version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 371
start: 9 29 116 4 10 12
data:
$ID,542
$MISSION,14
$DIVE,371
$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,353
$T_MISSION,395
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41932.949
$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,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,290916,040157,-4305.517,829.867,50,1.0,50,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.0
$GPS2,290916,040928,-4305.496,829.816,22,1.1,23,-25.1
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,NORTH
$TGT_LATLONG,-4254.070,830.000
$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,44.1,21162,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,137,1963,1885,1812,0.0,0.0,0,68,0.00,0.00,-47.28,0.000,16390,0.000,0.000,137,1964,3083,3144,3023,0,0,0,0,0,0,28.83,28.83,26.34
$GC,71,-0.55,-97.3,137,1963,3146,3020,3.8,-6.6,8,86,8.95,2.28,0.00,0.000,2820,0.227,0.050,2377,3363,3084,3149,3019,0,0,0,0,0,0,25.01,25.75,28.83
$GC,560,-0.55,-97.3,2377,3364,3161,3013,78.5,-14.5,103,567,0.00,2.22,0.00,0.000,1030,0.000,0.047,2377,1956,3087,3161,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,870,-0.55,-97.3,2377,1956,3162,3013,121.1,-12.8,149,879,0.00,2.28,0.00,0.000,516,0.000,0.060,2377,537,3087,3161,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,902,-0.55,-97.3,2377,538,3162,3013,125.5,-13.7,152,911,0.00,2.20,0.00,0.000,1030,0.000,0.047,2367,1947,3087,3162,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1213,-0.55,-97.3,2367,1947,3162,3013,167.7,-13.3,183,1221,0.00,2.20,0.00,0.000,260,0.000,0.053,2356,3362,3087,3162,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1328,-0.55,-97.3,2356,3362,3162,3013,182.8,-12.8,194,1338,0.10,2.17,0.00,0.000,3078,0.151,0.047,2388,1956,3087,3162,3013,0,0,0,0,0,0,25.60,25.92,28.83
$GC,1637,-0.55,-97.3,2388,1956,3163,3013,218.4,-11.1,225,1646,0.00,2.25,0.00,0.000,260,0.000,0.054,2379,3374,3088,3163,3013,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1660,-0.55,-97.3,2379,3374,3163,3013,220.8,-11.0,227,1668,0.00,2.20,0.00,0.000,1030,0.000,0.046,2379,1954,3088,3163,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1968,-0.55,-97.3,2379,1954,3164,3013,256.8,-11.4,258,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2270,-0.55,-97.3,2379,1954,3164,3013,290.0,-10.6,288,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,-0.55,-97.3,2379,1954,3164,3013,323.5,-10.9,319,2589,0.00,2.25,0.00,0.000,516,0.000,0.060,2379,550,3088,3164,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2602,-0.55,-97.3,2379,550,3164,3013,326.3,-11.5,321,2611,0.00,2.20,0.00,0.000,1030,0.000,0.046,2369,1964,3088,3164,3013,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2912,-0.55,-97.3,2369,1964,3164,3013,363.8,-12.2,352,2921,0.00,2.20,0.00,0.000,260,0.000,0.054,2358,3368,3088,3164,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2957,-0.55,-97.3,2358,3368,3165,3013,369.1,-12.3,356,2966,0.10,2.25,0.00,0.000,3078,0.148,0.045,2389,1960,3088,3164,3013,0,0,0,0,0,0,25.65,25.96,28.83
