version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 99
start: 8 2 116 23 20 35
data:
$ID,542
$MISSION,14
$DIVE,99
$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,-40089.688
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,020816,231051,-4252.679,831.044,118,0.8,119,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-77.3
$GPS2,020816,231950,-4252.700,831.090,24,0.8,25,-25.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,NORTH
$TGT_LATLONG,-4254.070,830.000
$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,214.1,2937,-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,-97.3,157,1980,2157,2050,0.0,0.0,0,55,0.00,0.00,-38.17,0.000,16390,0.000,0.000,156,1981,3097,3182,3013,0,0,0,0,0,0,28.83,28.83,26.34
$GC,58,-0.60,-97.3,156,1980,3181,3015,3.1,-5.4,6,73,8.80,2.33,0.00,0.000,2308,0.244,0.061,2366,3395,3100,3185,3015,0,0,0,0,0,0,25.70,25.95,28.83
$GC,331,-0.60,-97.3,2366,3395,3190,3014,48.0,-14.3,59,338,0.00,2.28,0.00,0.000,1030,0.000,0.057,2369,1967,3102,3190,3014,0,0,0,0,0,0,28.83,26.08,28.83
$GC,649,-0.60,-97.3,1488,1965,3170,3010,94.7,-15.0,120,657,0.00,2.30,0.00,0.000,260,0.000,0.064,2360,3394,3102,3191,3014,0,0,0,0,0,0,28.83,26.15,28.83
$GC,704,-0.60,-97.3,2360,3395,3191,3014,103.2,-14.9,128,709,0.00,2.25,0.00,0.000,1030,0.000,0.056,2360,1972,3102,3191,3014,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1010,-0.60,-97.3,2360,1972,3192,3014,151.6,-15.7,158,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1972,3102,3191,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.60,-97.3,2360,1972,3193,3014,198.1,-15.7,188,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1972,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.60,-97.3,2360,1972,3193,3014,242.3,-14.3,218,1614,0.00,2.25,0.00,0.000,260,0.000,0.064,2350,3390,3103,3193,3014,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1675,-0.60,-97.3,2350,3390,3193,3014,251.7,-14.4,224,1680,0.12,2.22,0.00,0.000,3078,0.189,0.056,2378,1972,3103,3193,3014,0,0,0,0,0,0,26.17,26.33,28.83
$GC,1980,-0.60,-97.3,2378,1971,3194,3014,292.2,-13.2,254,1984,0.00,2.25,0.00,0.000,516,0.000,0.070,2378,568,3103,3193,3014,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2026,-0.60,-97.3,2377,567,3194,3014,298.5,-14.0,258,2030,0.00,2.22,0.00,0.000,1030,0.000,0.057,2370,1988,3104,3194,3014,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2331,-0.60,-97.3,2370,1988,3193,3014,337.8,-13.2,288,2335,0.00,2.22,0.00,0.000,260,0.000,0.064,2359,3395,3104,3194,3014,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2417,-0.60,-97.3,2359,3396,3194,3014,349.5,-13.6,296,2421,0.00,2.22,0.00,0.000,1030,0.000,0.055,2359,1973,3104,3194,3014,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2722,-0.60,-97.3,2359,1972,3194,3014,392.3,-13.7,326,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1972,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3022,-0.60,-97.3,2359,1972,3194,3014,434.6,-14.1,344,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1972,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.60,-97.3,2359,1972,3194,3014,475.4,-13.4,359,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1972,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.60,-97.3,2359,1972,3194,3014,515.0,-13.2,374,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1972,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-0.60,-97.3,2359,1972,3194,3014,551.8,-12.2,389,3928,0.00,2.28,0.00,0.000,260,0.000,0.067,2349,3399,3104,3194,3014,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3955,-0.60,-97.3,2348,3399,3194,3014,554.3,-12.1,390,3963,0.12,2.30,0.00,0.000,3078,0.190,0.058,2376,1944,3104,3194,3014,0,0,0,0,0,0,26.27,26.43,28.83
$GC,4262,-0.60,-97.3,2376,1944,3194,3014,590.7,-11.3,406,4266,0.00,2.30,0.00,0.000,260,0.000,0.067,2368,3388,3104,3194,3014,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4291,-0.60,-97.3,2368,3389,3194,3014,592.6,-11.3,407,4298,0.00,2.22,0.00,0.000,1030,0.000,0.058,2368,1979,3104,3194,3014,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4598,-0.60,-97.3,2368,1978,3194,3014,629.7,-11.5,423,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1978,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.60,-97.3,2368,1978,3194,3014,663.7,-11.1,438,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1978,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5198,-0.60,-97.3,2368,1978,3194,3014,698.3,-11.8,453,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1978,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.60,-97.3,2368,1978,3194,3014,733.3,-11.7,468,5504,0.00,2.25,0.00,0.000,260,0.000,0.070,2358,3393,3104,3194,3014,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5551,-0.60,-97.3,2358,3392,3194,3014,738.2,-11.9,470,5558,0.00,2.22,0.00,0.000,1030,0.000,0.060,2358,1979,3104,3194,3014,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5858,-0.60,-97.3,2358,1979,3194,3014,778.1,-12.5,486,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1979,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6159,-0.60,-97.3,2358,1979,3194,3014,816.3,-12.3,501,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1979,3104,3194,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6458,-0.60,-97.3,2358,1979,3193,3013,853.2,-12.3,516,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1979,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6758,-0.60,-97.3,2358,1979,3194,3014,889.2,-11.7,531,6762,0.00,2.28,0.00,0.000,260,0.000,0.071,2348,3391,3103,3193,3014,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6814,-0.60,-97.3,2347,3391,3193,3014,895.9,-11.9,534,6819,0.12,2.25,0.00,0.000,3078,0.194,0.061,2375,1974,3103,3193,3014,0,0,0,0,0,0,26.29,26.45,28.83
