version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 487
start: 10 24 116 18 26 36
data:
$ID,542
$MISSION,14
$DIVE,487
$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,-42207.621
$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,25
$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
$GPS1,241016,181827,-4305.861,828.836,90,0.9,90,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.0
$GPS2,241016,182552,-4305.875,828.872,21,1.1,21,-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,132.7,1528,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,166,1955,1901,1805,0.0,0.0,0,68,0.00,0.00,-48.15,0.000,16390,0.000,0.000,166,1955,3079,3130,3029,0,0,0,0,0,0,28.83,28.83,26.44
$GC,71,-0.57,-97.3,166,1956,3131,3030,3.0,-4.6,8,86,8.73,2.30,0.00,0.000,2820,0.220,0.048,2391,536,3085,3146,3024,0,0,0,0,0,0,24.84,25.75,28.83
$GC,281,-0.57,-97.3,1440,535,3132,3011,32.9,-10.6,48,288,0.00,2.25,0.00,0.000,1030,0.000,0.045,2382,1972,3086,3157,3016,0,0,0,0,0,0,28.83,25.86,28.83
$GC,415,-0.57,-97.3,2382,1972,3158,3015,47.2,-10.6,73,421,0.00,2.20,0.00,0.000,260,0.000,0.050,2372,3371,3086,3158,3015,0,0,0,0,0,0,28.83,25.82,28.83
$GC,460,-0.57,-97.3,2371,3371,3159,3015,52.3,-10.7,81,466,0.00,2.22,0.00,0.000,1030,0.000,0.044,2372,1951,3086,3158,3015,0,0,0,0,0,0,28.83,25.89,28.83
$GC,773,-0.57,-97.3,2372,1951,3159,3015,88.7,-11.5,142,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1951,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.57,-97.3,2371,1951,3160,3015,124.7,-12.0,182,1093,0.00,2.25,0.00,0.000,260,0.000,0.050,2362,3374,3087,3160,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1147,-0.57,-97.3,2362,3374,3160,3015,132.2,-11.8,188,1156,0.00,2.22,0.00,0.000,1030,0.000,0.044,2362,1946,3087,3160,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1458,-0.57,-97.3,2362,1946,3161,3015,170.9,-12.6,219,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1946,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-0.57,-97.3,2361,1946,3161,3015,207.4,-11.9,249,1767,0.00,2.25,0.00,0.000,260,0.000,0.050,2352,3374,3088,3161,3015,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1802,-0.57,-97.3,2351,3374,3161,3015,212.5,-12.0,253,1811,0.12,2.22,0.00,0.000,3078,0.167,0.044,2382,1953,3088,3161,3015,0,0,0,0,0,0,25.69,25.96,28.83
$GC,2110,-0.57,-97.3,2382,1953,3162,3015,244.3,-10.2,284,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1953,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.57,-97.3,2382,1953,3162,3015,274.7,-10.1,314,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1953,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2722,-0.57,-97.3,2382,1953,3162,3015,305.3,-9.8,345,2731,0.00,2.25,0.00,0.000,516,0.000,0.057,2383,540,3088,3162,3015,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2777,-0.57,-97.3,2382,540,3162,3015,310.8,-10.3,350,2786,0.00,2.22,0.00,0.000,1030,0.000,0.044,2374,1952,3088,3162,3015,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3085,-0.57,-97.3,2374,1953,3162,3014,342.5,-9.8,381,3094,0.00,2.20,0.00,0.000,260,0.000,0.051,2363,3369,3088,3162,3015,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3220,-0.57,-97.3,2363,3369,3162,3014,356.3,-10.4,394,3230,0.00,2.22,0.00,0.000,1030,0.000,0.044,2363,1946,3088,3162,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3529,-0.57,-97.3,2363,1946,3162,3015,390.1,-11.1,425,3538,0.00,2.22,0.00,0.000,260,0.000,0.050,2353,3363,3088,3162,3014,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3582,-0.57,-97.3,2352,3363,3162,3015,396.1,-11.2,430,3593,0.12,2.20,0.00,0.000,3078,0.167,0.044,2383,1949,3088,3162,3015,0,0,0,0,0,0,25.68,25.96,28.83
