version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 240
start: 8 31 116 22 8 35
data:
$ID,542
$MISSION,14
$DIVE,240
$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,353
$T_MISSION,395
$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,1
$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,-41493.445
$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,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,310816,215101,-4303.719,830.019,118,1.0,118,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.3
$GPS2,310816,220752,-4303.700,830.032,19,1.2,19,-25.0
$SPEED_LIMITS,0.259,0.269
$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,201.8,4131,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,165,1963,2049,1964,0.0,0.0,0,61,0.00,0.00,-41.03,0.000,16390,0.000,0.000,165,1965,3080,3149,3012,0,0,0,0,0,0,28.83,28.83,26.21
$GC,64,-0.55,-97.3,165,1965,3150,3012,3.4,-5.7,7,78,8.80,2.35,0.00,0.000,2564,0.228,0.057,2397,536,3083,3154,3012,0,0,0,0,0,0,25.09,25.65,28.83
$GC,111,-0.55,-97.3,1472,535,3139,3002,16.4,-20.8,15,118,0.00,2.28,0.00,0.000,1030,0.000,0.052,2389,1959,3084,3163,3006,0,0,0,0,0,0,28.83,25.64,28.83
$GC,162,-0.55,-97.3,1440,1957,3140,3001,24.0,-14.4,24,169,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1958,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,292,-0.55,-97.3,2389,1959,3165,3005,42.0,-13.3,49,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1958,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-0.55,-97.3,1472,1957,3143,3001,82.2,-11.9,110,607,0.00,2.25,0.00,0.000,260,0.000,0.060,2378,3367,3085,3166,3005,0,0,0,0,0,0,28.83,25.77,28.83
$GC,701,-0.55,-97.3,2378,3366,3165,3005,93.6,-11.1,129,708,0.00,2.25,0.00,0.000,1030,0.000,0.051,2378,1950,3085,3165,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1016,-0.55,-97.3,2378,1949,3166,3005,131.9,-11.8,165,1026,0.00,2.28,0.00,0.000,260,0.000,0.058,2368,3373,3085,3165,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1058,-0.55,-97.3,2368,3373,3165,3006,137.0,-12.3,169,1068,0.00,2.25,0.00,0.000,1030,0.000,0.050,2368,1954,3085,3165,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1368,-0.55,-97.3,2369,1953,3166,3005,177.4,-13.3,200,1377,0.00,2.25,0.00,0.000,260,0.000,0.058,2358,3364,3085,3166,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1402,-0.55,-97.3,2358,3364,3166,3005,181.6,-13.2,203,1410,0.10,2.28,0.00,0.000,3078,0.162,0.050,2388,1950,3085,3166,3005,0,0,0,0,0,0,25.61,25.92,28.83
$GC,1711,-0.55,-97.3,2387,1950,3166,3005,215.7,-10.7,234,1721,0.00,2.25,0.00,0.000,260,0.000,0.057,2379,3365,3085,3166,3005,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1764,-0.55,-97.3,2379,3365,3166,3005,221.2,-10.6,239,1773,0.00,2.22,0.00,0.000,1030,0.000,0.050,2379,1948,3085,3166,3005,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2073,-0.55,-97.3,2379,1947,3166,3005,256.2,-11.9,270,2083,0.00,2.28,0.00,0.000,260,0.000,0.057,2369,3376,3085,3166,3005,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2126,-0.55,-97.3,2369,3376,3166,3005,262.6,-12.5,275,2135,0.00,2.22,0.00,0.000,1030,0.000,0.050,2369,1950,3085,3166,3005,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2435,-0.55,-97.3,2369,1950,3166,3005,304.9,-14.4,306,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-0.55,-97.3,2369,1950,3167,3005,346.7,-14.0,336,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-0.55,-97.3,2369,1950,3167,3005,388.4,-14.0,366,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3346,-0.55,-97.3,2369,1950,3167,3005,431.1,-13.4,386,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1950,3086,3167,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-0.55,-97.3,2369,1950,3167,3005,470.6,-12.9,401,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.55,-97.3,2369,1949,3167,3005,509.5,-13.1,416,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1949,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-0.55,-97.3,2369,1949,3167,3006,548.8,-12.9,431,4249,0.00,2.28,0.00,0.000,260,0.000,0.060,2359,3373,3086,3167,3005,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4284,-0.55,-97.3,2358,3373,3167,3006,553.5,-12.9,433,4289,0.08,2.28,0.00,0.000,3078,0.160,0.052,2390,1958,3086,3167,3005,0,0,0,0,0,0,25.67,25.99,28.83
$GC,4601,-0.55,-97.3,2390,1958,3167,3005,589.8,-11.2,449,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1958,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-0.55,-97.3,2390,1957,3167,3005,622.3,-10.5,464,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1958,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5201,-0.55,-97.3,2390,1958,3167,3004,653.2,-10.3,479,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1958,3085,3167,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.55,-97.3,2390,1958,3166,3003,684.2,-10.6,494,5507,0.00,2.25,0.00,0.000,260,0.000,0.062,2382,3364,3085,3167,3003,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5541,-0.55,-97.3,2381,3364,3167,3003,688.5,-10.6,496,5545,0.00,2.22,0.00,0.000,1030,0.000,0.054,2382,1956,3084,3167,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5858,-0.55,-97.3,2381,1955,3167,3002,723.7,-11.1,512,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