version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 66
start: 7 27 116 10 25 30
data:
$ID,542
$MISSION,14
$DIVE,66
$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,120
$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,-40047.219
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,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
$GPS1,270716,101933,-4300.920,845.052,69,0.9,69,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.8
$GPS2,270716,102447,-4300.897,845.101,15,0.9,17,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$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,251.8,22447,-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,-97.3,161,1983,2036,1925,0.0,0.0,0,61,0.00,0.00,-43.55,0.000,16390,0.000,0.000,160,1983,3098,3180,3016,0,0,0,0,0,0,28.83,28.83,26.47
$GC,64,-0.58,-97.3,160,1983,3181,3016,2.9,-3.2,7,78,8.60,2.33,0.00,0.000,2308,0.240,0.063,2367,3402,3099,3183,3016,0,0,0,0,0,0,25.94,26.11,28.83
$GC,326,-0.58,-97.3,1472,3401,3167,3011,43.5,-13.6,58,333,0.00,2.28,0.00,0.000,1030,0.000,0.057,2367,1971,3102,3189,3015,0,0,0,0,0,0,28.83,26.20,28.83
$GC,634,-0.58,-97.3,1472,1969,3168,3011,86.9,-13.8,119,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1971,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.58,-97.3,2367,1971,3190,3016,129.5,-14.1,159,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1971,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1241,-0.58,-97.3,2367,1971,3191,3015,173.7,-14.5,189,1245,0.00,2.28,0.00,0.000,260,0.000,0.065,2357,3397,3103,3191,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1327,-0.58,-97.3,2357,3397,3191,3016,186.0,-14.1,197,1331,0.00,2.25,0.00,0.000,1030,0.000,0.057,2357,1969,3103,3191,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1633,-0.58,-97.3,2357,1968,3192,3016,231.0,-14.4,227,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1968,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1932,-0.58,-97.3,2357,1968,3192,3016,272.3,-12.9,257,1936,0.00,2.25,0.00,0.000,516,0.000,0.071,2357,566,3103,3192,3015,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1958,-0.58,-97.3,2357,565,3192,3016,275.8,-13.2,259,1963,0.15,2.22,0.00,0.000,3078,0.196,0.057,2383,1984,3103,3192,3015,0,0,0,0,0,0,26.29,26.41,28.83
$GC,2263,-0.58,-97.3,2383,1984,3193,3015,311.4,-11.9,289,2267,0.00,2.22,0.00,0.000,260,0.000,0.065,2374,3391,3104,3193,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2301,-0.58,-97.3,2374,3392,3192,3016,315.8,-12.4,292,2309,0.00,2.28,0.00,0.000,1030,0.000,0.056,2374,1974,3104,3192,3016,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2609,-0.58,-97.3,2374,1973,3193,3016,354.8,-13.1,323,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2908,-0.58,-97.3,2374,1973,3193,3016,393.0,-12.8,353,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3104,3193,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-0.58,-97.3,2374,1973,3194,3015,432.9,-13.3,371,3213,0.00,2.25,0.00,0.000,260,0.000,0.066,2364,3391,3104,3193,3015,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3287,-0.58,-97.3,2364,3391,3194,3016,443.0,-13.2,375,3292,0.00,2.25,0.00,0.000,1030,0.000,0.057,2364,1963,3104,3193,3016,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3604,-0.58,-97.3,2363,1962,3193,3016,486.4,-13.4,391,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1962,3105,3194,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3905,-0.58,-97.3,2363,1962,3194,3016,526.6,-13.3,406,3911,0.00,2.28,0.00,0.000,260,0.000,0.067,2354,3391,3105,3194,3016,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3948,-0.58,-97.3,2354,3391,3194,3015,531.9,-13.3,408,3953,0.12,2.22,0.00,0.000,3078,0.184,0.057,2383,1978,3104,3193,3015,0,0,0,0,0,0,26.39,26.48,28.83
