version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 63
start: 7 26 116 20 54 53
data:
$ID,542
$MISSION,14
$DIVE,63
$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,333
$T_MISSION,343
$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,120
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-40043.445
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,260716,204751,-4300.961,849.831,218,1.1,218,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-76.9
$GPS2,260716,205410,-4300.994,849.874,21,1.2,21,-25.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$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,280.3,28387,-16.4,-10.010,-19.35,2733
$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,-0.58,-97.3,155,1976,2252,2157,0.0,0.0,0,55,0.00,0.00,-33.58,0.000,16390,0.000,0.000,155,1976,3098,3180,3016,0,0,0,0,0,0,28.83,28.83,26.41
$GC,57,-0.58,-97.3,155,1976,3180,3016,3.8,-6.7,6,72,8.75,2.33,0.00,0.000,2308,0.246,0.061,2370,3398,3099,3182,3016,0,0,0,0,0,0,25.86,26.05,28.83
$GC,347,-0.58,-97.3,2369,3398,3187,3016,49.6,-13.5,62,353,0.00,2.28,0.00,0.000,1030,0.000,0.058,2370,1970,3101,3187,3016,0,0,0,0,0,0,28.83,26.16,28.83
$GC,665,-0.58,-97.3,2369,1970,3188,3015,96.4,-13.5,123,672,0.00,2.25,0.00,0.000,516,0.000,0.071,2370,569,3102,3188,3016,0,0,0,0,0,0,28.83,26.22,28.83
$GC,693,-0.58,-97.3,2370,569,3188,3015,100.6,-15.1,128,701,0.00,2.22,0.00,0.000,1030,0.000,0.059,2361,1978,3101,3188,3015,0,0,0,0,0,0,28.83,26.24,28.83
$GC,998,-0.58,-97.3,2361,1978,3189,3015,147.1,-14.7,159,1002,0.00,2.22,0.00,0.000,260,0.000,0.066,2350,3391,3102,3189,3015,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1047,-0.58,-97.3,1544,3390,3171,3012,153.7,-14.5,163,1055,0.10,2.28,0.00,0.000,3078,0.171,0.057,2379,1979,3102,3189,3016,0,0,0,0,0,0,26.20,26.30,28.83
$GC,1354,-0.58,-97.3,2380,1979,3190,3015,194.3,-12.8,194,1358,0.00,2.25,0.00,0.000,260,0.000,0.065,2371,3393,3103,3190,3016,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1390,-0.58,-97.3,2371,3394,3190,3016,198.9,-12.9,197,1399,0.00,2.22,0.00,0.000,1030,0.000,0.057,2372,1978,3103,3190,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1700,-0.58,-97.3,2371,1977,3191,3015,239.8,-13.0,228,1704,0.00,2.25,0.00,0.000,260,0.000,0.065,2361,3395,3103,3191,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1735,-0.58,-97.3,2361,3395,3191,3015,244.5,-13.4,231,1739,0.00,2.22,0.00,0.000,1030,0.000,0.056,2361,1977,3103,3191,3016,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2041,-0.58,-97.3,2361,1977,3191,3015,285.6,-13.1,261,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1977,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.58,-97.3,2361,1976,3191,3016,321.7,-12.1,291,2344,0.00,2.25,0.00,0.000,260,0.000,0.065,2351,3394,3103,3191,3016,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2367,-0.58,-97.3,2351,3394,3191,3015,324.8,-12.0,293,2376,0.12,2.22,0.00,0.000,3078,0.187,0.055,2380,1974,3103,3190,3016,0,0,0,0,0,0,26.32,26.42,28.83
$GC,2676,-0.58,-97.3,2380,1974,3192,3016,357.7,-10.4,324,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1974,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,-0.58,-97.3,2380,1974,3192,3016,389.4,-11.1,354,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1974,3103,3191,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3276,-0.58,-97.3,2380,1974,3192,3016,424.5,-11.9,374,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1974,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,-0.58,-97.3,2380,1974,3192,3015,459.4,-11.7,389,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1973,