version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 319
start: 9 18 116 0 21 1
data:
$ID,542
$MISSION,14
$DIVE,319
$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,-41865.938
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,180916,001159,-4306.345,831.268,134,1.0,135,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.8
$GPS2,180916,002015,-4306.411,831.301,20,0.8,22,-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,318.6,1972,-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,15,-0.57,-97.3,137,1963,1872,1805,0.0,0.0,0,69,0.00,0.00,-48.03,0.000,16390,0.000,0.000,138,1963,3079,3148,3011,0,0,0,0,0,0,28.83,28.83,26.32
$GC,72,-0.57,-97.3,137,1963,3149,3011,3.7,-6.9,8,87,9.02,2.25,0.00,0.000,2308,0.230,0.054,2370,3371,3081,3152,3010,0,0,0,0,0,0,25.03,25.70,28.83
$GC,99,-0.57,-97.3,1488,3370,3137,3001,12.8,-30.0,12,108,0.00,2.30,0.00,0.000,1030,0.000,0.052,2370,1944,3082,3163,3002,0,0,0,0,0,0,28.83,25.66,28.83
$GC,151,-0.57,-97.3,2369,1944,3164,3002,20.4,-13.8,21,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1944,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,280,-0.57,-97.3,1424,1942,3141,2997,42.0,-17.8,46,286,0.00,2.30,0.00,0.000,260,0.000,0.056,2361,3371,3083,3165,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,314,-0.57,-97.3,2361,3371,3165,3002,47.9,-16.9,52,323,0.00,2.30,0.00,0.000,1030,0.000,0.050,2361,1955,3083,3165,3002,0,0,0,0,0,0,28.83,25.70,28.83
$GC,637,-0.57,-97.3,2361,1955,3165,3002,92.3,-13.8,113,643,0.00,2.28,0.00,0.000,516,0.000,0.060,2361,543,3083,3165,3002,0,0,0,0,0,0,28.83,25.66,28.83
$GC,665,-0.57,-97.3,1472,543,3143,2998,96.7,-13.6,118,673,0.15,2.22,0.00,0.000,3078,0.177,0.050,2387,1957,3084,3166,3002,0,0,0,0,0,0,25.43,25.79,28.83
$GC,976,-0.57,-97.3,2387,1958,3165,3002,134.8,-11.9,151,985,0.00,2.25,0.00,0.000,260,0.000,0.057,2378,3371,3083,3165,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1031,-0.57,-97.3,2377,3371,3165,3002,141.3,-12.5,156,1039,0.00,2.30,0.00,0.000,1030,0.000,0.049,2378,1948,3083,3165,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1339,-0.57,-97.3,2378,1948,3166,3002,181.9,-13.2,187,1348,0.00,2.28,0.00,0.000,260,0.000,0.057,2368,3368,3084,3166,3002,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1384,-0.57,-97.3,2368,3368,3166,3002,187.5,-13.2,191,1391,0.00,2.25,0.00,0.000,1030,0.000,0.048,2368,1948,3084,3166,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1691,-0.57,-97.3,2367,1947,3166,3002,231.0,-13.8,222,1701,0.00,2.28,0.00,0.000,260,0.000,0.056,2357,3371,3084,3166,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1705,-0.57,-97.3,2357,3371,3166,3002,232.1,-13.5,223,1713,0.08,2.28,0.00,0.000,3078,0.158,0.047,2380,1955,3084,3166,3002,0,0,0,0,0,0,25.59,25.86,28.83
$GC,2013,-0.57,-97.3,2379,1955,3167,3002,272.3,-13.4,254,2023,0.00,2.25,0.00,0.000,260,0.000,0.056,2371,3372,3084,3166,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2035,-0.57,-97.3,2371,3372,3167,3002,275.2,-13.1,256,2039,0.00,2.25,0.00,0.000,1030,0.000,0.048,2371,1945,3084,3167,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2340,-0.57,-97.3,2371,1945,3167,3002,315.1,-12.9,286,2350,0.00,2.25,0.00,0.000,516,0.000,0.061,2371,547,3084,3167,3002,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2406,-0.57,-97.3,2371,547,3167,3002,323.5,-13.3,292,2414,0.00,2.25,0.00,0.000,1030,0.000,0.050,2361,1974,3084,3167,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2713,-0.57,-97.3,2361,1974,3167,3002,365.4,-13.1,323,2722,0.00,2.22,0.00,0.000,260,0.000,0.057,2350,3370,3084,3167,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2848,-0.57,-97.3,2350,3370,3167,3002,383.4,-13.8,336,2859,0.10,2.22,0.00,0.000,3078,0.155,0.049,2381,1945,3084,3167,3002,0,0,0,0,0,0,25.54,25.88,28.83
