version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 188
start: 8 20 116 23 33 28
data:
$ID,542
$MISSION,14
$DIVE,188
$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,-41425.805
$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,28
$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
$GPS1,200816,232551,-4301.129,831.509,136,0.9,136,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,200816,233245,-4301.090,831.646,34,1.1,34,-25.1
$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,225.3,9235,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.58,-97.3,151,1968,2038,1930,0.0,0.0,0,63,0.00,0.00,-42.80,0.000,16390,0.000,0.000,151,1968,3099,3176,3022,0,0,0,0,0,0,28.83,28.83,26.34
$GC,65,-0.58,-97.3,150,1968,3176,3022,3.6,-7.0,7,81,8.70,2.28,0.00,0.000,2308,0.230,0.054,2370,3369,3101,3181,3022,0,0,0,0,0,0,25.39,25.86,28.83
$GC,93,-0.58,-97.3,2370,3369,3182,3021,13.8,-32.5,11,101,0.00,2.28,0.00,0.000,1030,0.000,0.053,2370,1953,3101,3182,3021,0,0,0,0,0,0,28.83,25.84,28.83
$GC,143,-0.58,-97.3,1440,1951,3159,3017,23.8,-18.9,20,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1952,3102,3183,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,274,-0.58,-97.3,1456,1951,3160,3017,42.1,-13.5,45,280,0.00,2.28,0.00,0.000,260,0.000,0.060,2361,3368,3102,3183,3021,0,0,0,0,0,0,28.83,25.89,28.83
$GC,322,-0.58,-97.3,2361,3368,3183,3021,49.4,-13.6,54,329,0.00,2.25,0.00,0.000,1030,0.000,0.050,2361,1956,3102,3183,3021,0,0,0,0,0,0,28.83,25.94,28.83
$GC,641,-0.58,-97.3,2361,1955,3184,3021,96.0,-14.6,115,647,0.00,2.25,0.00,0.000,260,0.000,0.060,2350,3373,3103,3185,3021,0,0,0,0,0,0,28.83,25.98,28.83
$GC,747,-0.58,-97.3,2350,3373,3184,3021,111.0,-13.8,128,758,0.10,2.22,0.00,0.000,3078,0.165,0.052,2380,1952,3102,3184,3021,0,0,0,0,0,0,25.76,26.05,28.83
$GC,1056,-0.58,-97.3,2380,1952,3185,3021,153.9,-13.8,159,1065,0.00,2.25,0.00,0.000,260,0.000,0.059,2371,3366,3103,3185,3021,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1119,-0.58,-97.3,2371,3366,3185,3021,162.4,-13.5,165,1128,0.00,2.22,0.00,0.000,1030,0.000,0.051,2372,1952,3103,3185,3021,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1428,-0.58,-97.3,2371,1951,3186,3021,204.9,-13.5,196,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.58,-97.3,2371,1952,3186,3021,245.8,-13.6,226,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2028,-0.58,-97.3,2371,1952,3187,3021,285.9,-12.8,256,2032,0.00,2.25,0.00,0.000,260,0.000,0.059,2361,3363,3103,3186,3021,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2212,-0.58,-97.3,2361,3362,3186,3021,308.8,-12.0,274,2216,0.00,2.22,0.00,0.000,1030,0.000,0.052,2361,1949,3103,3186,3021,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2517,-0.58,-97.3,2361,1949,3186,3021,348.2,-13.6,304,2522,0.00,2.25,0.00,0.000,516,0.000,0.064,2361,546,3104,3187,3021,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2576,-0.58,-97.3,2361,545,3186,3021,356.5,-15.0,309,2585,0.10,2.17,0.00,0.000,3078,0.164,0.053,2381,1952,3104,3187,3021,0,0,0,0,0,0,25.93,26.22,28.83
