version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 68
start: 7 27 116 20 39 40
data:
$ID,542
$MISSION,14
$DIVE,68
$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,-40049.734
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,270716,202215,-4301.273,842.192,207,2.2,228,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.7
$GPS2,270716,203857,-4301.299,842.383,127,0.8,127,-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,244.8,18814,-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,-97.3,155,1978,2141,2044,0.0,0.0,0,55,0.00,0.00,-38.17,0.000,16390,0.000,0.000,155,1978,3097,3178,3017,0,0,0,0,0,0,28.83,28.83,26.30
$GC,58,-0.58,-97.3,153,1978,3180,3016,3.1,-5.3,6,72,8.70,2.35,0.00,0.000,2564,0.241,0.063,2387,557,3099,3182,3016,0,0,0,0,0,0,25.77,25.94,28.83
$GC,412,-0.58,-97.3,1536,557,3166,3012,57.8,-14.4,75,419,0.00,2.28,0.00,0.000,1030,0.000,0.060,2379,1984,3101,3187,3016,0,0,0,0,0,0,28.83,26.10,28.83
$GC,734,-0.58,-97.3,2379,1985,3187,3016,103.1,-14.1,135,743,0.00,2.25,0.00,0.000,260,0.000,0.067,2368,3394,3101,3187,3016,0,0,0,0,0,0,28.83,26.19,28.83
$GC,828,-0.58,-97.3,2368,3394,3187,3016,116.0,-14.0,144,836,0.00,2.30,0.00,0.000,1030,0.000,0.057,2368,1968,3101,3187,3016,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1135,-0.58,-97.3,2368,1968,3188,3016,161.4,-14.8,175,1139,0.00,2.28,0.00,0.000,260,0.000,0.065,2358,3400,3102,3188,3016,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1193,-0.58,-97.3,2358,3399,3188,3016,169.3,-14.2,180,1202,0.00,2.30,0.00,0.000,1030,0.000,0.056,2357,1973,3102,3188,3016,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1500,-0.58,-97.3,2357,1973,3188,3016,213.7,-13.6,211,1504,0.00,2.28,0.00,0.000,260,0.000,0.064,2348,3392,3102,3188,3016,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1561,-0.58,-97.3,2347,3393,3188,3016,221.9,-13.6,217,1571,0.15,2.22,0.00,0.000,3078,0.178,0.056,2385,1973,3102,3188,3016,0,0,0,0,0,0,26.22,26.33,28.83
$GC,1871,-0.58,-97.3,2385,1973,3189,3017,257.9,-11.2,248,1875,0.00,2.25,0.00,0.000,516,0.000,0.071,2386,569,3102,3189,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1939,-0.58,-97.3,2385,568,3188,3016,265.8,-11.8,254,1946,0.00,2.25,0.00,0.000,1030,0.000,0.057,2377,1975,3102,3189,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2247,-0.58,-97.3,2377,1976,3189,3016,301.8,-12.1,285,2255,0.00,2.25,0.00,0.000,260,0.000,0.066,2366,3398,3102,3189,3016,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2280,-0.58,-97.3,1568,3397,3171,3012,305.6,-12.2,288,2288,0.00,2.28,0.00,0.000,1030,0.000,0.055,2366,1977,3102,3189,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2587,-0.58,-97.3,2366,1977,3190,3016,346.4,-13.7,319,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1977,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.58,-97.3,2366,1977,3190,3016,388.2,-13.5,349,2896,0.00,2.25,0.00,0.000,260,0.000,0.067,2355,3395,3103,3190,3016,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2930,-0.58,-97.3,1576,3394,3173,3012,393.9,-13.9,353,2938,0.00,2.28,0.00,0.000,1030,0.000,0.056,2356,1976,3103,3190,3016,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3238,-0.58,-97.3,2356,1975,3190,3016,437.2,-13.9,371,3240,0.12,0.00,0.00,0.000,2054,0.195,0.000,2385,1975,3103,3190,3017,0,0,0,0,0,0,26.34,28.83,28.83
