version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 602
start: 11 20 116 6 41 7
data:
$ID,542
$MISSION,14
$DIVE,602
$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,-42352.891
$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,35
$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
$GPS1,201116,063203,-4258.758,831.637,40,0.9,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.3
$GPS2,201116,064022,-4258.701,831.739,17,1.1,17,-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,219.0,13594,-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,-97.3,149,1977,1682,1590,0.0,0.0,0,76,0.00,0.00,-56.38,0.000,16390,0.000,0.000,149,1976,3084,3139,3029,0,0,0,0,0,0,28.83,28.83,26.48
$GC,80,-0.55,-97.3,149,1976,3140,3028,3.4,-5.2,9,94,8.82,2.20,0.00,0.000,2308,0.217,0.040,2380,3366,3085,3148,3023,0,0,0,0,0,0,24.82,25.82,28.83
$GC,270,-0.55,-97.3,1440,3365,3135,3011,29.5,-11.1,45,277,0.00,2.25,0.00,0.000,1030,0.000,0.040,2380,1928,3087,3158,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,402,-0.55,-97.3,2380,1927,3159,3016,43.0,-10.6,70,408,0.00,2.20,0.00,0.000,516,0.000,0.051,2380,543,3087,3159,3015,0,0,0,0,0,0,28.83,25.76,28.83
$GC,456,-0.55,-97.3,2380,542,3159,3016,49.3,-11.3,80,463,0.00,2.20,0.00,0.000,1030,0.000,0.040,2370,1945,3087,3159,3016,0,0,0,0,0,0,28.83,25.95,28.83
$GC,770,-0.55,-97.3,1416,1944,3136,3011,85.0,-11.5,141,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3160,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1084,-0.55,-97.3,2370,1946,3160,3016,120.4,-10.9,185,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.55,-97.3,2370,1946,3161,3016,153.3,-11.1,215,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1695,-0.55,-97.3,2370,1946,3161,3016,187.5,-10.7,246,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.55,-97.3,2370,1946,3161,3016,219.8,-10.3,277,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-0.55,-97.3,2370,1946,3162,3016,251.5,-10.3,308,2325,0.00,2.20,0.00,0.000,260,0.000,0.047,2359,3371,3089,3162,3016,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2390,-0.55,-97.3,2359,3371,3162,3015,259.2,-9.9,315,2399,0.12,2.20,0.00,0.000,3078,0.148,0.039,2391,1953,3088,3161,3016,0,0,0,0,0,0,25.70,25.94,28.83
$GC,2698,-0.55,-97.3,2391,1953,3162,3016,287.7,-9.7,346,2708,0.00,2.25,0.00,0.000,516,0.000,0.052,2391,540,3089,3162,3016,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2761,-0.55,-97.3,2391,540,3162,3015,293.9,-9.9,352,2771,0.00,2.17,0.00,0.000,1030,0.000,0.039,2383,1961,3088,3161,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3071,-0.55,-97.3,2383,1961,3162,3016,324.9,-10.2,383,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1961,3089,3162,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.55,-97.3,2383,1961,3162,3016,354.7,-9.7,413,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1960,3089,3162,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3683,-0.55,-97.3,2384,1961,3162,3015,384.7,-9.8,444,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1961,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4002,-0.55,-97.3,2383,1961,3162,3016,415.0,-9.3,468,4008,0.00,2.22,0.00,0.000,516,0.000,0.053,2383,553,3089,3162,3016,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4064,-0.55,-97.3,2383,553,3162,3016,421.1,-10.0,471,4068,0.00,2.15,0.00,0.000,1030,0.000,0.040,2373,1954,3089,3162,3016,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4376,-0.55,-97.3,2373,1955,3162,3015,452.4,-10.0,487,4381,0.00,2.22,0.00,0.000,260,0.000,0.047,2362,3373,3088,3162,3015,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4466,-0.55,-97.3,2362,3374,3162,3015,460.4,-10.0,491,4476,0.12,2.20,0.00,0.000,3078,0.146,0.039,2395,1956,3088,3162,3015,0,0,0,0,0,0,25.69,25.92,28.83
