version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 114
start: 8 6 116 1 42 13
data:
$ID,542
$MISSION,14
$DIVE,114
$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,-40109.227
$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
$GPS1,060816,013433,-4302.707,830.023,478,0.9,478,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.8
$GPS2,060816,014130,-4302.651,830.109,20,1.8,21,-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,22.5,15893,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.58,-97.3,137,1984,2156,2045,0.0,0.0,0,61,0.00,0.00,-38.42,0.000,16390,0.000,0.000,137,1985,3097,3178,3017,0,0,0,0,0,0,28.83,28.83,26.36
$GC,64,-0.58,-97.3,137,1985,3179,3017,3.8,-7.2,7,77,8.82,0.00,0.00,0.000,2566,0.240,0.000,2379,1984,3099,3181,3017,0,0,0,0,0,0,25.68,28.83,28.83
$GC,119,-0.58,-97.3,1472,1983,3162,3012,18.8,-17.7,17,128,0.00,2.33,0.00,0.000,516,0.000,0.071,2379,569,3101,3185,3017,0,0,0,0,0,0,28.83,25.95,28.83
$GC,170,-0.58,-97.3,1440,569,3160,3012,25.7,-12.7,26,177,0.00,2.25,0.00,0.000,1030,0.000,0.057,2370,1981,3101,3185,3017,0,0,0,0,0,0,28.83,26.01,28.83
$GC,301,-0.58,-97.3,2370,1982,3185,3017,44.8,-14.1,51,307,0.00,2.25,0.00,0.000,260,0.000,0.063,2360,3391,3101,3185,3017,0,0,0,0,0,0,28.83,26.04,28.83
$GC,314,-0.58,-97.3,2359,3391,3185,3017,46.8,-13.9,53,321,0.00,2.25,0.00,0.000,1030,0.000,0.054,2360,1970,3101,3185,3017,0,0,0,0,0,0,28.83,26.06,28.83
$GC,624,-0.58,-97.3,1456,1968,3162,3012,93.2,-15.6,114,631,0.00,2.28,0.00,0.000,260,0.000,0.063,2349,3392,3101,3186,3017,0,0,0,0,0,0,28.83,26.13,28.83
$GC,637,-0.58,-97.3,2349,3392,3186,3017,95.4,-16.8,116,645,0.08,2.28,0.00,0.000,3078,0.175,0.054,2380,1978,3101,3185,3017,0,0,0,0,0,0,25.98,26.17,28.83
$GC,952,-0.58,-97.3,2380,1978,3186,3017,138.5,-13.5,150,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.58,-97.3,2379,1978,3186,3017,178.4,-13.2,180,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.58,-97.3,2380,1978,3187,3017,218.5,-13.1,210,1560,0.00,2.25,0.00,0.000,516,0.000,0.069,2380,564,3102,3187,3017,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1565,-0.58,-97.3,2379,563,3187,3017,219.5,-13.1,211,1572,0.00,2.28,0.00,0.000,1030,0.000,0.055,2371,1985,3102,3187,3017,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1873,-0.58,-97.3,2371,1985,3187,3017,260.9,-12.5,242,1881,0.00,2.22,0.00,0.000,260,0.000,0.063,2361,3390,3101,3186,3017,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1973,-0.58,-97.3,2360,3390,3187,3017,273.6,-13.3,252,1977,0.00,2.22,0.00,0.000,1030,0.000,0.054,2361,1966,3102,3187,3017,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2278,-0.58,-97.3,2360,1966,3186,3017,314.4,-13.1,282,2287,0.00,2.25,0.00,0.000,260,0.000,0.061,2350,3393,3101,3186,3017,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2291,-0.58,-97.3,2351,3393,3187,3017,315.4,-13.0,283,2299,0.10,2.25,0.00,0.000,3078,0.168,0.054,2380,1984,3102,3187,3017,0,0,0,0,0,0,26.17,26.36,28.83
$GC,2599,-0.58,-97.3,2380,1984,3187,3017,351.3,-11.1,314,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1984,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.58,-97.3,2380,1984,3187,3017,386.9,-12.7,344,2903,0.00,2.25,0.00,0.000,516,0.000,0.068,2381,571,3102,3187,3017,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2925,-0.58,-97.3,2380,571,3188,3017,390.5,-13.3,346,2934,0.00,2.20,0.00,0.000,1030,0.000,0.055,2372,1983,3102,3188,3017,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3235,-0.58,-97.3,2371,1984,3187,3017,433.8,-14.1,365,