version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 540
start: 11 5 116 18 32 7
data:
$ID,542
$MISSION,14
$DIVE,540
$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,-42274.887
$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,24
$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
$GPS1,051116,182303,-4257.167,830.478,36,1.5,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.9
$GPS2,051116,183122,-4257.157,830.644,18,1.1,18,-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,216.2,16271,-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,16,-0.55,-97.3,168,1954,1537,1441,0.0,0.0,0,83,0.00,0.00,-62.67,0.000,16390,0.000,0.000,168,1953,3080,3129,3032,0,0,0,0,0,0,28.83,28.83,26.44
$GC,86,-0.55,-97.3,168,1953,3129,3033,3.4,-5.0,10,102,8.85,2.25,0.00,0.000,2820,0.220,0.045,2394,539,3085,3148,3023,0,0,0,0,0,0,24.68,25.72,28.83
$GC,397,-0.55,-97.3,2394,539,3158,3016,45.4,-11.4,70,405,0.00,2.20,0.00,0.000,1030,0.000,0.044,2386,1957,3087,3158,3016,0,0,0,0,0,0,28.83,25.91,28.83
$GC,713,-0.55,-97.3,2386,1956,3160,3015,79.9,-11.5,131,719,0.00,2.20,0.00,0.000,260,0.000,0.050,2375,3369,3087,3160,3015,0,0,0,0,0,0,28.83,25.88,28.83
$GC,758,-0.55,-97.3,2375,3369,3160,3015,85.2,-11.5,139,764,0.00,2.20,0.00,0.000,1030,0.000,0.042,2375,1956,3087,3160,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1075,-0.55,-97.3,2375,1956,3161,3015,122.1,-11.7,183,1084,0.00,2.22,0.00,0.000,516,0.000,0.055,2375,550,3088,3161,3015,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1121,-0.55,-97.3,2375,550,3161,3015,127.2,-11.9,187,1128,0.00,2.17,0.00,0.000,1030,0.000,0.043,2365,1959,3088,3161,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1427,-0.55,-97.3,2365,1959,3161,3015,163.8,-11.8,218,1438,0.12,2.20,0.00,0.000,2308,0.183,0.047,2391,3365,3088,3161,3015,0,0,0,0,0,0,25.94,25.90,28.83
$GC,1545,-0.55,-97.3,2390,3365,3161,3015,175.1,-9.4,229,1554,0.00,2.22,0.00,0.000,1030,0.000,0.042,2390,1950,3088,3161,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1852,-0.55,-97.3,2390,1950,3163,3015,206.5,-10.7,260,1862,0.00,2.25,0.00,0.000,516,0.000,0.056,2390,543,3088,3162,3015,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1896,-0.55,-97.3,2390,543,3163,3015,211.3,-11.2,264,1905,0.00,2.17,0.00,0.000,1030,0.000,0.042,2380,1958,3088,3162,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2207,-0.55,-97.3,2380,1958,3162,3015,244.3,-10.7,295,2215,0.00,2.17,0.00,0.000,260,0.000,0.050,2370,3359,3088,3162,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2290,-0.55,-97.3,2370,3359,3162,3015,253.2,-10.6,303,2299,0.00,2.17,0.00,0.000,1030,0.000,0.042,2370,1952,3088,3162,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2599,-0.55,-97.3,2370,1951,3162,3015,287.0,-10.7,334,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2902,-0.55,-97.3,2370,1951,3163,3015,319.5,-11.1,364,2911,0.00,2.25,0.00,0.000,516,0.000,0.055,2370,542,3088,3162,3015,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2968,-0.55,-97.3,2370,541,3162,3015,327.1,-11.4,370,2977,0.10,2.22,0.00,0.000,3078,0.142,0.042,2391,1955,3088,3162,3015,0,0,0,0,0,0,25.65,25.99,28.83
