version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 280
start: 9 9 116 17 55 45
data:
$ID,542
$MISSION,14
$DIVE,280
$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,-41816.59
$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,22
$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
$GPS1,090916,174727,-4305.102,830.044,66,0.9,66,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.2
$GPS2,090916,175459,-4305.088,830.137,21,1.4,21,-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,214.4,1570,-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,-97.3,139,1952,1896,1786,0.0,0.0,0,67,0.00,0.00,-47.65,0.000,16390,0.000,0.000,138,1952,3080,3130,3031,0,0,0,0,0,0,28.83,28.83,26.28
$GC,70,-0.57,-97.3,138,1952,3130,3031,3.2,-4.2,8,85,8.62,2.33,0.00,0.000,2308,0.216,0.054,2373,3374,3082,3132,3032,0,0,0,0,0,0,25.08,25.70,28.83
$GC,133,-0.57,-97.3,1456,3373,3112,3027,17.0,-13.8,19,140,0.00,2.30,0.00,0.000,1030,0.000,0.050,2373,1945,3084,3136,3032,0,0,0,0,0,0,28.83,25.66,28.83
$GC,183,-0.57,-97.3,1440,1944,3112,3027,24.3,-14.6,28,189,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3084,3137,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,313,-0.57,-97.3,2373,1945,3137,3031,41.6,-12.7,53,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3084,3137,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-0.57,-97.3,2373,1945,3137,3031,83.8,-13.5,114,631,0.00,2.30,0.00,0.000,260,0.000,0.057,2363,3371,3084,3138,3031,0,0,0,0,0,0,28.83,25.74,28.83
$GC,664,-0.57,-97.3,2363,3371,3138,3031,89.4,-13.4,121,670,0.00,2.25,0.00,0.000,1030,0.000,0.050,2363,1953,3085,3138,3032,0,0,0,0,0,0,28.83,25.79,28.83
$GC,980,-0.57,-97.3,2363,1952,3138,3031,135.2,-13.8,159,988,0.00,2.25,0.00,0.000,260,0.000,0.057,2353,3368,3084,3138,3031,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1062,-0.57,-97.3,2352,3368,3138,3031,146.6,-13.9,167,1071,0.10,2.22,0.00,0.000,3078,0.158,0.049,2383,1952,3085,3138,3032,0,0,0,0,0,0,25.53,25.84,28.83
$GC,1371,-0.57,-97.3,2382,1952,3139,3031,185.3,-12.5,198,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3085,3139,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1672,-0.57,-97.3,2382,1952,3139,3031,221.6,-12.2,228,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3085,3139,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.57,-97.3,2382,1952,3139,3032,258.3,-12.9,258,1984,0.00,2.25,0.00,0.000,260,0.000,0.057,2374,3373,3085,3139,3032,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2068,-0.57,-97.3,2374,3374,3139,3032,270.5,-12.6,267,2077,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1950,3085,3139,3032,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2376,-0.57,-97.3,2374,1950,3139,3032,310.2,-12.7,298,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1950,3085,3139,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.57,-97.3,2374,1950,3139,3031,349.0,-13.0,328,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1950,3085,3139,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.57,-97.3,2374,1950,3139,3031,385.4,-12.2,358,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1950,3085,3139,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3287,-0.57,-97.3,2374,1950,3139,3031,423.2,-12.3,380,3291,0.00,2.28,0.00,0.000,260,0.000,0.057,2364,3372,3085,3139,3032,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3336,-0.57,-97.3,2364,3373,3139,3031,427.6,-12.3,382,3343,0.00,2.25,0.00,0.000,1030,0.000,0.050,2364,1948,3085,3139,3032,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3644,-0.57,-97.3,2363,1948,3139,3031,466.5,-12.2,398,3649,0.00,2.25,0.00,0.000,260,0.000,0.057,2354,3367,3085,3139,3031,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3723,-0.57,-97.3,2354,3367,3139,3031,476.4,-12.5,402,3730,0.12,2.25,0.00,0.000,3078,0.172,0.050,2382,1949,3085,3139,3032,0,0,0,0,0,0,25.63,25.90,28.83
