version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 315
start: 9 17 116 3 58 55
data:
$ID,542
$MISSION,14
$DIVE,315
$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,-41860.91
$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,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
$GPS1,170916,035051,-4307.208,830.225,75,0.9,75,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.9
$GPS2,170916,035810,-4307.225,830.229,17,1.4,17,-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,31.8,2417,-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,-97.3,142,1963,1870,1806,0.0,0.0,0,69,0.00,0.00,-47.78,0.000,16390,0.000,0.000,140,1963,3081,3143,3020,0,0,0,0,0,0,28.83,28.83,26.33
$GC,72,-0.57,-97.3,139,1963,3145,3018,3.6,-6.0,8,87,8.77,2.35,0.00,0.000,2564,0.222,0.052,2389,531,3082,3149,3016,0,0,0,0,0,0,25.02,25.70,28.83
$GC,189,-0.57,-97.3,1456,531,3136,3005,25.1,-12.3,30,197,0.00,2.28,0.00,0.000,1030,0.000,0.051,2381,1958,3085,3161,3009,0,0,0,0,0,0,28.83,25.68,28.83
$GC,320,-0.57,-97.3,2381,1959,3163,3007,42.6,-13.3,55,327,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3366,3085,3163,3007,0,0,0,0,0,0,28.83,25.66,28.83
$GC,375,-0.57,-97.3,2370,3366,3163,3007,50.2,-13.9,65,381,0.00,2.25,0.00,0.000,1030,0.000,0.050,2370,1952,3085,3163,3007,0,0,0,0,0,0,28.83,25.72,28.83
$GC,687,-0.57,-97.3,2370,1952,3164,3006,94.1,-14.0,126,695,0.00,2.30,0.00,0.000,260,0.000,0.057,2360,3371,3085,3164,3006,0,0,0,0,0,0,28.83,25.73,28.83
$GC,721,-0.57,-97.3,1504,3370,3143,3003,99.0,-13.9,132,729,0.00,2.25,0.00,0.000,1030,0.000,0.050,2360,1957,3085,3163,3007,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1036,-0.57,-97.3,2360,1957,3164,3007,143.7,-14.1,164,1040,0.00,2.28,0.00,0.000,260,0.000,0.057,2350,3375,3085,3164,3007,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1085,-0.57,-97.3,2350,3375,3164,3007,150.2,-13.9,168,1093,0.10,2.30,0.00,0.000,3078,0.159,0.050,2381,1955,3085,3164,3007,0,0,0,0,0,0,25.48,25.83,28.83
$GC,1394,-0.57,-97.3,2380,1954,3164,3006,189.6,-12.6,199,1402,0.00,2.25,0.00,0.000,516,0.000,0.061,2381,547,3085,3165,3006,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1427,-0.57,-97.3,2380,547,3164,3007,193.7,-12.9,202,1436,0.00,2.25,0.00,0.000,1030,0.000,0.050,2372,1950,3085,3164,3007,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1735,-0.57,-97.3,2372,1950,3165,3006,234.9,-13.3,233,1744,0.00,2.22,0.00,0.000,260,0.000,0.056,2361,3367,3086,3165,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1850,-0.57,-97.3,2361,3368,3165,3006,249.9,-13.2,244,1859,0.00,2.20,0.00,0.000,1030,0.000,0.048,2361,1957,3086,3165,3007,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2160,-0.57,-97.3,2361,1957,3165,3007,293.1,-13.8,275,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1957,3086,3165,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.57,-97.3,2361,1956,3165,3007,333.1,-13.0,305,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1957,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,-0.57,-97.3,2362,1957,3165,3006,371.1,-12.4,335,2770,0.00,2.28,0.00,0.000,516,0.000,0.062,2362,538,3086,3165,3007,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2803,-0.57,-97.3,2361,539,3166,3006,376.8,-13.2,339,2812,0.10,2.20,0.00,0.000,3078,0.155,0.050,2381,1956,3086,3165,3007,0,0,0,0,0,0,25.56,25.91,28.83
