version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 309
start: 9 15 116 20 40 47
data:
$ID,542
$MISSION,14
$DIVE,309
$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,-41853.285
$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,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
$GPS1,150916,203155,-4255.825,828.542,47,77.5,68,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.3
$GPS2,150916,204003,-4255.729,828.407,45,0.9,45,-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,169.5,19014,-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,15,-0.55,-97.3,138,1959,1895,1813,0.0,0.0,0,68,0.00,0.00,-47.15,0.000,16390,0.000,0.000,138,1958,3079,3138,3020,0,0,0,0,0,0,28.83,28.83,26.34
$GC,71,-0.55,-97.3,138,1958,3139,3018,3.6,-6.2,8,86,8.88,2.30,0.00,0.000,2308,0.223,0.053,2379,3374,3081,3148,3015,0,0,0,0,0,0,25.02,25.72,28.83
$GC,170,-0.55,-97.3,1472,3372,3136,3001,23.1,-15.9,26,177,0.00,2.30,0.00,0.000,1030,0.000,0.054,2379,1951,3082,3159,3005,0,0,0,0,0,0,28.83,25.60,28.83
$GC,301,-0.55,-97.3,2379,1951,3160,3005,42.4,-12.1,51,308,0.00,2.30,0.00,0.000,260,0.000,0.055,2369,3379,3082,3160,3005,0,0,0,0,0,0,28.83,25.63,28.83
$GC,336,-0.55,-97.3,2369,3379,3160,3005,45.9,-10.2,57,343,0.00,2.28,0.00,0.000,1030,0.000,0.048,2370,1945,3082,3160,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,648,-0.55,-97.3,2369,1945,3160,3005,89.5,-15.4,118,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1945,3082,3160,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.55,-97.3,2369,1945,3161,3005,134.9,-13.1,155,967,0.00,2.22,0.00,0.000,516,0.000,0.060,2369,554,3083,3161,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1000,-0.55,-97.3,2369,554,3161,3005,140.3,-12.8,159,1010,0.15,2.22,0.00,0.000,3078,0.180,0.049,2394,1966,3083,3161,3005,0,0,0,0,0,0,25.43,25.82,28.83
$GC,1310,-0.55,-97.3,2394,1966,3162,3005,173.4,-11.3,190,1321,0.00,2.20,0.00,0.000,260,0.000,0.056,2385,3362,3083,3162,3005,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1397,-0.55,-97.3,1536,3361,3142,3001,182.9,-11.1,198,1405,0.00,2.28,0.00,0.000,1030,0.000,0.048,2385,1950,3083,3162,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1705,-0.55,-97.3,2385,1950,3162,3005,218.3,-10.7,229,1713,0.00,2.28,0.00,0.000,260,0.000,0.055,2376,3382,3083,3162,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1747,-0.55,-97.3,2375,3382,3162,3005,222.8,-10.6,233,1756,0.00,2.25,0.00,0.000,1030,0.000,0.047,2376,1952,3083,3162,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2056,-0.55,-97.3,2375,1952,3163,3005,255.9,-10.6,264,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.55,-97.3,2375,1952,3163,3005,287.0,-10.7,294,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.55,-97.3,2375,1952,3164,3005,319.0,-10.2,324,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,-0.55,-97.3,2375,1952,3164,3005,353.0,-11.7,354,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-0.55,-97.3,2375,1952,3165,3005,388.1,-12.1,384,3266,0.00,2.28,0.00,0.000,260,0.000,0.055,2365,3371,3085,3165,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3292,-0.55,-97.3,2365,3371,3164,3005,392.1,-12.2,387,3300,0.12,2.22,0.00,0.000,3078,0.169,0.047,2394,1952,3085,3165,3005,0,0,0,0,0,0,25.60,25.86,28.83