$GC,3538,-0.58,-97.3,2384,1974,3190,3016,474.2,-12.2,386,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1974,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.58,-97.3,2384,1974,3190,3016,510.4,-12.2,401,3844,0.00,2.25,0.00,0.000,260,0.000,0.067,2376,3392,3103,3190,3016,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3861,-0.58,-97.3,1568,3391,3172,3012,512.8,-12.3,402,3865,0.00,2.28,0.00,0.000,1030,0.000,0.057,2376,1972,3102,3189,3016,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4178,-0.58,-97.3,2376,1971,3190,3016,553.0,-12.4,418,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-0.58,-97.3,2376,1972,3190,3016,590.3,-12.1,433,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1971,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4778,-0.58,-97.3,2376,1972,3190,3016,625.5,-11.5,448,4782,0.00,2.28,0.00,0.000,260,0.000,0.069,2365,3395,3103,3190,3016,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4842,-0.58,-97.3,2365,3395,3190,3016,631.9,-11.5,451,4847,0.00,2.28,0.00,0.000,1030,0.000,0.060,2366,1980,3103,3190,3016,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5154,-0.58,-97.3,2365,1980,3189,3015,668.3,-11.0,467,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1980,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.58,-97.3,2365,1980,3190,3015,701.9,-11.4,482,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.58,-97.3,2366,1980,3190,3013,736.0,-11.5,497,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1980,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.58,-97.3,2365,1980,3190,3012,771.1,-11.7,512,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,-0.58,-97.3,2366,1980,3190,3012,805.6,-11.4,527,6358,0.00,2.28,0.00,0.000,260,0.000,0.072,2356,3398,3101,3190,3012,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6430,-0.58,-97.3,2355,3398,3190,3012,814.3,-11.5,531,6435,0.12,2.25,0.00,0.000,3078,0.182,0.061,2385,1972,3101,3190,3012,0,0,0,0,0,0,26.41,26.51,28.83
$GC,6747,-0.58,-97.3,2385,1972,3190,3011,847.2,-10.2,547,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1972,3100,3190,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.58,-97.3,2385,1972,3190,3010,878.2,-10.3,562,7050,0.00,2.30,0.00,0.000,260,0.000,0.073,2376,3395,3100,3190,3010,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7070,-0.58,-97.3,2376,3395,3191,3010,879.9,-10.3,563,7074,0.00,2.25,0.00,0.000,1030,0.000,0.062,2376,1978,3099,3189,3010,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7382,-0.58,-97.3,2376,1978,3190,3010,914.0,-10.3,579,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1978,3100,3190,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.58,-97.3,2376,1978,3190,3007,942.8,-9.5,594,7687,0.00,2.28,0.00,0.000,516,0.000,0.080,2376,567,3098,3190,3007,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7713,-0.58,-97.3,2376,567,3190,3007,944.4,-9.4,595,7720,0.00,2.25,0.00,0.000,1030,0.000,0.065,2366,1986,3098,3190,3007,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8018,-0.58,-97.3,2366,1986,3189,3007,976.3,-10.2,611,8022,0.00,2.28,0.00,0.000,260,0.000,0.074,2356,3392,3098,3189,3007,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8102,-0.58,-97.3,2356,3392,3190,3007,984.6,-10.3,615,8107,0.08,2.30,0.00,0.000,3078,0.168,0.063,2379,1976,3099,3190,3008,0,0,0,0,0,0,26.42,26.51,28.83
$STATE,8277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8282,-0.14,0.0,2378,1869,3190,3007,1001.4,-9.3,624,8373,0.47,0.00,88.43,1.736,10246,0.156,0.000,2524,1869,2699,2786,2613,0,0,0,0,0,0,26.41,28.83,23.56
$STATE,8374,end apogee,CONTROL_FINISHED_OK