$GC,2884,-0.58,-97.3,2381,1951,3187,3021,394.5,-12.3,340,2888,0.00,2.25,0.00,0.000,260,0.000,0.060,2372,3379,3103,3186,3021,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2969,-0.58,-97.3,2372,3379,3187,3021,404.0,-12.3,346,2973,0.00,2.25,0.00,0.000,1030,0.000,0.051,2372,1952,3104,3187,3021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3281,-0.58,-97.3,2372,1952,3187,3021,444.8,-12.7,362,3285,0.00,2.25,0.00,0.000,260,0.000,0.060,2362,3369,3104,3187,3021,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3317,-0.58,-97.3,2362,3369,3187,3021,449.4,-12.9,364,3321,0.00,2.22,0.00,0.000,1030,0.000,0.052,2362,1951,3104,3187,3021,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3633,-0.58,-97.3,2362,1951,3187,3021,491.6,-13.2,380,3637,0.00,2.25,0.00,0.000,260,0.000,0.060,2352,3369,3103,3186,3021,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3709,-0.58,-97.3,2352,3369,3186,3021,501.4,-12.9,384,3714,0.12,2.22,0.00,0.000,3078,0.177,0.053,2381,1951,3104,3187,3021,0,0,0,0,0,0,25.98,26.20,28.83
$GC,4026,-0.58,-97.3,2380,1951,3187,3022,538.4,-11.9,400,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-0.58,-97.3,2380,1951,3187,3021,574.5,-12.2,415,4329,0.00,2.28,0.00,0.000,260,0.000,0.062,2372,3367,3104,3187,3021,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4360,-0.58,-97.3,2372,3368,3187,3021,577.1,-12.2,416,4367,0.00,2.22,0.00,0.000,1030,0.000,0.054,2372,1956,3104,3187,3021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4666,-0.58,-97.3,2371,1956,3187,3020,616.0,-12.1,432,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1956,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-0.58,-97.3,2372,1955,3187,3019,651.9,-11.7,447,4970,0.00,2.25,0.00,0.000,260,0.000,0.063,2362,3372,3103,3187,3020,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5005,-0.58,-97.3,1552,3371,3169,3016,656.2,-12.0,449,5010,0.00,2.30,0.00,0.000,1030,0.000,0.054,2362,1949,3103,3187,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5323,-0.58,-97.3,2361,1949,3186,3018,696.0,-12.5,465,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1949,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.58,-97.3,2361,1949,3187,3017,732.0,-11.9,480,5626,0.00,2.28,0.00,0.000,260,0.000,0.063,2352,3374,3102,3187,3017,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5678,-0.58,-97.3,2351,3375,3187,3016,738.7,-11.9,483,5685,0.12,2.25,0.00,0.000,3078,0.181,0.055,2380,1951,3101,3187,3016,0,0,0,0,0,0,25.96,26.19,28.83
$GC,5999,-0.58,-97.3,2380,1951,3187,3016,771.6,-10.0,499,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,-0.58,-97.3,2380,1951,3187,3016,800.9,-9.8,514,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3101,3186,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6599,-0.58,-97.3,2379,1951,3187,3016,831.9,-10.3,529,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.58,-97.3,2380,1951,3187,3015,862.8,-10.4,544,6904,0.00,2.28,0.00,0.000,260,0.000,0.065,2372,3368,3101,3187,3015,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6971,-0.58,-97.3,2371,3368,3186,3015,869.1,-10.6,547,6978,0.00,2.25,0.00,0.000,1030,0.000,0.057,2372,1955,3101,3187,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7278,-0.58,-97.3,2371,1955,3187,3015,904.2,-11.0,563,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3101,3187,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,-0.58,-97.3,2371,1955,3187,3013,938.5,-11.4,578,7584,0.00,2.25,0.00,0.000,260,0.000,0.066,2361,3367,3099,3186,3013,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7666,-0.58,-97.3,2361,3366,3186,3013,947.4,-11.1,582,7670,0.00,2.25,0.00,0.000,1030,0.000,0.057,2361,1951,3100,3187,3013,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7978,-0.58,-97.3,2361,1951,3186,3013,984.4,-11.3,598,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1951,3099,3186,3013,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8137,begin apogee
