version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 301
start: 9 14 116 4 21 42
data:
$ID,542
$MISSION,14
$DIVE,301
$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,-41843.051
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,140916,041427,-4303.937,830.068,35,1.0,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.2
$GPS2,140916,042059,-4303.917,830.102,15,1.3,15,-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,46.0,18238,-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,13,begin dive
$GC,15,-0.55,-97.3,148,1965,1761,1658,0.0,0.0,0,76,0.00,0.00,-54.22,0.000,16390,0.000,0.000,146,1966,3082,3145,3020,0,0,0,0,0,0,28.83,28.83,26.37
$GC,79,-0.55,-97.3,145,1966,3146,3020,3.7,-5.8,9,93,8.75,2.30,0.00,0.000,2308,0.220,0.052,2381,3379,3083,3150,3017,0,0,0,0,0,0,25.05,25.75,28.83
$GC,530,-0.55,-97.3,1440,3378,3141,3006,66.7,-12.2,97,537,0.00,2.28,0.00,0.000,1030,0.000,0.050,2381,1948,3087,3165,3010,0,0,0,0,0,0,28.83,25.75,28.83
$GC,841,-0.55,-97.3,2380,1947,3166,3010,108.3,-13.3,152,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1947,3088,3166,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.55,-97.3,2380,1947,3167,3010,147.1,-12.7,182,1150,0.00,2.28,0.00,0.000,516,0.000,0.061,2381,539,3088,3166,3010,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1206,-0.55,-97.3,1552,539,3148,3006,155.6,-13.6,188,1214,0.00,2.28,0.00,0.000,1030,0.000,0.050,2371,1956,3088,3167,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1514,-0.55,-97.3,2370,1956,3167,3010,197.8,-13.4,219,1523,0.00,2.25,0.00,0.000,260,0.000,0.057,2360,3368,3089,3168,3010,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1626,-0.55,-97.3,2360,3368,3168,3010,212.5,-13.2,230,1636,0.12,2.22,0.00,0.000,3078,0.169,0.049,2389,1954,3089,3168,3010,0,0,0,0,0,0,25.60,25.85,28.83
$GC,1937,-0.55,-97.3,2389,1954,3169,3010,250.8,-12.3,261,1945,0.00,2.25,0.00,0.000,260,0.000,0.057,2381,3365,3089,3169,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1968,-0.55,-97.3,2381,3365,3169,3010,254.7,-12.1,264,1978,0.00,2.22,0.00,0.000,1030,0.000,0.048,2381,1951,3089,3169,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2278,-0.55,-97.3,2381,1951,3169,3010,293.9,-12.5,295,2288,0.00,2.28,0.00,0.000,260,0.000,0.057,2371,3370,3089,3169,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2313,-0.55,-97.3,2370,3369,3169,3010,297.9,-12.1,298,2321,0.00,2.28,0.00,0.000,1030,0.000,0.049,2371,1956,3089,3169,3010,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2621,-0.55,-97.3,2370,1957,3169,3010,336.4,-12.7,329,2630,0.00,2.28,0.00,0.000,516,0.000,0.062,2370,545,3089,3169,3010,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2656,-0.55,-97.3,2370,546,3169,3010,340.5,-13.1,332,2665,0.12,2.25,0.00,0.000,3078,0.180,0.050,2389,1977,3089,3169,3010,0,0,0,0,0,0,25.60,25.89,28.83
$GC,2963,-0.55,-97.3,2389,1977,3169,3010,374.0,-10.6,363,2972,0.00,2.20,0.00,0.000,260,0.000,0.057,2380,3365,3089,3169,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3116,-0.55,-97.3,2379,3365,3169,3010,389.7,-10.2,378,3126,0.00,2.20,0.00,0.000,1030,0.000,0.049,2380,1958,3089,3169,3010,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3435,-0.55,-97.3,2380,1958,3169,3010,424.9,-11.3,399,3441,0.00,2.25,0.00,0.000,260,0.000,0.058,2370,3365,3089,3169,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3508,-0.55,-97.3,2370,3365,3169,3010,431.6,-11.2,402,3515,0.00,2.22,0.00,0.000,1030,0.000,0.050,2370,1951,3089,3169,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3816,-0.55,-97.3,2370,1949,3169,3010,470.0,-12.0,418,3821,0.00,2.28,0.00,0.000,260,0.000,0.057,2360,3374,3089,3169,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3878,-0.55,-97.3,2359,3374,3169,3010,477.2,-12.1,421,3883,0.12,2.25,0.00,0.000,3078,0.167,0.049,2389,1952,3089,3169,3010,0,0,0,0,0,0,25.62,25.86,28.83
