version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 106
start: 8 4 116 9 58 44
data:
$ID,542
$MISSION,14
$DIVE,106
$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,-40098.98
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,040816,094951,-4301.212,829.816,139,1.0,139,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.8
$GPS2,040816,095801,-4301.211,829.927,31,0.9,33,-25.0
$SPEED_LIMITS,0.275,0.285
$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,200.6,8739,-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,14,begin dive
$GC,15,-0.58,-97.3,140,1992,2044,1935,0.0,0.0,0,62,0.00,0.00,-43.35,0.000,16390,0.000,0.000,138,1992,3098,3175,3021,0,0,0,0,0,0,28.83,28.83,26.34
$GC,64,-0.58,-97.3,138,1991,3176,3021,3.1,-4.6,7,80,9.02,2.30,0.00,0.000,2308,0.249,0.063,2370,3390,3100,3180,3021,0,0,0,0,0,0,25.69,25.94,28.83
$GC,293,-0.58,-97.3,2369,3390,3186,3018,43.4,-16.5,51,300,0.00,2.25,0.00,0.000,1030,0.000,0.056,2370,1976,3101,3185,3018,0,0,0,0,0,0,28.83,26.06,28.83
$GC,610,-0.58,-97.3,1480,1974,3164,3013,94.0,-15.3,112,619,0.00,2.30,0.00,0.000,260,0.000,0.065,2359,3387,3101,3186,3017,0,0,0,0,0,0,28.83,26.14,28.83
$GC,716,-0.58,-97.3,2359,3387,3186,3017,109.1,-13.8,126,720,0.00,2.22,0.00,0.000,1030,0.000,0.054,2360,1976,3102,3186,3018,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1021,-0.58,-97.3,2359,1975,3187,3018,155.3,-15.5,156,1026,0.00,2.25,0.00,0.000,260,0.000,0.063,2349,3392,3102,3187,3017,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1100,-0.58,-97.3,1552,3391,3168,3014,167.1,-15.2,163,1108,0.10,2.28,0.00,0.000,3078,0.171,0.054,2378,1974,3102,3187,3018,0,0,0,0,0,0,26.08,26.25,28.83
$GC,1407,-0.58,-97.3,2378,1974,3187,3018,209.9,-13.4,194,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1974,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-0.58,-97.3,2378,1974,3188,3018,250.3,-13.3,224,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1974,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-0.58,-97.3,2378,1974,3188,3018,290.0,-12.9,254,2011,0.00,2.22,0.00,0.000,260,0.000,0.063,2370,3385,3102,3188,3017,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2045,-0.58,-97.3,1584,3384,3170,3014,294.6,-12.8,257,2053,0.00,2.25,0.00,0.000,1030,0.000,0.055,2370,1978,3103,3188,3018,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2353,-0.58,-97.3,2370,1977,3188,3018,336.0,-13.3,288,2357,0.00,2.22,0.00,0.000,516,0.000,0.068,2371,571,3103,3188,3018,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2409,-0.58,-97.3,2370,571,3189,3018,343.9,-14.3,293,2418,0.00,2.20,0.00,0.000,1030,0.000,0.057,2361,1975,3103,3188,3018,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2720,-0.58,-97.3,2360,1975,3189,3018,385.7,-13.7,324,2729,0.00,2.20,0.00,0.000,260,0.000,0.063,2350,3381,3103,3189,3018,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2792,-0.58,-97.3,2349,3381,3189,3018,395.8,-13.6,331,2801,0.15,2.20,0.00,0.000,3078,0.182,0.055,2386,1968,3103,3189,3018,0,0,0,0,0,0,26.22,26.39,28.83
