version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 202
start: 8 23 116 20 37 53
data:
$ID,542
$MISSION,14
$DIVE,202
$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,-41443.488
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,230816,203127,-4305.684,830.032,40,1.1,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.8
$GPS2,230816,203710,-4305.624,830.103,18,1.0,18,-25.1
$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,9.6,21398,-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,-97.3,156,1966,1745,1668,0.0,0.0,0,76,0.00,0.00,-55.15,0.000,16390,0.000,0.000,155,1967,3094,3171,3018,0,0,0,0,0,0,28.83,28.83,26.23
$GC,79,-0.58,-97.3,155,1967,3171,3018,3.2,-3.6,9,93,8.85,2.35,0.00,0.000,2564,0.233,0.055,2389,536,3096,3175,3018,0,0,0,0,0,0,25.21,25.74,28.83
$GC,262,-0.58,-97.3,1424,536,3156,3013,38.7,-13.7,44,269,0.00,2.28,0.00,0.000,1030,0.000,0.054,2381,1956,3099,3181,3017,0,0,0,0,0,0,28.83,25.81,28.83
$GC,394,-0.58,-97.3,1440,1954,3157,3013,58.7,-15.4,69,400,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3373,3099,3181,3017,0,0,0,0,0,0,28.83,25.82,28.83
$GC,461,-0.58,-97.3,2370,3373,3181,3017,70.2,-14.5,82,468,0.00,2.28,0.00,0.000,1030,0.000,0.054,2370,1948,3099,3181,3017,0,0,0,0,0,0,28.83,25.87,28.83
$GC,772,-0.58,-97.3,2370,1948,3181,3017,114.0,-13.8,133,780,0.00,2.28,0.00,0.000,260,0.000,0.059,2360,3368,3099,3181,3017,0,0,0,0,0,0,28.83,25.94,28.83
$GC,816,-0.58,-97.3,2359,3368,3181,3017,119.7,-13.9,137,823,0.00,2.25,0.00,0.000,1030,0.000,0.052,2360,1952,3099,3181,3017,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1125,-0.58,-97.3,2359,1952,3181,3017,164.5,-14.4,168,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1952,3099,3181,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,-0.58,-97.3,2359,1952,3182,3017,208.9,-14.5,199,1443,0.00,2.25,0.00,0.000,516,0.000,0.063,2360,544,3099,3182,3017,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1469,-0.58,-97.3,2360,544,3182,3017,214.0,-14.8,202,1477,0.10,2.25,0.00,0.000,3078,0.171,0.053,2379,1950,3099,3182,3017,0,0,0,0,0,0,25.79,26.07,28.83
$GC,1777,-0.58,-97.3,2378,1951,3182,3017,254.9,-13.1,233,1785,0.00,2.25,0.00,0.000,260,0.000,0.059,2370,3370,3099,3182,3017,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1940,-0.58,-97.3,2369,3371,3182,3017,276.0,-12.8,249,1948,0.00,2.22,0.00,0.000,1030,0.000,0.051,2369,1954,3099,3182,3017,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2250,-0.58,-97.3,2369,1953,3183,3017,316.9,-13.0,280,2260,0.00,2.25,0.00,0.000,260,0.000,0.059,2359,3375,3099,3182,3017,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2304,-0.58,-97.3,2359,3375,3182,3017,324.1,-13.9,285,2312,0.08,2.30,0.00,0.000,3078,0.166,0.052,2389,1952,3099,3182,3017,0,0,0,0,0,0,25.84,26.12,28.83
$GC,2612,-0.58,-97.3,2389,1952,3183,3017,353.4,-8.4,316,2622,0.00,2.28,0.00,0.000,516,0.000,0.065,2389,537,3100,3183,3017,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2688,-0.58,-97.3,2389,537,3183,3017,361.7,-11.7,323,2695,0.00,2.28,0.00,0.000,1030,0.000,0.053,2381,1982,3100,3183,3017,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2997,-0.58,-97.3,2381,1982,3183,3017,398.8,-12.0,354,3006,0.00,2.17,0.00,0.000,260,0.000,0.059,2370,3374,3099,3183,3016,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3078,-0.58,-97.3,2370,3374,3183,3017,408.9,-12.3,359,3084,0.00,2.25,0.00,0.000,1030,0.000,0.052,2370,1947,3100,3183,3017,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3399,-0.58,-97.3,2370,1947,3183,3016,449.0,-12.4,375,3404,0.00,2.28,0.00,