$GC,4260,-0.58,-97.3,2383,1978,3194,3015,567.3,-10.9,424,4264,0.00,2.28,0.00,0.000,516,0.000,0.074,2384,564,3105,3194,3016,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4328,-0.58,-97.3,2383,564,3194,3015,573.7,-11.3,427,4336,0.00,2.28,0.00,0.000,1030,0.000,0.060,2375,1976,3105,3194,3016,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4635,-0.58,-97.3,2375,1976,3193,3015,608.7,-10.8,443,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1977,3104,3193,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4936,-0.58,-97.3,2375,1977,3194,3016,640.5,-10.6,458,4942,0.00,2.25,0.00,0.000,516,0.000,0.074,2375,571,3104,3193,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4977,-0.58,-97.3,2374,571,3193,3015,645.1,-11.1,460,4982,0.00,2.22,0.00,0.000,1030,0.000,0.062,2365,1983,3104,3193,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5295,-0.58,-97.3,2365,1983,3193,3015,681.2,-11.5,476,5300,0.00,2.28,0.00,0.000,516,0.000,0.075,2365,571,3104,3194,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5339,-0.58,-97.3,2365,570,3193,3015,685.5,-11.7,478,5344,0.08,2.28,0.00,0.000,3078,0.177,0.062,2386,1979,3104,3193,3015,0,0,0,0,0,0,26.40,26.50,28.83
$GC,5652,-0.58,-97.3,2386,1979,3193,3015,717.3,-9.7,494,5658,0.00,2.28,0.00,0.000,516,0.000,0.076,2386,569,3104,3194,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5699,-0.58,-97.3,2386,569,3193,3014,721.6,-10.1,496,5703,0.00,2.22,0.00,0.000,1030,0.000,0.062,2378,1977,3104,3193,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6011,-0.58,-97.3,2378,1978,3194,3015,755.2,-10.8,512,6015,0.00,2.25,0.00,0.000,516,0.000,0.076,2378,571,3104,3193,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6040,-0.58,-97.3,2378,571,3193,3015,757.0,-10.8,513,6048,0.00,2.25,0.00,0.000,1030,0.000,0.063,2368,1988,3104,3194,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6347,-0.58,-97.3,2368,1988,3194,3015,794.2,-11.8,529,6351,0.00,2.30,0.00,0.000,516,0.000,0.076,2368,565,3104,3193,3016,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6378,-0.58,-97.3,2368,566,3193,3015,796.1,-11.9,530,6384,0.00,2.25,0.00,0.000,1030,0.000,0.064,2358,1985,3105,3194,3016,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6684,-0.58,-97.3,2358,1985,3194,3015,836.3,-12.5,546,6690,0.00,2.30,0.00,0.000,516,0.000,0.076,2358,571,3104,3193,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6736,-0.58,-97.3,2357,571,3193,3015,841.5,-12.7,548,6744,0.15,2.22,0.00,0.000,3078,0.195,0.063,2384,1978,3104,3194,3015,0,0,0,0,0,0,26.39,26.49,28.83
$GC,7043,-0.58,-97.3,2383,1978,3194,3014,877.3,-10.9,564,7047,0.00,2.28,0.00,0.000,260,0.000,0.074,2375,3397,3104,3194,3014,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7067,-0.58,-97.3,2374,3396,3194,3013,878.9,-10.8,565,7072,0.00,2.30,0.00,0.000,1030,0.000,0.061,2374,1975,3103,3193,3013,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7379,-0.58,-97.3,2374,1974,3193,3013,912.9,-10.5,581,7383,0.00,2.28,0.00,0.000,516,0.000,0.079,2375,568,3103,3193,3013,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7448,-0.58,-97.3,2374,567,3193,3013,919.2,-11.1,584,7455,0.00,2.25,0.00,0.000,1030,0.000,0.065,2365,1982,3103,3193,3013,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7755,-0.58,-97.3,2364,1982,3193,3012,952.9,-10.4,600,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1982,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8055,-0.58,-97.3,2364,1982,3193,3010,983.9,-10.3,615,8059,0.00,2.30,0.00,0.000,516,0.000,0.078,2364,563,3102,3193,3011,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8124,-0.58,-97.3,2364,563,3193,3011,990.0,-10.8,618,8131,0.12,2.25,0.00,0.000,3078,0.198,0.064,2383,1978,3101,3193,3010,0,0,0,0,0,0,26.41,26.51,28.83
