version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 442
start: 10 14 116 17 22 0
data:
$ID,542
$MISSION,14
$DIVE,442
$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,-42022.402
$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
$GPS1,141016,171428,-4306.176,830.205,52,1.2,52,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.3
$GPS2,141016,172116,-4306.167,830.295,18,0.9,18,-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,20.0,22407,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,155,1966,1912,1800,0.0,0.0,0,68,0.00,0.00,-48.15,0.000,16390,0.000,0.000,155,1966,3080,3131,3029,0,0,0,0,0,0,28.83,28.83,26.43
$GC,72,-0.55,-97.3,155,1966,3131,3029,3.1,-4.4,8,86,8.75,2.33,0.00,0.000,2564,0.214,0.049,2398,539,3084,3148,3020,0,0,0,0,0,0,24.76,25.65,28.83
$GC,256,-0.55,-97.3,1440,539,3133,3011,29.5,-10.9,43,263,0.00,2.25,0.00,0.000,1030,0.000,0.047,2389,1967,3086,3157,3015,0,0,0,0,0,0,28.83,25.79,28.83
$GC,387,-0.55,-97.3,1472,1966,3137,3009,44.2,-11.5,68,394,0.00,2.25,0.00,0.000,260,0.000,0.054,2379,3367,3086,3159,3014,0,0,0,0,0,0,28.83,25.75,28.83
$GC,437,-0.55,-97.3,2379,3367,3158,3013,50.0,-11.1,77,444,0.00,2.22,0.00,0.000,1030,0.000,0.045,2379,1947,3086,3159,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,749,-0.55,-97.3,2379,1946,3160,3013,86.7,-11.8,138,757,0.00,2.25,0.00,0.000,516,0.000,0.058,2379,542,3086,3160,3013,0,0,0,0,0,0,28.83,25.73,28.83
$GC,784,-0.55,-97.3,2379,541,3160,3013,91.0,-12.2,144,791,0.00,2.25,0.00,0.000,1030,0.000,0.047,2369,1980,3087,3161,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1094,-0.55,-97.3,2369,1980,3161,3013,128.6,-12.2,182,1104,0.00,2.20,0.00,0.000,260,0.000,0.052,2358,3378,3087,3161,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1180,-0.55,-97.3,2358,3378,3161,3013,138.5,-11.7,190,1189,0.10,2.28,0.00,0.000,3078,0.142,0.045,2390,1951,3087,3161,3013,0,0,0,0,0,0,25.60,25.91,28.83
$GC,1488,-0.55,-97.3,2390,1951,3162,3013,171.0,-10.1,221,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1951,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,-0.55,-97.3,2390,1951,3162,3013,201.3,-10.0,251,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1952,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2098,-0.55,-97.3,2389,1951,3163,3013,232.8,-10.1,282,2108,0.00,2.22,0.00,0.000,516,0.000,0.057,2390,543,3088,3163,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2131,-0.55,-97.3,2390,543,3163,3013,236.5,-11.0,285,2140,0.00,2.20,0.00,0.000,1030,0.000,0.045,2382,1974,3088,3163,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2441,-0.55,-97.3,2382,1974,3163,3013,270.5,-11.0,316,2450,0.00,2.17,0.00,0.000,260,0.000,0.052,2371,3370,3088,3163,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2503,-0.55,-97.3,2371,3370,3163,3013,277.5,-11.0,322,2513,0.00,2.20,0.00,0.000,1030,0.000,0.045,2371,1953,3088,3163,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2814,-0.55,-97.3,2371,1953,3163,3013,314.7,-11.8,353,2823,0.00,2.25,0.00,0.000,516,0.000,0.058,2371,540,3088,3163,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2868,-0.55,-97.3,1544,540,3145,3009,321.4,-12.6,358,2877,0.10,2.25,0.00,0.000,3078,0.147,0.046,2392,1960,3088,3164,3013,0,0,0,0,0,0,25.63,25.98,28.83