$GC,8142,-0.14,0.0,2361,1869,3186,3012,1001.8,-10.9,606,8239,0.55,0.00,89.43,1.754,10246,0.155,0.000,2523,1869,2700,2788,2612,0,0,0,0,0,0,25.78,28.83,23.48
$STATE,8240,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8241,0.58,97.3,2523,1869,2789,2612,1005.2,0.0,611,8339,0.73,0.00,94.38,1.698,10246,0.099,0.000,2756,1869,2303,2376,2231,0,0,0,0,0,0,24.64,28.83,22.63
$GC,8639,0.58,97.3,2756,1869,2368,2220,970.8,10.2,631,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1869,2294,2368,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,0.59,109.5,2756,1869,2367,2217,941.8,9.6,646,8959,0.00,2.42,11.00,1.566,8452,0.000,0.067,2756,3284,2252,2327,2178,0,0,0,0,0,0,28.83,25.43,24.34
$GC,9001,0.59,109.5,2756,3284,2326,2178,935.3,10.2,649,9007,0.00,2.33,0.00,0.000,1030,0.000,0.062,2766,1880,2252,2326,2178,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9322,0.59,109.5,2766,1880,2326,2176,901.3,10.5,665,9327,0.00,2.33,0.00,0.000,260,0.000,0.067,2766,3285,2250,2325,2175,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9410,0.59,109.5,2766,3285,2324,2175,892.6,11.0,669,9414,0.00,2.30,0.00,0.000,1030,0.000,0.063,2776,1875,2250,2324,2176,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9716,0.59,109.5,2776,1875,2324,2175,858.5,10.9,684,9722,0.00,2.33,0.00,0.000,516,0.000,0.078,2787,462,2249,2324,2175,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9776,0.59,109.5,2787,462,2323,2176,851.7,11.2,687,9780,0.00,2.28,0.00,0.000,1030,0.000,0.061,2787,1873,2249,2323,2175,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10092,0.59,109.5,2787,1874,2323,2174,815.7,11.1,703,10098,0.00,2.30,0.00,0.000,260,0.000,0.068,2787,3293,2248,2323,2174,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10185,0.59,109.5,2787,3293,2322,2173,806.3,11.8,707,10193,0.12,2.30,0.00,0.000,5126,0.210,0.062,2772,1871,2248,2322,2174,0,0,0,0,0,0,25.76,26.01,28.83
$GC,10492,0.59,109.5,2771,1871,2323,2173,772.7,10.5,723,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1871,2247,2322,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10792,0.59,109.5,2771,1871,2323,2173,741.6,10.2,738,10798,0.00,2.33,0.00,0.000,260,0.000,0.068,2769,3293,2247,2322,2173,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,17415,end climb,SURFACE_DEPTH_REACHED
$STATE,17415,begin surface coast
$FINISH,-0.0,1.026402
$STATE,17436,end surface coast,CONTROL_FINISHED_OK
$STATE,17437,begin surface
$SM_CCo,17513,0.00,0.000,0,0,1684,249.47
$SM_GC,1.10,6.88,2.22,0.00,0.037,0.056,0.000,174,1963,1684,-7.40,0.85,249.47,0,0,0,0,0,0,25.84,25.75,28.83
$IRIDIUM_FIX,-4244.98,831.55,170609,070758
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.09
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.6,27.677
$10V_AH,10.1,17.905
$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
$DEVICE_SECS,17.775,146.250,279.600,0.000,0.000,23.068,44.548,206.949,0.000,0.000,34.902,3406.965,10936.852,457.500,2932.065,206.209,0.000,1704.110,0.000,2452.129,0.000,1.010,0.000
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$MEM,353192
$DATA_FILE_SIZE,87190,1310
$CAP_FILE_SIZE,168939,0
$CFSIZE,259252224,245161984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222, 21.7,1
$GPS,210816,042634,-4300.997,831.612,39,1.1,39,-25.1