$GC,4191,-0.55,-97.3,2389,1951,3169,3010,510.4,-10.4,437,4196,0.00,2.28,0.00,0.000,260,0.000,0.058,2381,3371,3089,3169,3010,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4270,-0.55,-97.3,2380,3371,3169,3009,518.8,-10.6,441,4276,0.00,2.25,0.00,0.000,1030,0.000,0.051,2381,1954,3089,3169,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4591,-0.55,-97.3,2380,1953,3169,3008,553.1,-10.9,457,4596,0.00,2.28,0.00,0.000,260,0.000,0.058,2370,3370,3088,3169,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4638,-0.55,-97.3,2370,3371,3169,3008,557.4,-10.9,459,4642,0.00,2.25,0.00,0.000,1030,0.000,0.050,2370,1948,3088,3169,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4945,-0.55,-97.3,2370,1947,3169,3007,593.1,-11.4,474,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3088,3169,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.55,-97.3,2370,1947,3168,3006,626.0,-10.9,489,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3087,3169,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,-0.55,-97.3,2370,1947,3169,3005,658.9,-10.9,504,5551,0.00,2.30,0.00,0.000,260,0.000,0.059,2360,3372,3087,3169,3005,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5669,-0.55,-97.3,2360,3372,3169,3005,672.0,-10.8,510,5674,0.12,2.25,0.00,0.000,3078,0.168,0.052,2389,1955,3087,3169,3005,0,0,0,0,0,0,25.58,25.82,28.83
$GC,5981,-0.55,-97.3,2389,1955,3169,3004,702.6,-9.6,526,5987,0.00,2.25,0.00,0.000,260,0.000,0.060,2381,3362,3086,3169,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6014,-0.55,-97.3,2381,3362,3169,3004,704.5,-9.5,527,6022,0.00,2.25,0.00,0.000,1030,0.000,0.051,2381,1949,3086,3169,3004,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6322,-0.55,-97.3,2381,1949,3169,3003,735.5,-9.6,543,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-0.55,-97.3,2381,1949,3169,3002,764.1,-9.5,558,6627,0.00,2.28,0.00,0.000,260,0.000,0.060,2371,3360,3085,3169,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6664,-0.55,-97.3,1568,3360,3151,2998,767.9,-9.6,560,6668,0.00,2.30,0.00,0.000,1030,0.000,0.052,2371,1950,3085,3168,3002,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6982,-0.55,-97.3,2371,1949,3169,3002,800.3,-10.0,576,6988,0.00,2.28,0.00,0.000,260,0.000,0.060,2361,3362,3085,3169,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7081,-0.55,-97.3,2361,3362,3169,3002,810.6,-10.4,581,7088,0.12,2.25,0.00,0.000,3078,0.169,0.052,2390,1947,3085,3169,3002,0,0,0,0,0,0,25.53,25.78,28.83
$GC,7402,-0.55,-97.3,2389,1947,3169,3001,841.4,-9.6,597,7407,0.00,2.30,0.00,0.000,260,0.000,0.062,2381,3367,3085,3169,3001,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7441,-0.55,-97.3,2381,3367,3168,3001,845.3,-9.6,599,7447,0.00,2.28,0.00,0.000,1030,0.000,0.053,2381,1951,3085,3169,3001,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7762,-0.55,-97.3,2381,1951,3169,3001,876.2,-9.4,615,7768,0.00,2.30,0.00,0.000,260,0.000,0.061,2371,3371,3085,3169,3001,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7851,-0.55,-97.3,2371,3371,3169,3001,883.7,-9.4,619,7861,0.00,2.25,0.00,0.000,1030,0.000,0.053,2371,1954,3084,3169,3000,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8161,-0.55,-97.3,2371,1954,3169,3000,915.4,-10.1,635,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1954,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,-0.55,-97.3,2371,1954,3169,2999,947.3,-10.9,650,8467,0.00,2.28,0.00,0.000,260,0.000,0.061,2361,3361,3083,3168,2999,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8514,-0.55,-97.3,2361,3361,3169,2999,951.6,-10.9,652,8522,0.12,2.28,0.00,0.000,3078,0.168,0.054,2390,1945,3084,3169,2999,0,0,0,0,0,0,25.51,25.74,28.83
