version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 577
start: 11 14 116 8 5 6
data:
$ID,542
$MISSION,14
$DIVE,577
$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,-42321.418
$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,30
$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
$GPS1,141116,075657,-4302.654,830.102,39,1.0,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.6
$GPS2,141116,080422,-4302.603,830.132,20,1.0,20,-25.0
$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,200.6,6165,-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,-97.3,165,1967,1782,1680,0.0,0.0,0,68,0.00,0.00,-49.80,0.000,16386,0.000,0.000,165,1967,3034,3090,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.55,-97.3,165,1967,3091,2979,3.1,-3.7,8,87,8.82,2.28,-1.05,0.000,18692,0.222,0.058,2376,3369,3082,3149,3015,0,0,0,0,0,0,24.77,25.82,26.20
$GC,267,-0.55,-97.3,1440,3369,3131,3008,29.7,-10.8,45,274,0.00,2.25,0.00,0.000,1030,0.000,0.041,2377,1936,3084,3156,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,399,-0.55,-97.3,2376,1936,3156,3013,44.5,-11.5,70,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1936,3084,3156,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,711,-0.55,-97.3,2376,1936,3157,3013,79.7,-11.2,131,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1936,3085,3157,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.55,-97.3,2376,1936,3157,3012,114.8,-11.1,180,1037,0.00,2.20,0.00,0.000,516,0.000,0.052,2377,540,3084,3157,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1094,-0.55,-97.3,2377,540,3158,3013,121.9,-10.8,186,1102,0.00,2.22,0.00,0.000,1030,0.000,0.041,2366,1957,3085,3157,3013,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1401,-0.55,-97.3,2366,1957,3158,3012,156.1,-10.9,217,1409,0.00,2.17,0.00,0.000,260,0.000,0.047,2356,3362,3085,3158,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1587,-0.55,-97.3,2356,3362,3158,3013,176.2,-11.3,235,1597,0.10,2.17,0.00,0.000,3078,0.138,0.040,2388,1949,3085,3158,3013,0,0,0,0,0,0,25.63,25.96,28.83
$GC,1895,-0.55,-97.3,2388,1949,3159,3013,206.9,-9.6,266,1906,0.00,2.22,0.00,0.000,516,0.000,0.053,2389,546,3086,3159,3013,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1921,-0.55,-97.3,1544,545,3139,3009,209.2,-9.6,268,1928,0.00,2.22,0.00,0.000,1030,0.000,0.041,2380,1960,3086,3159,3013,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2230,-0.55,-97.3,2380,1960,3159,3013,240.2,-10.0,299,2238,0.00,2.17,0.00,0.000,260,0.000,0.047,2370,3365,3086,3159,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2315,-0.55,-97.3,2370,3365,3159,3013,248.7,-10.2,307,2322,0.00,2.20,0.00,0.000,1030,0.000,0.039,2370,1947,3086,3159,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2622,-0.55,-97.3,2369,1947,3159,3013,281.4,-10.7,338,2633,0.00,2.22,0.00,0.000,516,0.000,0.052,2370,544,3086,3159,3013,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2656,-0.55,-97.3,2369,544,3159,3012,285.0,-11.0,341,2665,0.10,2.15,0.00,0.000,3078,0.145,0.041,2391,1955,3085,3159,3012,0,0,0,0,0,0,25.60,25.96,28.83
$GC,2966,-0.55,-97.3,2391,1955,3159,3013,313.4,-8.5,372,2975,0.00,2.17,0.00,0.000,260,0.000,0.047,2382,3372,3086,3159,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3054,-0.55,-97.3,2382,3372,3159,3013,320.8,-8.6,380,3061,0.00,2.25,0.00,0.000,1030,0.000,0.040,2382,1931,3085,3159,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3362,-0.55,-97.3,2381,1931,3159,3012,349.8,-9.8,411,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1931,3085,3159,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3663,-0.55,-97.3,2381,1931,