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1983,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.58,-97.3,2371,1983,3187,3017,475.9,-13.5,380,3538,0.00,2.22,0.00,0.000,260,0.000,0.063,2361,3397,3102,3188,3017,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3593,-0.58,-97.3,2361,3397,3188,3017,483.4,-13.6,383,3597,0.00,2.25,0.00,0.000,1030,0.000,0.055,2361,1957,3102,3188,3017,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3910,-0.58,-97.3,2361,1957,3188,3017,526.9,-13.5,399,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1957,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4210,-0.58,-97.3,2361,1957,3188,3017,565.6,-12.8,414,4216,0.00,2.22,0.00,0.000,516,0.000,0.070,2361,564,3102,3188,3017,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4250,-0.58,-97.3,2361,564,3188,3017,571.0,-13.2,416,4255,0.12,2.22,0.00,0.000,3078,0.194,0.057,2379,1986,3102,3188,3017,0,0,0,0,0,0,26.22,26.41,28.83
$GC,4567,-0.58,-97.3,2379,1986,3188,3017,608.3,-11.7,432,4571,0.00,2.22,0.00,0.000,260,0.000,0.066,2370,3394,3102,3188,3017,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4596,-0.58,-97.3,2370,3394,3188,3017,610.1,-11.6,433,4603,0.00,2.22,0.00,0.000,1030,0.000,0.057,2370,1978,3102,3188,3017,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4903,-0.58,-97.3,2370,1977,3187,3016,648.8,-12.3,449,4907,0.00,2.25,0.00,0.000,260,0.000,0.067,2359,3390,3102,3188,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4919,-0.58,-97.3,2359,3390,3188,3016,650.8,-12.4,450,4925,0.00,2.22,0.00,0.000,1030,0.000,0.058,2360,1974,3102,3188,3016,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5239,-0.58,-97.3,2359,1973,3188,3016,692.4,-12.9,466,5245,0.00,2.25,0.00,0.000,260,0.000,0.067,2350,3393,3102,3188,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5252,-0.58,-97.3,2349,3394,3188,3015,692.4,-12.9,466,5260,0.15,2.22,0.00,0.000,3078,0.183,0.058,2386,1978,3102,3188,3016,0,0,0,0,0,0,26.22,26.41,28.83
$GC,5559,-0.58,-97.3,2386,1978,3188,3015,728.0,-10.8,482,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1978,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5859,-0.58,-97.3,2386,1978,3188,3015,760.3,-10.8,497,5863,0.00,2.25,0.00,0.000,260,0.000,0.068,2378,3395,3100,3187,3014,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5898,-0.58,-97.3,2377,3395,3188,3014,764.3,-10.9,499,5902,0.00,2.25,0.00,0.000,1030,0.000,0.059,2378,1974,3101,3188,3014,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6210,-0.58,-97.3,2378,1974,3188,3013,800.6,-11.4,515,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1974,3100,3188,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6510,-0.58,-97.3,2377,1974,3188,3012,833.2,-10.7,530,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1974,3100,3188,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,-0.58,-97.3,2377,1974,3187,3011,865.5,-10.9,545,6814,0.00,2.28,0.00,0.000,260,0.000,0.070,2368,3394,3099,3188,3011,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6834,-0.58,-97.3,2367,3394,3188,3010,867.2,-10.9,546,6838,0.00,2.25,0.00,0.000,1030,0.000,0.059,2368,1974,3099,3188,3011,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7146,-0.58,-97.3,2367,1974,3188,3010,903.6,-11.2,562,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3098,3187,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,-0.58,-97.3,2367,1974,3187,3009,936.0,-10.6,577,7450,0.00,2.28,0.00,0.000,260,0.000,0.070,2357,3393,3098,3187,3009,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7462,-0.58,-97.3,2357,3393,3188,3009,937.6,-10.5,578,7468,0.00,2.25,0.00,0.000,1030,0.000,0.060,2358,1971,3098,3187,3009,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7782,-0.58,-97.3,2357,1970,3188,3009,973.4,-11.1,594,7788,0.00,2.28,0.00,0.000,260,0.000,0.070,2347,3390,3098,3188,3009,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7809,-0.58,-97.3,2347,3390,3188,3009,975.6,-11.1,595,7814,0.15,2.28,0.00,0.000,3078,0.185,0.061,2383,1960,3098,3188,3009,0,0,0,0,0,0,26.21,26.40,28.83
