version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 247
start: 9 2 116 11 11 30
data:
$ID,542
$MISSION,14
$DIVE,247
$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,510.95157
$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,-41502.25
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,020916,110003,-4305.465,830.073,39,0.9,39,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-55.0
$GPS2,020916,111047,-4305.443,830.076,15,0.8,16,-25.1
$SPEED_LIMITS,0.259,0.269
$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,34.7,21064,-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,-97.3,146,1961,574,577,0.0,0.0,0,120,0.00,0.00,-99.25,0.000,16390,0.000,0.000,142,1960,3083,3142,3025,0,0,0,0,0,0,28.83,28.83,26.22
$GC,123,-0.55,-97.3,142,1960,3143,3025,3.7,-5.4,16,138,8.75,2.33,0.00,0.000,2564,0.223,0.051,2399,537,3084,3151,3017,0,0,0,0,0,0,25.20,25.70,28.83
$GC,287,-0.55,-97.3,1488,537,3144,3002,31.9,-14.3,47,294,0.00,2.28,0.00,0.000,1030,0.000,0.053,2391,1955,3086,3168,3005,0,0,0,0,0,0,28.83,25.71,28.83
$GC,417,-0.55,-97.3,1504,1954,3147,2999,48.6,-12.5,72,424,0.00,2.28,0.00,0.000,260,0.000,0.060,2380,3368,3086,3169,3003,0,0,0,0,0,0,28.83,25.70,28.83
$GC,469,-0.55,-97.3,2379,3368,3169,3003,55.3,-13.7,81,476,0.00,2.25,0.00,0.000,1030,0.000,0.050,2380,1955,3086,3169,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,782,-0.55,-97.3,2380,1955,3169,3003,97.6,-13.9,142,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.55,-97.3,2380,1954,3169,3003,137.6,-12.0,174,1101,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3369,3086,3169,3003,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1116,-0.55,-97.3,2370,3370,3169,3003,140.4,-12.1,176,1124,0.00,2.28,0.00,0.000,1030,0.000,0.050,2370,1956,3086,3170,3003,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1424,-0.55,-97.3,2370,1956,3169,3003,180.0,-13.4,207,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1956,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.55,-97.3,2370,1956,3170,3003,218.7,-12.8,237,1734,0.00,2.22,0.00,0.000,260,0.000,0.057,2360,3366,3086,3169,3003,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1756,-0.55,-97.3,2359,3367,3170,3003,223.1,-13.5,240,1761,0.12,2.22,0.00,0.000,3078,0.171,0.049,2389,1952,3086,3169,3003,0,0,0,0,0,0,25.71,25.95,28.83
$GC,2061,-0.55,-97.3,2389,1952,3170,3003,258.8,-11.5,270,2065,0.00,2.28,0.00,0.000,260,0.000,0.057,2381,3379,3086,3170,3003,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2079,-0.55,-97.3,2380,3379,3170,3003,260.6,-11.3,271,2087,0.00,2.22,0.00,0.000,1030,0.000,0.049,2381,1951,3086,3170,3003,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2387,-0.55,-97.3,2380,1951,3170,3003,296.9,-11.8,302,2391,0.00,2.28,0.00,0.000,260,0.000,0.057,2370,3375,3086,3170,3003,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2417,-0.55,-97.3,2370,3376,3170,3003,300.1,-11.8,304,2425,0.00,2.28,0.00,0.000,1030,0.000,0.049,2370,1954,3086,3170,3003,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2726,-0.55,-97.3,2370,1954,3170,3003,338.5,-12.6,335,2734,0.00,2.20,0.00,0.000,260,0.000,0.057,2360,3361,3086,3170,3003,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2756,-0.55,-97.3,2360,3361,3170,3003,342.6,-12.5,338,2761,0.12,2.20,0.00,0.000,3078,0.170,0.050,2389,1954,3086,3170,3003,0,0,0,0,0,0,25.75,25.98,28.83
