version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 529
start: 11 3 116 7 7 35
data:
$ID,542
$MISSION,14
$DIVE,529
$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,-42261.074
$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,22
$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
$GPS1,031116,065903,-4303.859,830.214,25,1.5,25,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-66.6
$GPS2,031116,070652,-4303.757,830.281,19,1.0,19,-25.1
$SPEED_LIMITS,0.259,0.269
$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,214.8,4042,-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,14,begin dive
$GC,16,-0.55,-97.3,141,1973,1636,1530,0.0,0.0,0,82,0.00,0.00,-60.62,0.000,16390,0.000,0.000,138,1972,3082,3142,3022,0,0,0,0,0,0,28.83,28.83,26.46
$GC,85,-0.55,-97.3,138,1972,3143,3021,3.5,-5.8,10,100,8.85,2.28,0.00,0.000,2308,0.213,0.046,2380,3370,3083,3149,3018,0,0,0,0,0,0,24.58,25.70,28.83
$GC,261,-0.55,-97.3,1480,3369,3138,3008,28.1,-9.7,43,268,0.00,2.25,0.00,0.000,1030,0.000,0.042,2381,1941,3085,3159,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,393,-0.55,-97.3,1472,1939,3138,3008,43.0,-11.9,68,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1941,3086,3160,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,715,-0.55,-97.3,2380,1940,3161,3012,78.5,-10.6,129,722,0.00,2.22,0.00,0.000,516,0.000,0.056,2381,543,3086,3161,3012,0,0,0,0,0,0,28.83,25.77,28.83
$GC,770,-0.55,-97.3,2380,543,3161,3012,84.9,-10.8,139,777,0.00,2.17,0.00,0.000,1030,0.000,0.043,2370,1951,3086,3161,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1090,-0.55,-97.3,2370,1952,3162,3012,121.0,-11.2,183,1099,0.00,2.17,0.00,0.000,260,0.000,0.050,2360,3361,3087,3162,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1154,-0.55,-97.3,2359,3361,3162,3012,128.2,-11.3,189,1163,0.10,2.17,0.00,0.000,3078,0.140,0.042,2391,1953,3087,3162,3012,0,0,0,0,0,0,25.63,25.95,28.83
$GC,1462,-0.55,-97.3,2391,1952,3163,3012,158.6,-9.5,220,1472,0.00,2.25,0.00,0.000,516,0.000,0.056,2391,539,3087,3163,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1496,-0.55,-97.3,2391,539,3163,3012,161.9,-9.9,223,1504,0.00,2.20,0.00,0.000,1030,0.000,0.043,2383,1958,3087,3163,3012,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1805,-0.55,-97.3,2383,1959,3163,3012,194.1,-10.3,254,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1958,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2106,-0.55,-97.3,2383,1958,3163,3012,223.6,-9.9,284,2116,0.00,2.17,0.00,0.000,260,0.000,0.049,2373,3362,3087,3163,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2163,-0.55,-97.3,2372,3362,3163,3012,229.0,-9.9,289,2169,0.00,2.20,0.00,0.000,1030,0.000,0.042,2372,1950,3087,3163,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2470,-0.55,-97.3,2372,1950,3164,3012,260.7,-10.2,320,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1950,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-0.55,-97.3,2372,1950,3164,3012,290.8,-10.0,350,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1950,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3082,-0.55,-97.3,2373,1950,3164,3012,322.7,-10.6,381,3091,0.00,2.22,0.00,0.000,260,0.000,0.050,2363,3366,3088,3164,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3157,-0.55,-97.3,1504,3365,3144,3008,330.5,-10.3,388,3166,0.12,2.25,0.00,0.000,3078,0.154,0.042,2393,1934,3088,3164,3012,0,0,0,0,0,0,25.70,25.95,28.83
