version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 145
start: 8 12 116 3 30 48
data:
$ID,542
$MISSION,14
$DIVE,145
$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,-40170.145
$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,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
$GPS1,120816,032203,-4300.167,830.580,133,1.1,133,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.9
$GPS2,120816,033005,-4300.160,830.665,25,1.2,26,-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,208.4,10724,-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,-97.3,137,1959,1944,1834,0.0,0.0,0,68,0.00,0.00,-47.70,0.000,16390,0.000,0.000,137,1959,3097,3175,3020,0,0,0,0,0,0,28.83,28.83,26.41
$GC,71,-0.58,-97.3,137,1959,3175,3021,3.4,-6.2,8,86,8.65,2.33,0.00,0.000,2820,0.230,0.058,2368,3379,3100,3179,3021,0,0,0,0,0,0,25.55,25.95,28.83
$GC,148,-0.58,-97.3,1440,3378,3158,3016,23.1,-22.5,22,156,0.00,2.28,0.00,0.000,1030,0.000,0.052,2368,1953,3101,3182,3020,0,0,0,0,0,0,28.83,26.00,28.83
$GC,281,-0.58,-97.3,2368,1952,3183,3020,49.2,-17.0,47,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1952,3101,3183,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,590,-0.58,-97.3,1504,1950,3161,3016,94.2,-13.5,108,598,0.00,2.30,0.00,0.000,260,0.000,0.062,2358,3362,3101,3183,3020,0,0,0,0,0,0,28.83,26.10,28.83
$GC,667,-0.58,-97.3,1568,3361,3164,3017,104.4,-13.7,119,675,0.00,2.28,0.00,0.000,1030,0.000,0.051,2358,1945,3101,3183,3020,0,0,0,0,0,0,28.83,26.13,28.83
$GC,975,-0.58,-97.3,2358,1945,3183,3020,149.8,-15.4,150,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1945,3101,3183,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.58,-97.3,2357,1945,3184,3020,194.0,-14.9,180,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1945,3101,3183,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,-0.58,-97.3,2358,1945,3184,3020,237.8,-13.8,210,1579,0.00,2.25,0.00,0.000,260,0.000,0.060,2348,3373,3102,3184,3020,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1634,-0.58,-97.3,2347,3373,3184,3020,245.3,-13.5,215,1641,0.15,2.22,0.00,0.000,3078,0.181,0.051,2384,1952,3102,3184,3020,0,0,0,0,0,0,26.03,26.26,28.83
$GC,1941,-0.58,-97.3,2384,1951,3185,3020,284.4,-13.1,246,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1951,3102,3185,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.58,-97.3,2384,1951,3186,3020,321.3,-11.7,276,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1951,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2540,-0.58,-97.3,2384,1951,3187,3020,355.5,-11.2,306,2545,0.00,2.25,0.00,0.000,260,0.000,0.060,2375,3372,3103,3187,3020,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2619,-0.58,-97.3,1552,3371,3168,3016,363.8,-10.8,313,2626,0.00,2.28,0.00,0.000,1030,0.000,0.052,2376,1956,3104,3187,3021,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2926,-0.58,-97.3,2375,1956,3187,3020,398.5,-10.8,344,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3227,-0.58,-97.3,2375,1956,3187,3020,432.1,-11.5,360,3231,0.00,2.25,0.00,0.000,260,0.000,0.061,2365,3370,3103,3187,3020,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3285,-0.58,-97.3,1576,3369,3169,3016,438.7,-11.8,363,3289,0.00,2.25,0.00,0.000,1030,0.000,0.053,2366,1960,3103,3187,3020,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3603,-0.58,-97.3,2365,1959,3187,3020,479.3,-13.2,379,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1959,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.58,-97.3,2365,1959,3187,3020,519.4,-13.7,394,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1959,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-0.58,-97.3,2365,1959,3186,3020,560.1,-13.5,409,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1959,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4503,-0.58,-97.3,2365,1960,3187,3019,601.3,-13.3,424,4508,0.00,2.25,0.00,0.000,260,0.000,0.064,2355,3369,3103,3187,3019,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4565,-0.58,-97.3,1568,3368,3169,3015,609.2,-13.2,427,4570,0.08,2.28,0.00,0.000,3078,0.162,0.056,2379,1954,3102,3187,3018,0,0,0,0,0,0,26.15,26.34,28.83
$GC,4883,-0.58,-97.3,2378,1954,3187,3017,647.6,-11.8,443,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.58,-97.3,2378,1954,3187,3016,680.2,-10.2,458,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5483,-0.58,-97.3,2378,1954,3187,3016,709.0,-9.4,473,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1954,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-0.58,-97.3,2379,1954,3187,3016,738.3,-10.1,488,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6083,-0.58,-97.3,2379,1954,3187,3015,771.4,-10.8,503,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1954,3101,3187,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6383,-0.58,-97.3,2378,1954,3187,3014,802.9,-10.2,518,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3100,3187,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.58,-97.3,2378,1954,3187,3013,833.8,-10.4,533,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3100,3187,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6982,-0.58,-97.3,2379,1953,3187,3013,864