version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 170
start: 8 17 116 10 27 12
data:
$ID,542
$MISSION,14
$DIVE,170
$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,150
$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,-41403.129
$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,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,170816,101627,-4304.396,831.257,60,0.8,64,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-76.9
$GPS2,170816,102628,-4304.375,831.305,32,1.1,32,-25.1
$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,228.4,3377,-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,14,-0.58,-97.3,160,1945,2084,1970,0.0,0.0,0,62,0.00,0.00,-40.58,0.000,16390,0.000,0.000,159,1946,3098,3176,3020,0,0,0,0,0,0,28.83,28.83,26.26
$GC,64,-0.58,-97.3,160,1945,3177,3020,3.9,-7.2,7,79,8.65,2.33,0.00,0.000,2820,0.230,0.057,2388,529,3100,3181,3020,0,0,0,0,0,0,25.39,25.79,28.83
$GC,437,-0.58,-97.3,2388,528,3184,3020,61.5,-13.4,80,444,0.00,2.30,0.00,0.000,1030,0.000,0.055,2380,1949,3102,3184,3020,0,0,0,0,0,0,28.83,25.98,28.83
$GC,752,-0.58,-97.3,2379,1950,3185,3020,104.6,-13.7,139,760,0.00,2.28,0.00,0.000,260,0.000,0.062,2369,3374,3102,3185,3020,0,0,0,0,0,0,28.83,26.03,28.83
$GC,865,-0.58,-97.3,1576,3373,3167,3016,120.3,-14.2,150,874,0.00,2.30,0.00,0.000,1030,0.000,0.054,2369,1950,3102,3185,3019,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1173,-0.58,-97.3,2369,1949,3186,3020,165.1,-14.8,181,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1949,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.58,-97.3,2369,1949,3186,3020,208.3,-14.0,211,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1949,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1784,-0.58,-97.3,2370,1950,3186,3020,250.3,-13.4,242,1793,0.00,2.28,0.00,0.000,516,0.000,0.066,2369,538,3103,3187,3020,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1808,-0.58,-97.3,1556,537,3168,3016,253.4,-13.4,244,1816,0.00,2.28,0.00,0.000,1030,0.000,0.053,2359,1960,3103,3187,3020,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2116,-0.58,-97.3,2359,1960,3187,3020,295.9,-13.5,275,2125,0.00,2.22,0.00,0.000,260,0.000,0.060,2348,3369,3103,3187,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2210,-0.58,-97.3,2348,3369,3187,3020,308.3,-13.3,284,2219,0.10,2.28,0.00,0.000,3078,0.161,0.053,2379,1954,3103,3187,3020,0,0,0,0,0,0,26.01,26.24,28.83
$GC,2518,-0.58,-97.3,2378,1954,3187,3020,348.0,-12.6,315,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-0.58,-97.3,2378,1954,3188,3020,384.1,-11.6,345,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,-0.58,-97.3,2379,1954,3188,3020,418.7,-11.6,367,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-0.58,-97.3,2379,1953,3188,3020,454.6,-12.2,382,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-0.58,-97.3,2378,1953,3188,3019,488.8,-11.0,397,3723,0.00,2.28,0.00,0.000,260,0.000,0.063,2370,3375,3104,3188,3020,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3780,-0.58,-97.3,2370,3375,3188,3020,495.2,-10.8,400,3784,0.00,2.25,0.00,0.000,1030,0.000,0.054,2370,1952,3103,3187,3019,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4092,-0.58,-97.3,2370,1951,3188,3019,530.2,-11.2,416,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.58,-97.3,2370,1951,3188,3019,565.5,-12.2,431,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4692,-0.58,-97.3,2370,1951,3188,3017,601.2,-11.8,446,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4992,-0.58,-97.3,2370,1951,3188,3017,636.8,-12.1,461,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-0.58,-97.3,2370,1951,3188,3016,671.4,-11.2,476,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.58,-97.3,2370,1951,3188,3016,705.2,-11.1,491,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5893,-0.58,-97.3,2370,1951,3188,3015,738.1,-10.8,506,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3101,3187,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.58,-97.3,2370,1951,3188,3015,771.2,-11.3,521,6196,0.00,2.28,0.00,0.000,516,0.000,0.073,2370,546,3101,3188,3015,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6231,-0.58,-97.3,2370,545,3188,3014,775.7,-11.7,523,6235,0.00,2.22,0.00,0.000,1030,0.000,0.059,2360,1953,3101,3188,3015,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6548,-0.58,-97.3,2360,1953,3188,3013,816.8,-13.3,539,6554,0.00,2.28,0.00,0.000,260,0.000,0.067,2350,3373,3100,3188,3013,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6648,-0.58,-97.3,2349,3373,3188,3013,830.1,-13.3,544,6653,0.15,2.25,0.00,0.000,3078,0.179,0.059,2386,1954,3100,3188,3012,0,0,0,0,0,0,26.01,26.26,28.83