$GC,3275,-0.55,-97.3,2389,1959,3164,3013,402.8,-10.4,387,3281,0.00,2.28,0.00,0.000,516,0.000,0.060,2390,540,3089,3165,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3302,-0.55,-97.3,2389,540,3164,3013,405.0,-10.7,388,3306,0.00,2.20,0.00,0.000,1030,0.000,0.047,2381,1957,3088,3164,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3610,-0.55,-97.3,2381,1957,3164,3013,439.8,-11.0,403,3615,0.00,2.22,0.00,0.000,260,0.000,0.054,2370,3371,3088,3164,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3632,-0.55,-97.3,2370,3371,3164,3013,442.1,-11.0,404,3636,0.00,2.25,0.00,0.000,1030,0.000,0.047,2370,1945,3088,3164,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3950,-0.55,-97.3,2370,1944,3164,3013,480.2,-11.8,420,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1944,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-0.55,-97.3,2370,1944,3164,3013,515.6,-11.9,435,4255,0.00,2.25,0.00,0.000,516,0.000,0.060,2370,544,3088,3164,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4278,-0.55,-97.3,2370,544,3164,3013,518.1,-12.0,436,4282,0.12,2.20,0.00,0.000,3078,0.177,0.047,2389,1954,3088,3164,3013,0,0,0,0,0,0,25.66,25.97,28.83
$GC,4585,-0.55,-97.3,2389,1954,3164,3013,551.2,-10.4,451,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1954,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4884,-0.55,-97.3,2389,1954,3164,3012,583.4,-10.7,466,4890,0.00,2.25,0.00,0.000,260,0.000,0.057,2380,3373,3088,3164,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4978,-0.55,-97.3,2380,3373,3164,3010,592.1,-10.9,470,4985,0.00,2.25,0.00,0.000,1030,0.000,0.048,2380,1947,3087,3164,3011,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5284,-0.55,-97.3,2380,1947,3164,3011,626.8,-10.6,486,5290,0.00,2.28,0.00,0.000,516,0.000,0.063,2380,540,3087,3164,3010,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5328,-0.55,-97.3,2380,540,3164,3011,631.3,-10.9,488,5332,0.00,2.22,0.00,0.000,1030,0.000,0.049,2370,1957,3087,3164,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5639,-0.55,-97.3,2370,1957,3164,3009,667.4,-11.3,504,5645,0.00,2.25,0.00,0.000,260,0.000,0.057,2359,3374,3086,3164,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5667,-0.55,-97.3,2359,3374,3164,3009,669.7,-11.3,505,5672,0.12,2.25,0.00,0.000,3078,0.167,0.049,2389,1951,3086,3164,3009,0,0,0,0,0,0,25.63,25.87,28.83
$GC,5975,-0.55,-97.3,2389,1950,3164,3008,701.0,-9.5,520,5980,0.00,2.28,0.00,0.000,516,0.000,0.064,2389,546,3086,3164,3008,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6022,-0.55,-97.3,2389,546,3164,3008,704.9,-9.7,522,6026,0.00,2.22,0.00,0.000,1030,0.000,0.050,2381,1961,3086,3164,3008,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6330,-0.55,-97.3,2380,1962,3164,3007,736.9,-10.4,537,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1962,3085,3164,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,-0.55,-97.3,2381,1961,3164,3006,768.1,-10.4,552,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1961,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,-0.55,-97.3,2381,1961,3164,3006,799.7,-10.6,567,6935,0.00,2.25,0.00,0.000,260,0.000,0.058,2370,3373,3085,3164,3006,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6962,-0.55,-97.3,2370,3373,3164,3005,801.7,-10.5,568,6969,0.00,2.25,0.00,0.000,1030,0.000,0.050,2370,1957,3085,3164,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7270,-0.55,-97.3,2370,1957,3164,3005,835.1,-10.3,584,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1957,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.55,-97.3,2370,1956,3164,3005,865.3,-10.0,599,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1957,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-0.55,-97.3,2370,1956,3165,3004,896.0,-10.6,614,7875,0.00,2.30,0.00,0.000,516,0.000,0.066,2370,544,3084,3164,3004,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7897,-0.55,-97.3,2370,544,3164,3005,898.2,-10.6,615,7902,0.12,2.25,0.00,0.000,3078,0.174,0.051,2389,1962,3084,3165,3004,0,0,0,0,0,0,25.58,25.86,28.83
