2374,3369,3098,3185,3011,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6741,-0.58,-97.3,2374,3369,3185,3011,812.5,-10.9,554,6745,0.00,2.25,0.00,0.000,1030,0.000,0.059,2374,1952,3097,3185,3010,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7053,-0.58,-97.3,2374,1951,3185,3009,848.4,-11.5,570,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1951,3097,3185,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.58,-97.3,2374,1951,3185,3008,881.7,-11.1,585,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1951,3097,3185,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,-0.58,-97.3,2374,1951,3185,3008,915.0,-11.3,600,7657,0.00,2.28,0.00,0.000,260,0.000,0.069,2364,3365,3096,3185,3008,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7697,-0.58,-97.3,2364,3365,3185,3008,919.1,-11.3,602,7701,0.00,2.25,0.00,0.000,1030,0.000,0.060,2364,1954,3096,3185,3008,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8004,-0.58,-97.3,2363,1953,3185,3007,953.9,-10.4,617,8008,0.00,2.30,0.00,0.000,516,0.000,0.076,2364,535,3096,3185,3007,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8053,-0.58,-97.3,2364,535,3185,3007,957.9,-10.7,619,8060,0.12,2.25,0.00,0.000,3078,0.197,0.061,2382,1955,3096,3185,3008,0,0,0,0,0,0,26.11,26.34,28.83
$GC,8361,-0.58,-97.3,2381,1956,3185,3006,989.6,-9.9,635,8367,0.00,2.28,0.00,0.000,260,0.000,0.070,2372,3375,3095,3185,3006,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8400,-0.58,-97.3,2372,3374,3185,3006,993.5,-9.7,637,8406,0.00,2.25,0.00,0.000,1030,0.000,0.060,2372,1955,3095,3185,3006,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,8478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8478,begin apogee
$GC,8483,-0.14,0.0,2372,1861,3185,3006,1001.6,-10.1,641,8574,0.50,0.00,87.78,1.753,10246,0.158,0.000,2521,1860,2700,2789,2612,0,0,0,0,0,0,26.09,28.83,23.58
$STATE,8575,end apogee,CONTROL_FINISHED_OK
$STATE,8575,begin climb
$GC,8576,0.58,97.3,2520,1860,2789,2611,1004.8,0.0,645,8673,0.73,0.00,93.22,1.707,10246,0.105,0.000,2755,1861,2303,2375,2231,0,0,0,0,0,0,24.61,28.83,22.92
$GC,8961,0.60,116.4,2755,1860,2366,2220,974.0,9.3,665,8984,0.00,2.45,18.08,1.641,8452,0.000,0.069,2755,3285,2225,2300,2150,0,0,0,0,0,0,28.83,24.85,23.91
$GC,9029,0.61,122.2,2755,3285,2295,2149,968.4,9.8,668,9041,0.00,2.38,6.85,1.460,9222,0.000,0.063,2765,1877,2201,2276,2127,0,0,0,0,0,0,28.83,25.13,24.01
$GC,9354,0.61,122.2,2765,1877,2274,2121,931.6,10.8,685,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1876,2197,2274,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9653,0.61,122.2,2765,1877,2272,2120,897.9,11.4,700,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1877,2196,2272,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9953,0.61,122.2,2765,1877,2272,2119,864.2,10.8,715,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1877,2195,2271,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10253,0.61,122.2,2765,1877,2271,2119,833.2,10.0,730,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1877,2195,2271,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10553,0.61,122.2,2765,1877,2270,2118,802.9,10.2,745,10557,0.00,2.30,0.00,0.000,260,0.000,0.070,2765,3287,2194,2270,2118,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10690,0.61,122.2,2765,3286,2269,2118,788.4,10.6,752,10696,0.00,2.30,0.00,0.000,1030,0.000,0.065,2776,1868,2193,2269,2118,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11009,0.61,122.2,2776,1867,2269,2118,754.6,10.8,768,11013,0.00,2.33,0.00,0.000,260,0.000,0.070,2776,3297,2193,2269,2118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11078,0.61,122.2,2775,3297,2268,2118,748.0,11.6,771,11085,0.00,2.30,0.00,0.000,1030,0.000,0.066,2786,1877,2193,2268,2118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11385,0.61,122.2,2786,1877,2268,2118,710.5,12.0,787,11391,0.00,2.30,0.00,0.000,260,0.000,0.071,2786,3294,2193,2268,2118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11428,0.61,122.2,2786,3294,2267,2117,705.3,12.6,789,11432,0.00,2.30,0.00,0.000,1030,0.000,0.064,2797,1873,2192,2267,2118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11745,0.61,122.2,2797,1874,2267,2118,665.0,12.7,805,11751,0.00,2.30,0.00,0.000,260,0.000,0.070,2797,3292,2192,2267,2117,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11778,0.61,122.2,2797,3292,2267,2117,662.4,12.7,806,11786,0.15,2.30,0.00,0.000,5126,0.207,0.063,2774,1867,2192,2267,2117,0,0,0,0,0,0,25.98,26.23,28.83
$GC,12085,0.61,122.2,2774,1867,2267,2117,626.6,10.8,822,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1867,2192,2267,2117,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17754,end climb,SURFACE_DEPTH_REACHED
$STATE,17754,begin surface coast
$FINISH,-0.1,1.026605
$STATE,17771,end surface coast,CONTROL_FINISHED_OK
$STATE,17771,begin surface
$SM_CCo,17845,0.00,0.000,0,0,1720,240.14
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$IRIDIUM_FIX,-4242.04,816.13,080609,070731
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.01
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,22.9,21.249
$10V_AH,10.2,13.484
$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
$DEVICE_SECS,17.475,118.675,263.950,0.000,0.000,50.117,91.173,212.849,0.000,0.000,32.108,3498.934,11531.422,413.044,2795.263,170.553,0.000,1604.614,0.000,2304.714,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353172
$DATA_FILE_SIZE,87142,1359
$CAP_FILE_SIZE,170861,0
$CFSIZE,259252224,248549376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045, 31.2,1
$GPS,110816,230703,-4258.750,830.929,40,0.8,40,-25.0