$STATE,8080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8080,begin apogee
$GC,8085,-0.14,0.0,2383,1867,3188,3008,1001.0,-8.5,609,8176,0.47,0.00,88.22,1.750,10246,0.160,0.000,2525,1867,2699,2790,2609,0,0,0,0,0,0,26.21,28.83,23.61
$STATE,8177,end apogee,CONTROL_FINISHED_OK
$STATE,8177,begin climb
$GC,8178,0.58,97.3,2525,1867,2790,2609,1002.9,0.0,613,8275,0.70,0.00,92.90,1.714,10246,0.103,0.000,2754,1867,2303,2376,2230,0,0,0,0,0,0,24.62,28.83,23.07
$GC,8562,0.58,97.3,2754,1867,2368,2219,966.0,10.5,633,8568,0.00,2.40,0.00,0.000,260,0.000,0.071,2754,3289,2293,2367,2219,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8585,0.58,97.3,2753,3289,2366,2218,963.8,10.5,634,8589,0.00,2.35,0.00,0.000,1030,0.000,0.064,2764,1884,2292,2366,2218,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8897,0.58,97.3,2764,1884,2365,2216,930.5,10.4,650,8901,0.00,2.33,0.00,0.000,260,0.000,0.072,2764,3288,2290,2365,2216,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8993,0.58,97.3,2764,3288,2365,2216,920.1,11.0,655,8999,0.00,2.33,0.00,0.000,1030,0.000,0.066,2774,1871,2290,2364,2216,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9313,0.58,103.6,2774,1871,2364,2215,887.5,9.8,671,9322,0.00,2.33,4.20,1.273,8452,0.000,0.070,2774,3285,2279,2354,2204,0,0,0,0,0,0,28.83,25.89,24.75
$GC,9363,0.59,106.0,2774,3285,2353,2203,883.8,9.9,673,9373,0.00,2.30,4.78,1.308,9222,0.000,0.066,2785,1876,2266,2341,2192,0,0,0,0,0,0,28.83,25.91,24.69
$GC,9690,0.59,106.0,2785,1876,2342,2191,849.3,10.3,690,9694,0.00,2.30,0.00,0.000,260,0.000,0.072,2785,3286,2266,2341,2191,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9726,0.59,106.0,2785,3286,2340,2191,845.4,10.6,692,9730,0.12,2.30,0.00,0.000,5126,0.216,0.066,2769,1872,2265,2340,2191,0,0,0,0,0,0,25.83,25.99,28.83
$GC,10043,0.61,126.5,2769,1872,2340,2190,815.8,9.2,708,10070,0.00,2.42,20.55,1.587,8452,0.000,0.071,2766,3281,2184,2260,2109,0,0,0,0,0,0,28.83,25.49,24.52
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$STATE,16813,end climb,SURFACE_DEPTH_REACHED
$STATE,16813,begin surface coast
$FINISH,0.1,1.015402
$STATE,16834,end surface coast,CONTROL_FINISHED_OK
$STATE,16834,begin surface
$SM_CCo,16908,0.00,0.000,0,0,2004,170.48
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$IRIDIUM_FIX,-4250.85,841.18,020609,090951
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.37
$INTERNAL_PRESSURE,9.40433
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,17.350
$10V_AH,10.2,11.069
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.025,159.725,238.000,0.000,0.000,24.153,50.244,221.976,0.000,0.000,21.690,3349.930,10802.262,439.754,2577.920,166.712,0.000,1606.570,0.000,2164.258,0.000,1.010,0.000
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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,353228
$DATA_FILE_SIZE,83666,1300
$CAP_FILE_SIZE,172515,0
$CFSIZE,259252224,250675200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 17.7,1
$GPS,060816,062503,-4300.299,830.027,29,1.2,29,-25.0