version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 373
start: 9 29 116 14 32 54
data:
$ID,542
$MISSION,14
$DIVE,373
$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,-41935.457
$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,25
$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
$GPS1,290916,142451,-4300.961,828.791,45,1.0,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.3
$GPS2,290916,143210,-4300.974,828.740,17,2.0,17,-25.0
$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,63.2,12900,-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,-97.3,138,1965,1895,1815,0.0,0.0,0,64,0.00,0.00,-46.22,0.000,16386,0.000,0.000,138,1964,3049,3104,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.55,-97.3,138,1964,3104,2996,3.1,-5.1,7,82,9.02,2.30,-0.77,0.000,18692,0.227,0.064,2379,3362,3083,3149,3018,0,0,0,0,0,0,24.85,25.71,26.13
$GC,232,-0.55,-97.3,1428,3361,3136,3009,27.5,-11.2,38,240,0.00,2.25,0.00,0.000,1030,0.000,0.047,2379,1958,3086,3160,3013,0,0,0,0,0,0,28.83,25.70,28.83
$GC,362,-0.55,-97.3,2379,1957,3161,3013,43.9,-13.0,63,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1957,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,672,-0.55,-97.3,2379,1957,3162,3013,82.5,-11.8,124,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1957,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.55,-97.3,2379,1957,3162,3013,122.0,-13.3,169,997,0.00,2.30,0.00,0.000,516,0.000,0.060,2379,533,3087,3162,3013,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1010,-0.55,-97.3,2379,533,3162,3013,125.1,-13.4,171,1019,0.00,2.17,0.00,0.000,1030,0.000,0.047,2370,1938,3087,3162,3013,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1319,-0.55,-97.3,2369,1938,3162,3013,167.0,-13.1,202,1329,0.00,2.28,0.00,0.000,260,0.000,0.054,2358,3378,3087,3162,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1393,-0.55,-97.3,2358,3378,3162,3013,176.5,-13.0,209,1403,0.10,2.22,0.00,0.000,3078,0.150,0.047,2389,1950,3087,3162,3013,0,0,0,0,0,0,25.55,25.87,28.83
$GC,1703,-0.55,-97.3,2389,1949,3163,3013,211.8,-11.4,240,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1950,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-0.55,-97.3,2389,1950,3164,3013,245.7,-11.1,270,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1950,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2303,-0.55,-97.3,2389,1950,3164,3013,279.3,-11.4,300,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1950,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-0.55,-97.3,2389,1949,3164,3013,310.6,-10.1,330,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1950,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.55,-97.3,2389,1950,3164,3013,339.8,-9.6,360,2912,0.00,2.25,0.00,0.000,516,0.000,0.060,2389,551,3088,3164,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2936,-0.55,-97.3,2389,551,3165,3013,343.2,-10.4,363,2945,0.00,2.17,0.00,0.000,1030,0.000,0.047,2381,1959,3088,3164,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3245,-0.55,-97.3,2380,1959,3164,3013,375.4,-10.5,394,3255,0.00,2.22,0.00,0.000,260,0.000,0.055,2370,3368,3088,3164,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3328,-0.55,-97.3,2370,3368,3164,3013,384.0,-10.7,402,3338,0.00,2.22,0.00,0.000,1030,0.000,0.047,2370,1950,3088,3164,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3647,-0.55,-97.3,2370,1950,3163,3013,422.2,-12.2,425,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1950,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-0.55,-97.3,2370,1950,3164,3013,458.9,-12.5,440,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1950,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4247,-0.55,-97.3,2370,1950,3164,3013,495.8,-12.1,455,4253,0.00,2.28,0.00,0.000,516,0.000,0.061,2370,541,3088,3164,3013,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4296,-0.55,-97.3,2370,541,3164,3013,501.0,-12.5,457,4301,0.12,2.22,0.00,0.000,3078,0.175,0.047,2389,1962,3088,3164,3013,0,0,0,0,0,0,25.63,25.94,28.83
