version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 109
start: 8 5 116 1 10 5
data:
$ID,542
$MISSION,14
$DIVE,109
$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,333
$T_MISSION,343
$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,120
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-40102.754
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,050816,010023,-4303.435,830.328,121,0.9,121,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.5
$GPS2,050816,010922,-4303.399,830.465,24,1.4,25,-25.1
$SPEED_LIMITS,0.275,0.285
$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,211.4,4730,-16.4,-10.010,-19.35,2733
$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,15,-0.58,-97.3,149,1975,2044,1945,0.0,0.0,0,63,0.00,0.00,-42.50,0.000,16390,0.000,0.000,149,1977,3097,3177,3017,0,0,0,0,0,0,28.83,28.83,26.31
$GC,66,-0.58,-97.3,148,1976,3177,3017,4.3,-9.6,7,80,8.95,2.30,0.00,0.000,2820,0.246,0.056,2389,562,3099,3182,3017,0,0,0,0,0,0,25.62,25.91,28.83
$GC,88,-0.58,-97.3,2388,562,3182,3017,12.6,-29.5,10,95,0.00,2.28,0.00,0.000,1030,0.000,0.054,2381,1991,3099,3182,3017,0,0,0,0,0,0,28.83,25.91,28.83
$GC,137,-0.58,-97.3,2380,1991,3185,3016,22.5,-18.2,19,144,0.00,2.33,0.00,0.000,516,0.000,0.068,2383,567,3100,3185,3016,0,0,0,0,0,0,28.83,25.91,28.83
$GC,548,-0.58,-97.3,2383,567,3186,3016,81.3,-13.5,100,556,0.00,2.28,0.00,0.000,1030,0.000,0.058,2375,1975,3101,3186,3016,0,0,0,0,0,0,28.83,26.12,28.83
$GC,862,-0.58,-97.3,2375,1975,3187,3017,128.0,-14.8,143,866,0.00,2.25,0.00,0.000,260,0.000,0.064,2364,3392,3101,3186,3016,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1028,-0.58,-97.3,2364,3393,3187,3016,152.6,-14.6,159,1032,0.00,2.22,0.00,0.000,1030,0.000,0.054,2365,1973,3101,3187,3016,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1333,-0.58,-97.3,2364,1973,3187,3016,198.9,-15.4,189,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1973,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.58,-97.3,2364,1973,3187,3016,242.1,-13.9,219,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1973,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.58,-97.3,2364,1973,3187,3016,282.8,-13.6,249,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1973,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-0.58,-97.3,2364,1973,3188,3016,325.3,-14.5,279,2237,0.00,2.25,0.00,0.000,260,0.000,0.063,2354,3399,3102,3188,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2289,-0.58,-97.3,2354,3399,3188,3017,333.1,-13.9,284,2294,0.12,2.22,0.00,0.000,3078,0.190,0.054,2382,1969,3102,3188,3016,0,0,0,0,0,0,26.19,26.36,28.83
$GC,2594,-0.58,-97.3,2381,1969,3188,3016,371.8,-12.4,314,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-0.58,-97.3,2381,1969,3188,3016,407.5,-11.7,341,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.58,-97.3,2381,1969,3189,3016,440.5,-10.8,356,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.58,-97.3,2381,1969,3189,3017,472.6,-10.7,371,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3795,-0.58,-97.3,2381,1969,3189,3017,505.8,-10.9,386,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.58,-97.3,2382,1969,3189,3016,539.8,-11.5,401,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-0.58,-97.3,2381,1969,3189,3016,574.0,-11.3,416,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.58,-97.3,2381,1969,3189,3016,607.7,-11.1,431,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-0.58,-97.3,2381,1969,3189,3016,641.3,-11.4,446,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.58,-97.3,2381,1969,3189,3015,675.4,-11.2,461,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.58,-97.3,2382,1969,3189,3013,710.2,-11.5,476,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3101,3189,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,-0.58,-97.3,2381,1969,3189,3012,744.6,-11.4,491,5898,0.00,2.28,0.00,0.000,260,0.000,0.070,2373,3393,3100,3189,3012,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5930,-0.58,-97.3,2373,3392,3189,3012,748.7,-11.4,493,5934,0.00,2.22,0.00,0.000,1030,0.000,0.060,2373,1981,3100,3189,3012,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6246,-0.58,-97.3,2373,1981,3189,3011,786.5,-12.2,509,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1981,3100,3189,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6546,-0.58,-97.3,2373,1981,3189,3010,822.8,-12.2,524,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1981,3099,3189,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.58,-97.3,2373,1981,3189,3009,857.5,-11.4,539,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1981,3099,3189,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,-0.58,-97.3,2373,1981,3189,3007,890.9,-10.8,554,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1981,3098,3189,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,-0.58,-97.3,2373,1981,3189,3006,923.4,-10.7,569,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1981,3098,3189,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7746,-0.58,-97.3,2373,1980,3188,3005,955.0,-10.7,584,7750,0.00,2.28,0.00,0.000,260,0.000,0.073,2363,3397,3096,3188,3005,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7784,-0.58,-97.3,1576,3396,3171,3002,958.9,-10.5,586,7789,0.00,2.30,0.00,0.000,1030,0.000,0.060,2363,1977,3097,3189,3005,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8102,-0.58,-97.3,2363,1977,3189,3005,994.4,-11.3,602,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3097,3189,3005,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8161,begin apogee
