version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 466
start: 10 20 116 0 18 50
data:
$ID,542
$MISSION,14
$DIVE,466
$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,-42052.715
$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,19
$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
$GPS1,201016,000921,-4305.308,829.504,62,0.9,62,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.4
$GPS2,201016,001803,-4305.392,829.605,22,1.6,22,-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,185.1,1131,-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,-97.3,137,1958,1901,1794,0.0,0.0,0,64,0.00,0.00,-46.25,0.000,16386,0.000,0.000,138,1958,3065,3116,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.57,-97.3,137,1958,3117,3016,3.6,-6.6,7,82,8.77,2.33,-0.28,0.000,19204,0.215,0.060,2373,3368,3083,3148,3019,0,0,0,0,0,0,24.79,25.71,25.75
$GC,368,-0.57,-97.3,2373,3369,3158,3013,41.2,-11.6,65,375,0.00,2.25,0.00,0.000,1030,0.000,0.044,2373,1947,3085,3158,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,682,-0.57,-97.3,1440,1945,3136,3009,80.7,-12.1,126,688,0.00,2.30,0.00,0.000,260,0.000,0.052,2363,3378,3086,3159,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,730,-0.57,-97.3,1456,3377,3137,3009,86.5,-11.3,135,737,0.00,2.25,0.00,0.000,1030,0.000,0.044,2363,1950,3086,3159,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1047,-0.57,-97.3,2363,1950,3160,3013,126.0,-12.6,177,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3086,3160,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.57,-97.3,2363,1950,3161,3013,162.8,-12.3,207,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1658,-0.57,-97.3,2363,1950,3161,3013,200.7,-12.2,238,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,-0.57,-97.3,2362,1950,3161,3013,237.3,-12.1,269,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.57,-97.3,2363,1950,3161,3013,275.5,-12.5,300,2286,0.00,2.22,0.00,0.000,516,0.000,0.056,2363,550,3087,3161,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2311,-0.57,-97.3,2363,549,3161,3013,279.8,-12.4,303,2319,0.12,2.17,0.00,0.000,3078,0.169,0.044,2383,1954,3087,3162,3013,0,0,0,0,0,0,25.71,26.01,28.83
$GC,2620,-0.57,-97.3,2382,1954,3162,3013,313.9,-10.4,334,2629,0.00,2.22,0.00,0.000,260,0.000,0.051,2374,3370,3087,3162,3013,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2743,-0.57,-97.3,2374,3370,3162,3013,326.3,-9.9,346,2752,0.00,2.20,0.00,0.000,1030,0.000,0.044,2374,1959,3087,3162,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3054,-0.57,-97.3,2374,1959,3162,3013,360.8,-11.5,377,3063,0.00,2.25,0.00,0.000,516,0.000,0.057,2374,547,3087,3162,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3089,-0.57,-97.3,2374,547,3162,3013,364.7,-12.0,380,3096,0.00,2.22,0.00,0.000,1030,0.000,0.044,2364,1954,3087,3162,3013,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3396,-0.57,-97.3,2364,1954,3162,3013,401.0,-11.5,411,3402,0.00,2.20,0.00,0.000,260,0.000,0.051,2353,3374,3087,3162,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3449,-0.57,-97.3,2353,3374,3161,3013,405.6,-11.4,413,3457,0.12,2.22,0.00,0.000,3078,0.162,0.044,2383,1952,3087,3162,3013,0,0,0,0,0,0,25.70,25.96,28.83
$GC,3756,-0.57,-97.3,2383,1951,3162,3013,438.0,-9.9,429,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1951,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.57,-97.3,2383,1951,3162,3012,468.4,-10.1,444,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1951,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.57,-97.3,2383,1951,3162,3013,497.6,-9.6,459,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1952,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4657,-0.57,-97.3,2383,1951,3162,3012,526.3,-9.5,474,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1951,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4956,-0.57,-97.3,2383,1951,3162,3012,554.9,-9.5,489,4961,0.00,2.28,0.00,0.000,260,0.000,0.053,2375,3370,3086,3162,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4995,-0.57,-97.3,2375,3370,3162,3011,558.7,-9.5,491,5001,0.00,2.22,0.00,0.000,1030,0.000,0.045,2375,1957,3086,3162,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5316,-0.57,-97.3,2375,1956,3162,3010,591.4,-10.2,507,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1956,3086,3162,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.57,-97.3,2375,1956,3162,3010,619.7,-9.5,522,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5915,-0.57,-97.3,2375,1956,3162,3009,649.3,-10.1,537,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3085,3162,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.57,-97.3,2375,1956,3162,3007,679.7,-10.2,552,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,-0.57,-97.3,2375,1956,3162,3007,711.1,-10.6,567,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6817,-0.57,-97.3,2375,1956,3162,3006,742.3,-10.4,582,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,-0.57,-97.3,2375,1956,3162,3006,772.6,-9.5,597,7121,0.00,2.28,0.00,0.000,260,0.000,0.054,2365,3367,3083,3162,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7179,-0.57,-97.3,2365,3367,3162,3006,778.4,-9.7,600,7183,0.00,2.25,0.00,0.000,1030,0.000,0.047,2365,1950,3084,3162,3006,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7491,-0.57,-97.3,2365,1950,3161,3006,810.2,-10.0,616,7497,0.00,2.30,0.00,0.000,260,0.000,0.055,2355,3375,3083,3162,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7539,-0.57,-97.3,2355,3376,3162,3005,814.2,-10.0,618,7543,0.12,2.25,0.00,0.000,3078,0.164,0.047,2385,1954,3083,3162,3005,0,0,0,0,0,0,25.63,25.87,28.83
