version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 298
start: 9 13 116 13 27 19
data:
$ID,542
$MISSION,14
$DIVE,298
$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,-41839.281
$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
$GPS1,130916,131851,-4306.784,829.443,48,0.8,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.2
$GPS2,130916,132634,-4306.782,829.532,32,0.8,32,-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,53.6,1700,-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,-97.3,138,1958,1800,1708,0.0,0.0,0,65,0.00,0.00,-47.38,0.000,16386,0.000,0.000,138,1958,2955,3011,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.57,-97.3,138,1958,3013,2900,3.2,-7.2,7,90,8.85,2.38,-2.90,0.000,19204,0.225,0.079,2388,550,3085,3162,3008,0,0,0,0,0,0,25.08,25.60,26.17
$GC,103,-0.57,-97.3,2388,550,3166,3005,11.1,-19.9,12,110,0.00,2.25,0.00,0.000,1030,0.000,0.052,2379,1954,3086,3167,3005,0,0,0,0,0,0,28.83,25.66,28.83
$GC,153,-0.57,-97.3,1472,1954,3146,3000,17.5,-13.6,21,161,0.00,2.28,0.00,0.000,516,0.000,0.060,2379,546,3086,3169,3004,0,0,0,0,0,0,28.83,25.58,28.83
$GC,310,-0.57,-97.3,1424,545,3145,3000,38.9,-13.1,51,317,0.00,2.25,0.00,0.000,1030,0.000,0.050,2369,1963,3086,3169,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,440,-0.57,-97.3,2369,1962,3169,3004,57.3,-13.4,76,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1963,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,757,-0.57,-97.3,2369,1963,3169,3004,103.3,-15.3,136,761,0.00,2.25,0.00,0.000,260,0.000,0.057,2359,3375,3086,3169,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,834,-0.57,-97.3,2358,3375,3169,3004,114.5,-14.1,143,843,0.00,2.22,0.00,0.000,1030,0.000,0.050,2359,1956,3087,3170,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1144,-0.57,-97.3,2359,1955,3170,3004,160.4,-13.9,174,1154,0.12,2.28,0.00,0.000,2308,0.189,0.055,2383,3371,3087,3170,3004,0,0,0,0,0,0,25.84,25.81,28.83
$GC,1198,-0.57,-97.3,2383,3371,3170,3004,166.7,-11.5,179,1206,0.00,2.22,0.00,0.000,1030,0.000,0.049,2383,1953,3087,3171,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1507,-0.57,-97.3,2383,1952,3171,3004,204.1,-12.0,210,1516,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3375,3087,3171,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1551,-0.57,-97.3,1568,3374,3154,3000,209.2,-12.0,214,1559,0.00,2.30,0.00,0.000,1030,0.000,0.048,2373,1950,3087,3171,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1859,-0.57,-97.3,2373,1950,3172,3004,248.2,-12.3,245,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1950,3088,3173,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.57,-97.3,2373,1949,3172,3004,284.7,-12.4,275,2169,0.00,2.25,0.00,0.000,260,0.000,0.057,2363,3369,3088,3172,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2191,-0.57,-97.3,2363,3369,3172,3004,288.7,-12.6,278,2201,0.00,2.25,0.00,0.000,1030,0.000,0.048,2363,1944,3088,3172,3005,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2501,-0.57,-97.3,2363,1944,3172,3004,329.7,-12.8,309,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1944,3088,3172,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.57,-97.3,2363,1943,3172,3004,365.6,-11.2,339,2811,0.00,2.25,0.00,0.000,260,0.000,0.057,2353,3365,3088,3172,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2864,-0.57,-97.3,2353,3365,3172,3004,372.9,-11.6,345,2874,0.12,2.22,0.00,0.000,3078,0.171,0.049,2382,1954,3088,3172,3004,0,0,0,0,0,0,25.65,25.91,28.83