3159,3013,379.0,-10.1,441,3671,0.00,2.17,0.00,0.000,516,0.000,0.053,2382,549,3085,3159,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3705,-0.55,-97.3,2381,549,3159,3012,383.7,-10.7,445,3714,0.00,2.20,0.00,0.000,1030,0.000,0.041,2371,1969,3085,3159,3012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4029,-0.55,-97.3,2371,1970,3159,3012,419.2,-11.5,469,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1970,3085,3159,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4325,-0.55,-97.3,2371,1970,3159,3012,454.1,-11.6,484,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1970,3085,3159,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4626,-0.55,-97.3,2372,1970,3158,3012,487.9,-11.0,499,4631,0.00,2.25,0.00,0.000,516,0.000,0.053,2372,548,3085,3159,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4688,-0.55,-97.3,2371,548,3159,3012,494.6,-11.2,502,4693,0.12,2.17,0.00,0.000,3078,0.165,0.042,2392,1958,3085,3159,3012,0,0,0,0,0,0,25.64,25.94,28.83
$GC,5003,-0.55,-97.3,2392,1958,3159,3011,524.5,-9.4,518,5008,0.00,2.17,0.00,0.000,260,0.000,0.048,2383,3360,3085,3159,3011,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5114,-0.55,-97.3,2382,3360,3159,3011,533.9,-9.4,523,5122,0.00,2.20,0.00,0.000,1030,0.000,0.040,2383,1948,3084,3158,3011,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5422,-0.55,-97.3,2383,1948,3159,3010,563.3,-8.9,539,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1947,3084,3159,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5721,-0.55,-97.3,2383,1948,3159,3010,589.9,-8.7,554,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1948,3084,3159,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6021,-0.55,-97.3,2383,1948,3159,3009,615.3,-8.4,569,6027,0.00,2.28,0.00,0.000,516,0.000,0.056,2383,537,3084,3159,3009,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6085,-0.55,-97.3,2383,537,3159,3008,620.7,-8.9,572,6089,0.00,2.20,0.00,0.000,1030,0.000,0.043,2373,1959,3084,3159,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6397,-0.55,-97.3,2373,1959,3159,3006,650.0,-9.7,588,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1959,3083,3159,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.55,-97.3,2372,1959,3159,3006,679.3,-9.9,603,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1959,3082,3159,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6997,-0.55,-97.3,2373,1959,3159,3006,708.4,-9.6,618,7002,0.00,2.22,0.00,0.000,260,0.000,0.050,2362,3372,3082,3159,3006,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7056,-0.55,-97.3,2362,3372,3159,3006,714.1,-9.5,621,7063,0.12,2.22,0.00,0.000,3078,0.155,0.042,2393,1958,3082,3159,3006,0,0,0,0,0,0,25.62,25.88,28.83
$GC,7378,-0.55,-97.3,2392,1957,3159,3005,740.5,-8.1,637,7384,0.00,2.30,0.00,0.000,516,0.000,0.057,2393,541,3082,3159,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7437,-0.55,-97.3,2392,541,3159,3005,745.8,-8.6,640,7443,0.00,2.20,0.00,0.000,1030,0.000,0.044,2384,1954,3081,3158,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7758,-0.55,-97.3,2384,1954,3159,3005,772.4,-8.4,656,7763,0.00,2.20,0.00,0.000,260,0.000,0.051,2373,3362,3081,3159,3004,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7871,-0.55,-97.3,2373,3362,3159,3004,780.9,-8.5,661,7877,0.00,2.22,0.00,0.000,1030,0.000,0.042,2373,1945,3081,3159,3004,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8178,-0.55,-97.3,2373,1945,3159,3004,808.8,-8.7,677,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1945,3081,3159,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8477,-0.55,-97.3,2373,1945,3159,3003,835.4,-8.7,692,8483,0.00,2.28,0.00,0.000,516,0.000,0.058,2373,536,3081,3159,3003,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8505,-0.55,-97.3,2373,536,3159,3003,837.3,-8.9,693,8510,0.12,2.22,0.00,0.000,3078,0.165,0.045,2394,1962,3081,3159,3003,0,0,0,0,0,0,25.56,25.86,28.83