$GC,3599,-0.55,-97.3,2394,1952,3165,3005,425.7,-10.6,406,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1952,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-0.55,-97.3,2394,1952,3165,3005,458.4,-11.1,421,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1952,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4199,-0.55,-97.3,2394,1952,3165,3005,491.5,-11.0,436,4205,0.00,2.28,0.00,0.000,516,0.000,0.063,2394,550,3085,3165,3005,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4232,-0.55,-97.3,2394,550,3165,3005,493.8,-11.0,437,4239,0.00,2.20,0.00,0.000,1030,0.000,0.050,2386,1950,3085,3165,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4540,-0.55,-97.3,2386,1950,3165,3005,529.1,-11.0,453,4545,0.00,2.25,0.00,0.000,260,0.000,0.057,2375,3369,3085,3165,3005,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4622,-0.55,-97.3,2375,3369,3165,3005,537.6,-10.7,457,4627,0.00,2.25,0.00,0.000,1030,0.000,0.050,2375,1951,3084,3164,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4935,-0.55,-97.3,2375,1949,3165,3004,572.7,-11.2,473,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1949,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5234,-0.55,-97.3,2375,1950,3165,3003,607.1,-11.8,488,5240,0.00,2.30,0.00,0.000,260,0.000,0.057,2365,3378,3084,3165,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5282,-0.55,-97.3,2365,3378,3164,3003,611.8,-11.9,490,5287,0.12,2.28,0.00,0.000,3078,0.170,0.050,2394,1947,3084,3165,3003,0,0,0,0,0,0,25.56,25.82,28.83
$GC,5590,-0.55,-97.3,2394,1947,3165,3003,644.5,-10.2,505,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1947,3084,3165,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5889,-0.55,-97.3,2394,1947,3165,3002,674.1,-9.7,520,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1947,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.55,-97.3,2394,1947,3165,3001,702.4,-9.1,535,6196,0.00,2.30,0.00,0.000,260,0.000,0.059,2385,3368,3083,3165,3001,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6230,-0.55,-97.3,2385,3368,3165,3001,706.0,-9.0,537,6236,0.00,2.25,0.00,0.000,1030,0.000,0.051,2386,1954,3083,3165,3001,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6550,-0.55,-97.3,2386,1952,3165,3001,736.0,-9.4,553,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3083,3165,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.55,-97.3,2385,1952,3165,3000,763.6,-9.2,568,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3082,3164,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.55,-97.3,2386,1952,3165,2999,790.6,-8.7,583,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1953,3081,3164,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,-0.55,-97.3,2385,1953,3165,2999,816.4,-8.5,598,7455,0.00,2.33,0.00,0.000,516,0.000,0.067,2386,539,3082,3165,2999,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7498,-0.55,-97.3,2385,539,3165,2999,820.1,-8.7,600,7502,0.00,2.25,0.00,0.000,1030,0.000,0.054,2376,1953,3082,3165,3000,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7805,-0.55,-97.3,2375,1953,3165,2998,849.2,-9.4,615,7811,0.00,2.28,0.00,0.000,260,0.000,0.060,2365,3369,3081,3165,2998,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7886,-0.55,-97.3,2365,3369,3165,2998,857.0,-9.8,619,7892,0.00,2.22,0.00,0.000,1030,0.000,0.051,2365,1958,3081,3165,2998,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8205,-0.55,-97.3,2365,1957,3165,2997,891.1,-10.8,635,8207,0.12,0.00,0.00,0.000,2054,0.188,0.000,2394,1957,3081,3165,2997,0,0,0,0,0,0,26.04,28.83,28.83