$GC,3112,-0.58,-97.3,2386,1967,3190,3018,433.1,-11.1,349,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1968,3104,3190,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3411,-0.58,-97.3,2385,1967,3190,3018,467.1,-11.6,364,3415,0.00,2.25,0.00,0.000,260,0.000,0.065,2378,3389,3103,3190,3017,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3480,-0.58,-97.3,2377,3389,3190,3018,473.6,-11.6,367,3487,0.00,2.25,0.00,0.000,1030,0.000,0.057,2377,1952,3104,3190,3018,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3787,-0.58,-97.3,2377,1952,3190,3017,512.4,-12.2,383,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1952,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.58,-97.3,2377,1952,3190,3017,548.1,-11.7,398,4091,0.00,2.22,0.00,0.000,516,0.000,0.072,2377,563,3103,3189,3017,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4123,-0.58,-97.3,2377,563,3190,3017,552.7,-12.4,400,4127,0.00,2.22,0.00,0.000,1030,0.000,0.058,2368,1983,3103,3189,3017,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4439,-0.58,-97.3,2367,1983,3190,3017,594.3,-13.1,416,4443,0.00,2.22,0.00,0.000,260,0.000,0.067,2357,3390,3103,3190,3017,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4468,-0.58,-97.3,2357,3390,3190,3017,596.3,-13.1,417,4475,0.00,2.22,0.00,0.000,1030,0.000,0.057,2357,1969,3103,3190,3017,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4775,-0.58,-97.3,2357,1969,3190,3016,637.5,-12.9,433,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1969,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.58,-97.3,2357,1969,3190,3016,674.5,-12.4,448,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1969,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.58,-97.3,2357,1969,3190,3015,711.3,-12.2,463,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1969,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.58,-97.3,2357,1969,3190,3015,748.4,-12.3,478,5677,0.12,0.00,0.00,0.000,2054,0.203,0.000,2384,1968,3102,3190,3015,0,0,0,0,0,0,26.30,28.83,28.83
$GC,5975,-0.58,-97.3,2384,1967,3190,3014,780.0,-10.5,493,5981,0.00,2.28,0.00,0.000,260,0.000,0.070,2375,3391,3101,3190,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6023,-0.58,-97.3,2375,3391,3190,3013,784.2,-10.6,495,6027,0.00,2.25,0.00,0.000,1030,0.000,0.060,2375,1972,3101,3190,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6335,-0.58,-97.3,2375,1973,3190,3012,818.1,-10.4,511,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1972,3101,3190,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,-0.58,-97.3,2375,1972,3190,3011,850.2,-10.8,526,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1972,3100,3190,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6935,-0.58,-97.3,2375,1972,3190,3010,885.4,-12.3,541,6941,0.00,2.28,0.00,0.000,260,0.000,0.070,2365,3394,3100,3190,3010,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6995,-0.58,-97.3,2365,3394,3190,3010,892.9,-12.6,544,6999,0.00,2.25,0.00,0.000,1030,0.000,0.060,2365,1980,3100,3190,3010,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7311,-0.58,-97.3,2365,1980,3190,3009,931.7,-12.3,560,7315,0.00,2.30,0.00,0.000,516,0.000,0.076,2365,569,3099,3190,3009,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7340,-0.58,-97.3,2365,568,3190,3009,933.8,-12.4,561,7348,0.12,2.22,0.00,0.000,3078,0.200,0.062,2382,1976,3099,3190,3009,0,0,0,0,0,0,26.26,26.43,28.83
$GC,7647,-0.58,-97.3,2382,1976,3190,3008,970.8,-11.5,577,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1976,3099,3190,3008,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7925,begin apogee
$GC,7929,-0.14,0.0,2382,1873,3190,3007,1002.2,-11.2,591,8021,0.47,0.00,88.00,1.751,10246,0.165,0.000,2524,1872,2700,2800,2600,0,0,0,0,0,0,26.28,28.83,23.62
$STATE,8021,end apogee,CONTROL_FINISHED_OK
$STATE,8022,begin climb
$GC,8023,0.58,97.3,2524,1872,2800,2601,1006.3,0.0,595,8119,0.70,0.00,92.53,1.713,10246,0.106,0.000,2752,1872,2303,2381,2225,0,0,0,0,0,0,24.62,28.83,23.09
