version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 558
start: 11 9 116 21 4 43
data:
$ID,542
$MISSION,14
$DIVE,558
$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,-42297.473
$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
$GPS1,091116,205604,-4255.803,828.820,35,0.8,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.4
$GPS2,091116,210358,-4255.759,828.881,18,1.0,18,-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,80.4,3477,-17.1,-9.443,-20.00,2451
$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,16,-0.57,-97.3,161,1971,1852,1742,0.0,0.0,0,70,0.00,0.00,-48.33,0.000,16390,0.000,0.000,161,1971,3080,3141,3020,0,0,0,0,0,0,28.83,28.83,26.46
$GC,73,-0.57,-97.3,160,1971,3143,3021,3.8,-6.2,8,88,8.95,2.28,0.00,0.000,2308,0.218,0.044,2370,3369,3083,3146,3020,0,0,0,0,0,0,24.46,25.70,28.83
$GC,512,-0.57,-97.3,2370,3369,3158,3013,57.9,-10.2,93,519,0.00,2.22,0.00,0.000,1030,0.000,0.041,2370,1949,3085,3158,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,827,-0.57,-97.3,2370,1949,3158,3013,93.8,-12.2,154,834,0.00,2.25,0.00,0.000,516,0.000,0.054,2370,534,3085,3158,3013,0,0,0,0,0,0,28.83,25.75,28.83
$GC,861,-0.57,-97.3,1488,534,3138,3009,98.4,-12.6,160,869,0.00,2.22,0.00,0.000,1030,0.000,0.044,2360,1946,3085,3158,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1176,-0.57,-97.3,2360,1946,3159,3013,136.7,-11.7,192,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1946,3086,3159,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1478,-0.57,-97.3,2360,1946,3159,3013,172.9,-12.3,222,1488,0.00,2.22,0.00,0.000,260,0.000,0.050,2349,3376,3086,3159,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1565,-0.57,-97.3,1480,3374,3139,3010,183.6,-12.4,230,1573,0.08,2.25,0.00,0.000,3078,0.142,0.041,2389,1954,3086,3159,3013,0,0,0,0,0,0,25.57,25.94,28.83
$GC,1872,-0.57,-97.3,2388,1954,3160,3013,218.9,-11.4,261,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1954,3086,3160,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2176,-0.57,-97.3,2388,1954,3161,3013,251.2,-10.3,291,2185,0.00,2.22,0.00,0.000,516,0.000,0.054,2389,540,3086,3160,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2218,-0.57,-97.3,2388,540,3161,3013,256.1,-10.4,295,2227,0.00,2.17,0.00,0.000,1030,0.000,0.042,2380,1966,3087,3160,3014,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2527,-0.57,-97.3,2379,1966,3161,3013,286.8,-10.0,326,2538,0.00,2.20,0.00,0.000,260,0.000,0.048,2369,3377,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2634,-0.57,-97.3,2369,3377,3160,3013,297.3,-9.7,336,2643,0.00,2.17,0.00,0.000,1030,0.000,0.040,2369,1959,3087,3161,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2944,-0.57,-97.3,2369,1959,3161,3013,329.6,-10.9,367,2952,0.00,2.22,0.00,0.000,516,0.000,0.054,2369,551,3086,3160,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2975,-0.57,-97.3,2369,551,3160,3013,333.3,-11.6,370,2985,0.00,2.17,0.00,0.000,1030,0.000,0.041,2359,1963,3087,3161,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3286,-0.57,-97.3,2359,1963,3161,3013,370.9,-11.5,401,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1963,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-0.57,-97.3,2359,1964,3161,3013,402.2,-9.9,431,3602,0.00,2.17,0.00,0.000,260,0.000,0.049,2348,3365,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3638,-0.57,-97.3,1488,3364,3140,3009,406.2,-10.0,433,3643,0.15,2.20,0.00,0.000,3078,0.151,0.041,2387,1948,3086,3160,3013,0,0,0,0,0,0,25.61,25.94,28.83