$GC,4603,-0.55,-97.3,2389,1963,3164,3013,537.4,-11.5,472,4609,0.00,2.22,0.00,0.000,260,0.000,0.056,2380,3368,3088,3164,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4670,-0.55,-97.3,2379,3368,3165,3012,544.3,-11.5,475,4675,0.00,2.22,0.00,0.000,1030,0.000,0.047,2380,1959,3088,3164,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4978,-0.55,-97.3,2379,1958,3164,3012,582.6,-12.3,490,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1958,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,-0.55,-97.3,2379,1958,3164,3011,618.4,-11.3,505,5284,0.00,2.30,0.00,0.000,516,0.000,0.063,2380,543,3087,3164,3011,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5305,-0.55,-97.3,2379,543,3164,3011,620.7,-11.2,506,5309,0.00,2.22,0.00,0.000,1030,0.000,0.049,2370,1957,3087,3164,3011,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5613,-0.55,-97.3,2370,1957,3164,3010,655.6,-10.9,521,5619,0.00,2.25,0.00,0.000,260,0.000,0.057,2359,3373,3087,3164,3010,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5741,-0.55,-97.3,2359,3373,3164,3010,669.0,-11.2,527,5746,0.12,2.25,0.00,0.000,3078,0.169,0.049,2389,1950,3086,3164,3009,0,0,0,0,0,0,25.58,25.84,28.83
$GC,6049,-0.55,-97.3,2388,1950,3164,3009,699.8,-9.5,542,6054,0.00,2.28,0.00,0.000,516,0.000,0.064,2389,546,3086,3164,3008,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6080,-0.55,-97.3,2389,545,3164,3008,701.8,-9.6,543,6087,0.00,2.22,0.00,0.000,1030,0.000,0.050,2380,1961,3086,3164,3008,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6388,-0.55,-97.3,2380,1961,3164,3007,734.1,-10.0,559,6393,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3372,3085,3164,3007,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6428,-0.55,-97.3,2370,3372,3165,3007,738.1,-10.0,561,6434,0.00,2.25,0.00,0.000,1030,0.000,0.049,2370,1956,3086,3165,3007,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6747,-0.55,-97.3,2370,1955,3164,3006,769.8,-9.7,577,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1955,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-0.55,-97.3,2369,1955,3164,3006,798.7,-9.8,592,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1955,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,-0.55,-97.3,2369,1955,3164,3006,829.2,-10.3,607,7354,0.00,2.28,0.00,0.000,260,0.000,0.058,2359,3376,3085,3164,3006,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7395,-0.55,-97.3,2359,3376,3164,3006,833.4,-10.3,609,7400,0.12,2.28,0.00,0.000,3078,0.168,0.050,2388,1950,3085,3164,3006,0,0,0,0,0,0,25.54,25.79,28.83
$GC,7703,-0.55,-97.3,2388,1950,3164,3005,861.9,-9.2,624,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1950,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8003,-0.55,-97.3,2388,1949,3164,3004,889.8,-9.3,639,8009,0.00,2.30,0.00,0.000,516,0.000,0.067,2389,549,3085,3165,3005,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8026,-0.55,-97.3,2389,548,3164,3004,891.6,-9.3,640,8030,0.00,2.22,0.00,0.000,1030,0.000,0.051,2380,1955,3084,3164,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8338,-0.55,-97.3,2379,1956,3164,3003,921.0,-9.2,656,8344,0.00,2.25,0.00,0.000,260,0.000,0.059,2370,3367,3084,3165,3004,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8391,-0.55,-97.3,2369,3367,3164,3003,924.8,-9.3,658,8397,0.00,2.25,0.00,0.000,1030,0.000,0.052,2370,1958,3083,3164,3003,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8698,-0.55,-97.3,2369,1958,3164,3003,956.9,-10.5,674,8704,0.00,2.33,0.00,0.000,516,0.000,0.067,2369,540,3084,3164,3004,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8738,-0.55,-97.3,2369,540,3164,3003,961.3,-10.8,676,8744,0.12,2.25,0.00,0.000,3078,0.176,0.053,2388,1954,3083,3164,3003,0,0,0,0,0,0,25.51,25.79,28.83