$GC,4776,-0.55,-97.3,2394,1956,3162,3014,487.2,-8.1,507,4782,0.00,2.25,0.00,0.000,516,0.000,0.053,2395,548,3088,3162,3014,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4840,-0.55,-97.3,2394,548,3162,3014,492.3,-8.5,510,4844,0.00,2.17,0.00,0.000,1030,0.000,0.041,2386,1959,3088,3162,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5153,-0.55,-97.3,2386,1960,3162,3014,518.3,-8.3,526,5159,0.00,2.17,0.00,0.000,260,0.000,0.047,2376,3364,3088,3162,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5205,-0.55,-97.3,2375,3364,3162,3013,521.7,-8.4,528,5212,0.00,2.20,0.00,0.000,1030,0.000,0.040,2376,1952,3087,3162,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5513,-0.55,-97.3,2375,1952,3162,3013,550.2,-9.1,544,5519,0.00,2.22,0.00,0.000,516,0.000,0.054,2375,551,3087,3162,3013,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5555,-0.55,-97.3,2375,551,3161,3013,554.1,-9.4,546,5560,0.12,2.17,0.00,0.000,3078,0.155,0.041,2397,1956,3087,3162,3013,0,0,0,0,0,0,25.66,25.93,28.83
$GC,5869,-0.55,-97.3,2397,1957,3162,3012,579.9,-8.3,562,5874,0.00,2.20,0.00,0.000,260,0.000,0.049,2388,3369,3087,3162,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5909,-0.55,-97.3,2388,3369,3162,3012,583.3,-8.2,564,5914,0.00,2.22,0.00,0.000,1030,0.000,0.040,2388,1947,3087,3162,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6230,-0.55,-97.3,2387,1946,3162,3011,612.3,-9.2,580,6236,0.00,2.28,0.00,0.000,516,0.000,0.054,2388,536,3086,3162,3011,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6302,-0.55,-97.3,2388,536,3162,3011,618.2,-9.8,583,6309,0.00,2.20,0.00,0.000,1030,0.000,0.041,2378,1958,3086,3162,3011,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6609,-0.55,-97.3,2378,1958,3162,3010,650.3,-10.2,599,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,-0.55,-97.3,2378,1958,3162,3009,681.1,-10.1,614,6915,0.00,2.28,0.00,0.000,516,0.000,0.054,2379,546,3085,3162,3009,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6969,-0.55,-97.3,2378,546,3162,3009,687.2,-10.0,617,6974,0.00,2.17,0.00,0.000,1030,0.000,0.042,2368,1954,3085,3162,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7290,-0.55,-97.3,2368,1954,3162,3008,719.0,-10.0,633,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1954,3085,3162,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7589,-0.55,-97.3,2368,1954,3162,3007,749.1,-10.0,648,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1954,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7889,-0.55,-97.3,2368,1954,3162,3006,778.6,-9.8,663,7894,0.00,2.22,0.00,0.000,260,0.000,0.050,2357,3369,3084,3162,3006,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7969,-0.55,-97.3,2357,3369,3162,3006,786.5,-9.8,667,7976,0.10,2.20,0.00,0.000,3078,0.124,0.041,2390,1960,3084,3162,3006,0,0,0,0,0,0,25.58,25.86,28.83