0.000,260,0.000,0.060,2360,3374,3100,3183,3017,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3551,-0.58,-97.3,2360,3373,3183,3017,466.9,-12.6,382,3558,0.00,2.25,0.00,0.000,1030,0.000,0.052,2360,1949,3100,3183,3017,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3858,-0.58,-97.3,2360,1949,3183,3017,508.6,-13.0,398,3862,0.00,2.28,0.00,0.000,260,0.000,0.060,2349,3379,3100,3183,3017,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3894,-0.58,-97.3,2349,3379,3183,3016,513.3,-13.0,400,3901,0.15,2.25,0.00,0.000,3078,0.180,0.052,2386,1954,3100,3183,3017,0,0,0,0,0,0,25.85,26.15,28.83
$GC,4214,-0.58,-97.3,2385,1953,3183,3017,546.9,-10.1,416,4218,0.00,2.28,0.00,0.000,260,0.000,0.061,2377,3380,3100,3183,3017,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4238,-0.58,-97.3,2377,3380,3182,3017,548.5,-10.1,417,4242,0.00,2.25,0.00,0.000,1030,0.000,0.053,2377,1956,3100,3183,3017,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4551,-0.58,-97.3,2377,1956,3182,3016,581.2,-10.1,433,4557,0.00,2.25,0.00,0.000,260,0.000,0.061,2367,3369,3099,3183,3016,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4578,-0.58,-97.3,2367,3369,3183,3016,583.3,-10.2,434,4582,0.00,2.25,0.00,0.000,1030,0.000,0.054,2367,1957,3099,3183,3016,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4890,-0.58,-97.3,2367,1956,3184,3016,618.7,-11.3,450,4894,0.00,2.30,0.00,0.000,516,0.000,0.069,2367,537,3099,3183,3016,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4907,-0.58,-97.3,2367,537,3183,3016,620.6,-11.5,451,4912,0.00,2.25,0.00,0.000,1030,0.000,0.055,2357,1963,3099,3183,3016,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5226,-0.58,-97.3,2357,1963,3183,3016,659.7,-12.1,467,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1963,3099,3183,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,-0.58,-97.3,2357,1963,3183,3015,696.2,-12.4,482,5531,0.00,2.25,0.00,0.000,260,0.000,0.063,2346,3375,3099,3183,3015,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5643,-0.58,-97.3,2346,3374,3183,3015,711.0,-12.7,488,5650,0.15,2.25,0.00,0.000,3078,0.179,0.056,2381,1952,3099,3183,3015,0,0,0,0,0,0,25.84,26.12,28.83
$GC,5963,-0.58,-97.3,2381,1952,3183,3013,746.6,-11.0,504,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1952,3098,3183,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6263,-0.58,-97.3,2381,1952,3183,3013,779.6,-11.0,519,6269,0.00,2.28,0.00,0.000,260,0.000,0.065,2373,3369,3097,3183,3012,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6285,-0.58,-97.3,1568,3368,3165,3008,781.8,-11.0,520,6289,0.00,2.30,0.00,0.000,1030,0.000,0.057,2373,1956,3097,3183,3012,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6603,-0.58,-97.3,2373,1955,3183,3012,816.5,-10.4,536,6607,0.00,2.28,0.00,0.000,516,0.000,0.071,2373,547,3097,3183,3012,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6619,-0.58,-97.3,2372,547,3183,3012,818.3,-10.6,537,6625,0.00,2.25,0.00,0.000,1030,0.000,0.057,2363,1960,3097,3183,3012,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6939,-0.58,-97.3,2363,1960,3183,3011,853.9,-11.2,553,6945,0.00,2.28,0.00,0.000,260,0.000,0.065,2352,3369,3097,3183,3012,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7081,-0.58,-97.3,2352,3369,3183,3011,870.2,-11.8,560,7087,0.10,2.25,0.00,0.000,3078,0.164,0.057,2382,1951,3097,3183,3011,0,0,0,0,0,0,25.82,26.10,28.83
