version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 477
start: 10 22 116 11 31 23
data:
$ID,542
$MISSION,14
$DIVE,477
$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,-42194.988
$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
$GPS1,221016,111921,-4254.377,829.596,76,0.7,76,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.0
$GPS2,221016,113040,-4254.344,829.721,19,1.4,19,-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,197.5,21461,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,147,1961,1884,1815,0.0,0.0,0,70,0.00,0.00,-47.35,0.000,16390,0.000,0.000,147,1961,3079,3129,3029,0,0,0,0,0,0,28.83,28.83,26.40
$GC,73,-0.55,-97.3,147,1961,3129,3029,3.7,-7.0,8,87,8.93,2.33,0.00,0.000,2564,0.224,0.048,2393,540,3081,3144,3019,0,0,0,0,0,0,24.85,25.72,28.83
$GC,341,-0.55,-97.3,1444,539,3128,3010,40.6,-10.7,60,348,0.00,2.25,0.00,0.000,1030,0.000,0.047,2385,1970,3083,3153,3014,0,0,0,0,0,0,28.83,25.86,28.83
$GC,657,-0.55,-97.3,2385,1970,3156,3012,75.5,-10.7,121,663,0.00,2.20,0.00,0.000,260,0.000,0.053,2374,3370,3084,3157,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,762,-0.55,-97.3,2374,3370,3157,3012,86.6,-10.1,141,769,0.00,2.22,0.00,0.000,1030,0.000,0.044,2374,1950,3084,3157,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1077,-0.55,-97.3,2374,1950,3157,3012,121.8,-11.1,184,1086,0.00,2.28,0.00,0.000,260,0.000,0.052,2364,3376,3084,3157,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1120,-0.55,-97.3,2364,3376,3157,3012,126.6,-11.5,188,1131,0.12,2.25,0.00,0.000,3078,0.164,0.043,2394,1946,3084,3157,3012,0,0,0,0,0,0,25.70,25.96,28.83
$GC,1431,-0.55,-97.3,2394,1946,3158,3012,158.5,-9.9,219,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3084,3158,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1734,-0.55,-97.3,2394,1946,3158,3012,190.9,-12.2,249,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3084,3158,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2041,-0.55,-97.3,2394,1946,3158,3012,224.7,-10.7,280,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.55,-97.3,2394,1946,3158,3012,256.1,-10.9,310,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3084,3158,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-0.55,-97.3,2394,1946,3158,3012,289.0,-11.0,340,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,-0.55,-97.3,2394,1946,3158,3012,320.9,-10.6,370,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3241,-0.55,-97.3,2394,1946,3159,3012,352.4,-9.8,400,3250,0.00,2.25,0.00,0.000,516,0.000,0.057,2394,540,3085,3158,3012,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3275,-0.55,-97.3,2394,540,3158,3012,355.6,-9.9,403,3284,0.00,2.17,0.00,0.000,1030,0.000,0.045,2386,1954,3084,3158,3011,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3583,-0.55,-97.3,2386,1954,3158,3012,385.7,-9.5,434,3593,0.00,2.22,0.00,0.000,260,0.000,0.052,2375,3373,3085,3158,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3667,-0.55,-97.3,2375,3373,3158,3012,393.8,-9.5,442,3677,0.00,2.25,0.00,0.000,1030,0.000,0.044,2375,1946,3085,3158,3012,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3977,-0.55,-97.3,2375,1947,3158,3012,426.3,-10.5,461,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1946,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4277,-0.55,-97.3,2375,1947,3158,3012,459.4,-11.3,476,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1946,3085,3158,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,-0.55,-97.3,2375,1946,3158,3012,491.3,-10.5,491,4584,0.00,2.22,0.00,0.000,516,0.000,0.057,2375,550,3084,3158,3011,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4617,-0.55,-97.3,2375,550,3158,3011,495.8,-10.7,493,4623,0.12,2.17,0.00,0.000,3078,0.164,0.046,2395,1955,3084,3158,3011,0,0,0,0,0,0,25.71,25.98,28.83
$GC,4939,-0.55,-97.3,2395,1956,3158,3011,525.5,-9.3,509,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1956,3084,3158,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.55,-97.3,2395,1956,3158,3011,553.4,-9.2,524,5243,0.00,2.22,0.00,0.000,260,0.000,0.054,2386,3366,3084,3158,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5318,-0.55,-97.3,2386,3367,3158,3010,561.0,-9.4,528,5323,0.00,2.22,0.00,0.000,1030,0.000,0.044,2386,1951,3084,3158,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5637,-0.55,-97.3,2386,1950,3158,3010,592.5,-10.0,544,5643,0.00,2.28,0.00,0.000,260,0.000,0.053,2376,3376,3083,3158,3009,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5680,-0.55,-97.3,2376,3376,3158,3009,596.6,-10.1,546,5684,0.00,2.25,0.00,0.000,1030,0.000,0.044,2376,1948,3083,3158,3009,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5992,-0.55,-97.3,2376,1948,3158,3009,629.9,-10.7,562,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1948,3083,3158,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6292,-0.55,-97.3,2376,1947,3160,3005,662.9,-11.1,577,6297,0.00,2.28,0.00,0.000,516,0.000,0.059,2376,546,3082,3160,3005,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6345,-0.55,-97.3,2376,545,3160,3005,667.6,-11.4,579,6351,0.00,2.20,0.00,0.000,1030,0.000,0.047,2366,1954,3082,3160,3005,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6653,-0.55,-97.3,2366,1953,3160,3005,704.9,-11.8,595,6658,0.00,2.22,0.00,0.000,260,0.000,0.054,2356,3369,3082,3160,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6692,-0.55,-97.3,2355,3369,3160,3004,709.7,-11.9,597,6698,0.15,2.22,0.00,0.000,3078,0.155,0.045,2394,1956,3082,3160,3004,0,0,0,0,0,0,25.63,25.92,28.83