$GC,7131,-0.60,-97.3,2375,1973,3193,3012,930.1,-10.6,550,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1973,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7431,-0.60,-97.3,2375,1973,3193,3012,961.7,-10.5,565,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1973,3102,3193,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7731,-0.60,-97.3,2375,1973,3193,3011,994.0,-10.8,580,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1973,3102,3193,3011,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7789,begin apogee
$GC,7794,-0.14,0.0,2375,1866,3193,3011,1000.3,-10.6,583,7885,0.50,0.00,87.80,1.745,10246,0.161,0.000,2526,1865,2700,2789,2612,0,0,0,0,0,0,26.30,28.83,23.60
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7886,begin climb
$GC,7887,0.60,97.3,2526,1865,2788,2612,1003.6,0.0,587,7983,0.73,0.00,92.65,1.707,10246,0.104,0.000,2762,1865,2302,2373,2232,0,0,0,0,0,0,24.62,28.83,23.09
$GC,8271,0.60,97.3,2762,1865,2364,2221,971.6,10.1,607,8277,0.00,2.40,0.00,0.000,260,0.000,0.071,2762,3284,2293,2365,2221,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8319,0.60,97.3,2762,3284,2363,2220,967.2,10.7,609,8323,0.00,2.35,0.00,0.000,1030,0.000,0.065,2773,1882,2292,2363,2221,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8632,0.60,97.3,2772,1882,2362,2219,931.4,11.3,625,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1882,2290,2362,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,0.60,97.3,2772,1882,2361,2217,896.2,12.1,640,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1882,2289,2361,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9231,0.60,97.3,2772,1882,2361,2216,861.0,11.6,655,9235,0.00,2.30,0.00,0.000,260,0.000,0.073,2770,3284,2289,2362,2216,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9269,0.60,97.3,1888,3283,2321,2211,856.6,11.9,657,9274,0.00,2.35,0.00,0.000,1030,0.000,0.066,2779,1876,2288,2360,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9587,0.60,97.3,2779,1876,2360,2215,819.4,11.4,673,9593,0.00,2.30,0.00,0.000,260,0.000,0.072,2779,3284,2288,2360,2216,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9648,0.60,97.3,2779,3284,2359,2216,812.3,11.7,676,9654,0.00,2.28,0.00,0.000,1030,0.000,0.065,2789,1871,2287,2359,2216,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9967,0.60,97.3,2789,1871,2358,2216,775.4,11.5,692,9971,0.00,2.33,0.00,0.000,516,0.000,0.083,2800,460,2286,2358,2215,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10015,0.60,97.3,2800,461,2357,2216,771.1,11.8,694,10023,0.15,2.28,0.00,0.000,5126,0.210,0.067,2767,1872,2286,2357,2216,0,0,0,0,0,0,26.04,26.21,28.83
$GC,10323,0.61,106.8,2767,1872,2358,2215,738.7,9.6,710,10335,0.00,2.38,7.03,1.398,8452,0.000,0.073,2759,3286,2263,2335,2192,0,0,0,0,0,0,28.83,26.06,25.01
$GC,10415,0.61,106.8,2758,3286,2335,2192,730.6,10.1,714,10423,0.00,2.30,0.00,0.000,1030,0.000,0.066,2767,1870,2263,2335,2192,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10723,0.64,129.9,2767,1870,2335,2191,700.5,9.1,730,10752,0.00,2.40,23.40,1.535,8452,0.000,0.071,2768,3296,2170,2244,2096,0,0,0,0,0,0,28.83,25.46,24.53
$GC,10806,0.64,129.9,2767,3296,2240,2094,692.6,10.4,734,10811,0.00,2.38,0.00,0.000,1030,0.000,0.067,2777,1870,2167,2240,2094,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11119,0.64,129.9,2777,1870,2238,2089,655.8,11.7,750,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1869,2163,2238,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11419,0.64,129.9,2777,1870,2238,2088,620.4,11.5,765,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1870,2162,2237,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11718,0.64,129.9,2777,1870,2237,2088,585.8,11.4,780,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1869,2162,2237,2088,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16888,end climb,SURFACE_DEPTH_REACHED
$STATE,16888,begin surface coast
$FINISH,0.0,1.026663
$STATE,16909,end surface coast,CONTROL_FINISHED_OK
$STATE,16909,begin surface
$SM_CCo,16983,0.00,0.000,0,0,1969,179.31
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$IRIDIUM_FIX,-4239.11,626.26,300509,121254
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.52
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,23.1,15.403
$10V_AH,10.2,9.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,83772,1298
$CAP_FILE_SIZE,160295,0
$CFSIZE,259252224,251797504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,329.8,1
$GPS,030816,040459,-4253.838,829.975,41,2.0,48,-25.0