$GC,3902,-0.57,-97.3,2383,1949,3162,3014,428.7,-10.5,448,3907,0.00,2.25,0.00,0.000,260,0.000,0.050,2374,3369,3088,3162,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3930,-0.57,-97.3,2374,3368,3162,3015,430.7,-10.5,449,3934,0.00,2.20,0.00,0.000,1030,0.000,0.044,2374,1957,3088,3162,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4237,-0.57,-97.3,2374,1957,3162,3014,464.9,-11.0,464,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1957,3088,3162,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,-0.57,-97.3,2374,1957,3162,3014,497.3,-11.3,479,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3088,3162,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4837,-0.57,-97.3,2374,1957,3163,3014,530.2,-10.8,494,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.57,-97.3,2374,1957,3162,3013,562.2,-10.6,509,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.57,-97.3,2374,1957,3162,3012,593.5,-10.5,524,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.57,-97.3,2374,1957,3162,3011,622.9,-9.5,539,5743,0.00,2.28,0.00,0.000,516,0.000,0.060,2374,541,3086,3162,3011,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5800,-0.57,-97.3,2374,541,3162,3011,629.0,-10.0,542,5804,0.00,2.20,0.00,0.000,1030,0.000,0.046,2364,1955,3086,3162,3011,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6113,-0.57,-97.3,2364,1955,3162,3010,661.6,-10.2,558,6118,0.00,2.22,0.00,0.000,260,0.000,0.053,2354,3376,3086,3162,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6174,-0.57,-97.3,1536,3374,3143,3006,667.8,-10.4,561,6179,0.12,2.22,0.00,0.000,3078,0.165,0.045,2383,1955,3086,3162,3010,0,0,0,0,0,0,25.65,25.91,28.83
$GC,6492,-0.57,-97.3,2383,1955,3162,3009,697.1,-8.9,577,6498,0.00,2.28,0.00,0.000,516,0.000,0.060,2383,544,3085,3162,3009,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6541,-0.57,-97.3,2383,544,3162,3009,701.0,-9.2,579,6545,0.00,2.20,0.00,0.000,1030,0.000,0.047,2375,1954,3085,3162,3009,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6847,-0.57,-97.3,2375,1955,3162,3007,729.7,-8.8,594,6853,0.00,2.22,0.00,0.000,260,0.000,0.054,2364,3371,3084,3162,3007,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6936,-0.57,-97.3,2364,3371,3162,3007,736.7,-8.7,598,6940,0.00,2.22,0.00,0.000,1030,0.000,0.046,2364,1957,3084,3162,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7242,-0.57,-97.3,2364,1956,3162,3006,765.5,-9.3,613,7248,0.00,2.28,0.00,0.000,516,0.000,0.061,2364,542,3084,3162,3006,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7282,-0.57,-97.3,2363,542,3162,3006,769.6,-9.8,615,7289,0.12,2.20,0.00,0.000,3078,0.168,0.047,2384,1955,3083,3162,3005,0,0,0,0,0,0,25.64,25.92,28.83
$GC,7605,-0.57,-97.3,2384,1955,3162,3005,795.4,-8.2,631,7610,0.00,2.20,0.00,0.000,260,0.000,0.054,2375,3362,3083,3162,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7696,-0.57,-97.3,2374,3363,3162,3005,802.4,-8.7,635,7702,0.00,2.22,0.00,0.000,1030,0.000,0.047,2375,1948,3083,3162,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8004,-0.57,-97.3,2374,1948,3162,3005,833.7,-10.1,651,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1948,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-0.57,-97.3,2375,1948,3162,3004,862.0,-9.4,666,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1948,3083,3162,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