version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 77
start: 7 29 116 15 52 16
data:
$ID,542
$MISSION,14
$DIVE,77
$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,-40061.047
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,290716,154632,-4305.550,829.616,91,1.1,100,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.3
$GPS2,290716,155132,-4305.545,829.624,18,0.9,20,-25.0
$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,177.9,876,-17.1,-10.010,-20.00,2523
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.60,-97.3,167,1967,2054,1945,0.0,0.0,0,62,0.00,0.00,-42.08,0.000,16390,0.000,0.000,167,1966,3098,3181,3015,0,0,0,0,0,0,28.83,28.83,26.48
$GC,65,-0.60,-97.3,167,1966,3181,3016,3.4,-5.3,7,79,8.62,2.30,0.00,0.000,2564,0.245,0.063,2381,564,3099,3183,3015,0,0,0,0,0,0,25.91,26.11,28.83
$GC,256,-0.60,-97.3,1424,564,3164,3011,36.5,-14.5,44,263,0.00,2.25,0.00,0.000,1030,0.000,0.059,2373,1979,3102,3188,3016,0,0,0,0,0,0,28.83,26.17,28.83
$GC,386,-0.60,-97.3,1472,1978,3167,3011,54.7,-13.8,69,393,0.00,2.28,0.00,0.000,260,0.000,0.067,2362,3393,3102,3189,3015,0,0,0,0,0,0,28.83,26.20,28.83
$GC,465,-0.60,-97.3,2362,3394,3189,3015,66.1,-13.8,84,472,0.00,2.25,0.00,0.000,1030,0.000,0.058,2362,1977,3102,3189,3015,0,0,0,0,0,0,28.83,26.22,28.83
$GC,775,-0.60,-97.3,2362,1977,3190,3015,111.8,-14.6,137,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1977,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1075,-0.60,-97.3,2361,1976,3191,3015,155.4,-14.1,167,1079,0.00,2.25,0.00,0.000,260,0.000,0.065,2352,3393,3103,3191,3015,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1164,-0.60,-97.3,2352,3392,3191,3015,167.4,-13.9,175,1171,0.00,2.28,0.00,0.000,1030,0.000,0.057,2352,1976,3103,3191,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1471,-0.60,-97.3,2352,1976,3191,3015,213.7,-14.6,206,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1976,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1771,-0.60,-97.3,2351,1976,3192,3015,256.7,-14.2,236,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1976,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-0.60,-97.3,2352,1976,3193,3016,299.2,-13.9,266,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1976,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2371,-0.60,-97.3,2352,1975,3193,3015,341.9,-14.7,296,2375,0.00,2.25,0.00,0.000,260,0.000,0.066,2342,3395,3104,3193,3015,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2446,-0.60,-97.3,2341,3395,3193,3016,352.9,-14.3,303,2452,0.15,2.22,0.00,0.000,3078,0.187,0.056,2378,1972,3103,3193,3014,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2751,-0.60,-97.3,2378,1971,3194,3015,390.9,-12.0,333,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1972,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.60,-97.3,2378,1972,3194,3015,426.8,-11.6,352,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1972,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,-0.60,-97.3,2378,1972,3194,3015,460.9,-11.6,367,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1972,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-0.60,-97.3,2378,1972,3194,3016,494.3,-11.1,382,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1972,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.60,-97.3,2378,1972,3194,3015,528.8,-11.7,397,3955,0.00,2.28,0.00,0.000,260,0.000,0.068,2370,3400,3104,3194,3015,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4020,-0.60,-97.3,2369,3400,3194,3015,535.2,-11.5,400,4027,0.00,2.25,0.00,0.000,1030,0.000,0.059,2370,1975,3104,3194,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4327,-0.60,-97.3,2369,1974,3194,3015,574.3,-12.6,416,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1974,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-0.60,-97.3,2369,1974,3195,3015,611.2,-12.5,431,4631,0.00,2.28,0.00,0.000,260,0.000,0.069,2359,3400,3104,3194,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4686,-0.60,-97.3,1568,3400,3177,3011,618.0,-12.3,434,4690,0.00,2.30,0.00,0.000,1030,0.000,0.060,2359,1975,3104,3194,3015,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5004,-0.60,-97.3,2359,1975,3194,3015,657.8,-12.6,450,5009,0.00,2.28,0.00,0.000,260,0.000,0.069,2349,3401,3104,3194,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5056,-0.60,-97.3,2349,3401,3193,3015,662.8,-12.4,452,5064,0.12,2.25,0.00,0.000,3078,0.187,0.060,2378,1976,3104,3194,3015,0,0,0,0,0,0,26.38,26.49,28.83
$GC,5363,-0.60,-97.3,2378,1976,3194,3015,698.5,-10.8,468,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5663,-0.60,-97.3,2378,1976,3194,3015,730.4,-10.5,483,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5964,-0.60,-97.3,2377,1976,3193,3015,762.6,-11.0,498,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6263,-0.60,-97.3,2378,1976,3194,3015,795.2,-10.8,513,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,-0.60,-97.3,2378,1976,3194,3015,827.2,-10.6,528,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6863,-0.60,-97.3,2378,1976,3194,3015,858.2,-10.3,543,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.60,-97.3,2377,1976,3193,3015,888.1,-9.9,558,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3104,3194,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,-0.60,-97.3,2378,1975,3193,3012,918.0,-9.9,573,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7763,-0.60,-97.3,2378,1976,3193,3011,947.9,-9.9,588,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8064,-0.60,-97.3,2378,1976,3193,3011,977.6,-9.6,603,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1976,3102,3193,3011,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8322,begin apogee
