version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 81
start: 7 30 116 10 26 14
data:
$ID,542
$MISSION,14
$DIVE,81
$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,-40066.543
$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
$GPS1,300716,101721,-4306.863,830.531,167,1.0,167,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-76.8
$GPS2,300716,102529,-4306.890,830.598,19,0.9,21,-25.1
$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,355.7,1952,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.60,-97.3,151,1981,2095,1998,0.0,0.0,0,62,0.00,0.00,-40.35,0.000,16390,0.000,0.000,150,1981,3097,3180,3015,0,0,0,0,0,0,28.83,28.83,26.37
$GC,65,-0.60,-97.3,150,1981,3181,3015,3.9,-7.3,7,79,8.60,2.33,0.00,0.000,2308,0.237,0.062,2362,3401,3099,3183,3015,0,0,0,0,0,0,25.80,26.00,28.83
$GC,251,-0.60,-97.3,1416,3399,3162,3010,37.0,-14.0,43,259,0.00,2.28,0.00,0.000,1030,0.000,0.057,2363,1972,3101,3188,3015,0,0,0,0,0,0,28.83,26.09,28.83
$GC,382,-0.60,-97.3,2363,1972,3188,3015,56.9,-15.5,68,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1972,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,692,-0.60,-97.3,2363,1972,3189,3015,105.2,-15.4,126,700,0.00,2.25,0.00,0.000,516,0.000,0.070,2363,571,3102,3189,3015,0,0,0,0,0,0,28.83,26.20,28.83
$GC,732,-0.60,-97.3,2363,570,3189,3015,112.0,-16.7,130,741,0.00,2.22,0.00,0.000,1030,0.000,0.057,2353,1983,3101,3188,3015,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1042,-0.60,-97.3,2353,1984,3189,3015,161.9,-16.2,161,1046,0.00,2.22,0.00,0.000,260,0.000,0.064,2342,3391,3102,3189,3015,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1081,-0.60,-97.3,2342,3392,3189,3015,167.7,-16.1,164,1089,0.15,2.28,0.00,0.000,3078,0.191,0.055,2377,1972,3102,3189,3015,0,0,0,0,0,0,26.15,26.29,28.83
$GC,1388,-0.60,-97.3,2377,1972,3190,3015,211.1,-13.8,195,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1972,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.60,-97.3,2377,1972,3190,3015,249.5,-12.0,225,1692,0.00,2.25,0.00,0.000,260,0.000,0.065,2369,3392,3103,3191,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1737,-0.60,-97.3,2369,3392,3191,3014,254.7,-11.3,229,1744,0.00,2.25,0.00,0.000,1030,0.000,0.056,2369,1984,3102,3190,3015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2044,-0.60,-97.3,2369,1984,3191,3015,291.8,-11.6,260,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1984,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.60,-97.3,2369,1984,3190,3015,329.3,-12.6,290,2353,0.00,2.25,0.00,0.000,516,0.000,0.070,2369,569,3102,3191,3014,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2378,-0.60,-97.3,2369,570,3191,3015,333.5,-13.3,293,2385,0.00,2.22,0.00,0.000,1030,0.000,0.057,2359,1988,3103,3191,3015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2684,-0.60,-97.3,2358,1989,3191,3015,374.4,-13.2,324,2688,0.00,2.20,0.00,0.000,260,0.000,0.064,2347,3391,3103,3191,3015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2743,-0.60,-97.3,1544,3391,3173,3011,381.9,-13.4,329,2752,0.08,2.25,0.00,0.000,3078,0.174,0.055,2371,1974,3103,3191,3015,0,0,0,0,0,0,26.30,26.41,28.83