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,-0.58,-97.3,2380,1974,3191,3015,494.8,-11.8,404,3880,0.00,2.25,0.00,0.000,260,0.000,0.067,2371,3391,3104,3192,3016,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3912,-0.58,-97.3,2371,3391,3191,3016,498.8,-11.5,406,3916,0.00,2.22,0.00,0.000,1030,0.000,0.058,2372,1974,3104,3192,3016,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4228,-0.58,-97.3,2371,1974,3192,3015,535.2,-11.2,422,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1974,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4528,-0.58,-97.3,2371,1974,3192,3015,570.5,-12.1,437,4534,0.00,2.25,0.00,0.000,260,0.000,0.068,2361,3391,3104,3192,3016,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4560,-0.58,-97.3,2361,3391,3191,3016,572.9,-12.2,438,4568,0.00,2.28,0.00,0.000,1030,0.000,0.058,2361,1973,3103,3192,3015,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4868,-0.58,-97.3,2361,1972,3192,3015,613.7,-12.9,454,4872,0.00,2.25,0.00,0.000,260,0.000,0.067,2351,3391,3103,3192,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4892,-0.58,-97.3,2351,3391,3192,3016,615.8,-13.0,455,4896,0.12,2.22,0.00,0.000,3078,0.185,0.059,2380,1978,3104,3192,3016,0,0,0,0,0,0,26.40,26.50,28.83
$GC,5199,-0.58,-97.3,2380,1977,3192,3015,652.2,-11.4,470,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1977,3104,3192,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.58,-97.3,2380,1977,3192,3015,686.7,-11.7,485,5504,0.00,2.28,0.00,0.000,516,0.000,0.076,2381,566,3104,3193,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5526,-0.58,-97.3,2380,565,3192,3015,689.3,-11.9,486,5530,0.00,2.28,0.00,0.000,1030,0.000,0.062,2371,2007,3103,3192,3015,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5838,-0.58,-97.3,2372,2007,3192,3015,728.8,-12.2,502,5842,0.00,2.20,0.00,0.000,260,0.000,0.070,2361,3393,3103,3192,3014,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5874,-0.58,-97.3,2361,3392,3192,3014,733.2,-12.2,504,5878,0.00,2.22,0.00,0.000,1030,0.000,0.060,2361,1978,3103,3192,3014,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6190,-0.58,-97.3,2361,1977,3192,3013,772.3,-12.2,520,6194,0.00,2.28,0.00,0.000,516,0.000,0.077,2362,567,3102,3192,3013,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6209,-0.58,-97.3,1568,567,3174,3009,774.4,-12.2,521,6213,0.00,2.28,0.00,0.000,1030,0.000,0.061,2351,1977,3102,3192,3013,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6527,-0.58,-97.3,2351,1977,3192,3012,815.4,-13.1,537,6533,0.12,2.25,0.00,0.000,2308,0.201,0.070,2376,3391,3102,3192,3012,0,0,0,0,0,0,26.41,26.49,28.83
$GC,6569,-0.58,-97.3,1568,3390,3174,3008,820.1,-12.5,539,6573,0.00,2.28,0.00,0.000,1030,0.000,0.061,2376,1983,3102,3192,3012,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6886,-0.58,-97.3,2376,1982,3192,3011,856.8,-11.4,555,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1982,3101,3191,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7186,-0.58,-97.3,2376,1982,3192,3011,890.1,-11.0,570,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1982,3101,3192,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,-0.58,-97.3,2376,1982,3192,3009,921.6,-10.3,585,7493,0.00,2.30,0.00,0.000,516,0.000,0.080,2376,563,3100,3192,3009,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7519,-0.58,-97.3,2376,563,3192,3010,923.8,-10.4,586,7526,0.00,2.28,0.00,0.000,1030,0.000,0.064,2365,1994,3100,3192,3009,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7826,-0.58,-97.3,2365,1994,3192,3009,957.3,-10.2,602,7830,0.00,2.22,0.00,0.000,260,0.000,0.073,2355,3392,3100,3192,3009,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7922,-0.58,-97.3,2355,3392,3192,3009,967.6,-10.7,607,7927,0.12,2.25,0.00,0.000,3078,0.187,0.063,2384,1967,3100,3192,3009,0,0,0,0,0,0,26.42,26.51,28.83