$STATE,8229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8229,begin apogee
$GC,8233,-0.14,0.0,2382,1866,3192,3010,1001.5,-9.2,624,8325,0.45,0.00,88.78,1.734,10246,0.153,0.000,2520,1865,2699,2787,2612,0,0,0,0,0,0,26.42,28.83,23.57
$STATE,8326,end apogee,CONTROL_FINISHED_OK
$STATE,8326,begin climb
$GC,8328,0.58,97.3,2520,1865,2787,2612,1004.2,0.0,628,8425,0.73,0.00,92.82,1.707,10758,0.104,0.000,2756,1865,2302,2372,2233,0,0,0,0,0,0,24.64,28.83,23.15
$GC,8726,0.59,107.9,2756,1865,2364,2221,971.2,9.6,648,8740,0.00,2.42,9.40,1.542,8452,0.000,0.073,2756,3285,2260,2332,2188,0,0,0,0,0,0,28.83,25.16,24.19
$GC,8805,0.59,107.9,2756,3285,2331,2188,963.1,10.4,651,8809,0.00,2.38,0.00,0.000,1030,0.000,0.065,2767,1872,2259,2331,2188,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9122,0.59,107.9,2766,1871,2330,2184,929.1,10.5,667,9126,0.00,2.35,0.00,0.000,260,0.000,0.073,2767,3286,2257,2330,2184,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9161,0.59,107.9,2766,3286,2329,2184,925.2,10.8,669,9165,0.00,2.38,0.00,0.000,1030,0.000,0.066,2777,1847,2256,2329,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9478,0.59,107.9,2777,1847,2329,2183,890.5,10.8,685,9482,0.00,2.38,0.00,0.000,260,0.000,0.074,2777,3286,2256,2329,2183,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9522,0.59,107.9,2777,3286,2328,2182,886.3,11.2,687,9526,0.00,2.33,0.00,0.000,1030,0.000,0.067,2787,1866,2255,2328,2183,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9834,0.59,107.9,2787,1866,2328,2182,849.9,11.4,703,9838,0.00,2.33,0.00,0.000,260,0.000,0.073,2787,3288,2255,2328,2182,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9918,0.59,107.9,2787,3288,2327,2182,841.0,11.8,707,9923,0.15,2.30,0.00,0.000,5126,0.220,0.067,2766,1873,2254,2327,2182,0,0,0,0,0,0,25.98,26.11,28.83
$GC,10226,0.59,107.9,2765,1873,2327,2182,807.4,10.7,722,10231,0.00,2.33,0.00,0.000,260,0.000,0.075,2759,3293,2254,2327,2182,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10273,0.59,107.9,2759,3293,2327,2182,803.0,10.9,724,10277,0.00,2.33,0.00,0.000,1030,0.000,0.067,2768,1865,2254,2327,2181,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,17372,end climb,SURFACE_DEPTH_REACHED
$STATE,17372,begin surface coast
$FINISH,0.1,1.013963
$STATE,17404,end surface coast,CONTROL_FINISHED_OK
$STATE,17404,begin surface
$SM_CCo,17478,0.00,0.000,0,0,2084,151.10
$SM_GC,2.22,6.75,0.17,0.00,0.047,0.096,0.000,176,1979,2084,-7.40,-0.79,151.10,0,0,0,0,0,0,26.48,26.45,28.83
$IRIDIUM_FIX,-4242.04,846.11,230509,191902
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.05
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,23.2,11.147
$10V_AH,10.2,6.975
$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
$DEVICE_SECS,17.800,160.825,224.200,0.000,0.000,23.766,46.643,139.971,0.000,0.000,17.720,3521.073,11030.295,393.642,2708.095,157.399,0.000,1648.624,0.000,2368.813,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.562,130.539,362.815,377.393,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,87276,1341
$CAP_FILE_SIZE,180799,0
$CFSIZE,259252224,254177280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152, 17.4,1
$GPS,270716,151952,-4300.944,843.812,131,3.3,152,-25.1