$GC,3060,-0.60,-97.3,2371,1974,3191,3015,424.0,-13.4,352,3064,0.00,2.25,0.00,0.000,516,0.000,0.072,2371,565,3103,3191,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3076,-0.60,-97.3,2371,565,3191,3015,426.2,-13.5,353,3080,0.00,2.20,0.00,0.000,1030,0.000,0.057,2362,1979,3103,3192,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3392,-0.60,-97.3,2362,1979,3191,3015,470.8,-14.1,369,3396,0.00,2.22,0.00,0.000,260,0.000,0.065,2352,3392,3103,3191,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3475,-0.60,-97.3,2352,3393,3191,3015,481.5,-14.0,373,3479,0.00,2.25,0.00,0.000,1030,0.000,0.057,2352,1980,3102,3191,3014,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3787,-0.60,-97.3,2351,1980,3191,3015,528.4,-15.3,389,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1980,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.60,-97.3,2352,1980,3191,3015,572.4,-14.5,404,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1980,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4387,-0.60,-97.3,2352,1980,3191,3014,614.2,-13.9,419,4391,0.00,2.25,0.00,0.000,260,0.000,0.068,2342,3397,3103,3191,3015,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4405,-0.60,-97.3,2341,3398,3191,3015,616.4,-13.8,420,4411,0.10,2.20,0.00,0.000,3078,0.173,0.059,2373,1977,3103,3191,3015,0,0,0,0,0,0,26.34,26.47,28.83
$GC,4723,-0.60,-97.3,2372,1977,3191,3014,654.3,-11.8,436,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1977,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.60,-97.3,2372,1977,3191,3015,689.0,-11.5,451,5027,0.00,2.28,0.00,0.000,516,0.000,0.076,2372,571,3103,3191,3015,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5059,-0.60,-97.3,2372,571,3191,3014,693.4,-11.8,453,5063,0.00,2.20,0.00,0.000,1030,0.000,0.060,2364,1978,3103,3192,3014,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5375,-0.60,-97.3,2364,1978,3191,3014,731.0,-11.8,469,5379,0.00,2.22,0.00,0.000,260,0.000,0.069,2353,3392,3102,3191,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5451,-0.60,-97.3,2353,3392,3191,3014,739.6,-11.4,473,5455,0.00,2.22,0.00,0.000,1030,0.000,0.060,2353,1972,3102,3191,3014,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5766,-0.60,-97.3,2353,1972,3191,3014,776.8,-11.8,489,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1972,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6067,-0.60,-97.3,2353,1972,3191,3014,811.1,-11.5,504,6071,0.00,2.28,0.00,0.000,260,0.000,0.070,2343,3394,3102,3191,3014,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6083,-0.60,-97.3,2343,3394,3191,3014,813.0,-11.6,505,6087,0.15,2.22,0.00,0.000,3078,0.188,0.060,2379,1977,3102,3191,3014,0,0,0,0,0,0,26.35,26.48,28.83
$GC,6400,-0.60,-97.3,2378,1977,3191,3012,843.8,-9.6,521,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1977,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,-0.60,-97.3,2379,1977,3191,3012,873.5,-10.1,536,6703,0.00,2.28,0.00,0.000,516,0.000,0.078,2379,568,3101,3191,3012,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6730,-0.60,-97.3,2379,568,3191,3012,875.2,-10.2,537,6737,0.00,2.22,0.00,0.000,1030,0.000,0.063,2371,1978,3101,3191,3012,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7035,-0.60,-97.3,2370,1978,3191,3011,910.2,-11.0,553,7039,0.00,2.25,0.00,0.000,260,0.000,0.071,2360,3390,3101,3191,3011,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7096,-0.60,-97.3,2360,3389,3191,3010,917.1,-11.4,556,7100,0.00,2.22,0.00,0.000,1030,0.000,0.063,2360,1979,3100,3191,3010,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7412,-0.60,-97.3,2359,1979,3191,3010,955.4,-12.5,572,7416,0.00,2.28,0.00,0.000,516,0.000,0.080,2360,564,3100,3191,3010,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7440,-0.60,-97.3,2360,564,3191,3009,957.4,-12.6,573,7449,0.12,2.28,0.00,0.000,3078,0.211,0.064,2377,2001,3100,3191,3009,0,0,0,0,0,0,26.34,26.47,28.83