$GC,3173,-0.57,-97.3,2382,1954,3172,3004,407.0,-11.1,373,3177,0.00,2.28,0.00,0.000,516,0.000,0.063,2382,547,3088,3172,3004,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3202,-0.57,-97.3,2381,547,3172,3004,408.8,-11.1,374,3209,0.00,2.22,0.00,0.000,1030,0.000,0.050,2373,1963,3088,3172,3004,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3510,-0.57,-97.3,2373,1963,3172,3004,445.5,-11.1,390,3516,0.00,2.22,0.00,0.000,260,0.000,0.058,2363,3367,3088,3172,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3592,-0.57,-97.3,1568,3366,3155,3000,454.2,-10.9,394,3596,0.00,2.28,0.00,0.000,1030,0.000,0.049,2363,1952,3088,3172,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3910,-0.57,-97.3,2362,1951,3172,3004,493.4,-12.8,410,3916,0.00,2.28,0.00,0.000,260,0.000,0.059,2352,3370,3088,3172,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3958,-0.57,-97.3,2352,3370,3172,3004,498.5,-12.9,412,3963,0.12,2.22,0.00,0.000,3078,0.171,0.050,2381,1955,3088,3172,3004,0,0,0,0,0,0,25.63,25.89,28.83
$GC,4264,-0.57,-97.3,2381,1955,3172,3004,534.6,-11.5,427,4270,0.00,2.28,0.00,0.000,516,0.000,0.063,2381,543,3088,3172,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4279,-0.57,-97.3,2381,543,3172,3004,534.6,-11.5,427,4286,0.00,2.22,0.00,0.000,1030,0.000,0.051,2373,1953,3088,3172,3004,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4584,-0.57,-97.3,2373,1953,3172,3004,574.4,-12.8,443,4589,0.00,2.28,0.00,0.000,260,0.000,0.060,2362,3368,3087,3172,3003,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4683,-0.57,-97.3,1544,3367,3154,2999,586.7,-12.8,448,4687,0.00,2.28,0.00,0.000,1030,0.000,0.050,2362,1958,3087,3172,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5001,-0.57,-97.3,2362,1958,3172,3002,627.4,-12.6,464,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,3087,3172,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5301,-0.57,-97.3,2362,1958,3172,3002,662.9,-11.5,479,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,3087,3172,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5602,-0.57,-97.3,2362,1958,3172,3002,695.5,-10.5,494,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,3086,3172,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.57,-97.3,2362,1958,3172,3001,726.7,-10.4,509,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1958,3086,3172,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6201,-0.57,-97.3,2362,1958,3172,3000,759.8,-11.2,524,6206,0.00,2.30,0.00,0.000,516,0.000,0.066,2362,549,3086,3172,3001,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6244,-0.57,-97.3,1540,548,3154,2996,764.5,-11.5,526,6248,0.15,2.25,0.00,0.000,3078,0.177,0.054,2388,1961,3086,3172,3000,0,0,0,0,0,0,25.48,25.84,28.83
$GC,6556,-0.57,-97.3,2388,1961,3172,2999,795.3,-9.7,542,6562,0.00,2.28,0.00,0.000,260,0.000,0.062,2378,3375,3085,3172,2999,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6616,-0.57,-97.3,2378,3375,3172,2998,801.2,-9.8,545,6620,0.00,2.28,0.00,0.000,1030,0.000,0.052,2378,1956,3085,3172,2999,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6932,-0.57,-97.3,2378,1955,3172,2997,835.3,-10.7,561,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3084,3172,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7232,-0.57,-97.3,2379,1955,3172,2996,866.1,-10.2,576,7237,0.00,2.28,0.00,0.000,260,0.000,0.062,2368,3369,3084,3172,2996,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7260,-0.57,-97.3,2368,3370,3172,2996,868.1,-10.2,577,7264,0.00,2.25,0.00,0.000,1030,0.000,0.053,2368,1957,3084,3173,2996,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7567,-0.57,-97.3,2368,1957,3172,2996,902.5,-11.0,592,7573,0.00,2.30,0.00,0.000,260,0.000,0.062,2358,3376,3084,3172,2996,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7587,-0.57,-97.3,2358,3376,3172,2996,904.7,-11.0,593,7593,0.12,2.28,0.00,0.000,3078,0.172,0.053,2387,1948,3084,3172,2996,0,0,0,0,0,0,25.53,25.78,28.83