$GC,8290,-0.55,-97.3,2391,1959,3161,3006,813.0,-8.4,683,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1959,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8590,-0.55,-97.3,2391,1959,3162,3005,838.8,-8.6,698,8595,0.00,2.28,0.00,0.000,516,0.000,0.057,2391,543,3083,3162,3005,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8622,-0.55,-97.3,2391,543,3162,3005,840.6,-8.7,699,8629,0.00,2.20,0.00,0.000,1030,0.000,0.044,2383,1956,3083,3162,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8929,-0.55,-97.3,2383,1957,3162,3005,868.7,-8.8,715,8935,0.00,2.22,0.00,0.000,260,0.000,0.050,2372,3368,3083,3161,3005,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8959,-0.55,-97.3,2372,3368,3162,3005,870.5,-8.8,716,8968,0.00,2.20,0.00,0.000,1030,0.000,0.042,2372,1950,3083,3162,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9270,-0.55,-97.3,2372,1950,3162,3004,900.0,-9.2,732,9275,0.00,2.25,0.00,0.000,516,0.000,0.057,2372,544,3083,3162,3004,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9317,-0.55,-97.3,2372,544,3162,3005,904.0,-9.5,734,9322,0.12,2.20,0.00,0.000,3078,0.158,0.043,2394,1959,3083,3162,3004,0,0,0,0,0,0,25.58,25.84,28.83
$GC,9625,-0.55,-97.3,2393,1958,3162,3004,929.4,-8.0,749,9630,0.00,2.20,0.00,0.000,260,0.000,0.051,2385,3361,3083,3162,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9672,-0.55,-97.3,2384,3361,3162,3004,932.8,-8.1,751,9676,0.00,2.22,0.00,0.000,1030,0.000,0.042,2385,1946,3083,3162,3004,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9980,-0.55,-97.3,2384,1946,3162,3003,959.8,-8.7,766,9985,0.00,2.25,0.00,0.000,516,0.000,0.057,2385,543,3082,3162,3003,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10059,-0.55,-97.3,2384,543,3162,3003,967.3,-9.3,770,10065,0.00,2.20,0.00,0.000,1030,0.000,0.043,2375,1955,3082,3162,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10380,-0.55,-97.3,2375,1956,3162,3003,996.3,-8.8,786,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10436,begin apogee
$GC,10443,-0.14,0.0,2374,1877,3162,3002,1001.6,-8.9,789,10541,0.47,0.00,94.85,1.883,10246,0.122,0.000,2523,1877,2682,2758,2607,0,0,0,0,0,0,25.35,28.83,21.92
$STATE,10542,end apogee,CONTROL_FINISHED_OK
$STATE,10542,begin climb
$GC,10544,0.55,97.3,2523,1877,2758,2607,1005.6,0.0,794,10655,0.65,2.58,100.78,1.795,10756,0.076,0.060,2755,484,2286,2358,2214,0,0,0,0,0,0,24.13,23.06,21.07
$GC,10712,0.67,214.4,2755,483,2352,2212,1001.1,4.9,801,10845,0.00,2.35,124.75,1.760,9222,0.000,0.044,2755,1890,1807,1880,1735,0,0,0,0,0,0,28.83,24.31,21.01
$GC,11160,0.67,214.4,2755,1889,1874,1725,954.8,10.8,824,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1889,1799,1875,1724,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19224,end climb,SURFACE_DEPTH_REACHED
$STATE,19224,begin surface coast
$FINISH,0.4,1.026503
$STATE,19246,end surface coast,CONTROL_FINISHED_OK
$STATE,19246,begin surface
$SM_CCo,19323,0.00,0.000,0,0,1653,252.65
$SM_GC,1.11,6.90,0.12,0.00,0.041,0.082,0.000,169,1966,1653,-7.41,-0.59,252.65,0,0,0,0,0,0,26.03,26.32,28.83
$IRIDIUM_FIX,-4242.04,737.82,160909,141442
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.60
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.0,94.247
$10V_AH,9.7,63.258
$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
$DEVICE_SECS,18.050,142.925,356.875,0.000,0.000,23.311,56.637,265.762,0.000,0.000,18.744,3751.354,11942.780,529.524,3207.131,392.691,0.000,1917.845,0.000,2670.068,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.394,298.579,949.071,440.525,0.000,0.000,0.000,0.000,0.000,0.000
$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,96909,1463
$CAP_FILE_SIZE,182359,0
$CFSIZE,259252224,209653760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188, 13.3,1
$GPS,201116,120426,-4259.128,831.577,36,1.2,40,-25.1