$GC,8205,-0.55,-97.3,2389,1961,3164,3004,927.3,-9.3,630,8210,0.00,2.25,0.00,0.000,260,0.000,0.060,2380,3368,3084,3164,3004,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8245,-0.55,-97.3,2380,3369,3164,3004,931.1,-9.4,632,8251,0.00,2.25,0.00,0.000,1030,0.000,0.052,2380,1957,3084,3164,3004,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8564,-0.55,-97.3,2380,1957,3164,3003,962.1,-9.7,648,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1957,3083,3164,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8865,-0.55,-97.3,2380,1957,3164,3003,991.8,-9.7,663,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1957,3083,3164,3003,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8969,-0.14,0.0,2380,1872,3164,3003,1001.5,-9.7,668,9065,0.47,0.00,91.30,1.782,10246,0.142,0.000,2522,1872,2682,2758,2607,0,0,0,0,0,0,25.26,28.83,22.76
$STATE,9066,end apogee,CONTROL_FINISHED_OK
$STATE,9066,begin climb
$GC,9068,0.55,97.3,2522,1872,2760,2607,1005.4,0.0,673,9169,0.68,0.00,97.22,1.726,10758,0.093,0.000,2744,1872,2285,2353,2217,0,0,0,0,0,0,24.29,28.83,21.89
$GC,9466,0.57,117.9,2744,1872,2350,2206,977.9,8.7,693,9491,0.00,2.42,20.20,1.688,8452,0.000,0.060,2744,3300,2201,2272,2130,0,0,0,0,0,0,28.83,24.94,23.36
$GC,9532,0.58,129.0,2744,3300,2271,2126,972.4,9.0,696,9551,0.00,2.33,12.12,1.585,9222,0.000,0.055,2754,1897,2156,2229,2084,0,0,0,0,0,0,28.83,25.19,23.32
$GC,9866,0.58,129.0,2754,1897,2226,2079,936.2,11.0,713,9871,0.00,2.28,0.00,0.000,260,0.000,0.060,2754,3306,2152,2226,2079,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9884,0.58,129.0,2754,3305,2224,2079,933.9,11.2,714,9890,0.00,2.30,0.00,0.000,1030,0.000,0.057,2764,1887,2151,2224,2079,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10204,0.58,129.0,2764,1887,2224,2078,895.4,12.1,730,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1886,2151,2224,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10505,0.58,129.0,2764,1886,2223,2077,861.3,11.2,745,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1887,2150,2223,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10804,0.58,129.0,2764,1887,2223,2077,828.0,10.7,760,10810,0.00,2.28,0.00,0.000,260,0.000,0.060,2764,3301,2150,2223,2077,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10824,0.58,129.0,2764,3301,2222,2077,825.8,10.7,761,10830,0.00,2.30,0.00,0.000,1030,0.000,0.057,2775,1879,2149,2222,2077,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,18668,end climb,SURFACE_DEPTH_REACHED
$STATE,18668,begin surface coast
$FINISH,0.0,1.026719
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18707,4.03,0.276,0,0,1865,200.16
$SM_GC,2.02,6.82,2.20,4.03,0.039,0.047,0.276,155,1954,1865,-7.42,0.76,200.16,0,0,0,0,0,0,26.13,25.91,25.26
$IRIDIUM_FIX,-4247.91,825.73,260709,121240
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.23
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.9,54.801
$10V_AH,9.9,37.758
$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
$DEVICE_SECS,18.125,172.525,269.250,4.025,0.000,25.391,45.115,240.884,0.000,0.000,23.751,3651.348,11667.245,493.045,3062.003,298.506,0.000,1821.632,0.000,2553.514,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.545,291.191,933.176,427.567,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,94047,1421
$CAP_FILE_SIZE,179597,0
$CFSIZE,259252224,229642240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.158,270.2,1
$GPS,290916,092333,-4303.390,828.503,53,0.8,53,-25.0