$GC,3275,-0.55,-97.3,2391,1955,3162,3015,358.1,-9.6,401,3283,0.00,2.20,0.00,0.000,260,0.000,0.050,2383,3365,3088,3162,3015,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3361,-0.55,-97.3,2382,3365,3162,3015,365.7,-9.0,409,3368,0.00,2.22,0.00,0.000,1030,0.000,0.041,2382,1942,3088,3162,3015,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3667,-0.55,-97.3,2382,1941,3162,3015,397.0,-10.6,440,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1941,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.55,-97.3,2382,1941,3162,3015,429.6,-10.2,457,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1941,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4277,-0.55,-97.3,2382,1941,3162,3014,458.8,-9.5,472,4283,0.00,2.28,0.00,0.000,260,0.000,0.050,2372,3368,3088,3163,3014,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4340,-0.55,-97.3,1536,3367,3144,3010,464.5,-9.5,475,4344,0.00,2.25,0.00,0.000,1030,0.000,0.042,2372,1959,3087,3162,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4659,-0.55,-97.3,2372,1957,3162,3014,497.1,-10.3,491,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1957,3088,3162,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-0.55,-97.3,2372,1957,3162,3013,527.5,-10.1,506,4963,0.00,2.28,0.00,0.000,516,0.000,0.057,2372,540,3087,3163,3012,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4986,-0.55,-97.3,2372,540,3162,3013,529.7,-10.3,507,4991,0.12,2.20,0.00,0.000,3078,0.164,0.044,2392,1959,3087,3162,3013,0,0,0,0,0,0,25.67,25.95,28.83
$GC,5295,-0.55,-97.3,2392,1959,3163,3012,558.1,-8.9,522,5301,0.00,2.22,0.00,0.000,260,0.000,0.051,2383,3370,3087,3162,3012,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5383,-0.55,-97.3,2383,3370,3162,3012,565.5,-9.2,526,5393,0.00,2.22,0.00,0.000,1030,0.000,0.043,2383,1948,3087,3162,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5694,-0.55,-97.3,2383,1948,3162,3011,596.6,-9.9,542,5700,0.00,2.25,0.00,0.000,516,0.000,0.057,2383,540,3086,3162,3011,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5747,-0.55,-97.3,2383,540,3162,3011,600.7,-10.1,544,5753,0.00,2.20,0.00,0.000,1030,0.000,0.044,2373,1957,3086,3162,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6054,-0.55,-97.3,2373,1958,3162,3010,634.5,-10.8,560,6060,0.00,2.20,0.00,0.000,260,0.000,0.051,2363,3364,3086,3162,3010,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6137,-0.55,-97.3,2362,3364,3162,3009,643.4,-11.1,564,6141,0.12,2.22,0.00,0.000,3078,0.158,0.044,2393,1946,3085,3162,3009,0,0,0,0,0,0,25.65,25.91,28.83
$GC,6450,-0.55,-97.3,2392,1946,3162,3008,674.2,-9.3,580,6456,0.00,2.25,0.00,0.000,516,0.000,0.059,2393,542,3085,3162,3008,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6502,-0.55,-97.3,2393,542,3162,3008,678.3,-9.6,582,6509,0.00,2.20,0.00,0.000,1030,0.000,0.046,2384,1954,3085,3162,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6809,-0.55,-97.3,2384,1954,3162,3007,710.2,-10.0,598,6815,0.00,2.22,0.00,0.000,260,0.000,0.053,2373,3366,3084,3162,3006,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6863,-0.55,-97.3,2373,3367,3162,3006,714.2,-10.1,600,6869,0.00,2.22,0.00,0.000,1030,0.000,0.044,2374,1950,3084,3162,3006,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7169,-0.55,-97.3,2373,1950,3163,3006,748.1,-10.5,616,7175,0.00,2.28,0.00,0.000,516,0.000,0.059,2373,541,3084,3162,3006,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7211,-0.55,-97.3,1536,541,3144,3002,752.4,-10.5,618,7216,0.12,2.20,0.00,0.000,3078,0.166,0.046,2393,1955,3084,3162,3006,0,0,0,0,0,0,25.62,25.90,28.83