$GC,8239,-0.58,-97.3,2384,1967,3191,3008,997.2,-9.3,623,8245,0.00,2.28,0.00,0.000,516,0.000,0.080,2385,564,3099,3191,3008,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8262,-0.58,-97.3,2385,564,3192,3008,999.1,-9.4,624,8266,0.00,2.25,0.00,0.000,1030,0.000,0.065,2376,1979,3100,3192,3008,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,8273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8273,begin apogee
$GC,8277,-0.14,0.0,2376,1864,3192,3008,1000.6,-9.5,625,8368,0.47,0.00,88.25,1.738,10246,0.155,0.000,2520,1864,2699,2785,2614,0,0,0,0,0,0,26.42,28.83,23.57
$STATE,8369,end apogee,CONTROL_FINISHED_OK
$STATE,8369,begin climb
$GC,8371,0.58,97.3,2520,1864,2786,2614,1003.3,0.0,629,8475,0.70,2.60,92.47,1.703,10756,0.106,0.080,2759,463,2303,2370,2236,0,0,0,0,0,0,24.60,24.13,23.18
$GC,8480,0.70,196.6,2758,463,2366,2236,998.1,6.3,635,8588,0.12,2.47,100.15,1.696,11270,0.108,0.063,2800,1879,1898,1967,1829,0,0,0,0,0,0,24.42,24.41,22.62
$GC,8895,0.70,196.6,2800,1879,1957,1808,926.3,18.0,656,8899,0.00,2.38,0.00,0.000,260,0.000,0.071,2800,3288,1882,1957,1808,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8952,0.70,196.6,2799,3288,1954,1807,915.9,18.5,659,8958,0.00,2.38,0.00,0.000,1030,0.000,0.067,2810,1880,1880,1954,1807,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9271,0.70,196.6,2810,1880,1953,1805,857.6,18.1,675,9275,0.00,2.40,0.00,0.000,516,0.000,0.084,2822,462,1879,1953,1805,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9309,0.70,196.6,1968,462,1919,1801,850.9,18.2,677,9314,0.00,2.38,0.00,0.000,1030,0.000,0.067,2822,1873,1879,1953,1805,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9627,0.70,196.6,2821,1873,1952,1803,792.1,18.8,693,9633,0.00,2.33,0.00,0.000,260,0.000,0.074,2822,3289,1877,1952,1803,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9690,0.70,196.6,2822,3289,1950,1802,780.9,18.7,696,9695,0.10,2.35,0.00,0.000,5126,0.200,0.067,2805,1881,1876,1950,1802,0,0,0,0,0,0,25.86,25.97,28.83
$GC,10007,0.70,196.6,2805,1881,1950,1802,728.5,16.2,712,10011,0.00,2.38,0.00,0.000,516,0.000,0.084,2814,456,1876,1950,1802,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10056,0.70,196.6,2814,456,1950,1802,722.3,16.7,714,10063,0.00,2.33,0.00,0.000,1030,0.000,0.067,2814,1883,1876,1950,1802,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10363,0.70,196.6,2814,1883,1950,1801,668.5,16.6,730,10367,0.00,2.30,0.00,0.000,260,0.000,0.074,2814,3293,1875,1950,1801,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,14614,end climb,SURFACE_DEPTH_REACHED
$STATE,14614,begin surface coast
$FINISH,0.7,1.026654
$STATE,14631,end surface coast,CONTROL_FINISHED_OK
$STATE,14631,begin surface
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$IRIDIUM_FIX,-4242.04,849.02,230509,060613
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.15
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,1
$24V_AH,22.6,10.772
$10V_AH,10.2,6.725
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.150,146.925,280.875,0.000,0.000,22.588,45.562,193.115,0.250,0.000,23.265,2964.990,9265.405,390.073,2354.321,127.244,0.000,1463.793,0.000,1967.202,0.000,1.011,0.000
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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,353348
$DATA_FILE_SIZE,70445,1130
$CAP_FILE_SIZE,155034,0
$CFSIZE,259252224,254435328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089, 59.2,1
$GPS,270716,010103,-4301.071,848.177,33,1.2,33,-25.1