$GC,7908,-0.57,-97.3,2387,1947,3171,2995,934.5,-9.1,609,7914,0.00,2.33,0.00,0.000,260,0.000,0.063,2378,3371,3083,3172,2995,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7940,-0.57,-97.3,2378,3371,3172,2995,936.4,-9.1,610,7947,0.00,2.28,0.00,0.000,1030,0.000,0.054,2378,1948,3084,3172,2996,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8247,-0.57,-97.3,2378,1948,3172,2995,966.9,-9.5,626,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1948,3083,3172,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,-0.57,-97.3,2378,1948,3172,2995,995.6,-9.6,641,8553,0.00,2.30,0.00,0.000,516,0.000,0.069,2378,547,3083,3173,2994,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8569,-0.57,-97.3,1576,547,3155,2991,997.6,-9.6,642,8573,0.00,2.30,0.00,0.000,1030,0.000,0.056,2368,1951,3083,3172,2995,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,8605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8605,begin apogee
$GC,8610,-0.14,0.0,2368,1879,3172,2996,1001.7,-10.0,644,8707,0.52,0.00,90.00,1.764,10246,0.150,0.000,2522,1879,2682,2767,2597,0,0,0,0,0,0,25.21,28.83,23.08
$STATE,8708,end apogee,CONTROL_FINISHED_OK
$STATE,8708,begin climb
$GC,8710,0.57,97.3,2522,1879,2767,2598,1004.9,0.0,649,8809,0.68,0.00,94.82,1.706,10758,0.093,0.000,2748,1879,2285,2359,2212,0,0,0,0,0,0,24.44,28.83,22.20
$GC,9107,0.59,112.9,2748,1879,2351,2203,973.8,8.8,669,9128,0.00,2.47,15.40,1.623,8708,0.000,0.073,2759,481,2221,2298,2145,0,0,0,0,0,0,28.83,24.95,23.62
$GC,9139,0.60,127.7,2758,481,2297,2146,972.1,8.8,670,9160,0.00,2.35,15.82,1.621,9222,0.000,0.055,2758,1895,2161,2239,2084,0,0,0,0,0,0,28.83,25.05,23.44
$GC,9468,0.60,127.7,2758,1895,2235,2078,936.8,10.4,687,9473,0.00,2.28,0.00,0.000,260,0.000,0.063,2758,3295,2156,2235,2078,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9489,0.60,127.7,1856,3294,2193,2072,934.6,10.5,688,9494,0.00,2.30,0.00,0.000,1030,0.000,0.057,2769,1892,2155,2233,2078,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9807,0.60,127.7,2768,1892,2234,2077,899.1,11.4,704,9812,0.00,2.35,0.00,0.000,516,0.000,0.073,2779,476,2156,2234,2078,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9840,0.60,127.7,2779,476,2233,2077,896.8,11.4,705,9846,0.00,2.28,0.00,0.000,1030,0.000,0.057,2779,1889,2155,2233,2078,0,0,0,0,0,0,28.83,25.76,28.83
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$STATE,18117,end climb,SURFACE_DEPTH_REACHED
$STATE,18117,begin surface coast
$FINISH,0.6,1.026648
$STATE,18143,end surface coast,CONTROL_FINISHED_OK
$STATE,18144,begin surface
$SM_CCo,18158,19.25,0.191,0,0,1865,200.16
$SM_GC,2.62,6.75,0.12,19.25,0.037,0.091,0.191,154,1961,1865,-7.41,-0.71,200.16,0,0,0,0,0,0,26.17,26.28,25.57
$IRIDIUM_FIX,-4247.91,829.08,100709,212111
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.35
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.2,43.934
$10V_AH,10.0,30.221
$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,18.250,178.175,233.925,19.250,0.000,24.788,42.575,252.131,0.000,0.000,33.750,3612.056,11205.569,478.244,3086.026,273.713,0.000,1811.439,0.000,2551.074,0.000,1.012,0.000
$DEVICE_MAMPS,224.910,96.390,1764.090,191.250,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.231,294.022,933.332,430.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,93691,1401
$CAP_FILE_SIZE,180594,0
$CFSIZE,259252224,235614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,298.1,1
$GPS,130916,183134,-4304.439,829.530,40,1.1,40,-25.0