$GC,3061,-0.55,-97.3,2389,1954,3170,3003,377.3,-11.5,368,3065,0.00,2.25,0.00,0.000,260,0.000,0.058,2381,3375,3087,3171,3003,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3079,-0.55,-97.3,2381,3376,3170,3003,379.1,-11.5,369,3088,0.00,2.20,0.00,0.000,1030,0.000,0.049,2381,1957,3087,3171,3003,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3398,-0.55,-97.3,2381,1956,3170,3003,416.2,-11.1,394,3404,0.00,2.22,0.00,0.000,260,0.000,0.058,2371,3368,3087,3171,3003,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3430,-0.55,-97.3,2371,3368,3171,3003,418.5,-11.1,395,3437,0.00,2.22,0.00,0.000,1030,0.000,0.050,2371,1952,3087,3171,3003,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3738,-0.55,-97.3,2370,1952,3171,3003,455.5,-11.4,411,3743,0.00,2.28,0.00,0.000,516,0.000,0.065,2370,542,3086,3170,3003,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3757,-0.55,-97.3,2370,541,3170,3003,457.9,-11.4,412,3762,0.12,2.22,0.00,0.000,3078,0.177,0.051,2389,1957,3086,3170,3003,0,0,0,0,0,0,25.75,26.01,28.83
$GC,4074,-0.55,-97.3,2390,1957,3170,3002,491.8,-10.7,428,4080,0.00,2.25,0.00,0.000,260,0.000,0.060,2380,3367,3086,3170,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4174,-0.55,-97.3,2380,3366,3171,3002,502.9,-11.1,433,4180,0.00,2.22,0.00,0.000,1030,0.000,0.052,2381,1953,3086,3170,3002,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4494,-0.55,-97.3,2380,1952,3170,3002,541.1,-12.2,449,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1952,3086,3171,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4794,-0.55,-97.3,2379,1952,3170,3001,579.0,-12.9,464,4800,0.00,2.28,0.00,0.000,516,0.000,0.067,2380,548,3085,3170,3001,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4817,-0.55,-97.3,2380,548,3170,3001,581.8,-13.2,465,4821,0.00,2.22,0.00,0.000,1030,0.000,0.053,2370,1953,3085,3170,3001,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5134,-0.55,-97.3,2370,1954,3170,3000,626.2,-14.0,481,5138,0.00,2.28,0.00,0.000,260,0.000,0.061,2359,3379,3085,3171,3000,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5164,-0.55,-97.3,2359,3380,3170,3000,628.4,-14.0,482,5171,0.12,2.25,0.00,0.000,3078,0.170,0.052,2389,1954,3084,3170,2999,0,0,0,0,0,0,25.74,25.96,28.83
$GC,5470,-0.55,-97.3,2388,1953,3171,2998,667.6,-11.7,498,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1954,3085,3171,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.55,-97.3,2388,1954,3171,2997,700.0,-10.5,513,5776,0.00,2.30,0.00,0.000,516,0.000,0.069,2389,544,3083,3170,2996,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5803,-0.55,-97.3,2389,544,3171,2996,702.2,-10.5,514,5811,0.00,2.25,0.00,0.000,1030,0.000,0.054,2380,1957,3083,3170,2996,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6110,-0.55,-97.3,2380,1957,3171,2996,737.2,-10.6,530,6114,0.00,2.28,0.00,0.000,260,0.000,0.063,2370,3378,3083,3170,2996,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6147,-0.55,-97.3,2369,3378,3171,2995,741.1,-10.8,532,6153,0.00,2.25,0.00,0.000,1030,0.000,0.054,2370,1954,3083,3171,2996,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6467,-0.55,-97.3,2369,1954,3170,2995,777.5,-11.5,548,6472,0.00,2.30,0.00,0.000,516,0.000,0.069,2370,541,3082,3170,2995,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6494,-0.55,-97.3,2369,541,3170,2995,780.0,-11.8,549,6499,0.12,2.25,0.00,0.000,3078,0.180,0.055,2388,1954,3082,3170,2995,0,0,0,0,0,0,25.68,25.96,28.83