$GC,3168,-0.57,-97.3,2381,1945,3167,3002,423.4,-12.3,359,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1945,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3468,-0.57,-97.3,2381,1945,3167,3002,458.6,-11.5,374,3473,0.00,2.28,0.00,0.000,260,0.000,0.057,2372,3365,3084,3167,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3510,-0.57,-97.3,2372,3365,3167,3002,463.2,-11.3,376,3514,0.00,2.25,0.00,0.000,1030,0.000,0.049,2372,1945,3085,3167,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3823,-0.57,-97.3,2372,1945,3167,3002,500.0,-11.4,392,3828,0.00,2.28,0.00,0.000,516,0.000,0.062,2372,540,3084,3167,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3875,-0.57,-97.3,2372,540,3167,3002,504.8,-11.7,394,3882,0.00,2.22,0.00,0.000,1030,0.000,0.050,2363,1956,3084,3167,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4182,-0.57,-97.3,2362,1956,3167,3002,544.2,-12.6,410,4188,0.00,2.25,0.00,0.000,260,0.000,0.057,2352,3370,3084,3167,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4263,-0.57,-97.3,2351,3370,3167,3002,553.9,-12.1,414,4269,0.15,2.25,0.00,0.000,3078,0.170,0.050,2388,1946,3084,3167,3002,0,0,0,0,0,0,25.51,25.85,28.83
$GC,4582,-0.57,-97.3,2387,1946,3167,3002,587.4,-10.6,430,4588,0.00,2.28,0.00,0.000,516,0.000,0.063,2388,546,3084,3167,3002,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4611,-0.57,-97.3,2388,545,3167,3002,589.7,-10.8,431,4615,0.00,2.22,0.00,0.000,1030,0.000,0.050,2379,1954,3084,3167,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4917,-0.57,-97.3,2379,1954,3167,3002,625.7,-11.2,446,4921,0.00,2.28,0.00,0.000,260,0.000,0.058,2368,3375,3084,3167,3002,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4986,-0.57,-97.3,2368,3375,3167,3002,632.4,-11.2,449,4990,0.00,2.25,0.00,0.000,1030,0.000,0.050,2369,1955,3084,3167,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5294,-0.57,-97.3,2368,1954,3167,3002,667.8,-11.2,464,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1954,3084,3167,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5593,-0.57,-97.3,2368,1954,3167,3001,701.6,-11.3,479,5599,0.00,2.30,0.00,0.000,516,0.000,0.064,2368,543,3084,3167,3001,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5626,-0.57,-97.3,2368,543,3167,3001,704.0,-11.4,480,5634,0.00,2.25,0.00,0.000,1030,0.000,0.052,2359,1967,3083,3166,3001,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5934,-0.57,-97.3,2358,1968,3168,3000,741.8,-12.0,496,5940,0.12,2.25,0.00,0.000,2308,0.188,0.058,2383,3370,3083,3167,3000,0,0,0,0,0,0,25.95,25.74,28.83
$GC,5993,-0.57,-97.3,2383,3370,3167,3000,748.1,-10.8,499,5999,0.00,2.25,0.00,0.000,1030,0.000,0.051,2383,1958,3083,3167,3000,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6314,-0.57,-97.3,2383,1958,3167,2999,780.9,-10.0,515,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1958,3083,3167,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.57,-97.3,2383,1958,3167,2998,810.2,-9.6,530,6619,0.00,2.28,0.00,0.000,260,0.000,0.060,2373,3364,3082,3166,2998,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6628,-0.57,-97.3,2373,3364,3167,2997,810.2,-9.6,530,6634,0.00,2.25,0.00,0.000,1030,0.000,0.052,2373,1952,3082,3167,2998,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6934,-0.57,-97.3,2372,1952,3167,2997,841.5,-9.7,546,6939,0.00,2.33,0.00,0.000,516,0.000,0.067,2373,544,3082,3167,2997,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6956,-0.57,-97.3,2373,544,3167,2997,843.5,-9.8,547,6960,0.00,2.25,0.00,0.000,1030,0.000,0.054,2363,1954,3082,3167,2997,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7268,-0.57,-97.3,2363,1955,3167,2996,877.3,-11.1,563,7274,0.00,2.28,0.00,0.000,260,0.000,0.061,2352,3371,3081,3167,2996,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7357,-0.57,-97.3,2352,3371,3167,2996,886.5,-11.5,567,7361,0.12,2.28,0.00,0.000,3078,0.173,0.053,2381,1945,3081,3167,2996,0,0,0,0,0,0,25.49,25.75,28.83