,-0.57,-97.3,2375,1949,3162,3003,890.6,-9.6,681,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1949,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8903,-0.57,-97.3,2374,1948,3162,3003,918.5,-9.1,696,8909,0.00,2.28,0.00,0.000,260,0.000,0.055,2365,3367,3082,3162,3003,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8956,-0.57,-97.3,2365,3367,3162,3003,922.3,-9.3,698,8963,0.00,2.25,0.00,0.000,1030,0.000,0.047,2365,1946,3082,3162,3003,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9263,-0.57,-97.3,2365,1946,3162,3003,953.0,-9.6,714,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1946,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,-0.57,-97.3,2365,1946,3162,3002,982.1,-9.8,729,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1946,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9740,begin apogee
$GC,9746,-0.14,0.0,2365,1880,3161,3002,1000.3,-10.1,738,9843,0.52,0.00,93.60,1.825,10246,0.139,0.000,2524,1880,2683,2760,2606,0,0,0,0,0,0,25.28,28.83,22.23
$STATE,9844,end apogee,CONTROL_FINISHED_OK
$STATE,9845,begin climb
$GC,9847,0.57,97.3,2524,1880,2760,2606,1004.3,0.0,743,9955,0.68,2.65,99.25,1.756,10756,0.083,0.065,2762,482,2286,2358,2214,0,0,0,0,0,0,24.14,23.22,21.46
$GC,9977,0.71,236.6,2762,482,2354,2213,1001.3,3.6,749,10134,0.12,2.42,147.50,1.736,11270,0.091,0.047,2809,1884,1718,1790,1647,0,0,0,0,0,0,23.85,23.84,21.42
$GC,10442,0.71,236.6,2810,1884,1783,1630,927.4,17.4,773,10448,0.00,2.30,0.00,0.000,260,0.000,0.054,2810,3304,1707,1784,1630,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10511,0.71,236.6,2810,3305,1782,1629,917.3,17.1,776,10515,0.00,2.30,0.00,0.000,1030,0.000,0.054,2821,1886,1705,1782,1629,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10817,0.71,236.6,2821,1885,1782,1627,860.4,18.8,791,10823,0.00,2.33,0.00,0.000,516,0.000,0.069,2832,475,1704,1782,1627,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10860,0.71,236.6,1888,475,1750,1623,852.5,19.4,793,10865,0.00,2.22,0.00,0.000,1030,0.000,0.049,2832,1890,1704,1781,1627,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11172,0.71,236.6,2832,1890,1781,1624,791.3,19.3,809,11178,0.00,2.25,0.00,0.000,260,0.000,0.056,2832,3298,1703,1781,1625,0,0,0,0,0,0,28.83,25.95,28.83
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$GC,13003,0.71,236.6,2821,466,1777,1623,499.2,16.4,901,13009,0.00,2.22,0.00,0.000,1030,0.000,0.050,2821,1887,1700,1777,1623,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,16390,end climb,SURFACE_DEPTH_REACHED
$STATE,16391,begin surface coast
$FINISH,0.1,1.026643
$STATE,16412,end surface coast,CONTROL_FINISHED_OK
$STATE,16412,begin surface
$SM_CCo,16489,0.00,0.000,0,0,1698,241.62
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$IRIDIUM_FIX,-4250.85,829.51,210809,020236
$TT8_MAMPS,0.020972,0.020972
$HUMID,62.48
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.4,73.495
$10V_AH,9.7,50.176
$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,18.100,139.900,340.350,0.000,0.000,26.595,19.736,248.666,0.000,0.000,22.378,3273.713,10034.772,486.847,2841.066,301.577,0.000,1722.790,0.000,2351.912,0.000,1.011,0.000
$DEVICE_MAMPS,220.320,143.055,1825.290,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.363,272.653,860.916,398.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,83870,1276
$CAP_FILE_SIZE,160959,0
$CFSIZE,259252224,219918336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137, 90.4,1
$GPS,241016,230233,-4306.603,833.493,32,0.8,32,-25.1