$GC,3465,-0.55,-97.3,2393,1934,3164,3012,359.7,-9.7,419,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1934,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.55,-97.3,2393,1934,3164,3012,388.2,-9.5,449,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1934,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.55,-97.3,2393,1934,3164,3012,417.5,-9.6,471,4080,0.00,2.28,0.00,0.000,260,0.000,0.050,2384,3366,3088,3164,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4138,-0.55,-97.3,1512,3365,3144,3008,423.3,-9.6,474,4142,0.00,2.22,0.00,0.000,1030,0.000,0.042,2384,1947,3088,3164,3012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4449,-0.55,-97.3,2384,1946,3164,3012,454.0,-9.5,490,4455,0.00,2.28,0.00,0.000,260,0.000,0.050,2374,3366,3088,3164,3012,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4489,-0.55,-97.3,2374,3366,3164,3012,457.9,-9.7,492,4495,0.00,2.22,0.00,0.000,1030,0.000,0.043,2374,1947,3088,3164,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4810,-0.55,-97.3,2374,1947,3164,3012,490.3,-10.0,508,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1947,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5110,-0.55,-97.3,2374,1947,3164,3011,519.0,-9.6,523,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1947,3087,3164,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,-0.55,-97.3,2374,1947,3164,3011,547.7,-9.6,538,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1947,3087,3164,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.55,-97.3,2374,1947,3164,3010,574.8,-8.8,553,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1947,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.55,-97.3,2374,1946,3164,3008,600.2,-8.4,568,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1946,3086,3164,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.55,-97.3,2374,1946,3164,3008,625.7,-8.4,583,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1946,3085,3164,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,-0.55,-97.3,2374,1946,3164,3006,650.8,-8.4,598,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1946,3084,3163,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6910,-0.55,-97.3,2374,1946,3164,3006,677.1,-8.7,613,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1946,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.55,-97.3,2374,1946,3163,3006,704.3,-9.1,628,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1946,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,-0.55,-97.3,2374,1946,3164,3005,732.4,-9.7,643,7515,0.00,2.30,0.00,0.000,260,0.000,0.053,2364,3365,3084,3164,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7563,-0.55,-97.3,2363,3364,3164,3005,736.5,-10.0,645,7570,0.12,2.25,0.00,0.000,3078,0.155,0.045,2394,1949,3084,3164,3005,0,0,0,0,0,0,25.64,25.88,28.83
$GC,7870,-0.55,-97.3,2394,1949,3164,3005,765.3,-8.7,661,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1949,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8170,-0.55,-97.3,2394,1949,3164,3004,790.9,-8.2,676,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1949,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8471,-0.55,-97.3,2394,1949,3164,3003,814.7,-7.8,691,8476,0.00,2.25,0.00,0.000,260,0.000,0.053,2386,3355,3083,3164,3003,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8518,-0.55,-97.3,2386,3356,3164,3003,818.0,-8.0,693,8522,0.00,2.22,0.00,0.000,1030,0.000,0.045,2386,1952,3083,3164,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8825,-0.55,-97.3,2386,1951,3164,3003,845.8,-8.9,708,8831,0.00,2.28,0.00,0.000,516,0.000,0.060,2386,540,3083,3164,3003,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8873,-0.55,-97.3,2386,540,3164,3003,849.6,-9.3,710,8877,0.00,2.22,0.00,0.000,1030,0.000,0.047,2376,1959,3083,3164,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9180,-0.55,-97.3,2375,1960,3164,3003,878.4,-8.9,725,9186,0.00,2.22,0.00,0.000,260,0.000,0.054,2365,3369,3083,3164,3002,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9305,-0.55,-97.3,2365,3369,3164,3002,889.0,-8.8,731,9311,0.00,2.22,0.00,0.000,1030,0.000,0.045,2365,1954,3083,3164,3002,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9619,-0.55,-97.3,2365,1954,3164,3002,918.6,-9.5,747,9626,0.12,2.30,0.00,0.000,2564,0.174,0.061,2407,545,3083,3164,3002,0,0,0,0,0,0,25.98,25.63,28.83