$GC,8814,-0.55,-97.3,2393,1962,3159,3003,863.3,-8.4,708,8820,0.00,2.20,0.00,0.000,260,0.000,0.052,2385,3365,3081,3159,3003,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8881,-0.55,-97.3,2384,3364,3158,3002,868.4,-8.4,711,8885,0.00,2.22,0.00,0.000,1030,0.000,0.043,2384,1956,3081,3159,3003,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9188,-0.55,-97.3,2384,1956,3159,3002,896.3,-9.1,726,9194,0.00,2.25,0.00,0.000,516,0.000,0.058,2385,550,3080,3159,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9270,-0.55,-97.3,1552,549,3140,2998,904.2,-9.8,730,9274,0.00,2.20,0.00,0.000,1030,0.000,0.045,2374,1958,3080,3159,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9583,-0.55,-97.3,2374,1959,3159,3002,933.3,-9.0,746,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1959,3080,3159,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9883,-0.55,-97.3,2374,1959,3159,3002,959.1,-8.5,761,9889,0.00,2.22,0.00,0.000,260,0.000,0.052,2364,3371,3080,3159,3002,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9936,-0.55,-97.3,2363,3371,3159,3002,962.9,-9.2,763,9943,0.12,2.22,0.00,0.000,3078,0.161,0.044,2392,1956,3080,3159,3002,0,0,0,0,0,0,25.53,25.80,28.83
$GC,10244,-0.55,-97.3,2393,1956,3159,3002,988.0,-8.1,779,10249,0.00,2.28,0.00,0.000,516,0.000,0.059,2393,543,3080,3159,3002,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10331,-0.55,-97.3,2392,543,3159,3002,995.4,-9.3,783,10335,0.00,2.22,0.00,0.000,1030,0.000,0.046,2385,1965,3080,3159,3001,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,10377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10377,begin apogee
$GC,10384,-0.14,0.0,2384,1869,3159,3001,1000.3,-9.0,785,10481,0.45,0.00,94.25,1.906,10246,0.133,0.000,2521,1868,2682,2758,2607,0,0,0,0,0,0,25.31,28.83,21.91
$STATE,10482,end apogee,CONTROL_FINISHED_OK
$STATE,10482,begin climb
$GC,10485,0.55,97.3,2521,1868,2758,2607,1004.4,0.0,790,10598,0.68,2.62,100.12,1.757,10756,0.083,0.060,2758,486,2285,2356,2215,0,0,0,0,0,0,24.07,23.12,21.18
$GC,10637,0.68,227.8,2758,486,2350,2215,1000.9,4.4,797,10785,0.10,2.38,138.57,1.740,11270,0.100,0.044,2799,1885,1754,1823,1686,0,0,0,0,0,0,24.10,24.12,21.13
$GC,11083,0.68,227.8,2799,1885,1817,1674,935.2,14.8,820,11089,0.00,2.25,0.00,0.000,260,0.000,0.052,2799,3302,1745,1817,1673,0,0,0,0,0,0,28.83,25.71,28.83
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$STATE,18333,end climb,SURFACE_DEPTH_REACHED
$STATE,18333,begin surface coast
$FINISH,0.1,1.013245
$STATE,18355,end surface coast,CONTROL_FINISHED_OK
$STATE,18355,begin surface
$SM_CCo,18431,0.00,0.000,0,0,1736,232.30
$SM_GC,1.36,6.93,0.12,0.00,0.044,0.092,0.000,147,1971,1736,-7.43,-0.65,232.30,0,0,0,0,0,0,26.14,26.30,28.83
$IRIDIUM_FIX,-4247.91,828.64,100909,151559
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.16
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.1,89.602
$10V_AH,9.7,60.314
$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
$DEVICE_SECS,18.425,170.275,332.950,0.000,0.000,23.441,18.206,253.925,0.000,0.000,21.683,3702.853,10997.491,516.034,3282.146,377.476,0.000,1974.229,0.000,2779.567,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,97130,1429
$CAP_FILE_SIZE,187932,0
$CFSIZE,259252224,211955712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169,351.7,1
$GPS,141116,131334,-4303.198,829.975,40,1.1,40,-25.0