$GC,6802,-0.55,-97.3,2388,1955,3170,2994,813.7,-10.5,564,6807,0.00,2.25,0.00,0.000,260,0.000,0.063,2379,3368,3082,3170,2994,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6862,-0.55,-97.3,2379,3368,3170,2994,820.0,-10.5,567,6867,0.00,2.25,0.00,0.000,1030,0.000,0.055,2379,1949,3082,3170,2994,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7182,-0.55,-97.3,2379,1950,3171,2992,853.0,-10.1,583,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1950,3081,3171,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7482,-0.55,-97.3,2379,1950,3170,2991,882.5,-9.8,598,7487,0.00,2.30,0.00,0.000,260,0.000,0.063,2369,3373,3080,3170,2991,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7502,-0.55,-97.3,2369,3373,3171,2991,884.4,-9.7,599,7508,0.00,2.25,0.00,0.000,1030,0.000,0.055,2369,1956,3081,3171,2991,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7822,-0.55,-97.3,2369,1955,3171,2991,917.6,-10.3,615,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1955,3081,3171,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.55,-97.3,2369,1955,3170,2990,947.8,-10.2,630,8127,0.00,2.30,0.00,0.000,516,0.000,0.070,2369,543,3080,3171,2990,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8161,-0.55,-97.3,2369,543,3171,2990,952.3,-10.7,632,8168,0.15,2.25,0.00,0.000,3078,0.175,0.057,2395,1956,3080,3170,2990,0,0,0,0,0,0,25.60,25.91,28.83
$GC,8482,-0.55,-97.3,2394,1956,3170,2989,981.8,-9.2,648,8488,0.00,2.28,0.00,0.000,260,0.000,0.065,2386,3369,3079,3170,2988,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8584,-0.55,-97.3,2385,3369,3170,2989,991.2,-9.5,653,8589,0.00,2.30,0.00,0.000,1030,0.000,0.055,2386,1959,3079,3170,2989,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,8680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8680,begin apogee
$GC,8685,-0.14,0.0,2386,1878,3171,2988,1000.6,-9.5,658,8782,0.45,0.00,89.68,1.746,10246,0.142,0.000,2521,1877,2684,2787,2581,0,0,0,0,0,0,25.53,28.83,23.27
$STATE,8783,end apogee,CONTROL_FINISHED_OK
$STATE,8783,begin climb
$GC,8785,0.55,97.3,2521,1877,2786,2581,1004.2,0.0,663,8884,0.68,0.00,95.90,1.695,10758,0.093,0.000,2744,1877,2285,2373,2198,0,0,0,0,0,0,24.54,28.83,22.37
$GC,9183,0.57,115.3,2744,1877,2365,2189,974.2,8.8,683,9205,0.00,2.42,17.08,1.623,8452,0.000,0.063,2744,3301,2213,2304,2122,0,0,0,0,0,0,28.83,24.88,23.71
$GC,9260,0.57,115.3,2744,3301,2301,2120,966.9,9.6,687,9265,0.00,2.33,0.00,0.000,1030,0.000,0.058,2754,1899,2210,2301,2120,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9578,0.57,115.3,2754,1898,2301,2116,934.9,9.9,703,9584,0.00,2.40,0.00,0.000,516,0.000,0.075,2764,469,2208,2300,2116,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9591,0.57,115.3,2765,469,2300,2116,934.9,9.9,703,9597,0.00,2.30,0.00,0.000,1030,0.000,0.057,2765,1888,2208,2300,2116,0,0,0,0,0,0,28.83,25.60,28.83
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$GC,16129,0.60,145.5,2789,1886,2183,1989,234.3,10.6,1109,16137,0.00,2.28,0.00,0.000,260,0.000,0.062,2789,3305,2086,2183,1989,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,18347,end climb,SURFACE_DEPTH_REACHED
$STATE,18348,begin surface coast
$FINISH,0.1,1.026738
$STATE,18390,end surface coast,CONTROL_FINISHED_OK
$STATE,18390,begin surface
$SM_CCo,18404,156.55,0.156,0,0,598,510.95
$SM_GC,0.97,6.82,0.12,156.55,0.045,0.095,0.156,170,1966,598,-7.40,-0.51,510.95,0,0,0,0,0,0,26.19,26.34,25.53
$IRIDIUM_FIX,-4250.85,829.08,300609,000005
$TT8_MAMPS,0.021721,0.021721
$HUMID,57.79
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.4,36.334
$10V_AH,10.0,24.865
$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
$DEVICE_SECS,18.125,187.325,235.250,156.550,0.000,50.238,83.567,291.851,0.000,0.000,17.678,3684.113,11340.151,651.685,3278.280,263.651,0.000,2015.518,0.000,2609.662,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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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,353180
$DATA_FILE_SIZE,97118,1430
$CAP_FILE_SIZE,187964,0
$CFSIZE,259252224,239751168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,331.8,1
$GPS,020916,162226,-4302.680,829.930,57,1.1,57,-25.0