$GC,4043,-0.57,-97.3,2382,1949,3157,3019,514.9,-11.8,418,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3087,3156,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4343,-0.57,-97.3,2382,1949,3157,3017,549.1,-11.3,433,4348,0.00,2.28,0.00,0.000,260,0.000,0.058,2374,3369,3087,3158,3017,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4384,-0.57,-97.3,2374,3369,3157,3016,553.6,-11.4,435,4390,0.00,2.25,0.00,0.000,1030,0.000,0.051,2374,1951,3087,3157,3017,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4703,-0.57,-97.3,2374,1950,3158,3016,593.8,-12.6,451,4709,0.00,2.28,0.00,0.000,260,0.000,0.059,2364,3370,3087,3158,3016,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4751,-0.57,-97.3,2363,3370,3157,3016,598.9,-12.7,453,4755,0.00,2.25,0.00,0.000,1030,0.000,0.051,2363,1952,3086,3157,3016,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5058,-0.57,-97.3,2364,1952,3158,3016,639.8,-12.8,468,5064,0.00,2.28,0.00,0.000,260,0.000,0.059,2353,3369,3086,3157,3016,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5100,-0.57,-97.3,1536,3368,3138,3012,644.8,-12.6,470,5105,0.10,2.30,0.00,0.000,3078,0.155,0.051,2383,1952,3087,3158,3016,0,0,0,0,0,0,25.54,25.87,28.83
$GC,5419,-0.57,-97.3,2383,1952,3158,3015,678.0,-9.8,486,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1952,3086,3158,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.57,-97.3,2383,1952,3158,3015,707.6,-9.9,501,5723,0.00,2.28,0.00,0.000,260,0.000,0.060,2375,3368,3086,3158,3015,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5800,-0.57,-97.3,1552,3367,3138,3010,715.6,-9.9,505,5805,0.00,2.25,0.00,0.000,1030,0.000,0.053,2375,1952,3086,3158,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6118,-0.57,-97.3,2375,1952,3158,3013,748.5,-10.4,521,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3085,3158,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6418,-0.57,-97.3,2375,1951,3158,3012,779.3,-10.1,536,6423,0.00,2.30,0.00,0.000,260,0.000,0.061,2365,3376,3085,3158,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6491,-0.57,-97.3,2365,3376,3158,3012,785.5,-10.3,539,6498,0.00,2.28,0.00,0.000,1030,0.000,0.054,2365,1949,3085,3158,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6798,-0.57,-97.3,2364,1949,3158,3011,822.1,-11.8,555,6804,0.00,2.30,0.00,0.000,260,0.000,0.061,2355,3372,3084,3158,3011,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6866,-0.57,-97.3,2354,3373,3158,3011,829.3,-12.0,558,6871,0.12,2.28,0.00,0.000,3078,0.173,0.053,2383,1948,3084,3158,3011,0,0,0,0,0,0,25.56,25.82,28.83
$GC,7173,-0.57,-97.3,2383,1948,3158,3010,864.0,-11.2,573,7179,0.00,2.30,0.00,0.000,260,0.000,0.061,2374,3372,3084,3158,3010,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7255,-0.57,-97.3,1560,3370,3139,3006,872.9,-11.2,577,7259,0.00,2.30,0.00,0.000,1030,0.000,0.054,2374,1956,3083,3158,3009,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7573,-0.57,-97.3,2374,1956,3158,3009,909.0,-11.3,593,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1956,3083,3158,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,-0.57,-97.3,2374,1956,3158,3007,941.9,-10.7,608,7878,0.00,2.30,0.00,0.000,260,0.000,0.062,2364,3372,3082,3158,3007,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7956,-0.57,-97.3,1536,3371,3138,3003,950.6,-10.9,612,7960,0.00,2.33,0.00,0.000,1030,0.000,0.054,2364,1952,3082,3158,3007,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8273,-0.57,-97.3,2364,1951,3158,3006,985.8,-11.1,628,8278,0.00,2.30,0.00,0.000,260,0.000,0.063,2354,3368,3082,3158,3006,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8313,-0.57,-97.3,2353,3368,3158,3006,990.2,-11.1,630,8319,0.12,2.28,0.00,0.000,3078,0.173,0.054,2382,1952,3082,3158,3006,0,0,0,0,0,0,25.53,25.79,28.83