$GC,9644,-0.55,-97.3,2407,545,3164,3002,920.4,-9.4,748,9648,0.00,2.22,0.00,0.000,1030,0.000,0.048,2399,1956,3083,3164,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9956,-0.55,-97.3,2398,1956,3164,3001,943.1,-6.7,764,9962,0.00,2.25,0.00,0.000,260,0.000,0.054,2388,3372,3082,3164,3001,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10005,-0.55,-97.3,2388,3371,3164,3001,945.9,-6.8,766,10013,0.00,2.25,0.00,0.000,1030,0.000,0.046,2388,1947,3083,3165,3001,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10315,-0.55,-97.3,2388,1947,3164,3001,967.9,-6.7,782,10321,0.00,2.28,0.00,0.000,516,0.000,0.061,2388,545,3082,3164,3001,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10355,-0.55,-97.3,2388,544,3164,3001,970.8,-7.0,784,10361,0.00,2.22,0.00,0.000,1030,0.000,0.047,2378,1957,3083,3164,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10676,-0.55,-97.3,2378,1957,3164,3001,995.0,-7.7,800,10682,0.00,2.22,0.00,0.000,260,0.000,0.054,2367,3370,3082,3164,3001,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,10753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10753,begin apogee
$GC,10761,-0.14,0.0,2367,1884,3164,3001,1001.5,-8.1,804,10859,0.52,0.00,94.72,1.852,10246,0.137,0.000,2525,1883,2682,2760,2605,0,0,0,0,0,0,25.24,28.83,21.88
$STATE,10860,end apogee,CONTROL_FINISHED_OK
$STATE,10860,begin climb
$GC,10863,0.55,97.3,2525,1883,2760,2605,1004.1,0.0,809,10968,0.68,0.00,100.40,1.746,10758,0.079,0.000,2747,1883,2286,2358,2214,0,0,0,0,0,0,24.06,28.83,21.23
$GC,11256,0.59,133.3,2747,1883,2352,2205,978.1,8.1,829,11298,0.00,2.45,35.55,1.761,8452,0.000,0.055,2746,3293,2138,2214,2063,0,0,0,0,0,0,28.83,24.84,22.96
$GC,11317,0.61,156.2,2747,3293,2212,2061,972.8,8.6,832,11348,0.00,2.33,24.08,1.686,9222,0.000,0.050,2757,1881,2045,2121,1970,0,0,0,0,0,0,28.83,25.07,22.70
$GC,11658,0.61,156.2,2757,1881,2117,1961,936.7,10.7,849,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1882,2039,2117,1961,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20218,end climb,SURFACE_DEPTH_REACHED
$STATE,20218,begin surface coast
$FINISH,0.5,1.026620
$STATE,20234,end surface coast,CONTROL_FINISHED_OK
$STATE,20234,begin surface
$SM_CCo,20311,0.00,0.000,0,0,1696,242.11
$SM_GC,1.20,6.82,0.12,0.00,0.033,0.083,0.000,150,1969,1696,-7.42,-0.85,242.11,0,0,0,0,0,0,26.15,26.28,28.83
$IRIDIUM_FIX,-4244.98,831.55,300809,151524
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.24
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.2,80.830
$10V_AH,9.7,54.875
$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
$DEVICE_SECS,17.850,157.700,325.475,0.000,0.000,25.682,21.149,273.046,0.000,0.000,20.859,3908.205,12689.267,525.862,3280.121,383.682,0.000,1947.903,0.000,2763.985,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.567,300.877,951.106,434.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353140
$DATA_FILE_SIZE,100453,1519
$CAP_FILE_SIZE,190192,0
$CFSIZE,259252224,216186880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 10.4,1
$GPS,031116,124833,-4304.854,830.062,111,0.9,111,-25.1