version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 191
start: 8 21 116 14 33 36
data:
$ID,542
$MISSION,14
$DIVE,191
$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,-41429.566
$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,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,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
$GPS1,210816,142635,-4301.407,831.832,40,1.0,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.2
$GPS2,210816,143252,-4301.365,831.902,18,0.9,18,-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,222.4,8838,-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,-97.3,167,1966,1807,1729,0.0,0.0,0,63,0.00,0.00,-46.05,0.000,16386,0.000,0.000,166,1966,2937,2995,2880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.58,-97.3,166,1966,2997,2881,3.0,-6.3,7,81,8.77,0.00,-3.88,0.000,18950,0.233,0.000,2375,1965,3098,3188,3009,0,0,0,0,0,0,25.35,28.83,26.17
$GC,123,-0.58,-97.3,1472,1964,3174,3004,16.5,-22.2,17,131,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1965,3102,3195,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,174,-0.58,-97.3,1456,1964,3174,3004,25.8,-19.5,26,180,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1966,3102,3196,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,303,-0.58,-97.3,2374,1965,3196,3009,47.3,-15.5,51,310,0.00,2.25,0.00,0.000,260,0.000,0.060,2365,3365,3102,3196,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,378,-0.58,-97.3,2365,3365,3196,3009,57.6,-12.6,65,385,0.00,2.25,0.00,0.000,1030,0.000,0.052,2365,1954,3102,3196,3009,0,0,0,0,0,0,28.83,25.92,28.83
$GC,689,-0.58,-97.3,2365,1953,3196,3009,104.4,-14.4,123,698,0.00,2.28,0.00,0.000,260,0.000,0.060,2355,3374,3102,3196,3009,0,0,0,0,0,0,28.83,25.98,28.83
$GC,730,-0.58,-97.3,2355,3374,3197,3009,110.7,-14.9,127,740,0.12,2.25,0.00,0.000,3078,0.188,0.051,2383,1951,3102,3196,3009,0,0,0,0,0,0,25.77,26.01,28.83
$GC,1042,-0.58,-97.3,2383,1951,3197,3009,155.1,-13.9,158,1051,0.00,2.25,0.00,0.000,260,0.000,0.060,2375,3372,3103,3197,3009,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1096,-0.58,-97.3,2375,3372,3196,3009,162.3,-13.7,163,1103,0.00,2.30,0.00,0.000,1030,0.000,0.052,2375,1951,3102,3196,3009,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1405,-0.58,-97.3,2374,1951,3197,3009,205.2,-13.9,194,1414,0.00,2.25,0.00,0.000,260,0.000,0.060,2364,3371,3103,3197,3009,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1457,-0.58,-97.3,2364,3370,3197,3009,212.8,-14.3,199,1465,0.00,2.25,0.00,0.000,1030,0.000,0.052,2364,1951,3103,3197,3009,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1768,-0.58,-97.3,2364,1951,3197,3009,259.3,-14.7,230,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1951,3103,3197,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.58,-97.3,2364,1951,3198,3009,303.4,-14.5,260,2076,0.00,2.25,0.00,0.000,260,0.000,0.060,2354,3368,3103,3198,3009,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2181,-0.58,-97.3,2354,3368,3198,3009,319.6,-14.0,271,2189,0.08,2.28,0.00,0.000,3078,0.165,0.052,2377,1954,3103,3198,3009,0,0,0,0,0,0,25.96,26.18,28.83
$GC,2489,-0.58,-97.3,2377,1954,3198,3009,360.2,-13.0,302,2499,0.00,2.22,0.00,0.000,260,0.000,0.060,2369,3365,3103,3197,3009,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2531,-0.58,-97.3,2368,3365,3199,3009,365.8,-13.3,306,2541,0.00,2.22,0.00,0.000,1030,0.000,0.052,2369,1950,3103,3198,3009,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2850,-0.58,-97.3,2368,1949,3198,3009,408.3,-13.5,335,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1950,3104,3199,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.58,-97.3,2368,1949,3198,3009,446.0,-12.3,350,3157,0.00,2.28,0.00,0.000,260,0.000,0.060,2358,3370,3103,3198,3009,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3193,-0.58,-97.3,1536,3368,3180,3005,450.8,-12.3,352,3197,0.00,2.28,0.00,0.000,1030,0.000,0.052,2358,1957,3103,3198,3009,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3510,-0.58,-97.3,2358,1956,3198,3009,493.1,-13.7,368,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1956,3103,3198,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-0.58,-97.3,2358,1956,3197,3009,534.2,-13.7,383,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1956,3103,3198,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,-0.58,-97.3,2358,1956,3198,3009,576.2,-14.0,398,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1956,3103,3198,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.58,-97.3,2358,1956,3198,3008,617.7,-13.9,413,4416,0.00,2.25,0.00,0.000,260,0.000,0.061,2348,3365,3103,3198,3009,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4490,-0.58,-97.3,2348,3365,3198,3009,628.8,-13.8,417,4495,0.15,2.22,0.00,0.000,3078,0.178,0.054,2384,1955,3103,3198,3009,0,0,0,0,0,0,25.95,26.22,28.83