$GC,8407,0.60,119.6,2751,1872,2370,2214,978.0,9.2,615,8430,0.00,0.00,21.00,1.661,8198,0.000,0.000,2752,1872,2211,2292,2131,0,0,0,0,0,0,28.83,28.83,23.89
$GC,8727,0.60,119.6,2751,1872,2288,2124,945.3,10.4,631,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1872,2206,2288,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,0.60,119.6,2752,1872,2286,2123,914.4,10.1,646,9031,0.00,2.33,0.00,0.000,260,0.000,0.073,2752,3286,2204,2286,2123,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9067,0.60,119.6,2751,3286,2284,2122,910.5,10.4,648,9071,0.00,2.30,0.00,0.000,1030,0.000,0.066,2762,1880,2203,2284,2123,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9379,0.61,122.4,2762,1880,2284,2122,878.7,9.9,664,9384,0.00,2.38,0.00,0.000,516,0.000,0.082,2773,457,2203,2284,2122,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9411,0.61,122.4,2772,456,2283,2122,876.6,10.1,665,9418,0.00,2.33,0.00,0.000,1030,0.000,0.067,2773,1882,2202,2283,2122,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9719,0.61,122.4,2772,1882,2283,2122,841.3,10.9,681,9724,0.00,2.30,0.00,0.000,260,0.000,0.073,2773,3297,2202,2283,2122,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9791,0.61,122.4,2772,3297,2283,2121,834.5,11.2,684,9799,0.00,2.30,0.00,0.000,1030,0.000,0.066,2783,1875,2201,2282,2121,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10098,0.61,122.4,2783,1874,2282,2121,797.2,12.0,700,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1875,2201,2282,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10398,0.61,122.4,2783,1874,2282,2121,761.9,11.6,715,10402,0.00,2.28,0.00,0.000,260,0.000,0.073,2783,3288,2201,2282,2121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10447,0.61,122.4,2783,3288,2281,2120,757.5,11.8,717,10454,0.00,2.30,0.00,0.000,1030,0.000,0.066,2794,1865,2200,2281,2120,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10755,0.61,122.4,2793,1865,2281,2120,719.5,11.7,733,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1865,2201,2281,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11054,0.61,122.4,2793,1865,2281,2120,686.0,11.3,748,11058,0.00,2.30,0.00,0.000,260,0.000,0.072,2794,3287,2201,2281,2121,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11098,0.61,122.4,2793,3288,2280,2120,681.6,11.6,750,11103,0.15,2.28,0.00,0.000,5126,0.210,0.066,2770,1873,2200,2280,2120,0,0,0,0,0,0,26.10,26.29,28.83
$GC,11410,0.61,122.4,2770,1871,2280,2120,648.3,10.3,766,11415,0.00,2.30,0.00,0.000,260,0.000,0.073,2768,3293,2200,2280,2120,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,-0.1,1.026595
$STATE,17347,end surface coast,CONTROL_FINISHED_OK
$STATE,17347,begin surface
$SM_CCo,17421,0.00,0.000,0,0,1991,173.91
$SM_GC,1.69,6.95,0.20,0.00,0.054,0.089,0.000,172,1991,1991,-7.41,-0.40,173.91,0,0,0,0,0,0,26.33,26.28,28.83
$IRIDIUM_FIX,-4242.04,828.21,310509,181848
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.33
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,16.314
$10V_AH,10.2,10.355
$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,18.075,123.025,247.575,0.000,0.000,57.365,54.982,186.218,0.000,0.000,33.516,3398.443,11315.116,417.110,2638.581,157.300,0.000,1561.172,0.000,2202.413,0.000,1.010,0.000
$DEVICE_MAMPS,249.390,94.095,1751.085,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.611,114.283,321.964,354.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,83672,1316
$CAP_FILE_SIZE,167108,0
$CFSIZE,259252224,251289600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.101, 13.1,1
$GPS,040816,145125,-4302.351,830.417,86,4.4,107,-25.0