$GC,7663,-0.57,-97.3,2381,1945,3167,2996,919.8,-10.5,582,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1945,3081,3167,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.57,-97.3,2381,1945,3167,2996,951.4,-10.3,597,7970,0.00,2.33,0.00,0.000,516,0.000,0.068,2381,531,3080,3166,2995,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7991,-0.57,-97.3,2381,531,3167,2995,953.6,-10.5,598,7995,0.00,2.30,0.00,0.000,1030,0.000,0.054,2373,1964,3081,3167,2995,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8299,-0.57,-97.3,2373,1966,3167,2995,987.0,-10.4,613,8304,0.00,2.28,0.00,0.000,260,0.000,0.061,2362,3374,3081,3167,2995,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8322,-0.57,-97.3,2362,3374,3167,2995,989.1,-10.4,614,8326,0.00,2.28,0.00,0.000,1030,0.000,0.052,2362,1951,3081,3167,2995,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,8431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8431,begin apogee
$GC,8436,-0.14,0.0,2362,1867,3167,2995,1001.7,-11.0,620,8534,0.55,0.00,89.68,1.756,10246,0.148,0.000,2524,1867,2682,2764,2601,0,0,0,0,0,0,25.15,28.83,23.03
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8537,0.57,97.3,2524,1867,2764,2601,1005.6,0.0,625,8636,0.70,0.00,95.55,1.704,10758,0.093,0.000,2755,1867,2286,2357,2215,0,0,0,0,0,0,24.42,28.83,22.11
$GC,8934,0.59,121.3,2755,1867,2351,2204,977.2,8.4,645,8962,0.00,2.45,23.40,1.681,8452,0.000,0.061,2754,3302,2188,2263,2114,0,0,0,0,0,0,28.83,24.78,23.44
$GC,9012,0.59,121.3,1864,3301,2218,2105,969.8,9.5,649,9017,0.00,2.35,0.00,0.000,1030,0.000,0.056,2765,1900,2184,2258,2111,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9326,0.59,121.3,2765,1900,2258,2106,938.1,10.2,665,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1900,2182,2258,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,0.59,121.3,2764,1900,2257,2105,907.8,10.1,680,9630,0.00,2.30,0.00,0.000,260,0.000,0.062,2765,3310,2181,2257,2105,0,0,0,0,0,0,28.83,25.74,28.83
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$STATE,18105,end climb,SURFACE_DEPTH_REACHED
$STATE,18106,begin surface coast
$FINISH,0.1,1.026688
$STATE,18122,end surface coast,CONTROL_FINISHED_OK
$STATE,18122,begin surface
$SM_CCo,18138,18.40,0.201,0,0,1864,200.16
$SM_GC,2.66,6.88,0.10,18.40,0.046,0.103,0.201,173,1963,1864,-7.42,-0.68,200.16,0,0,0,0,0,0,26.03,26.39,25.47
$IRIDIUM_FIX,-4250.85,712.26,150709,080836
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.98
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,22.1,46.993
$10V_AH,10.0,32.365
$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
$DEVICE_SECS,18.725,196.525,242.250,18.400,0.000,23.180,44.728,290.506,0.000,0.000,22.407,3548.140,11244.401,506.751,3087.679,279.500,0.000,1845.388,0.000,2534.441,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.818,269.305,860.676,393.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353184
$DATA_FILE_SIZE,90338,1357
$CAP_FILE_SIZE,185961,0
$CFSIZE,259252224,233914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.002,146.3,1
$GPS,180916,052527,-4305.665,828.760,72,0.9,72,-25.0