$GC,8505,-0.55,-97.3,2393,1956,3165,2996,918.4,-9.1,650,8511,0.00,2.30,0.00,0.000,260,0.000,0.061,2385,3371,3080,3165,2996,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8547,-0.55,-97.3,1552,3370,3146,2992,922.1,-9.2,652,8552,0.00,2.28,0.00,0.000,1030,0.000,0.052,2385,1950,3080,3164,2996,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8865,-0.55,-97.3,2385,1950,3165,2995,953.3,-9.8,668,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1950,3080,3165,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9166,-0.55,-97.3,2384,1950,3165,2995,982.9,-9.9,683,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1949,3080,3165,2995,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9343,begin apogee
$GC,9348,-0.14,0.0,2385,1882,3165,2995,1001.4,-10.5,692,9445,0.47,0.00,89.68,1.778,10246,0.142,0.000,2527,1882,2683,2765,2601,0,0,0,0,0,0,25.23,28.83,23.03
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9448,0.55,97.3,2527,1881,2765,2601,1006.1,0.0,697,9552,0.65,2.65,95.35,1.728,10756,0.091,0.070,2754,487,2286,2358,2214,0,0,0,0,0,0,24.43,23.39,22.12
$GC,9594,0.66,204.3,2753,487,2351,2213,1001.2,5.3,704,9709,0.00,2.42,108.75,1.707,9222,0.000,0.054,2754,1886,1850,1921,1779,0,0,0,0,0,0,28.83,24.12,22.11
$GC,10021,0.66,204.3,2753,1886,1914,1765,950.6,12.9,726,10027,0.00,2.35,0.00,0.000,260,0.000,0.063,2753,3302,1839,1914,1765,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10064,0.66,204.3,2753,3302,1911,1765,945.1,13.3,728,10069,0.00,2.33,0.00,0.000,1030,0.000,0.057,2764,1896,1838,1911,1765,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10377,0.66,204.3,2763,1896,1911,1763,900.0,14.7,744,10383,0.00,2.38,0.00,0.000,516,0.000,0.073,2774,471,1837,1911,1763,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10429,0.66,204.3,2774,470,1909,1763,893.9,14.9,746,10437,0.00,2.30,0.00,0.000,1030,0.000,0.056,2775,1888,1836,1909,1763,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10736,0.66,204.3,2774,1888,1909,1760,844.1,15.4,762,10742,0.00,2.30,0.00,0.000,260,0.000,0.063,2774,3306,1834,1909,1760,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10780,0.66,204.3,2774,3306,1908,1760,837.8,15.6,764,10784,0.00,2.33,0.00,0.000,1030,0.000,0.058,2785,1882,1834,1908,1760,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11091,0.66,204.3,2785,1881,1908,1760,788.0,15.6,780,11098,0.00,2.33,0.00,0.000,516,0.000,0.073,2796,474,1834,1908,1760,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11136,0.66,204.3,2796,474,1908,1760,781.6,15.7,782,11140,0.00,2.28,0.00,0.000,1030,0.000,0.056,2796,1896,1834,1908,1760,0,0,0,0,0,0,28.83,25.86,28.83
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$GC,13460,0.66,204.3,2810,1888,1903,1759,412.6,15.8,898,13466,0.00,2.28,0.00,0.000,260,0.000,0.063,2810,3302,1831,1903,1759,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,16363,end climb,SURFACE_DEPTH_REACHED
$STATE,16363,begin surface coast
$FINISH,0.1,1.026661
$STATE,16379,end surface coast,CONTROL_FINISHED_OK
$STATE,16380,begin surface
$SM_CCo,16455,0.00,0.000,0,0,1830,209.24
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$IRIDIUM_FIX,-4236.17,830.25,130709,050521
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.39
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.1,45.576
$10V_AH,10.0,31.323
$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
$DEVICE_SECS,17.850,137.500,293.775,0.000,0.000,24.271,24.658,287.520,0.000,0.000,46.358,3212.540,10252.907,456.724,2804.718,228.786,0.000,1639.349,0.000,2263.248,0.000,1.010,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,83863,1246
$CAP_FILE_SIZE,158355,0
$CFSIZE,259252224,234758144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,268.4,1
$GPS,160916,011621,-4257.607,829.282,44,0.9,45,-25.0