version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 347
start: 9 23 116 23 30 49
data:
$ID,542
$MISSION,14
$DIVE,347
$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,-41902.516
$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,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
$GPS1,230916,231903,-4305.219,830.689,32,1.0,32,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.0
$GPS2,230916,233004,-4305.163,830.722,16,1.5,16,-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,236.2,1724,-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,16,-0.57,-97.3,137,1957,1674,1596,0.0,0.0,0,79,0.00,0.00,-57.50,0.000,16390,0.000,0.000,138,1958,3083,3138,3029,0,0,0,0,0,0,28.83,28.83,26.29
$GC,82,-0.57,-97.3,137,1958,3142,3026,3.3,-4.0,10,97,8.95,2.30,0.00,0.000,2308,0.228,0.053,2371,3370,3084,3148,3020,0,0,0,0,0,0,25.02,25.71,28.83
$GC,109,-0.57,-97.3,2371,3370,3156,3015,11.5,-27.3,14,117,0.00,2.28,0.00,0.000,1030,0.000,0.047,2371,1949,3086,3158,3014,0,0,0,0,0,0,28.83,25.70,28.83
$GC,159,-0.57,-97.3,1440,1947,3136,3008,19.5,-14.6,23,166,0.00,2.30,0.00,0.000,516,0.000,0.059,2371,535,3086,3160,3012,0,0,0,0,0,0,28.83,25.62,28.83
$GC,184,-0.57,-97.3,2371,535,3160,3012,22.6,-12.2,27,191,0.00,2.25,0.00,0.000,1030,0.000,0.050,2362,1958,3086,3160,3012,0,0,0,0,0,0,28.83,25.72,28.83
$GC,314,-0.57,-97.3,1416,1957,3136,3008,40.6,-15.1,52,322,0.00,2.28,0.00,0.000,260,0.000,0.057,2351,3360,3086,3160,3012,0,0,0,0,0,0,28.83,25.72,28.83
$GC,355,-0.57,-97.3,2351,3360,3161,3012,46.9,-14.5,59,362,0.15,2.22,0.00,0.000,3078,0.168,0.047,2388,1950,3086,3160,3012,0,0,0,0,0,0,25.47,25.78,28.83
$GC,675,-0.57,-97.3,2387,1950,3162,3012,85.4,-11.8,120,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1949,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.57,-97.3,2387,1950,3162,3012,123.0,-12.2,162,997,0.00,2.28,0.00,0.000,260,0.000,0.057,2379,3364,3087,3162,3012,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1022,-0.57,-97.3,2379,3364,3162,3012,126.8,-12.2,165,1029,0.00,2.22,0.00,0.000,1030,0.000,0.047,2379,1951,3087,3162,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1329,-0.57,-97.3,2379,1951,3161,3012,166.2,-12.6,196,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-0.57,-97.3,2379,1951,3162,3012,201.0,-11.0,226,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.57,-97.3,2379,1951,3163,3012,234.0,-11.3,256,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2231,-0.57,-97.3,2379,1951,3163,3012,269.3,-12.3,286,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-0.57,-97.3,2379,1951,3164,3012,307.8,-13.0,316,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.57,-97.3,2379,1951,3164,3012,345.6,-12.4,346,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,-0.57,-97.3,2379,1951,3164,3012,383.9,-12.3,377,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3460,-0.57,-97.3,2379,1951,3164,3012,421.8,-11.6,400,3466,0.00,2.25,0.00,0.000,260,0.000,0.057,2369,3364,3088,3164,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3528,-0.57,-97.3,2369,3364,3164,3012,428.7,-11.6,403,3532,0.00,2.22,0.00,0.000,1030,0.000,0.047,2369,1956,3088,3164,3012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3835,-0.57,-97.3,2369,1957,3164,3012,467.5,-12.3,418,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1956,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4135,-0.57,-97.3,2369,1956,3164,3012,504