$GC,6965,-0.58,-97.3,2386,1953,3188,3012,866.9,-11.6,560,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3100,3188,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,-0.58,-97.3,2385,1953,3188,3011,901.7,-11.5,575,7269,0.00,2.28,0.00,0.000,260,0.000,0.068,2377,3369,3099,3188,3011,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7314,-0.58,-97.3,2377,3369,3188,3011,905.9,-11.6,577,7322,0.00,2.25,0.00,0.000,1030,0.000,0.060,2377,1955,3099,3188,3011,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7621,-0.58,-97.3,2377,1955,3188,3010,942.2,-11.1,593,7627,0.00,2.28,0.00,0.000,260,0.000,0.069,2368,3377,3099,3188,3010,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7669,-0.58,-97.3,2367,3377,3188,3010,946.6,-10.8,595,7673,0.00,2.28,0.00,0.000,1030,0.000,0.058,2367,1949,3098,3186,3010,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7981,-0.58,-97.3,2367,1949,3188,3010,980.5,-10.1,611,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1949,3099,3188,3010,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8200,begin apogee
$GC,8204,-0.14,0.0,2367,1868,3187,3009,1001.7,-9.6,622,8301,0.52,0.00,89.15,1.736,10246,0.155,0.000,2523,1866,2700,2792,2608,0,0,0,0,0,0,25.92,28.83,23.54
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8304,0.58,97.3,2523,1867,2792,2608,1004.2,0.0,627,8404,0.73,2.58,93.38,1.687,10756,0.100,0.077,2766,474,2302,2378,2227,0,0,0,0,0,0,24.66,23.68,22.75
$GC,8435,0.66,168.1,2766,474,2371,2226,996.9,7.3,633,8514,0.00,2.45,71.82,1.653,9222,0.000,0.060,2766,1875,2014,2092,1936,0,0,0,0,0,0,28.83,24.22,22.52
$GC,8822,0.66,168.1,2765,1874,2083,1920,941.7,14.2,653,8826,0.00,2.38,0.00,0.000,260,0.000,0.068,2766,3292,2002,2083,1921,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8906,0.66,168.1,2766,3291,2080,1920,931.0,14.1,657,8910,0.00,2.35,0.00,0.000,1030,0.000,0.064,2776,1884,1999,2079,1920,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9213,0.66,168.1,2776,1884,2079,1918,888.8,13.3,672,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1884,1998,2079,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9513,0.66,168.1,2776,1884,2079,1917,849.9,12.5,687,9519,0.00,2.33,0.00,0.000,260,0.000,0.070,2776,3290,1997,2079,1916,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9566,0.66,168.1,2776,3290,2078,1916,844.6,12.8,689,9574,0.00,2.33,0.00,0.000,1030,0.000,0.064,2787,1875,1997,2078,1916,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9873,0.66,168.1,2787,1875,2078,1916,804.1,12.4,705,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1874,1997,2078,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10173,0.66,168.1,2787,1874,2078,1915,766.9,12.6,720,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1875,1996,2078,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10473,0.66,168.1,2787,1875,2078,1913,726.9,13.5,735,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1875,1995,2078,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10773,0.66,168.1,2786,1874,2078,1913,684.6,14.4,750,10775,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1875,1995,2078,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11073,0.66,168.1,2787,1875,2078,1913,642.0,14.4,765,11077,0.00,2.30,0.00,0.000,260,0.000,0.070,2787,3291,1995,2078,1913,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11109,0.66,168.1,2787,3290,2076,1913,636.6,14.6,767,11113,0.00,2.30,0.00,0.000,1030,0.000,0.064,2797,1868,1993,2075,1912,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11425,0.66,168.1,2797,1867,2075,1912,588.7,15.0,783,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1867,1994,2076,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11725,0.66,168.1,2797,1867,2075,1913,544.0,14.7,798,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1867,1993,2075,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,0.66,168.1,2797,1867,2075,1912,502.4,13.5,813,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1867,1993,2075,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12325,0.66,168.1,2797,1867,2076,1912,461.1,14.1,828,12331,0.00,2.33,0.00,0.000,260,0.000,0.069,2798,3299,1993,2075,1912,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12353,0.66,168.1,2797,3299,2074,1912,458.2,14.3,829,12357,0.00,2.30,0.00,0.000,1030,0.000,0.063,2808,1874,1993,2074,1912,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12665,0.66,168.1,2808,1874,2074,1912,413.1,13.7,845,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1874,1993,2074,1912,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14695,0.66,168.1,2810,1872,2073,1912,141.5,13.7,1041,14705,0.00,2.25,0.00,0.000,260,0.000,0.065,2810,3291,1992,2073,1911,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,15755,end climb,SURFACE_DEPTH_REACHED
$STATE,15755,begin surface coast
$FINISH,0.1,1.025165
$STATE,15776,end surface coast,CONTROL_FINISHED_OK
$STATE,15776,begin surface
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$IRIDIUM_FIX,-4247.91,831.99,130609,232344
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.00
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.5,25.169
$10V_AH,10.1,16.183
$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
$DEVICE_SECS,17.250,101.125,254.350,0.000,0.000,71.757,102.352,227.310,0.000,0.000,33.240,3111.497,10051.670,395.483,2737.185,171.478,0.000,1468.875,0.000,2141.940,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,80446,1217
$CAP_FILE_SIZE,142042,0
$CFSIZE,259252224,246546432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157, 21.0,1
$GPS,170816,145304,-4305.042,830.951,65,0.9,65,-25.1