$GC,3176,-0.55,-97.3,2392,1960,3164,3013,354.8,-10.5,389,3185,0.00,2.20,0.00,0.000,260,0.000,0.053,2383,3370,3088,3164,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3249,-0.55,-97.3,2383,3370,3164,3013,362.5,-10.4,396,3258,0.00,2.20,0.00,0.000,1030,0.000,0.044,2383,1953,3088,3163,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3560,-0.55,-97.3,2383,1953,3163,3013,396.8,-11.0,427,3569,0.00,2.22,0.00,0.000,260,0.000,0.053,2374,3369,3088,3164,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3583,-0.55,-97.3,2373,3369,3164,3013,399.2,-11.2,429,3590,0.00,2.20,0.00,0.000,1030,0.000,0.044,2373,1955,3088,3164,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3892,-0.55,-97.3,2373,1955,3164,3013,435.6,-12.2,445,3897,0.00,2.25,0.00,0.000,516,0.000,0.059,2373,543,3088,3163,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3971,-0.55,-97.3,2373,543,3163,3013,446.1,-13.1,449,3978,0.12,2.20,0.00,0.000,3078,0.166,0.046,2393,1960,3088,3164,3013,0,0,0,0,0,0,25.68,25.97,28.83
$GC,4291,-0.55,-97.3,2393,1960,3164,3013,480.3,-10.2,465,4297,0.00,2.22,0.00,0.000,260,0.000,0.054,2385,3376,3088,3164,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4375,-0.55,-97.3,2384,3376,3164,3013,488.5,-10.2,469,4379,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1948,3088,3164,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4686,-0.55,-97.3,2384,1947,3164,3013,520.5,-10.1,485,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1947,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.55,-97.3,2384,1947,3164,3013,550.6,-9.8,500,4993,0.00,2.25,0.00,0.000,260,0.000,0.054,2374,3367,3088,3164,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5006,-0.55,-97.3,2374,3367,3164,3012,552.7,-9.8,501,5012,0.00,2.22,0.00,0.000,1030,0.000,0.045,2374,1950,3088,3164,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5326,-0.55,-97.3,2373,1950,3164,3011,585.7,-10.2,517,5332,0.00,2.25,0.00,0.000,516,0.000,0.060,2374,543,3087,3164,3011,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5360,-0.55,-97.3,2374,543,3164,3011,587.8,-10.2,518,5368,0.12,2.20,0.00,0.000,3078,0.167,0.047,2394,1956,3087,3164,3011,0,0,0,0,0,0,25.67,25.94,28.83
$GC,5666,-0.55,-97.3,2394,1956,3164,3011,615.8,-8.4,534,5672,0.00,2.22,0.00,0.000,260,0.000,0.054,2385,3370,3087,3164,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5709,-0.55,-97.3,2385,3370,3164,3010,619.2,-8.4,536,5714,0.00,2.22,0.00,0.000,1030,0.000,0.047,2385,1948,3087,3164,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6022,-0.55,-97.3,2385,1948,3164,3010,647.2,-8.8,552,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1948,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6322,-0.55,-97.3,2385,1948,3164,3008,673.0,-8.4,567,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1948,3086,3164,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6622,-0.55,-97.3,2385,1948,3164,3007,698.4,-8.4,582,6628,0.00,2.25,0.00,0.000,516,0.000,0.063,2385,544,3085,3164,3007,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6645,-0.55,-97.3,2385,544,3164,3007,700.2,-8.5,583,6649,0.00,2.20,0.00,0.000,1030,0.000,0.048,2375,1955,3085,3164,3007,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6957,-0.55,-97.3,2375,1955,3164,3006,729.5,-9.5,599,6962,0.00,2.22,0.00,0.000,260,0.000,0.055,2364,3372,3085,3164,3006,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7017,-0.55,-97.3,2364,3372,3164,3006,735.2,-9.5,602,7023,0.12,2.22,0.00,0.000,3078,0.161,0.047,2395,1952,3085,3164,3006,0,0,0,0,0,0,25.64,25.88,28.83