.8,-10.1,548,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3100,3187,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7283,-0.58,-97.3,2379,1953,3187,3012,894.6,-10.2,563,7289,0.00,2.28,0.00,0.000,260,0.000,0.068,2370,3367,3099,3187,3012,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7336,-0.58,-97.3,2370,3368,3187,3012,898.7,-10.2,565,7343,0.00,2.25,0.00,0.000,1030,0.000,0.060,2370,1954,3099,3187,3012,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7642,-0.58,-97.3,2370,1953,3187,3012,933.2,-11.2,581,7647,0.00,2.28,0.00,0.000,260,0.000,0.069,2360,3369,3099,3187,3012,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7681,-0.58,-97.3,1568,3368,3169,3008,937.2,-11.2,583,7685,0.00,2.30,0.00,0.000,1030,0.000,0.060,2360,1955,3099,3187,3012,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7999,-0.58,-97.3,2360,1954,3187,3011,974.7,-11.8,599,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1954,3099,3187,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8217,begin apogee
$GC,8221,-0.14,0.0,2360,1861,3187,3010,1001.7,-12.1,610,8313,0.55,0.00,88.38,1.760,10246,0.163,0.000,2522,1861,2700,2789,2611,0,0,0,0,0,0,26.05,28.83,23.58
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8314,begin climb
$GC,8316,0.58,97.3,2522,1861,2789,2612,1005.7,0.0,614,8413,0.70,0.00,93.18,1.712,10758,0.106,0.000,2750,1861,2303,2376,2230,0,0,0,0,0,0,24.61,28.83,22.89
$GC,8700,0.63,138.5,2750,1860,2367,2220,978.0,8.5,634,8747,0.00,2.50,39.47,1.678,8452,0.000,0.067,2750,3288,2134,2209,2059,0,0,0,0,0,0,28.83,24.46,23.54
$GC,8808,0.63,138.5,2750,3287,2203,2058,968.1,10.2,639,8813,0.00,2.40,0.00,0.000,1030,0.000,0.063,2760,1876,2130,2202,2058,0,0,0,0,0,0,28.83,24.98,28.83
$GC,9114,0.63,138.5,2760,1875,2202,2050,931.4,12.0,654,9119,0.00,2.35,0.00,0.000,260,0.000,0.070,2760,3286,2126,2202,2050,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9184,0.63,138.5,2760,3286,2200,2050,924.2,12.6,657,9191,0.00,2.35,0.00,0.000,1030,0.000,0.063,2770,1865,2125,2200,2050,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9490,0.63,138.5,2770,1865,2199,2049,883.7,12.6,673,9495,0.00,2.35,0.00,0.000,260,0.000,0.070,2770,3295,2124,2199,2049,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9615,0.63,138.5,2770,3295,2198,2048,868.6,13.1,679,9620,0.00,2.33,0.00,0.000,1030,0.000,0.064,2781,1874,2123,2198,2048,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9921,0.63,138.5,2781,1873,2198,2047,828.4,12.9,694,9926,0.00,2.33,0.00,0.000,260,0.000,0.070,2781,3286,2122,2198,2047,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9990,0.63,138.5,2780,3286,2196,2047,821.1,13.1,697,9997,0.00,2.30,0.00,0.000,1030,0.000,0.064,2791,1876,2122,2197,2047,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10298,0.63,138.5,2791,1876,2197,2046,780.5,12.7,713,10303,0.00,2.30,0.00,0.000,260,0.000,0.070,2791,3288,2122,2197,2047,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10358,0.63,138.5,2791,3288,2196,2047,772.6,13.0,716,10363,0.00,2.30,0.00,0.000,1030,0.000,0.065,2801,1875,2121,2196,2047,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10678,0.63,138.5,2801,1875,2196,2047,730.6,13.0,732,10684,0.00,2.30,0.00,0.000,260,0.000,0.071,2801,3286,2121,2196,2047,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10738,0.63,138.5,2801,3286,2195,2047,722.4,13.6,735,10745,0.15,2.28,0.00,0.000,5126,0.209,0.064,2778,1874,2121,2195,2047,0,0,0,0,0,0,25.92,26.15,28.83
$GC,11058,0.63,138.5,2778,1874,2195,2046,686.7,10.9,751,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1874,2120,2195,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11357,0.63,138.5,2778,1874,2195,2046,654.2,11.0,766,11361,0.00,2.30,0.00,0.000,260,0.000,0.070,2778,3292,2120,2195,2046,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11413,0.63,138.5,2778,3292,2195,2045,647.8,11.3,769,11417,0.00,2.28,0.00,0.000,1030,0.000,0.063,2787,1874,2120,2195,2046,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11729,0.63,138.5,2787,1874,2195,2046,611.3,11.9,785,11735,0.00,2.30,0.00,0.000,260,0.000,0.071,2787,3292,2120,2195,2046,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,17077,end climb,SURFACE_DEPTH_REACHED
$STATE,17077,begin surface coast
$FINISH,-0.1,1.026646
$STATE,17088,end surface coast,CONTROL_FINISHED_OK
$STATE,17089,begin surface
$SM_CCo,17163,0.00,0.000,0,0,1466,302.70
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$IRIDIUM_FIX,-4242.04,828.21,080609,121252
$TT8_MAMPS,0.021721,0.021721
$HUMID,58.66
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,22.9,21.532
$10V_AH,10.1,13.646
$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
$DEVICE_SECS,18.075,128.575,292.400,0.000,0.000,56.176,60.715,186.329,0.000,0.000,26.804,3366.396,10980.565,449.750,2695.716,171.608,0.000,1652.398,0.000,2269.654,0.000,1.492,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.779,112.544,323.936,355.852,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353196
$DATA_FILE_SIZE,83755,1310
$CAP_FILE_SIZE,169026,0
$CFSIZE,259252224,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047, 22.5,1
$GPS,120816,081804,-4301.818,830.801,40,1.1,40,-25.1