version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 108
start: 8 4 116 20 1 32
data:
$ID,542
$MISSION,14
$DIVE,108
$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,-40101.496
$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,23
$R_STBD_OVSHOOT,22
$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
$GPS1,040816,195335,-4302.923,830.309,101,0.9,101,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.9
$GPS2,040816,200048,-4302.810,830.350,64,0.9,65,-25.0
$SPEED_LIMITS,0.275,0.285
$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,211.3,5799,-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,-97.3,138,1989,2062,1956,0.0,0.0,0,63,0.00,0.00,-42.25,0.000,16390,0.000,0.000,138,1987,3098,3175,3021,0,0,0,0,0,0,28.83,28.83,26.34
$GC,65,-0.58,-97.3,138,1988,3175,3021,3.9,-7.6,7,80,8.88,2.30,0.00,0.000,2820,0.243,0.060,2370,3398,3100,3179,3021,0,0,0,0,0,0,25.65,25.94,28.83
$GC,258,-0.58,-97.3,1444,3397,3160,3015,37.5,-14.0,44,266,0.00,2.28,0.00,0.000,1030,0.000,0.054,2370,1969,3101,3184,3019,0,0,0,0,0,0,28.83,26.03,28.83
$GC,389,-0.58,-97.3,2370,1969,3184,3019,57.4,-14.0,69,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1969,3102,3185,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,699,-0.58,-97.3,2370,1969,3185,3019,102.2,-14.4,129,704,0.00,2.28,0.00,0.000,260,0.000,0.063,2360,3397,3102,3185,3019,0,0,0,0,0,0,28.83,26.16,28.83
$GC,735,-0.58,-97.3,2360,3396,3185,3019,107.6,-15.0,132,739,0.00,2.22,0.00,0.000,1030,0.000,0.054,2360,1979,3102,3185,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1041,-0.58,-97.3,2360,1978,3186,3019,154.0,-14.6,162,1049,0.00,2.25,0.00,0.000,260,0.000,0.063,2350,3398,3102,3186,3019,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1082,-0.58,-97.3,2349,3398,3186,3019,159.9,-14.8,166,1091,0.15,2.22,0.00,0.000,3078,0.185,0.054,2386,1976,3102,3186,3019,0,0,0,0,0,0,26.06,26.25,28.83
$GC,1391,-0.58,-97.3,2385,1976,3186,3019,198.7,-12.0,197,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.58,-97.3,2385,1976,3186,3019,233.5,-10.9,227,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-0.58,-97.3,2385,1976,3187,3019,266.5,-11.3,257,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.58,-97.3,2385,1976,3187,3019,300.1,-11.0,287,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.58,-97.3,2385,1976,3187,3019,332.9,-11.1,317,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.58,-97.3,2385,1976,3188,3019,365.1,-10.6,347,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.58,-97.3,2385,1976,3188,3019,397.6,-10.8,377,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,-0.58,-97.3,2385,1976,3188,3019,432.1,-11.4,394,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.58,-97.3,2385,1976,3188,3019,466.6,-11.4,409,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1976,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.58,-97.3,2385,1976,3188,3019,502.6,-12.1,424,4105,0.00,2.25,0.00,0.000,516,0.000,0.070,2385,568,3103,3188,3019,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4130,-0.58,-97.3,2385,568,3188,3019,504.7,-12.2,425,4138,0.00,2.25,0.00,0.000,1030,0.000,0.058,2377,1974,3103,3188,3019,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4437,-0.58,-97.3,2377,1974,3188,3019,546.2,-13.1,441,4441,0.00,2.25,0.00,0.000,260,0.000,0.067,2366,3393,3103,3188,3019,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4541,-0.58,-97.3,2366,3392,3188,3018,558.7,-13.1,446,4545,0.00,2.22,0.00,0.000,1030,0.000,0.057,2366,1973,3103,3188,3018,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4854,-0.58,-97.3,2366,1973,3188,3017,601.1,-12.8,462,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1973,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.58,-97.3,2366,1973,3188,3016,639.0,-12.4,477,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1973,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5453,-0.58,-97.3,2366,1973,3188,3016,675.8,-12.0,492,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1973,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5753,-0.58,-97.3,2366,1973,3188,3016,711.0,-11.5,507,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1973,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.58,-97.3,2366,1973,3188,3015,745.7,-11.5,522,6059,0.00,2.28,0.00,0.000,260,0.000,0.070,2356,3399,3101,3188,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6113,-0.58,-97.3,2355,3399,3188,3015,752.5,-11.3,525,6118,0.12,2.22,0.00,0.000,3078,0.190,0.059,2384,1981,3101,3188,3015,0,0,0,0,0,0,26.27,26.44,28.83