$GC,7525,-0.55,-97.3,2393,1955,3162,3005,781.0,-8.9,634,7531,0.00,2.20,0.00,0.000,260,0.000,0.052,2385,3365,3083,3162,3005,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7557,-0.55,-97.3,2385,3365,3162,3005,782.7,-8.8,635,7565,0.00,2.22,0.00,0.000,1030,0.000,0.044,2384,1949,3083,3162,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7866,-0.55,-97.3,2384,1949,3162,3004,812.5,-9.4,651,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1949,3083,3162,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,-0.55,-97.3,2384,1949,3162,3003,839.6,-9.3,666,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1949,3083,3162,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,-0.55,-97.3,2384,1949,3162,3003,867.7,-9.1,681,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1949,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,-0.55,-97.3,2384,1949,3163,3002,894.8,-8.8,696,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1949,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9065,-0.55,-97.3,2384,1949,3162,3002,920.2,-8.3,711,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1949,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,-0.55,-97.3,2384,1949,3162,3001,943.5,-7.7,726,9371,0.00,2.30,0.00,0.000,516,0.000,0.060,2384,543,3081,3162,3001,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9432,-0.55,-97.3,2384,542,3162,3001,948.5,-8.2,729,9437,0.00,2.22,0.00,0.000,1030,0.000,0.047,2374,1960,3081,3162,3001,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9739,-0.55,-97.3,2374,1960,3162,3000,974.0,-8.0,744,9745,0.00,2.25,0.00,0.000,260,0.000,0.054,2364,3376,3081,3162,3000,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9828,-0.55,-97.3,2363,3376,3162,3001,980.5,-8.1,748,9833,0.12,2.25,0.00,0.000,3078,0.160,0.045,2394,1955,3081,3162,3000,0,0,0,0,0,0,25.58,25.84,28.83
$STATE,10133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10133,begin apogee
$GC,10139,-0.14,0.0,2394,1865,3162,3000,1001.2,-6.5,763,10236,0.43,0.00,94.45,1.864,10246,0.132,0.000,2526,1864,2683,2765,2602,0,0,0,0,0,0,25.41,28.83,21.85
$STATE,10237,end apogee,CONTROL_FINISHED_OK
$STATE,10238,begin climb
$GC,10241,0.55,97.3,2525,1865,2764,2602,1003.5,0.0,768,10349,0.70,2.55,101.03,1.779,10756,0.080,0.062,2765,493,2286,2362,2211,0,0,0,0,0,0,24.06,23.11,21.19
$GC,10377,0.67,216.3,2765,493,2358,2211,998.5,4.9,774,10513,0.00,2.40,127.35,1.745,9222,0.000,0.047,2765,1886,1800,1877,1724,0,0,0,0,0,0,28.83,23.87,21.18
$GC,10813,0.67,216.3,2765,1886,1873,1711,945.0,12.8,796,10819,0.00,2.28,0.00,0.000,260,0.000,0.054,2765,3301,1791,1872,1710,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10878,0.67,216.3,2765,3301,1871,1710,937.2,13.0,799,10882,0.00,2.25,0.00,0.000,1030,0.000,0.051,2775,1903,1790,1871,1710,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11190,0.67,216.3,2776,1903,1871,1709,896.4,12.8,815,11196,0.00,2.35,0.00,0.000,516,0.000,0.067,2787,471,1789,1871,1708,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,18219,end climb,SURFACE_DEPTH_REACHED
$STATE,18219,begin surface coast
$FINISH,0.8,1.026687
$STATE,18240,end surface coast,CONTROL_FINISHED_OK
$STATE,18241,begin surface
$SM_CCo,18318,0.00,0.000,0,0,1783,220.77
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$IRIDIUM_FIX,-4239.11,824.86,020909,020257
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.20
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.2,82.943
$10V_AH,9.7,56.100
$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
$DEVICE_SECS,17.875,152.875,322.825,0.000,0.000,24.983,20.724,308.307,0.000,0.000,19.692,3642.866,11127.104,502.607,3176.731,372.258,0.000,1871.836,0.000,2639.012,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,93690,1413
$CAP_FILE_SIZE,178618,0
$CFSIZE,259252224,215240704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 33.6,1
$GPS,051116,233857,-4258.482,831.121,56,0.8,56,-25.0