$GC,7338,-0.55,-97.3,2394,1952,3164,3006,762.9,-9.0,618,7343,0.00,2.25,0.00,0.000,516,0.000,0.063,2395,548,3085,3164,3006,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7370,-0.55,-97.3,2394,548,3164,3006,764.8,-9.1,619,7376,0.00,2.20,0.00,0.000,1030,0.000,0.049,2386,1955,3085,3164,3006,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7677,-0.55,-97.3,2386,1955,3164,3005,795.3,-9.6,635,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,-0.55,-97.3,2386,1955,3164,3005,824.5,-9.7,650,7982,0.00,2.28,0.00,0.000,516,0.000,0.063,2386,541,3084,3164,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8025,-0.55,-97.3,2386,541,3164,3005,828.7,-10.1,652,8029,0.00,2.22,0.00,0.000,1030,0.000,0.050,2376,1955,3084,3164,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8332,-0.55,-97.3,2376,1956,3164,3004,861.7,-10.4,667,8338,0.00,2.25,0.00,0.000,260,0.000,0.057,2365,3372,3084,3164,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8420,-0.55,-97.3,2365,3372,3164,3004,870.1,-10.4,671,8424,0.00,2.25,0.00,0.000,1030,0.000,0.048,2365,1948,3084,3164,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8726,-0.55,-97.3,2365,1947,3164,3004,904.1,-10.6,686,8733,0.12,2.28,0.00,0.000,2308,0.178,0.055,2392,3369,3084,3164,3004,0,0,0,0,0,0,26.01,25.75,28.83
$GC,8806,-0.55,-97.3,2392,3369,3164,3003,911.4,-9.0,690,8812,0.00,2.22,0.00,0.000,1030,0.000,0.049,2392,1954,3083,3164,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9127,-0.55,-97.3,2392,1954,3164,3003,939.3,-8.6,706,9133,0.00,2.28,0.00,0.000,516,0.000,0.064,2392,544,3083,3164,3003,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9166,-0.55,-97.3,2391,544,3164,3003,943.1,-9.1,708,9172,0.00,2.22,0.00,0.000,1030,0.000,0.051,2382,1956,3083,3164,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9487,-0.55,-97.3,2382,1956,3164,3002,972.2,-8.9,724,9493,0.00,2.22,0.00,0.000,260,0.000,0.057,2371,3363,3083,3164,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9566,-0.55,-97.3,2371,3363,3164,3002,979.3,-8.8,728,9572,0.00,2.22,0.00,0.000,1030,0.000,0.050,2371,1954,3083,3164,3002,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,9824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9824,begin apogee
$GC,9830,-0.14,0.0,2371,1870,3164,3002,1001.6,-8.4,741,9927,0.50,0.00,93.43,1.802,10246,0.133,0.000,2525,1869,2682,2759,2606,0,0,0,0,0,0,25.32,28.83,22.34
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9930,0.55,97.3,2525,1869,2759,2606,1004.0,0.0,746,10036,0.68,2.55,97.80,1.738,10756,0.083,0.065,2760,489,2288,2360,2216,0,0,0,0,0,0,24.18,23.27,21.58
$GC,10053,0.65,201.3,2760,489,2356,2216,998.9,5.4,752,10171,0.00,2.42,109.40,1.711,9222,0.000,0.050,2760,1885,1861,1937,1786,0,0,0,0,0,0,28.83,23.79,21.56
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$STATE,17883,end climb,SURFACE_DEPTH_REACHED
$STATE,17883,begin surface coast
$FINISH,0.0,1.013295
$STATE,17911,end surface coast,CONTROL_FINISHED_OK
$STATE,17911,begin surface
$SM_CCo,17987,0.00,0.000,0,0,1655,252.16
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$IRIDIUM_FIX,-4244.98,822.81,110809,010143
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.06
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.6,65.976
$10V_AH,9.8,45.293
$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
$DEVICE_SECS,18.075,180.300,322.275,0.000,0.000,26.554,19.737,230.649,0.000,0.000,19.401,3556.471,10959.542,510.668,3065.533,312.917,0.000,1896.003,0.000,2588.777,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,986.934,286.316,918.835,425.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,93663,1380
$CAP_FILE_SIZE,180873,0
$CFSIZE,259252224,223731712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 83.0,1
$GPS,141016,222304,-4304.114,830.346,41,1.0,41,-25.1