$GC,6430,-0.58,-97.3,2384,1980,3188,3013,784.2,-10.0,541,6434,0.00,2.28,0.00,0.000,516,0.000,0.075,2385,568,3100,3188,3013,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6466,-0.58,-97.3,2384,568,3188,3013,788.0,-10.3,543,6470,0.00,2.22,0.00,0.000,1030,0.000,0.062,2376,1978,3100,3188,3013,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6782,-0.58,-97.3,2376,1979,3188,3012,821.5,-10.7,559,6786,0.00,2.25,0.00,0.000,260,0.000,0.071,2365,3391,3100,3188,3012,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6878,-0.58,-97.3,2365,3391,3188,3012,831.8,-10.7,564,6882,0.00,2.22,0.00,0.000,1030,0.000,0.061,2365,1977,3100,3188,3012,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7193,-0.58,-97.3,2365,1976,3188,3011,867.5,-11.5,580,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1977,3100,3189,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7494,-0.58,-97.3,2365,1976,3188,3010,901.8,-11.5,595,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1976,3099,3188,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,-0.58,-97.3,2365,1976,3188,3008,936.8,-11.9,610,7800,0.00,2.28,0.00,0.000,260,0.000,0.072,2355,3395,3097,3187,3008,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7861,-0.58,-97.3,2355,3395,3188,3008,944.0,-12.1,613,7866,0.12,2.25,0.00,0.000,3078,0.190,0.061,2383,1973,3098,3188,3008,0,0,0,0,0,0,26.26,26.43,28.83
$GC,8174,-0.58,-97.3,2382,1973,3188,3008,978.1,-10.4,629,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1973,3098,3188,3008,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8392,begin apogee
$GC,8396,-0.14,0.0,2383,1865,3188,3007,1000.4,-9.9,640,8487,0.47,0.00,87.95,1.753,10246,0.159,0.000,2526,1865,2699,2796,2603,0,0,0,0,0,0,26.26,28.83,23.61
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8490,0.58,97.3,2526,1865,2796,2604,1003.5,0.0,644,8586,0.70,0.00,92.80,1.714,10246,0.106,0.000,2754,1865,2302,2378,2227,0,0,0,0,0,0,24.63,28.83,23.10
$GC,8874,0.58,101.5,2754,1865,2369,2215,971.3,9.9,664,8880,0.00,2.40,0.00,0.000,260,0.000,0.071,2755,3291,2292,2369,2215,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8956,0.58,101.5,1872,3289,2326,2209,962.9,10.5,668,8961,0.00,2.38,0.00,0.000,1030,0.000,0.065,2765,1888,2291,2367,2215,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9274,0.58,102.0,2764,1888,2367,2213,930.4,10.0,684,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1889,2290,2367,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,0.58,102.0,2764,1889,2366,2212,900.1,10.1,699,9577,0.00,2.30,0.00,0.000,260,0.000,0.072,2765,3292,2289,2366,2212,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9649,0.58,102.0,2764,3292,2365,2212,892.1,10.6,703,9654,0.00,2.33,0.00,0.000,1030,0.000,0.067,2775,1866,2288,2365,2212,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9965,0.58,102.0,2774,1866,2365,2211,860.1,10.0,719,9969,0.00,2.33,0.00,0.000,260,0.000,0.073,2775,3289,2288,2365,2211,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10014,0.58,102.0,2774,3289,2364,2211,856.2,10.4,721,10022,0.00,2.35,0.00,0.000,1030,0.000,0.067,2785,1870,2288,2365,2211,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10321,0.58,102.0,2785,1870,2365,2211,823.2,10.1,737,10325,0.00,2.33,0.00,0.000,260,0.000,0.073,2786,3297,2287,2364,2211,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10410,0.58,102.0,2785,3296,2363,2211,815.1,10.7,741,10419,0.15,2.33,0.00,0.000,5126,0.211,0.067,2763,1866,2287,2363,2211,0,0,0,0,0,0,25.98,26.17,28.83
$GC,10717,0.61,125.6,2763,1866,2363,2210,785.0,9.1,757,10749,0.00,2.47,24.65,1.587,8452,0.000,0.073,2759,3292,2187,2266,2108,0,0,0,0,0,0,28.83,25.46,24.52
$GC,10777,0.62,132.1,2758,3292,2263,2107,779.0,9.8,760,10790,0.00,2.35,7.65,1.414,9222,0.000,0.065,2768,1875,2161,2240,2082,0,0,0,0,0,0,28.83,25.56,24.37
$GC,11097,0.62,132.1,2767,1875,2238,2076,743.0,11.5,776,11103,0.00,2.35,0.00,0.000,516,0.000,0.083,2778,463,2156,2237,2076,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11137,0.62,132.1,2778,463,2237,2076,738.3,11.5,778,11143,0.00,2.30,0.00,0.000,1030,0.000,0.066,2778,1873,2156,2237,2076,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11458,0.62,132.1,2778,1873,2237,2074,701.2,11.2,794,11463,0.00,2.33,0.00,0.000,260,0.000,0.073,2778,3298,2155,2236,2074,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11580,0.62,132.1,2778,3298,2234,2074,686.6,12.3,800,11585,0.00,2.33,0.00,0.000,1030,0.000,0.067,2789,1872,2154,2234,2074,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17681,end climb,SURFACE_DEPTH_REACHED
$STATE,17681,begin surface coast
$FINISH,-0.0,1.026617
$STATE,17703,end surface coast,CONTROL_FINISHED_OK
$STATE,17703,begin surface
$SM_CCo,17777,0.00,0.000,0,0,2013,168.52
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$IRIDIUM_FIX,-4247.91,831.99,010609,040413
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.25
$INTERNAL_PRESSURE,9.40433
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,16.556
$10V_AH,10.2,10.535
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.675,114.650,231.500,0.000,0.000,23.489,20.093,222.188,0.000,0.000,65.769,3548.675,11350.762,387.095,2783.230,156.188,0.000,1590.786,0.000,2334.813,0.000,1.010,0.000
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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,87164,1374
$CAP_FILE_SIZE,171001,0
$CFSIZE,259252224,251129856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.149,  5.1,1
$GPS,050816,010023,-4303.435,830.328,121,0.9,121,-25.1