$GC,7847,-0.57,-97.3,2385,1954,3162,3005,841.9,-8.5,633,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8146,-0.57,-97.3,2385,1954,3162,3005,866.9,-8.3,648,8151,0.00,2.28,0.00,0.000,260,0.000,0.055,2377,3367,3083,3162,3004,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8188,-0.57,-97.3,1544,3366,3143,3000,870.1,-8.2,650,8193,0.00,2.25,0.00,0.000,1030,0.000,0.047,2377,1956,3083,3162,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8502,-0.57,-97.3,2377,1955,3162,3004,896.8,-8.7,666,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3083,3162,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8801,-0.57,-97.3,2377,1956,3162,3003,923.5,-9.2,681,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1956,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-0.57,-97.3,2377,1955,3162,3003,950.3,-8.8,696,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9402,-0.57,-97.3,2376,1955,3162,3002,976.7,-8.6,711,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1956,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9684,-0.14,0.0,2377,1873,3162,3002,1000.4,-8.5,725,9781,0.47,0.00,93.62,1.829,10246,0.135,0.000,2522,1873,2682,2759,2606,0,0,0,0,0,0,25.36,28.83,22.20
$STATE,9782,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9785,0.57,97.3,2522,1873,2759,2606,1003.3,0.0,730,9889,0.73,0.00,100.20,1.757,10246,0.084,0.000,2759,1873,2286,2358,2214,0,0,0,0,0,0,24.12,28.83,21.45
$GC,10183,0.60,130.2,2758,1873,2354,2203,976.5,8.1,750,10221,0.00,2.53,32.53,1.747,8452,0.000,0.057,2759,3303,2151,2227,2076,0,0,0,0,0,0,28.83,24.79,23.04
$GC,10253,0.63,153.2,2758,3303,2225,2074,971.0,8.5,753,10284,0.00,2.35,24.12,1.704,9222,0.000,0.053,2769,1899,2057,2134,1981,0,0,0,0,0,0,28.83,25.08,22.83
$GC,10585,0.63,153.2,2769,1899,2128,1972,936.8,10.0,770,10591,0.00,2.35,0.00,0.000,516,0.000,0.068,2780,471,2050,2128,1972,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10627,0.63,153.2,2779,471,2127,1972,932.6,10.2,772,10632,0.00,2.25,0.00,0.000,1030,0.000,0.050,2779,1884,2050,2128,1972,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10939,0.63,153.2,2779,1885,2127,1971,898.6,11.1,788,10945,0.00,2.28,0.00,0.000,260,0.000,0.057,2780,3306,2049,2127,1971,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11007,0.63,153.2,2779,3306,2126,1970,891.5,11.6,791,11012,0.00,2.30,0.00,0.000,1030,0.000,0.054,2790,1879,2048,2126,1970,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11315,0.63,153.2,2790,1879,2126,1969,852.8,12.1,806,11321,0.00,2.30,0.00,0.000,260,0.000,0.057,2790,3302,2047,2126,1969,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11367,0.63,153.2,2790,3302,2126,1968,847.7,12.4,808,11374,0.00,2.28,0.00,0.000,1030,0.000,0.054,2801,1888,2047,2126,1968,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11675,0.63,153.2,2801,1888,2125,1968,808.0,12.5,824,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1888,2046,2125,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11974,0.63,153.2,2801,1887,2126,1967,769.0,13.1,839,11980,0.00,2.28,0.00,0.000,260,0.000,0.057,2801,3306,2046,2126,1967,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12036,0.63,153.2,2801,3306,2125,1966,760.9,13.5,842,12042,0.10,2.25,0.00,0.000,5126,0.170,0.054,2782,1887,2045,2125,1966,0,0,0,0,0,0,25.65,25.95,28.83
$GC,12356,0.63,153.2,2782,1887,2125,1966,722.4,11.6,858,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1887,2045,2125,1966,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19162,end climb,SURFACE_DEPTH_REACHED
$STATE,19162,begin surface coast
$FINISH,0.6,1.026685
$STATE,19193,end surface coast,CONTROL_FINISHED_OK
$STATE,19193,begin surface
$SM_CCo,19210,12.05,0.298,0,0,1864,200.16
$SM_GC,2.73,7.22,0.12,12.05,0.067,0.096,0.298,166,1960,1864,-7.41,-0.76,200.16,0,0,0,0,0,0,26.09,26.32,24.96
$IRIDIUM_FIX,-4253.80,829.95,160809,080817
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.81
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.5,69.917
$10V_AH,9.7,47.865
$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,18.025,122.950,267.575,12.050,0.000,25.870,54.205,292.145,0.000,0.000,23.037,3759.390,12077.964,469.614,3116.180,331.054,0.000,1739.377,0.000,2542.416,0.000,1.010,0.000
$DEVICE_MAMPS,214.965,99.450,1829.115,297.585,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.959,305.374,965.969,443.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,97317,1473
$CAP_FILE_SIZE,171823,0
$CFSIZE,259252224,221712384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.021,161.9,1
$GPS,201016,054112,-4307.782,830.842,81,1.2,81,-25.1