$STATE,8431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8431,begin apogee
$GC,8436,-0.14,0.0,2382,1869,3158,3006,1001.9,-9.6,636,8533,0.47,0.00,89.82,1.756,10246,0.145,0.000,2525,1868,2683,2772,2594,0,0,0,0,0,0,25.32,28.83,23.17
$STATE,8534,end apogee,CONTROL_FINISHED_OK
$STATE,8534,begin climb
$GC,8536,0.57,97.3,2524,1868,2772,2594,1005.5,0.0,641,8635,0.73,0.00,95.78,1.704,10246,0.093,0.000,2759,1868,2285,2366,2205,0,0,0,0,0,0,24.46,28.83,22.26
$GC,8934,0.57,97.3,2759,1868,2360,2196,973.9,9.6,661,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1868,2278,2360,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9233,0.57,97.3,2759,1868,2359,2195,944.8,9.6,676,9238,0.00,2.38,0.00,0.000,260,0.000,0.063,2759,3301,2277,2359,2195,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9313,0.57,97.3,2759,3301,2357,2195,936.7,10.1,680,9317,0.00,2.33,0.00,0.000,1030,0.000,0.059,2769,1893,2276,2357,2195,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9630,0.58,107.9,2769,1892,2357,2194,907.1,9.0,696,9644,0.00,2.33,9.07,1.541,8452,0.000,0.063,2768,3301,2243,2327,2159,0,0,0,0,0,0,28.83,25.71,24.34
$GC,9689,0.58,107.9,2768,3301,2326,2159,901.5,9.6,698,9693,0.00,2.35,0.00,0.000,1030,0.000,0.060,2779,1880,2242,2326,2159,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10006,0.58,107.9,2779,1880,2327,2158,870.2,9.8,714,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1880,2242,2327,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10306,0.58,107.9,2779,1880,2327,2158,841.4,9.6,729,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1880,2242,2326,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10606,0.58,107.9,2779,1880,2326,2157,811.4,10.1,744,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1880,2241,2326,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10907,0.58,107.9,2779,1880,2327,2157,780.9,10.1,759,10912,0.00,2.30,0.00,0.000,260,0.000,0.063,2779,3300,2241,2326,2157,0,0,0,0,0,0,28.83,25.81,28.83
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$GC,14108,0.61,135.2,2792,1886,2211,2035,435.5,11.1,917,14114,0.00,2.28,0.00,0.000,260,0.000,0.064,2792,3298,2123,2211,2035,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,18322,end climb,SURFACE_DEPTH_REACHED
$STATE,18322,begin surface coast
$FINISH,0.1,1.026751
$STATE,18349,end surface coast,CONTROL_FINISHED_OK
$STATE,18349,begin surface
$SM_CCo,18364,15.80,0.204,0,0,1865,200.16
$SM_GC,2.88,6.93,0.12,15.80,0.047,0.093,0.204,165,1956,1865,-7.42,-0.74,200.16,0,0,0,0,0,0,26.13,26.24,25.64
$IRIDIUM_FIX,-4250.85,829.08,070709,010101
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.47
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,22.3,41.395
$10V_AH,10.1,28.396
$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
$DEVICE_SECS,18.000,155.875,236.650,15.800,0.000,25.444,52.224,249.446,0.000,0.000,22.601,3671.611,11311.146,458.178,3154.746,251.005,0.000,1791.866,0.000,2621.320,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.347,294.831,927.131,429.182,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353124
$DATA_FILE_SIZE,93513,1411
$CAP_FILE_SIZE,180574,0
$CFSIZE,259252224,237056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,352.6,1
$GPS,090916,230329,-4305.612,829.304,47,2.0,47,-25.0