$GC,7399,-0.58,-97.3,2382,1950,3183,3010,903.7,-10.2,576,7403,0.00,2.30,0.00,0.000,260,0.000,0.066,2373,3377,3096,3183,3010,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7424,-0.58,-97.3,2373,3377,3183,3010,905.4,-10.2,577,7428,0.00,2.28,0.00,0.000,1030,0.000,0.056,2374,1953,3096,3183,3010,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7731,-0.58,-97.3,2373,1952,3183,3010,939.2,-10.5,592,7737,0.00,2.30,0.00,0.000,516,0.000,0.073,2374,543,3096,3183,3009,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7753,-0.58,-97.3,2373,543,3183,3009,941.3,-10.5,593,7757,0.00,2.30,0.00,0.000,1030,0.000,0.058,2364,1957,3095,3183,3008,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8071,-0.58,-97.3,2363,1957,3183,3008,974.4,-10.1,609,8077,0.00,2.28,0.00,0.000,260,0.000,0.067,2353,3369,3095,3182,3008,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8132,-0.58,-97.3,2353,3369,3183,3008,980.4,-9.9,612,8138,0.10,2.22,0.00,0.000,3078,0.162,0.057,2382,1955,3095,3183,3008,0,0,0,0,0,0,25.80,26.08,28.83
$STATE,8389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8389,begin apogee
$GC,8394,-0.14,0.0,2382,1860,3183,3008,1001.4,-7.8,625,8491,0.47,0.00,88.57,1.753,10246,0.150,0.000,2525,1859,2699,2787,2612,0,0,0,0,0,0,25.71,28.83,23.43
$STATE,8492,end apogee,CONTROL_FINISHED_OK
$STATE,8492,begin climb
$GC,8493,0.58,97.3,2525,1858,2787,2612,1003.2,0.0,630,8591,0.70,0.00,93.95,1.689,10758,0.097,0.000,2756,1859,2303,2375,2231,0,0,0,0,0,0,24.63,28.83,22.56
$GC,8890,0.58,97.3,2755,1859,2366,2221,963.9,11.5,650,8895,0.00,2.42,0.00,0.000,260,0.000,0.067,2755,3296,2293,2366,2221,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8929,0.58,97.3,1856,3295,2324,2215,959.6,11.7,652,8934,0.00,2.40,0.00,0.000,1030,0.000,0.060,2766,1864,2293,2365,2221,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9247,0.58,97.3,2765,1864,2365,2219,923.4,11.0,668,9251,0.00,2.38,0.00,0.000,260,0.000,0.067,2766,3298,2292,2365,2219,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9276,0.58,97.3,2766,3298,2364,2219,921.7,11.0,669,9283,0.00,2.35,0.00,0.000,1030,0.000,0.060,2776,1871,2291,2364,2219,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9583,0.58,97.3,2776,1871,2363,2218,887.0,10.4,685,9589,0.00,2.33,0.00,0.000,260,0.000,0.067,2776,3291,2290,2363,2218,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9612,0.58,97.3,2776,3291,2362,2218,884.8,10.5,686,9616,0.00,2.33,0.00,0.000,1030,0.000,0.061,2787,1872,2290,2363,2218,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9918,0.58,97.3,2787,1872,2362,2217,850.7,10.5,701,9924,0.00,2.33,0.00,0.000,260,0.000,0.067,2787,3298,2289,2362,2217,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,17832,end climb,SURFACE_DEPTH_REACHED
$STATE,17832,begin surface coast
$FINISH,1.2,1.026653
$STATE,17838,end surface coast,CONTROL_FINISHED_OK
$STATE,17838,begin surface
$SM_CCo,17914,0.00,0.000,0,0,1889,198.94
$SM_GC,1.25,6.88,2.22,0.00,0.044,0.054,0.000,167,1955,1889,-7.41,0.65,198.94,0,0,0,0,0,0,26.08,25.94,28.83
$IRIDIUM_FIX,-4247.91,829.08,200609,050542
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.15
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.6,29.572
$10V_AH,10.1,19.298
$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
$DEVICE_SECS,18.225,188.025,252.225,0.000,0.000,22.726,39.789,168.157,0.000,0.000,19.646,3541.163,11015.560,470.976,3002.496,240.669,0.000,1811.072,0.000,2591.411,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.483,275.456,873.082,394.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,90511,1358
$CAP_FILE_SIZE,180212,0
$CFSIZE,259252224,244064256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083, 41.9,1
$GPS,240816,013733,-4303.216,830.175,32,0.9,32,-25.0