$STATE,8374,begin climb
$GC,8376,0.58,97.3,2523,1869,2785,2613,1003.9,0.0,628,8473,0.70,0.00,93.30,1.703,10758,0.105,0.000,2750,1869,2303,2372,2234,0,0,0,0,0,0,24.60,28.83,23.16
$GC,8760,0.58,102.7,2750,1869,2364,2222,971.4,9.8,648,8771,0.00,2.47,4.32,1.263,8452,0.000,0.073,2750,3285,2280,2351,2210,0,0,0,0,0,0,28.83,25.32,24.32
$GC,8852,0.58,102.7,2750,3285,2351,2210,963.1,10.4,652,8860,0.00,2.35,0.00,0.000,1030,0.000,0.064,2760,1879,2280,2351,2210,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9160,0.59,111.0,2760,1878,2351,2207,931.7,9.7,668,9172,0.00,0.00,9.65,1.531,8710,0.000,0.000,2760,1878,2246,2317,2175,0,0,0,0,0,0,28.83,28.83,24.53
$GC,9479,0.59,111.0,2760,1878,2317,2172,899.7,10.1,684,9484,0.00,2.35,0.00,0.000,260,0.000,0.073,2760,3296,2245,2317,2173,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9508,0.59,111.0,2760,3296,2316,2172,898.0,10.2,685,9516,0.00,2.35,0.00,0.000,1030,0.000,0.067,2770,1869,2244,2317,2172,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9815,0.59,111.0,2770,1869,2316,2172,863.9,10.9,701,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1869,2244,2316,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10115,0.59,111.0,2770,1869,2316,2171,830.8,11.0,716,10119,0.00,2.35,0.00,0.000,260,0.000,0.074,2770,3296,2243,2316,2171,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10155,0.59,111.0,1840,3294,2270,2165,826.5,11.5,718,10160,0.00,2.33,0.00,0.000,1030,0.000,0.067,2781,1869,2243,2315,2171,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10467,0.59,111.0,2780,1869,2315,2171,790.0,11.8,734,10472,0.00,2.33,0.00,0.000,260,0.000,0.073,2781,3288,2243,2315,2171,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10534,0.59,111.0,2780,3287,2314,2171,782.6,12.1,737,10538,0.00,2.30,0.00,0.000,1030,0.000,0.067,2791,1872,2242,2314,2171,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10846,0.59,111.0,2791,1871,2314,2170,745.2,11.7,753,10850,0.00,2.30,0.00,0.000,260,0.000,0.073,2791,3287,2242,2314,2171,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10870,0.59,111.0,2791,3287,2313,2170,743.3,11.7,754,10875,0.15,2.33,0.00,0.000,5126,0.213,0.066,2769,1854,2241,2313,2170,0,0,0,0,0,0,26.13,26.25,28.83
$GC,11183,0.59,111.0,2768,1853,2313,2170,709.5,10.7,770,11189,0.00,2.35,0.00,0.000,260,0.000,0.074,2768,3294,2241,2313,2170,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,17837,end climb,SURFACE_DEPTH_REACHED
$STATE,17837,begin surface coast
$FINISH,0.2,1.026667
$STATE,17864,end surface coast,CONTROL_FINISHED_OK
$STATE,17864,begin surface
$SM_CCo,17938,0.00,0.000,0,0,2078,152.57
$SM_GC,2.63,6.80,0.17,0.00,0.046,0.096,0.000,170,1980,2078,-7.42,-0.79,152.57,0,0,0,0,0,0,26.39,26.36,28.83
$IRIDIUM_FIX,-4244.98,840.74,240509,090909
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.33
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.2,11.403
$10V_AH,10.2,7.164
$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,17.675,133.425,229.575,0.000,0.000,126.863,138.450,309.521,0.000,0.000,128.793,3552.903,11667.737,403.470,3175.221,156.034,0.000,1618.856,0.000,2342.772,0.000,1.009,0.000
$DEVICE_MAMPS,240.975,100.980,1735.785,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353328
$DATA_FILE_SIZE,87082,1370
$CAP_FILE_SIZE,178577,0
$CFSIZE,259252224,254025728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149, 24.8,1
$GPS,280716,014233,-4301.536,841.454,203,0.9,203,-25.1