$GC,8326,-0.14,0.0,2378,1871,3193,3011,1001.5,-9.2,616,8417,0.47,0.00,88.47,1.746,10246,0.161,0.000,2522,1871,2699,2787,2612,0,0,0,0,0,0,26.40,28.83,23.58
$STATE,8418,end apogee,CONTROL_FINISHED_OK
$STATE,8419,begin climb
$GC,8420,0.60,97.3,2521,1871,2787,2613,1003.9,0.0,620,8517,0.73,0.00,93.53,1.717,10246,0.109,0.000,2755,1870,2303,2373,2233,0,0,0,0,0,0,24.61,28.83,23.14
$GC,8804,0.60,97.3,2755,1870,2364,2222,967.6,11.0,640,8810,0.00,2.40,0.00,0.000,260,0.000,0.074,2755,3290,2292,2363,2222,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8877,0.60,97.3,2755,3290,2362,2222,960.8,11.3,643,8884,0.00,2.35,0.00,0.000,1030,0.000,0.068,2765,1881,2292,2362,2222,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9184,0.60,98.5,2765,1880,2361,2220,926.6,10.0,659,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1881,2290,2361,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,0.60,103.3,2765,1881,2361,2219,896.8,9.8,674,9490,0.00,0.00,4.28,1.250,8198,0.000,0.000,2765,1880,2278,2350,2207,0,0,0,0,0,0,28.83,28.83,24.80
$GC,9784,0.60,103.3,2765,1880,2350,2207,866.1,10.2,689,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1880,2278,2350,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,0.60,103.3,2765,1880,2350,2206,835.4,10.6,704,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1880,2278,2350,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10384,0.60,103.3,2766,1880,2351,2206,803.6,10.5,719,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1880,2278,2350,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10684,0.60,104.2,2765,1880,2350,2205,773.2,10.0,734,10690,0.00,2.30,0.00,0.000,260,0.000,0.075,2765,3287,2278,2350,2206,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10725,0.60,104.2,2765,3287,2350,2206,769.0,10.2,736,10731,0.00,2.30,0.00,0.000,1030,0.000,0.067,2776,1868,2277,2349,2206,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11044,0.62,117.7,2775,1868,2349,2205,738.0,9.5,752,11065,0.00,2.45,14.93,1.529,8452,0.000,0.075,2776,3292,2219,2291,2148,0,0,0,0,0,0,28.83,25.79,24.82
$GC,11120,0.62,119.1,2776,3292,2290,2148,731.6,10.0,755,11127,0.00,2.35,0.00,0.000,1030,0.000,0.069,2786,1870,2218,2290,2147,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11427,0.62,119.1,2786,1869,2290,2144,696.3,11.0,771,11431,0.00,2.38,0.00,0.000,516,0.000,0.086,2797,463,2217,2290,2144,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11483,0.62,119.1,2797,463,2289,2144,689.6,11.7,774,11489,0.00,2.30,0.00,0.000,1030,0.000,0.068,2797,1873,2216,2289,2144,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11803,0.62,119.1,2797,1873,2289,2143,651.8,11.9,790,11809,0.00,2.33,0.00,0.000,260,0.000,0.074,2797,3298,2215,2288,2143,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11866,0.62,119.1,2797,3298,2288,2143,644.1,12.7,793,11871,0.12,2.33,0.00,0.000,5126,0.217,0.069,2781,1874,2215,2288,2143,0,0,0,0,0,0,26.03,26.16,28.83
$GC,12178,0.62,119.1,2781,1874,2288,2142,608.5,11.0,809,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1875,2215,2288,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12478,0.62,119.1,2781,1875,2288,2143,575.2,11.0,824,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1875,2215,2288,2143,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14248,0.63,124.4,1904,3297,2225,2113,391.6,10.6,916,14256,0.00,2.35,0.00,0.000,1030,0.000,0.066,2786,1875,2192,2265,2119,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,17869,0.66,148.0,1744,1865,2116,2009,5.8,12.8,1360,17875,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1866,2091,2167,2015,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,17891,end climb,SURFACE_DEPTH_REACHED
$STATE,17891,begin surface coast
$FINISH,0.5,1.026646
$STATE,17912,end surface coast,CONTROL_FINISHED_OK
$STATE,17913,begin surface
$SM_CCo,17986,0.00,0.000,0,0,2089,149.88
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$IRIDIUM_FIX,-4244.98,828.64,260509,000019
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.52
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.1,12.542
$10V_AH,10.2,7.929
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.500,101.600,225.800,0.000,0.000,22.905,18.667,150.266,0.000,0.000,21.013,3519.990,11697.582,376.576,2569.755,141.688,0.000,1527.010,0.000,2251.858,0.000,1.010,0.000
$DEVICE_MAMPS,244.800,103.275,1745.730,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,87067,1368
$CAP_FILE_SIZE,165317,0
$CFSIZE,259252224,253374464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.018,143.2,1
$GPS,290716,205621,-4307.482,831.117,226,0.9,226,-25.1