$GC,7748,-0.60,-97.3,2376,2001,3191,3009,995.4,-11.6,589,7752,0.00,2.22,0.00,0.000,260,0.000,0.073,2368,3394,3100,3191,3009,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7777,-0.60,-97.3,2367,3394,3191,3009,997.2,-11.6,590,7784,0.00,2.28,0.00,0.000,1030,0.000,0.063,2368,1959,3099,3190,3009,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,7802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7802,begin apogee
$GC,7807,-0.14,0.0,2368,1868,3191,3009,1002.1,-11.8,592,7898,0.52,0.00,88.30,1.738,10246,0.159,0.000,2525,1867,2699,2787,2612,0,0,0,0,0,0,26.36,28.83,23.58
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7900,0.60,97.3,2524,1867,2787,2612,1006.5,0.0,596,7997,0.73,0.00,93.15,1.704,10502,0.106,0.000,2759,1867,2302,2372,2232,0,0,0,0,0,0,24.61,28.83,23.15
$GC,8285,0.64,130.6,2758,1867,2364,2221,980.3,8.7,616,8326,0.00,2.50,31.95,1.663,8452,0.000,0.073,2758,3286,2166,2239,2093,0,0,0,0,0,0,28.83,24.58,23.65
$GC,8361,0.65,138.3,2758,3286,2236,2091,974.0,9.7,619,8376,0.00,2.40,8.40,1.489,9222,0.000,0.066,2769,1883,2136,2210,2063,0,0,0,0,0,0,28.83,24.94,23.81
$GC,8688,0.65,138.3,2768,1882,2205,2056,934.6,11.6,636,8694,0.00,2.42,0.00,0.000,516,0.000,0.083,2779,453,2130,2205,2056,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8708,0.65,138.3,2779,454,2205,2056,932.2,11.8,637,8712,0.00,2.35,0.00,0.000,1030,0.000,0.065,2779,1877,2130,2204,2056,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9024,0.65,138.3,2779,1878,2204,2054,891.6,13.0,653,9028,0.00,2.33,0.00,0.000,260,0.000,0.073,2779,3292,2129,2204,2054,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9072,0.65,138.3,2778,3292,2202,2053,886.6,13.3,655,9080,0.00,2.33,0.00,0.000,1030,0.000,0.066,2790,1872,2128,2203,2054,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9380,0.65,138.3,2789,1872,2202,2053,841.2,14.2,671,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1872,2127,2202,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,0.65,138.3,2789,1872,2202,2052,798.2,14.2,686,9686,0.00,2.33,0.00,0.000,260,0.000,0.073,2790,3295,2127,2202,2052,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9728,0.65,138.3,2789,3295,2201,2052,792.2,14.5,688,9732,0.00,2.33,0.00,0.000,1030,0.000,0.067,2800,1866,2126,2201,2052,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10039,0.65,138.3,2800,1866,2201,2052,745.2,14.5,704,10044,0.00,2.33,0.00,0.000,260,0.000,0.073,2800,3291,2126,2201,2052,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,15985,end climb,SURFACE_DEPTH_REACHED
$STATE,15985,begin surface coast
$FINISH,0.1,1.026659
$STATE,16011,end surface coast,CONTROL_FINISHED_OK
$STATE,16012,begin surface
$SM_CCo,16085,0.00,0.000,0,0,2122,141.78
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$IRIDIUM_FIX,-4250.85,829.51,260509,232305
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.56
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.1,13.070
$10V_AH,10.2,8.257
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.750,150.550,221.800,0.000,0.000,54.259,61.744,198.144,0.000,0.000,21.745,3252.255,10207.565,415.318,2562.048,155.736,0.000,1550.647,0.000,2120.421,0.000,1.009,0.000
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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,353344
$DATA_FILE_SIZE,80358,1253
$CAP_FILE_SIZE,168063,0
$CFSIZE,259252224,253091840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,122.1,1
$GPS,300716,145614,-4305.500,829.686,82,0.9,82,-25.0