$GC,3951,-0.57,-97.3,2387,1948,3161,3013,433.9,-8.9,449,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1948,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.57,-97.3,2387,1948,3161,3013,462.6,-10.0,464,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1948,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-0.57,-97.3,2387,1948,3161,3013,492.1,-9.8,479,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1948,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.57,-97.3,2387,1948,3161,3012,520.0,-8.7,494,4857,0.00,2.25,0.00,0.000,516,0.000,0.055,2388,540,3086,3161,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4891,-0.57,-97.3,2387,541,3161,3012,523.7,-9.0,496,4897,0.00,2.20,0.00,0.000,1030,0.000,0.043,2378,1962,3086,3161,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5212,-0.57,-97.3,2378,1962,3161,3011,553.0,-9.2,512,5217,0.00,2.17,0.00,0.000,260,0.000,0.050,2368,3365,3086,3161,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5259,-0.57,-97.3,2368,3365,3161,3010,556.7,-9.2,514,5263,0.00,2.20,0.00,0.000,1030,0.000,0.041,2368,1953,3086,3161,3011,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5567,-0.57,-97.3,2368,1953,3161,3011,587.0,-9.4,529,5572,0.00,2.22,0.00,0.000,516,0.000,0.055,2368,548,3085,3160,3010,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5634,-0.57,-97.3,2368,548,3161,3010,593.0,-9.9,532,5639,0.12,2.17,0.00,0.000,3078,0.164,0.044,2388,1955,3085,3161,3010,0,0,0,0,0,0,25.64,25.93,28.83
$GC,5943,-0.57,-97.3,2388,1955,3161,3009,619.7,-8.4,547,5947,0.00,2.25,0.00,0.000,260,0.000,0.051,2379,3373,3084,3160,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6008,-0.57,-97.3,2379,3373,3161,3008,625.2,-8.5,550,6013,0.00,2.22,0.00,0.000,1030,0.000,0.042,2379,1949,3084,3161,3008,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6321,-0.57,-97.3,2379,1949,3161,3007,652.7,-8.7,566,6326,0.00,2.25,0.00,0.000,516,0.000,0.057,2379,545,3084,3161,3007,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6349,-0.57,-97.3,2379,545,3161,3007,654.5,-8.7,567,6354,0.00,2.20,0.00,0.000,1030,0.000,0.044,2369,1959,3084,3161,3007,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6656,-0.57,-97.3,2369,1960,3161,3006,683.3,-9.2,582,6661,0.00,2.22,0.00,0.000,260,0.000,0.050,2358,3371,3083,3161,3006,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6685,-0.57,-97.3,2358,3372,3160,3006,685.2,-9.3,583,6695,0.12,2.22,0.00,0.000,3078,0.152,0.042,2389,1950,3083,3160,3006,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6997,-0.57,-97.3,2389,1950,3160,3006,711.6,-8.0,599,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1950,3083,3160,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,-0.57,-97.3,2389,1950,3160,3005,738.1,-9.0,614,7302,0.00,2.28,0.00,0.000,516,0.000,0.057,2389,544,3083,3161,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7319,-0.57,-97.3,1536,544,3141,3001,740.0,-9.1,615,7323,0.00,2.20,0.00,0.000,1030,0.000,0.045,2381,1957,3082,3160,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7632,-0.57,-97.3,2380,1957,3160,3004,769.3,-9.1,631,7637,0.00,2.20,0.00,0.000,260,0.000,0.052,2370,3358,3083,3161,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7756,-0.57,-97.3,2370,3358,3160,3004,780.1,-9.1,637,7762,0.00,2.20,0.00,0.000,1030,0.000,0.042,2370,1956,3082,3160,3004,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8071,-0.57,-97.3,2370,1955,3160,3004,809.5,-9.1,653,8077,0.00,2.28,0.00,0.000,516,0.000,0.058,2370,537,3082,3161,3003,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8119,-0.57,-97.3,2370,537,3160,3003,813.4,-9.4,655,8123,0.00,2.22,0.00,0.000,1030