$GC,9059,-0.55,-97.3,2388,1954,3164,3003,990.5,-8.6,692,9065,0.00,2.30,0.00,0.000,260,0.000,0.061,2379,3377,3084,3165,3003,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9121,-0.55,-97.3,2379,3377,3164,3003,995.8,-8.8,695,9126,0.00,2.28,0.00,0.000,1030,0.000,0.052,2379,1954,3083,3164,3003,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,9171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9171,begin apogee
$GC,9177,-0.14,0.0,2379,1868,3164,3003,1000.7,-8.9,698,9273,0.47,0.00,92.05,1.792,10246,0.142,0.000,2522,1868,2683,2759,2607,0,0,0,0,0,0,25.22,28.83,22.67
$STATE,9274,end apogee,CONTROL_FINISHED_OK
$STATE,9274,begin climb
$GC,9276,0.55,97.3,2521,1868,2759,2607,1004.0,0.0,703,9377,0.70,0.00,97.65,1.728,10246,0.091,0.000,2747,1868,2286,2352,2220,0,0,0,0,0,0,24.25,28.83,21.81
$GC,9675,0.58,131.4,2747,1868,2349,2209,975.3,8.1,723,9714,0.00,2.53,33.50,1.721,8452,0.000,0.060,2747,3299,2147,2218,2077,0,0,0,0,0,0,28.83,24.65,23.11
$GC,9780,0.59,135.3,2747,3299,2214,2072,966.0,9.3,728,9790,0.00,2.35,5.00,1.346,9222,0.000,0.056,2757,1893,2130,2202,2059,0,0,0,0,0,0,28.83,25.09,23.20
$GC,10092,0.59,135.3,2757,1893,2200,2055,933.3,10.5,743,10097,0.00,2.30,0.00,0.000,260,0.000,0.060,2757,3306,2127,2200,2055,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10119,0.59,135.3,2757,3306,2199,2055,931.0,10.7,744,10123,0.00,2.33,0.00,0.000,1030,0.000,0.056,2768,1880,2127,2199,2055,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10427,0.59,135.3,2767,1879,2198,2054,897.2,10.3,759,10432,0.00,2.30,0.00,0.000,260,0.000,0.060,2768,3301,2125,2197,2053,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10474,0.59,135.3,2767,3301,2197,2053,892.8,10.7,761,10478,0.00,2.30,0.00,0.000,1030,0.000,0.057,2778,1880,2125,2197,2053,0,0,0,0,0,0,28.83,25.83,28.83
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$GC,15317,0.61,158.0,2799,1887,2110,1966,384.4,11.3,1008,15327,0.00,2.28,0.00,0.000,260,0.000,0.059,2799,3305,2038,2110,1966,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18949,end climb,SURFACE_DEPTH_REACHED
$STATE,18949,begin surface coast
$FINISH,0.6,1.026697
$STATE,18960,end surface coast,CONTROL_FINISHED_OK
$STATE,18960,begin surface
$SM_CCo,18976,1.05,0.423,0,0,1866,200.16
$SM_GC,1.31,6.80,0.12,1.05,0.039,0.092,0.423,160,1962,1866,-7.41,-0.71,200.16,0,0,0,0,0,0,26.13,26.24,25.33
$IRIDIUM_FIX,-4244.98,834.47,260709,222246
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.23
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.8,55.095
$10V_AH,9.9,37.970
$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
$DEVICE_SECS,18.500,191.050,267.900,1.050,0.000,23.910,17.217,270.042,0.000,0.000,18.536,3774.852,11626.858,511.362,3200.586,314.843,0.000,1914.479,0.000,2691.637,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.004,305.309,968.617,448.239,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,97060,1457
$CAP_FILE_SIZE,191682,0
$CFSIZE,259252224,229453824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,283.6,1
$GPS,290916,195035,-4258.738,828.404,46,0.9,47,-25.0