6157,-0.55,-97.3,2382,1955,3167,3002,756.0,-10.7,527,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6458,-0.55,-97.3,2382,1955,3167,3002,787.5,-10.1,542,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6757,-0.55,-97.3,2381,1955,3167,3001,817.9,-10.3,557,6763,0.00,2.25,0.00,0.000,260,0.000,0.063,2371,3364,3084,3167,3001,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6805,-0.55,-97.3,2371,3364,3167,3001,822.0,-10.3,559,6809,0.00,2.25,0.00,0.000,1030,0.000,0.055,2372,1948,3084,3167,3001,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7113,-0.55,-97.3,2371,1948,3167,3000,854.4,-10.1,574,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1948,3084,3168,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,-0.55,-97.3,2371,1948,3167,3000,885.0,-10.2,589,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1948,3083,3167,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7713,-0.55,-97.3,2371,1948,3167,2999,913.6,-9.3,604,7718,0.00,2.30,0.00,0.000,260,0.000,0.063,2361,3371,3083,3167,2999,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7786,-0.55,-97.3,2361,3370,3167,2999,919.3,-9.4,607,7793,0.12,2.25,0.00,0.000,3078,0.174,0.055,2389,1954,3083,3167,2999,0,0,0,0,0,0,25.67,25.91,28.83
$GC,8093,-0.55,-97.3,2389,1954,3167,2998,946.5,-8.5,623,8099,0.00,2.30,0.00,0.000,516,0.000,0.072,2390,549,3082,3167,2998,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8137,-0.55,-97.3,2390,548,3167,2998,950.2,-8.9,625,8141,0.00,2.25,0.00,0.000,1030,0.000,0.064,2381,1956,3082,3167,2998,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8449,-0.55,-97.3,2381,1956,3167,2997,979.6,-9.4,641,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1956,3082,3167,2997,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8672,-0.14,0.0,2381,1885,3167,2996,1000.0,-9.3,652,8769,0.47,0.00,89.95,1.750,10246,0.151,0.000,2520,1884,2682,2763,2601,0,0,0,0,0,0,25.43,28.83,23.30
$STATE,8770,end apogee,CONTROL_FINISHED_OK
$STATE,8770,begin climb
$GC,8772,0.55,97.3,2520,1884,2763,2601,1003.3,0.0,657,8876,0.70,2.67,94.97,1.703,10756,0.100,0.073,2758,476,2286,2356,2216,0,0,0,0,0,0,24.53,23.47,22.39
$GC,8949,0.55,97.3,2758,476,2346,2214,990.6,10.1,666,8953,0.00,2.42,0.00,0.000,1030,0.000,0.057,2758,1888,2280,2346,2215,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9265,0.55,97.3,2758,1888,2345,2207,958.6,10.2,682,9271,0.00,2.35,0.00,0.000,260,0.000,0.065,2758,3307,2275,2345,2206,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9338,0.55,97.3,2758,3307,2344,2206,952.0,10.9,685,9345,0.00,2.35,0.00,0.000,1030,0.000,0.060,2768,1883,2275,2344,2206,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9646,0.55,97.3,2768,1883,2343,2205,919.3,10.0,701,9651,0.00,2.35,0.00,0.000,516,0.000,0.076,2779,474,2274,2344,2205,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9705,0.55,97.3,2779,474,2342,2203,912.8,10.7,704,9709,0.00,2.30,0.00,0.000,1030,0.000,0.059,2779,1892,2273,2342,2204,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10021,0.55,97.3,2779,1892,2342,2205,880.2,10.0,720,10025,0.00,2.30,0.00,0.000,260,0.000,0.067,2779,3305,2273,2342,2204,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10160,0.55,97.3,2779,3305,2341,2203,865.4,10.8,727,10166,0.12,2.35,0.00,0.000,5126,0.188,0.060,2756,1890,2272,2341,2204,0,0,0,0,0,0,25.37,25.75,28.83
$GC,10480,0.56,102.5,2756,1890,2341,2203,835.3,9.2,743,10481,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1890,2272,2341,2203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10778,0.57,116.7,2756,1890,2341,2203,808.1,8.9,758,10800,0.00,0.00,17.00,1.584,8198,0.000,0.000,2756,1890,2207,2277,2137,0,0,0,0,0,0,28.83,28.83,24.47
$GC,11098,0.57,118.9,2756,1890,2277,2133,777.6,9.4,774,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1891,2205,2277,2133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11399,0.58,127.1,2756,1890,2277,2133,750.0,9.1,789,11419,0.00,2.38,11.25,1.527,8452,0.000,0.067,2754,3298,2163,2236,2091,0,0,0,0,0,0,28.83,25.70,24.49
$GC,11449,0.58,127.7,2753,3298,2235,2091,745.9,9.4,791,11453,0.00,2.33,0.00,0.000,1030,0.000,0.062,2762,1884,2163,2235,2091,0,0,0,0,0,0,28.83,25.67,28.83
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$STATE,18692,end climb,SURFACE_DEPTH_REACHED
$STATE,18692,begin surface coast
$FINISH,0.1,1.026692
$STATE,18703,end surface coast,CONTROL_FINISHED_OK
$STATE,18704,begin surface
$SM_CCo,18779,0.00,0.000,0,0,2006,166.07
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$IRIDIUM_FIX,-4244.98,831.55,280609,111117
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.88
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,1
$24V_AH,22.4,35.346
$10V_AH,10.0,24.122
$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
$DEVICE_SECS,17.550,133.050,232.950,0.000,0.000,129.409,123.019,341.795,0.250,0.000,20.657,3688.481,12038.524,426.361,3415.521,231.010,0.000,1723.642,0.000,2569.089,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353112
$DATA_FILE_SIZE,97151,1432
$CAP_FILE_SIZE,179962,0
$CFSIZE,259252224,240332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083, 13.6,1
$GPS,010916,032421,-4305.036,830.547,132,1.0,132,-25.1