$GC,8823,-0.55,-97.3,2390,1944,3169,2998,982.2,-9.2,668,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1944,3083,3168,2999,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9039,begin apogee
$GC,9044,-0.14,0.0,2390,1878,3169,2998,1001.7,-8.6,679,9142,0.45,0.00,90.03,1.762,10246,0.145,0.000,2526,1877,2684,2768,2601,0,0,0,0,0,0,25.28,28.83,23.08
$STATE,9143,end apogee,CONTROL_FINISHED_OK
$STATE,9143,begin climb
$GC,9145,0.55,97.3,2525,1877,2768,2601,1004.6,0.0,684,9249,0.65,2.62,96.38,1.716,10756,0.094,0.071,2753,494,2285,2358,2213,0,0,0,0,0,0,24.44,23.39,22.17
$GC,9255,0.67,221.2,2753,494,2356,2213,1000.7,4.7,689,9391,0.12,2.45,125.97,1.698,11270,0.092,0.054,2800,1882,1780,1853,1708,0,0,0,0,0,0,23.72,23.70,22.15
$GC,9704,0.67,221.2,2800,1881,1843,1693,926.4,17.4,712,9709,0.00,2.38,0.00,0.000,516,0.000,0.073,2811,487,1768,1843,1693,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9736,0.67,221.2,2810,487,1842,1693,922.8,17.6,713,9742,0.00,2.30,0.00,0.000,1030,0.000,0.054,2810,1890,1767,1842,1693,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10043,0.67,221.2,2811,1891,1842,1690,866.2,17.5,729,10048,0.00,2.35,0.00,0.000,516,0.000,0.074,2821,487,1765,1841,1690,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10063,0.67,221.2,2821,487,1841,1689,862.7,17.5,730,10070,0.12,2.28,0.00,0.000,5126,0.194,0.055,2794,1895,1765,1841,1690,0,0,0,0,0,0,25.41,25.70,28.83
$GC,10383,0.67,221.2,2794,1895,1841,1687,812.3,15.5,746,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1895,1764,1841,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,0.67,221.2,2794,1895,1841,1687,765.9,15.6,761,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1896,1764,1841,1687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10984,0.67,221.2,2794,1896,1841,1686,719.9,15.1,776,10989,0.00,2.30,0.00,0.000,260,0.000,0.064,2794,3307,1763,1841,1686,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,15500,end climb,SURFACE_DEPTH_REACHED
$STATE,15500,begin surface coast
$FINISH,0.0,1.026665
$STATE,15517,end surface coast,CONTROL_FINISHED_OK
$STATE,15517,begin surface
$SM_CCo,15593,0.00,0.000,0,0,1758,226.90
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$IRIDIUM_FIX,-4250.85,829.08,110709,131336
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.27
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.2,44.406
$10V_AH,10.0,30.509
$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
$DEVICE_SECS,18.325,160.175,312.375,0.000,0.000,24.305,41.044,208.347,0.000,0.000,16.533,3081.601,9433.364,512.003,2745.739,226.308,0.000,1726.020,0.000,2295.116,0.000,1.011,0.000
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$SENSOR_SECS,851.118,245.482,780.915,362.978,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353148
$DATA_FILE_SIZE,80417,1190
$CAP_FILE_SIZE,157227,0
$CFSIZE,259252224,235409408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,291.5,1
$GPS,140916,084251,-4301.651,829.611,25,0.9,42,-25.0