$GC,4807,-0.58,-97.3,2384,1955,3198,3008,665.8,-11.8,433,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1955,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5107,-0.58,-97.3,2384,1955,3198,3008,701.2,-11.7,448,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1955,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5407,-0.58,-97.3,2385,1955,3198,3008,734.7,-11.1,463,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1955,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.58,-97.3,2384,1955,3198,3008,767.8,-11.1,478,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1955,3103,3198,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.58,-97.3,2384,1955,3198,3008,799.9,-10.6,493,6011,0.00,2.28,0.00,0.000,260,0.000,0.064,2376,3368,3103,3198,3008,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6046,-0.58,-97.3,2375,3368,3198,3008,803.7,-10.4,495,6050,0.00,2.25,0.00,0.000,1030,0.000,0.056,2376,1955,3103,3199,3008,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6363,-0.58,-97.3,2375,1955,3198,3008,838.9,-11.0,511,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6664,-0.58,-97.3,2376,1955,3198,3008,872.0,-11.1,526,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6963,-0.58,-97.3,2375,1955,3198,3008,906.3,-11.7,541,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3103,3198,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,-0.58,-97.3,2375,1955,3197,3007,943.1,-12.3,556,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3102,3197,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,-0.58,-97.3,2376,1955,3197,3007,980.3,-12.3,571,7567,0.00,2.28,0.00,0.000,260,0.000,0.067,2365,3369,3102,3197,3007,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7607,-0.58,-97.3,2365,3369,3197,3007,984.8,-12.3,573,7611,0.00,2.28,0.00,0.000,1030,0.000,0.058,2365,1951,3102,3197,3007,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7722,-0.14,0.0,2365,1869,3197,3007,1000.0,-12.7,579,7820,0.52,0.00,89.47,1.743,10246,0.155,0.000,2521,1868,2699,2790,2609,0,0,0,0,0,0,25.82,28.83,23.49
$STATE,7821,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7822,0.58,97.3,2520,1868,2790,2609,1005.5,0.0,584,7920,0.73,0.00,93.80,1.688,10246,0.100,0.000,2753,1868,2302,2377,2228,0,0,0,0,0,0,24.64,28.83,22.63
$GC,8220,0.61,128.0,2752,1868,2369,2218,977.8,8.9,604,8260,0.00,2.55,29.35,1.655,8452,0.000,0.067,2752,3290,2176,2252,2101,0,0,0,0,0,0,28.83,24.63,23.63
$GC,8312,0.61,128.0,2752,3290,2248,2100,969.4,10.0,608,8316,0.00,2.38,0.00,0.000,1030,0.000,0.061,2761,1885,2174,2248,2100,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8618,0.61,128.0,2761,1885,2247,2094,933.4,11.6,623,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1884,2170,2247,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,0.61,128.0,2761,1885,2247,2093,896.8,12.3,638,8924,0.00,2.30,0.00,0.000,260,0.000,0.067,2761,3289,2170,2247,2093,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8970,0.61,128.0,2761,3289,2246,2093,891.7,12.6,640,8978,0.00,2.33,0.00,0.000,1030,0.000,0.062,2771,1864,2170,2247,2093,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9278,0.61,128.0,2771,1864,2247,2092,852.1,12.2,656,9283,0.00,2.33,0.00,0.000,260,0.000,0.067,2771,3291,2169,2247,2092,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9318,0.61,128.0,2770,3291,2246,2092,847.0,12.5,658,9324,0.00,2.30,0.00,0.000,1030,0.000,0.063,2782,1874,2169,2246,2092,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9638,0.61,128.0,2781,1874,2246,2092,808.2,12.1,674,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1874,2168,2246,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,0.61,128.0,2781,1874,2246,2091,773.3,11.4,689,9943,0.00,2.30,0.00,0.000,260,0.000,0.068,2781,3289,2168,2246,2091,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10020,0.61,128.0,1888,3288,2204,2086,763.6,12.2,693,10024,0.00,2.35,0.00,0.000,1030,0.000,0.062,2792,1870,2168,2245,2091,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10338,0.61,128.0,2792,1870,2245,2091,726.1,11.9,709,10343,0.00,2.30,0.00,0.000,260,0.000,0.067,2793,3289,2168,2245,2091,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10400,0.61,128.0,1920,3288,2204,2086,718.5,12.6,712,10405,0.10,2.33,0.00,0.000,5126,0.191,0.062,2775,1875,2167,2244,2091,0,0,0,0,0,0,25.82,26.09,28.83
$GC,10718,0.61,128.0,2775,1874,2244,2091,681.7,11.3,728,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1874,2167,2244,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11017,0.61,128.0,2775,1875,2244,2090,648.4,10.8,743,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1874,2167,2244,2090,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16815,end climb,SURFACE_DEPTH_REACHED
$STATE,16815,begin surface coast
$FINISH,0.1,1.026648
$STATE,16836,end surface coast,CONTROL_FINISHED_OK
$STATE,16837,begin surface
$SM_CCo,16911,0.00,0.000,0,0,2055,158.22
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$IRIDIUM_FIX,-4244.98,834.47,170609,222224
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.35
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.6,28.078
$10V_AH,10.1,18.196
$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,17.500,114.750,236.425,0.000,0.000,24.720,44.304,192.247,0.000,0.000,19.306,3307.845,10634.045,426.820,2766.731,166.789,0.000,1586.458,0.000,2313.651,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,107.865,1742.670,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353160
$DATA_FILE_SIZE,87030,1284
$CAP_FILE_SIZE,155244,0
$CFSIZE,259252224,244936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172, 21.4,1
$GPS,210816,191940,-4301.904,831.911,219,2.0,219,-25.1