.2,-12.4,433,4141,0.00,2.28,0.00,0.000,516,0.000,0.061,2369,546,3088,3164,3012,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4183,-0.57,-97.3,2369,546,3164,3012,509.5,-12.8,435,4187,0.00,2.20,0.00,0.000,1030,0.000,0.050,2359,1951,3088,3164,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4490,-0.57,-97.3,2358,1952,3164,3011,549.8,-12.7,450,4496,0.00,2.28,0.00,0.000,260,0.000,0.057,2348,3378,3087,3164,3011,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4584,-0.57,-97.3,2348,3378,3164,3010,559.8,-12.5,454,4591,0.15,2.25,0.00,0.000,3078,0.164,0.049,2386,1950,3087,3164,3010,0,0,0,0,0,0,25.60,25.91,28.83
$GC,4890,-0.57,-97.3,2386,1950,3164,3010,593.8,-10.2,470,4896,0.00,2.28,0.00,0.000,260,0.000,0.058,2377,3371,3087,3164,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4918,-0.57,-97.3,2377,3372,3164,3009,595.9,-10.2,471,4922,0.00,2.25,0.00,0.000,1030,0.000,0.050,2377,1947,3086,3164,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5225,-0.57,-97.3,2377,1947,3164,3008,630.1,-11.2,486,5231,0.00,2.28,0.00,0.000,260,0.000,0.059,2367,3367,3086,3164,3008,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5298,-0.57,-97.3,2367,3368,3164,3007,636.8,-11.2,489,5304,0.00,2.22,0.00,0.000,1030,0.000,0.050,2367,1958,3086,3164,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5605,-0.57,-97.3,2367,1958,3164,3006,674.1,-11.6,505,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1957,3085,3164,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.57,-97.3,2367,1958,3164,3006,707.0,-10.9,520,5911,0.00,2.30,0.00,0.000,516,0.000,0.063,2367,540,3085,3164,3006,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5953,-0.57,-97.3,2367,540,3164,3006,711.6,-11.1,522,5958,0.12,2.25,0.00,0.000,3078,0.178,0.052,2386,1964,3085,3164,3006,0,0,0,0,0,0,25.59,25.89,28.83
$GC,6260,-0.57,-97.3,2385,1965,3164,3005,742.8,-9.9,537,6266,0.00,2.22,0.00,0.000,260,0.000,0.060,2377,3364,3084,3164,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6300,-0.57,-97.3,2376,3364,3164,3004,746.8,-9.9,539,6305,0.00,2.22,0.00,0.000,1030,0.000,0.050,2377,1956,3084,3164,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6620,-0.57,-97.3,2376,1955,3164,3005,779.6,-10.3,555,6625,0.00,2.28,0.00,0.000,516,0.000,0.065,2376,544,3084,3164,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6648,-0.57,-97.3,2376,544,3164,3005,781.7,-10.3,556,6652,0.00,2.22,0.00,0.000,1030,0.000,0.053,2366,1950,3084,3164,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6955,-0.57,-97.3,2366,1951,3164,3004,816.7,-11.3,571,6960,0.00,2.28,0.00,0.000,260,0.000,0.060,2355,3372,3084,3164,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7003,-0.57,-97.3,2356,3372,3164,3004,821.3,-11.3,573,7008,0.12,2.25,0.00,0.000,3078,0.171,0.051,2385,1952,3084,3164,3004,0,0,0,0,0,0,25.57,25.82,28.83
$GC,7310,-0.57,-97.3,2385,1952,3164,3004,853.1,-10.0,588,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,-0.57,-97.3,2385,1952,3164,3003,883.1,-10.1,603,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3083,3164,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7910,-0.57,-97.3,2385,1952,3164,3002,913.8,-10.1,618,7915,0.00,2.30,0.00,0.000,260,0.000,0.061,2377,3375,3083,3164,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7971,-0.57,-97.3,2376,3375,3164,3002,919.7,-9.9,621,7976,0.00,2.28,0.00,0.000,1030,0.000,0.051,2377,1952,3083,3164,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8291,-0.57,-97.3,2376,1952,3164,3002,950.3,-9.2,637,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1952,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,-0.57,-97.3,2376,1952,3164,3002,978.0,-9.2,652,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1952,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8854,-0.14,0.0,2376,1870,3164,3002,1000.7,-8.6,665,8950,0.50,0.00,90.45,1.779,10246,0.138,0.000,2528,1869,2683,2760,2606,0,0,0,0,0,0,25.28,28.83,22.89