$GC,8165,-0.14,0.0,2363,1868,3188,3005,1001.0,-11.0,605,8256,0.55,0.00,87.65,1.740,10246,0.167,0.000,2525,1867,2699,2794,2605,0,0,0,0,0,0,26.23,28.83,23.62
$STATE,8257,end apogee,CONTROL_FINISHED_OK
$STATE,8257,begin climb
$GC,8258,0.58,97.3,2524,1868,2795,2605,1004.4,0.0,609,8354,0.70,0.00,92.50,1.711,10246,0.106,0.000,2753,1868,2303,2378,2228,0,0,0,0,0,0,24.63,28.83,23.11
$GC,8643,0.60,119.8,2752,1868,2370,2215,974.8,9.2,629,8666,0.00,0.00,21.42,1.649,8198,0.000,0.000,2753,1867,2210,2289,2132,0,0,0,0,0,0,28.83,28.83,23.90
$GC,8962,0.60,119.8,2753,1868,2283,2126,941.9,10.4,645,8966,0.00,2.38,0.00,0.000,260,0.000,0.072,2753,3294,2205,2284,2126,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9018,0.60,119.8,2753,3293,2282,2126,935.6,11.0,648,9022,0.00,2.33,0.00,0.000,1030,0.000,0.064,2763,1883,2204,2282,2126,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9334,0.60,119.8,2763,1883,2282,2124,900.7,10.7,664,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1883,2203,2282,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,0.60,119.8,2763,1883,2282,2123,867.5,11.1,679,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1882,2202,2282,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,0.60,119.8,2763,1883,2281,2122,834.5,10.9,694,9938,0.00,2.30,0.00,0.000,260,0.000,0.073,2763,3293,2201,2281,2122,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9973,0.60,119.8,2763,3293,2280,2122,830.3,11.1,696,9977,0.00,2.30,0.00,0.000,1030,0.000,0.066,2773,1874,2201,2280,2122,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10290,0.60,119.8,2773,1874,2279,2122,793.2,11.5,712,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1874,2200,2279,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10591,0.60,119.8,2773,1874,2279,2121,760.4,10.9,727,10597,0.00,2.33,0.00,0.000,516,0.000,0.083,2784,462,2200,2279,2121,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10630,0.60,119.8,2784,462,2278,2121,755.7,11.5,729,10634,0.00,2.28,0.00,0.000,1030,0.000,0.067,2784,1877,2200,2279,2121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10946,0.60,119.8,2784,1877,2278,2121,719.5,11.3,745,10950,0.00,2.28,0.00,0.000,260,0.000,0.073,2784,3289,2199,2278,2121,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11102,0.60,119.8,2784,3289,2278,2121,701.2,11.9,753,11106,0.00,2.30,0.00,0.000,1030,0.000,0.067,2795,1866,2199,2278,2121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11418,0.60,119.8,2794,1866,2277,2121,665.1,11.4,769,11422,0.00,2.30,0.00,0.000,260,0.000,0.072,2795,3288,2199,2278,2121,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11447,0.60,119.8,2795,3288,2277,2121,663.2,11.5,770,11456,0.15,2.28,0.00,0.000,5126,0.208,0.066,2771,1873,2199,2277,2121,0,0,0,0,0,0,26.08,26.27,28.83
$GC,11754,0.60,119.8,2771,1873,2277,2121,630.4,10.1,786,11758,0.00,2.33,0.00,0.000,516,0.000,0.081,2781,454,2199,2277,2121,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11810,0.60,119.8,2780,453,2277,2121,624.3,10.6,789,11814,0.00,2.28,0.00,0.000,1030,0.000,0.066,2781,1874,2199,2277,2121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12126,0.60,119.8,2780,1874,2277,2121,591.7,10.3,805,12130,0.00,2.28,0.00,0.000,260,0.000,0.073,2781,3288,2199,2277,2121,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12205,0.60,119.8,2780,3289,2277,2121,583.1,11.3,809,12209,0.00,2.28,0.00,0.000,1030,0.000,0.064,2790,1871,2199,2277,2121,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,13573,0.60,119.8,2784,1873,2277,2121,437.5,10.5,878,13577,0.00,2.30,0.00,0.000,260,0.000,0.072,2783,3295,2199,2277,2121,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,17516,end climb,SURFACE_DEPTH_REACHED
$STATE,17516,begin surface coast
$FINISH,0.0,1.026614
$STATE,17532,end surface coast,CONTROL_FINISHED_OK
$STATE,17532,begin surface
$SM_CCo,17607,0.00,0.000,0,0,2131,139.33
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$IRIDIUM_FIX,-4247.91,829.08,010609,141411
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.37
$INTERNAL_PRESSURE,9.40433
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,16.677
$10V_AH,10.2,10.622
$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
$DEVICE_SECS,17.525,100.425,218.700,0.000,0.000,55.116,91.845,201.240,0.000,0.000,25.742,3430.963,11523.475,357.270,2683.010,166.086,0.000,1478.159,0.000,2213.770,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.597,114.912,313.486,350.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,83648,1330
$CAP_FILE_SIZE,161674,0
$CFSIZE,259252224,251064320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.158,  9.0,1
$GPS,050816,061255,-4303.867,830.580,529,0.8,530,-25.1