$GC,7012,-0.55,-97.3,2393,1955,3160,3004,741.6,-9.7,613,7018,0.00,2.30,0.00,0.000,516,0.000,0.061,2394,532,3082,3160,3004,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7052,-0.55,-97.3,2394,531,3160,3004,745.7,-9.9,615,7058,0.00,2.22,0.00,0.000,1030,0.000,0.048,2385,1953,3082,3160,3004,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7372,-0.55,-97.3,2385,1954,3160,3003,777.4,-9.5,631,7378,0.00,2.25,0.00,0.000,260,0.000,0.055,2375,3373,3081,3160,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7434,-0.55,-97.3,2374,3373,3160,3003,783.2,-9.7,634,7439,0.00,2.20,0.00,0.000,1030,0.000,0.045,2375,1961,3081,3160,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7752,-0.55,-97.3,2374,1960,3160,3002,815.1,-9.8,650,7753,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3081,3160,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8052,-0.55,-97.3,2374,1960,3160,3001,845.2,-10.2,665,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3080,3160,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,-0.55,-97.3,2374,1960,3160,3001,876.5,-10.3,680,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3080,3160,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,-0.55,-97.3,2374,1960,3160,3000,906.3,-9.6,695,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3080,3160,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,-0.55,-97.3,2374,1960,3160,2999,935.4,-9.7,710,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3079,3160,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,-0.55,-97.3,2374,1960,3160,2997,964.4,-9.9,725,9258,0.00,2.33,0.00,0.000,516,0.000,0.063,2375,543,3078,3159,2997,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9285,-0.55,-97.3,2374,542,3160,2997,966.5,-10.0,726,9293,0.12,2.25,0.00,0.000,3078,0.164,0.050,2394,1963,3078,3160,2997,0,0,0,0,0,0,25.62,25.86,28.83
$GC,9593,-0.55,-97.3,2394,1963,3160,2996,995.2,-8.6,742,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1963,3078,3160,2996,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9650,begin apogee
$GC,9656,-0.14,0.0,2394,1869,3160,2996,1000.3,-8.4,745,9753,0.43,0.00,92.93,1.831,10246,0.132,0.000,2527,1868,2682,2763,2602,0,0,0,0,0,0,25.46,28.83,22.25
$STATE,9754,end apogee,CONTROL_FINISHED_OK
$STATE,9754,begin climb
$GC,9756,0.55,97.3,2527,1868,2763,2602,1004.1,0.0,750,9864,0.65,2.60,98.95,1.721,10756,0.080,0.065,2757,494,2286,2360,2212,0,0,0,0,0,0,24.17,23.25,21.54
$GC,9897,0.67,212.7,2757,494,2352,2211,999.8,5.0,757,10026,0.00,2.40,121.65,1.702,9222,0.000,0.050,2757,1887,1814,1892,1736,0,0,0,0,0,0,28.83,24.01,21.49
$GC,10335,0.67,212.7,2757,1887,1887,1720,951.3,11.6,779,10341,0.00,2.30,0.00,0.000,260,0.000,0.057,2757,3298,1803,1887,1719,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10368,0.67,212.7,2756,3298,1885,1719,948.9,11.7,780,10375,0.00,2.30,0.00,0.000,1030,0.000,0.053,2767,1888,1802,1885,1719,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10676,0.67,212.7,2766,1889,1884,1718,910.9,12.3,796,10682,0.00,2.30,0.00,0.000,516,0.000,0.070,2777,479,1801,1885,1717,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10723,0.67,212.7,2777,478,1883,1717,905.9,12.4,798,10727,0.00,2.22,0.00,0.000,1030,0.000,0.050,2777,1888,1800,1883,1717,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11030,0.67,212.7,2777,1888,1883,1715,866.4,12.2,813,11036,0.00,2.28,0.00,0.000,260,0.000,0.058,2777,3304,1799,1883,1715,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11119,0.67,212.7,2777,3305,1881,1715,856.5,12.4,817,11123,0.00,2.30,0.00,0.000,1030,0.000,0.055,2788,1878,1798,1881,1715,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11426,0.67,212.7,2788,1877,1881,1715,816.0,13.1,832,11431,0.00,2.30,0.00,0.000,516,0.000,0.069,2799,476,1798,1881,1715,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11469,0.67,212.7,2798,475,1881,1715,810.7,13.2,834,11473,0.00,2.22,0.00,0.000,1030,0.000,0.050,2799,1889,1798,1881,1715,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17704,end climb,SURFACE_DEPTH_REACHED
$STATE,17704,begin surface coast
$FINISH,0.0,1.026684
$STATE,17731,end surface coast,CONTROL_FINISHED_OK
$STATE,17731,begin surface
$SM_CCo,17807,0.00,0.000,0,0,1793,218.31
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$IRIDIUM_FIX,-4239.11,806.97,190809,000041
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.77
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.5,71.840
$10V_AH,9.7,49.071
$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
$DEVICE_SECS,17.825,122.425,313.525,0.000,0.000,50.664,53.279,325.645,0.000,0.000,20.247,3557.333,10980.744,454.259,3182.493,315.936,0.000,1747.138,0.000,2514.906,0.000,1.009,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,93565,1388
$CAP_FILE_SIZE,167184,0
$CFSIZE,259252224,220766208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,  1.8,1
$GPS,221016,162927,-4256.101,830.303,41,1.0,41,-25.0