$GC,3112,-0.57,-97.3,2382,1956,3165,3006,412.0,-11.2,365,3117,0.00,2.25,0.00,0.000,260,0.000,0.057,2373,3373,3086,3165,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3220,-0.57,-97.3,2372,3374,3165,3006,422.9,-10.9,370,3224,0.00,2.25,0.00,0.000,1030,0.000,0.049,2373,1946,3085,3165,3006,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3527,-0.57,-97.3,2372,1945,3165,3007,460.8,-12.6,385,3533,0.00,2.28,0.00,0.000,516,0.000,0.062,2373,540,3085,3165,3006,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3547,-0.57,-97.3,2372,540,3165,3007,463.5,-12.8,386,3551,0.00,2.22,0.00,0.000,1030,0.000,0.050,2363,1957,3086,3166,3007,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3863,-0.57,-97.3,2362,1957,3165,3006,504.7,-12.9,402,3869,0.00,2.28,0.00,0.000,260,0.000,0.057,2352,3379,3086,3165,3007,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3966,-0.57,-97.3,2352,3379,3165,3006,517.4,-12.7,407,3971,0.12,2.25,0.00,0.000,3078,0.173,0.049,2382,1955,3085,3165,3006,0,0,0,0,0,0,25.58,25.86,28.83
$GC,4279,-0.57,-97.3,2381,1955,3165,3007,551.4,-10.6,423,4285,0.00,2.25,0.00,0.000,260,0.000,0.057,2373,3369,3086,3165,3007,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4306,-0.57,-97.3,2373,3369,3165,3006,553.4,-10.6,424,4311,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1954,3085,3165,3006,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4614,-0.57,-97.3,2373,1953,3166,3006,587.9,-11.2,439,4620,0.00,2.28,0.00,0.000,260,0.000,0.058,2363,3369,3085,3165,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4636,-0.57,-97.3,2363,3369,3165,3006,590.1,-11.2,440,4641,0.00,2.25,0.00,0.000,1030,0.000,0.050,2363,1951,3085,3165,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4949,-0.57,-97.3,2363,1950,3165,3006,629.0,-12.5,456,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-0.57,-97.3,2363,1950,3166,3005,667.8,-13.0,471,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5548,-0.57,-97.3,2363,1950,3165,3005,706.0,-12.6,486,5554,0.00,2.30,0.00,0.000,260,0.000,0.058,2353,3378,3084,3165,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5589,-0.57,-97.3,2353,3378,3165,3004,710.9,-12.3,488,5595,0.12,2.28,0.00,0.000,3078,0.172,0.050,2382,1952,3084,3165,3004,0,0,0,0,0,0,25.56,25.82,28.83
$GC,5908,-0.57,-97.3,2381,1952,3166,3004,744.6,-10.1,504,5914,0.00,2.30,0.00,0.000,516,0.000,0.066,2382,549,3084,3165,3004,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5956,-0.57,-97.3,2381,548,3165,3003,748.9,-10.5,506,5961,0.00,2.22,0.00,0.000,1030,0.000,0.052,2373,1953,3084,3165,3003,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6264,-0.57,-97.3,2373,1953,3166,3002,782.5,-10.6,521,6270,0.00,2.28,0.00,0.000,260,0.000,0.060,2363,3370,3084,3165,3003,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6343,-0.57,-97.3,2362,3370,3166,3003,791.1,-10.8,525,6349,0.00,2.25,0.00,0.000,1030,0.000,0.051,2363,1956,3084,3165,3003,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6664,-0.57,-97.3,2362,1957,3165,3002,826.6,-10.9,541,6669,0.00,2.30,0.00,0.000,260,0.000,0.060,2352,3378,3083,3165,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6691,-0.57,-97.3,2352,3378,3165,3002,828.8,-10.9,542,6696,0.12,2.28,0.00,0.000,3078,0.173,0.051,2380,1955,3084,3166,3002,0,0,0,0,0,0,25.52,25.79,28.83