$STATE,8951,end apogee,CONTROL_FINISHED_OK
$STATE,8951,begin climb
$GC,8953,0.57,97.3,2528,1869,2760,2605,1003.3,0.0,670,9053,0.70,0.00,95.75,1.717,10758,0.084,0.000,2758,1870,2285,2352,2218,0,0,0,0,0,0,24.37,28.83,21.99
$GC,9350,0.57,97.3,2758,1869,2349,2207,970.5,9.5,690,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1870,2278,2349,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,0.59,118.5,2758,1869,2347,2206,943.5,8.6,705,9677,0.00,2.45,19.85,1.688,8452,0.000,0.063,2758,3304,2199,2270,2128,0,0,0,0,0,0,28.83,25.27,23.81
$GC,9743,0.59,118.5,2758,3304,2268,2126,935.9,9.5,709,9750,0.00,2.33,0.00,0.000,1030,0.000,0.057,2768,1896,2197,2268,2126,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10050,0.59,118.5,2768,1896,2268,2121,905.0,9.4,725,10056,0.00,2.35,0.00,0.000,516,0.000,0.070,2779,475,2195,2268,2122,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10093,0.59,118.5,1856,475,2226,2116,901.0,9.7,727,10097,0.00,2.28,0.00,0.000,1030,0.000,0.055,2779,1891,2194,2267,2122,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10405,0.59,118.5,2779,1891,2267,2121,868.7,10.1,743,10410,0.00,2.28,0.00,0.000,260,0.000,0.063,2779,3301,2194,2267,2121,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10518,0.59,118.5,2779,3301,2266,2121,858.1,10.8,748,10526,0.00,2.30,0.00,0.000,1030,0.000,0.058,2789,1879,2193,2266,2120,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10825,0.59,118.5,2790,1878,2265,2121,823.7,10.5,764,10831,0.00,2.30,0.00,0.000,260,0.000,0.062,2789,3304,2193,2266,2120,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10867,0.59,118.5,1888,3303,2224,2114,819.2,10.9,766,10872,0.10,2.35,0.00,0.000,5126,0.178,0.057,2772,1882,2192,2265,2120,0,0,0,0,0,0,25.56,25.88,28.83
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$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,0.6,1.026703
$STATE,18734,end surface coast,CONTROL_FINISHED_OK
$STATE,18734,begin surface
$SM_CCo,18751,19.90,0.220,0,0,1865,200.16
$SM_GC,2.81,6.80,2.40,19.90,0.041,0.049,0.220,152,1967,1865,-7.40,-0.48,200.16,0,0,0,0,0,0,26.17,25.94,25.44
$IRIDIUM_FIX,-4247.91,823.24,210709,121211
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.27
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.0,51.135
$10V_AH,9.9,35.256
$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,18.275,164.300,235.250,19.900,0.000,50.437,47.453,307.042,0.000,0.000,17.517,3684.104,11712.470,482.634,3274.072,293.757,0.000,1831.486,0.000,2614.286,0.000,1.010,0.000
$DEVICE_MAMPS,227.970,100.980,1779.390,219.555,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1020.388,291.424,929.342,421.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353140
$DATA_FILE_SIZE,93569,1425
$CAP_FILE_SIZE,183873,0
$CFSIZE,259252224,231624704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.147,326.3,1
$GPS,240916,044503,-4305.831,828.099,44,1.0,45,-25.0