,0.000,0.046,2360,1960,3081,3160,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8427,-0.57,-97.3,2359,1961,3160,3003,842.2,-9.0,670,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1961,3081,3160,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.57,-97.3,2359,1961,3160,3002,869.2,-8.8,685,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1961,3081,3160,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-0.57,-97.3,2359,1961,3161,3002,896.6,-9.3,700,9032,0.00,2.22,0.00,0.000,260,0.000,0.052,2349,3367,3081,3160,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9088,-0.57,-97.3,2349,3368,3160,3002,902.2,-9.4,703,9094,0.10,2.20,0.00,0.000,3078,0.138,0.044,2381,1958,3081,3160,3002,0,0,0,0,0,0,25.52,25.84,28.83
$GC,9410,-0.57,-97.3,2381,1957,3161,3002,927.7,-7.7,719,9415,0.00,2.28,0.00,0.000,516,0.000,0.060,2381,539,3081,3160,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9456,-0.57,-97.3,2381,538,3160,3002,931.1,-8.1,721,9460,0.00,2.22,0.00,0.000,1030,0.000,0.046,2373,1957,3081,3160,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9763,-0.57,-97.3,2372,1958,3161,3002,956.8,-8.0,736,9769,0.00,2.25,0.00,0.000,260,0.000,0.054,2362,3373,3080,3159,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9824,-0.57,-97.3,2361,3373,3160,3002,961.9,-8.3,739,9830,0.00,2.20,0.00,0.000,1030,0.000,0.044,2362,1960,3080,3160,3001,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10144,-0.57,-97.3,2362,1960,3160,3001,991.4,-9.3,755,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1960,3080,3160,3001,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10241,begin apogee
$GC,10247,-0.14,0.0,2362,1876,3160,3001,1000.6,-9.3,760,10345,0.52,0.00,94.47,1.860,10246,0.136,0.000,2521,1875,2683,2760,2606,0,0,0,0,0,0,25.22,28.83,21.80
$STATE,10346,end apogee,CONTROL_FINISHED_OK
$STATE,10346,begin climb
$GC,10349,0.57,97.3,2521,1875,2759,2606,1004.1,0.0,765,10457,0.70,2.58,100.57,1.763,10756,0.082,0.060,2764,483,2286,2358,2214,0,0,0,0,0,0,24.06,23.11,21.11
$GC,10475,0.74,268.9,2763,483,2354,2214,1002.5,2.2,770,10670,0.15,2.45,184.07,1.733,11270,0.078,0.046,2819,1894,1586,1653,1519,0,0,0,0,0,0,23.74,23.71,21.14
$GC,10984,0.74,268.9,2818,1894,1646,1503,913.2,19.5,796,10989,0.00,2.25,0.00,0.000,260,0.000,0.054,2819,3304,1575,1646,1504,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11046,0.74,268.9,1920,3302,1619,1500,901.9,19.2,799,11050,0.00,2.28,0.00,0.000,1030,0.000,0.050,2830,1893,1574,1646,1503,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,16585,end climb,SURFACE_DEPTH_REACHED
$STATE,16585,begin surface coast
$FINISH,0.1,1.024470
$STATE,16608,end surface coast,CONTROL_FINISHED_OK
$STATE,16608,begin surface
$SM_CCo,16685,0.00,0.000,0,0,1567,273.75
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$IRIDIUM_FIX,-4239.11,827.77,060909,040456
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.75
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.1,86.223
$10V_AH,9.7,58.118
$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
$DEVICE_SECS,18.350,148.125,379.125,0.000,0.000,29.244,24.137,271.678,0.000,0.000,19.737,3294.581,10153.788,498.045,2876.477,340.987,0.000,1757.577,0.000,2371.678,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.234,265.254,837.271,389.620,0.000,0.000,0.000,0.000,0.000,0.000
$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,83667,1273
$CAP_FILE_SIZE,164813,0
$CFSIZE,259252224,213680128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170,336.0,1
$GPS,101116,014403,-4253.082,830.399,39,0.8,40,-25.0