$GC,6998,-0.57,-97.3,2381,1955,3165,3002,859.8,-9.6,557,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7299,-0.57,-97.3,2381,1955,3165,3001,888.0,-9.3,572,7305,0.00,2.28,0.00,0.000,260,0.000,0.060,2373,3370,3083,3165,3001,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7362,-0.57,-97.3,1544,3368,3146,2997,893.5,-9.2,575,7366,0.00,2.25,0.00,0.000,1030,0.000,0.052,2373,1960,3083,3165,3001,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7675,-0.57,-97.3,2373,1959,3165,3001,922.2,-8.9,591,7681,0.00,2.30,0.00,0.000,260,0.000,0.061,2363,3370,3083,3165,3001,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7697,-0.57,-97.3,2363,3370,3165,3001,924.0,-9.0,592,7701,0.00,2.28,0.00,0.000,1030,0.000,0.053,2363,1954,3083,3165,3001,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8009,-0.57,-97.3,2363,1953,3165,3000,952.9,-9.0,608,8015,0.00,2.33,0.00,0.000,516,0.000,0.068,2363,544,3082,3165,3000,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8023,-0.57,-97.3,2363,544,3165,3000,952.9,-9.0,608,8030,0.12,2.25,0.00,0.000,3078,0.179,0.054,2381,1955,3082,3165,3000,0,0,0,0,0,0,25.51,25.80,28.83
$GC,8329,-0.57,-97.3,2381,1954,3165,2999,979.5,-8.4,624,8335,0.00,2.30,0.00,0.000,260,0.000,0.062,2372,3369,3082,3165,2999,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8382,-0.57,-97.3,2372,3369,3165,2999,983.0,-8.6,626,8389,0.00,2.28,0.00,0.000,1030,0.000,0.053,2372,1951,3082,3165,2999,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,8567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8567,begin apogee
$GC,8572,-0.14,0.0,2372,1870,3165,2999,1001.4,-9.6,636,8669,0.50,0.00,89.97,1.746,10246,0.147,0.000,2519,1869,2682,2763,2602,0,0,0,0,0,0,25.20,28.83,23.04
$STATE,8670,end apogee,CONTROL_FINISHED_OK
$STATE,8670,begin climb
$GC,8672,0.57,97.3,2520,1869,2763,2602,1005.2,0.0,641,8776,0.70,2.58,95.22,1.694,10756,0.095,0.069,2762,480,2286,2356,2216,0,0,0,0,0,0,24.41,23.39,22.14
$GC,8791,0.68,201.6,2762,480,2350,2216,1000.5,5.1,647,8908,0.00,2.45,106.32,1.684,9222,0.000,0.054,2762,1886,1860,1927,1794,0,0,0,0,0,0,28.83,23.84,22.11
$GC,9209,0.68,201.6,2762,1886,1920,1779,949.2,12.5,668,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1887,1849,1920,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,0.68,201.6,2762,1886,1920,1777,911.3,13.1,683,9515,0.00,2.35,0.00,0.000,516,0.000,0.073,2773,485,1848,1920,1777,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9528,0.68,201.6,2772,485,1919,1777,908.5,13.4,684,9534,0.00,2.28,0.00,0.000,1030,0.000,0.054,2772,1896,1848,1919,1777,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9849,0.68,201.6,2772,1897,1918,1775,864.6,14.0,700,9855,0.00,2.28,0.00,0.000,260,0.000,0.063,2772,3302,1846,1918,1775,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9896,0.68,201.6,2772,3302,1916,1774,858.9,14.3,702,9901,0.00,2.30,0.00,0.000,1030,0.000,0.060,2782,1890,1845,1916,1775,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,15637,end climb,SURFACE_DEPTH_REACHED
$STATE,15637,begin surface coast
$FINISH,0.1,1.014438
$STATE,15643,end surface coast,CONTROL_FINISHED_OK
$STATE,15643,begin surface
$SM_CCo,15720,0.00,0.000,0,0,1840,206.78
$SM_GC,1.69,6.88,2.22,0.00,0.040,0.057,0.000,172,1957,1840,-7.41,0.79,206.78,0,0,0,0,0,0,26.08,25.75,28.83
$IRIDIUM_FIX,-4247.91,831.99,140709,121208
$TT8_MAMPS,0.020972,0.020972
$HUMID,61.93
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,22.1,46.445
$10V_AH,10.0,31.941
$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
$DEVICE_SECS,17.900,159.850,291.525,0.000,0.000,23.737,18.665,256.344,0.000,0.000,18.473,3102.950,9656.011,462.922,2712.339,235.654,0.000,1645.785,0.000,2220.238,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.995,248.629,790.008,365.623,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353156
$DATA_FILE_SIZE,80355,1197
$CAP_FILE_SIZE,157681,0
$CFSIZE,259252224,234283008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140,262.3,1
$GPS,170916,082203,-4305.354,828.985,34,0.8,34,-25.0