version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 115
start: 8 6 116 6 34 30
data:
$ID,542
$MISSION,14
$DIVE,115
$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,-40110.578
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,060816,062503,-4300.299,830.027,29,1.2,29,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.1
$GPS2,060816,063347,-4300.224,830.104,46,0.9,47,-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,21.8,11398,-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,14,begin dive
$GC,15,-0.58,-97.3,138,1993,2030,1944,0.0,0.0,0,61,0.00,0.00,-42.17,0.000,16390,0.000,0.000,138,1993,3096,3177,3016,0,0,0,0,0,0,28.83,28.83,26.34
$GC,64,-0.58,-97.3,138,1993,3178,3017,3.7,-7.3,7,79,8.82,2.35,0.00,0.000,2564,0.239,0.059,2391,560,3099,3182,3017,0,0,0,0,0,0,25.65,25.93,28.83
$GC,131,-0.58,-97.3,1472,559,3161,3012,20.3,-17.3,19,139,0.00,2.28,0.00,0.000,1030,0.000,0.057,2383,1973,3100,3185,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,260,-0.58,-97.3,1424,1973,3161,3012,39.0,-12.7,44,267,0.00,2.28,0.00,0.000,260,0.000,0.063,2372,3391,3101,3186,3016,0,0,0,0,0,0,28.83,26.01,28.83
$GC,278,-0.58,-97.3,2372,3391,3185,3016,41.7,-13.9,47,285,0.00,2.25,0.00,0.000,1030,0.000,0.056,2372,1975,3101,3186,3016,0,0,0,0,0,0,28.83,26.03,28.83
$GC,588,-0.58,-97.3,2372,1975,3186,3016,92.9,-15.7,108,595,0.00,2.28,0.00,0.000,260,0.000,0.063,2362,3392,3101,3186,3016,0,0,0,0,0,0,28.83,26.12,28.83
$GC,618,-0.58,-97.3,2362,3392,3186,3016,97.5,-16.2,113,625,0.00,2.25,0.00,0.000,1030,0.000,0.055,2362,1973,3101,3186,3016,0,0,0,0,0,0,28.83,26.14,28.83
$GC,927,-0.58,-97.3,2362,1972,3187,3017,144.5,-14.9,145,936,0.00,2.25,0.00,0.000,260,0.000,0.062,2352,3391,3102,3187,3017,0,0,0,0,0,0,28.83,26.19,28.83
$GC,941,-0.58,-97.3,2352,3391,3186,3016,145.7,-14.8,146,949,0.10,2.28,0.00,0.000,3078,0.164,0.054,2382,1982,3101,3187,3016,0,0,0,0,0,0,26.03,26.21,28.83
$GC,1250,-0.58,-97.3,2381,1982,3187,3017,187.7,-13.0,177,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1982,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1548,-0.58,-97.3,2382,1982,3187,3017,229.6,-14.3,207,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1982,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1848,-0.58,-97.3,2381,1982,3188,3017,272.1,-14.1,237,1852,0.00,2.25,0.00,0.000,260,0.000,0.063,2373,3393,3102,3188,3017,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1937,-0.58,-97.3,2373,3393,3188,3016,283.5,-13.2,245,1945,0.00,2.22,0.00,0.000,1030,0.000,0.054,2373,1974,3102,3188,3016,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2244,-0.58,-97.3,2373,1974,3187,3016,323.8,-12.6,276,2248,0.00,2.25,0.00,0.000,516,0.000,0.068,2373,564,3102,3188,3017,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2270,-0.58,-97.3,2373,564,3188,3016,327.3,-13.3,278,2279,0.00,2.22,0.00,0.000,1030,0.000,0.055,2363,1979,3102,3188,3016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2580,-0.58,-97.3,2363,1979,3188,3016,369.3,-13.1,309,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1979,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2880,-0.58,-97.3,2363,1979,3188,3016,412.4,-14.2,335,2886,0.00,2.22,0.00,0.000,260,0.000,0.062,2353,3394,3102,3188,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2979,-0.58,-97.3,2352,3394,3188,3016,426.7,-14.2,340,2984,0.12,2.22,0.00,0.000,3078,0.181,0.055,2381,1969,3102,3188,3017,0,0,0,0,0,0,26.21,26.38,28.83
$GC,3296,-0.58,-97.3,2381,1969,3189,3017,465.2,-11.9,356,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1969,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-0.58,-97.3,2381,1968,3189,3016,501.4,-12.4,371,3600,0.00,2.22,0.00,0.000,516,0.000,0.070,2382,574,3102,3189,3016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3640,-0.58,-97.3,2381,574,3189,3016,506.0,-12.7,373,3644,0.00,2.20,0.00,0.000,1030,0.000,0.057,2373,1977,3102,3189,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3952,-0.58,-97.3,2373,1978,3189,3017,547.7,-13.0,389,3956,0.00,2.25,0.00,0.000,516,0.000,0.070,2373,565,3102,3189,3016,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3968,-0.58,-97.3,2373,565,3189,3017,549.8,-13.0,390,3974,0.00,2.22,0.00,0.000,1030,0.000,0.057,2363,1984,3103,3190,3017,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4289,-0.58,-97.3,2363,1985,3189,3016,593.9,-13.9,406,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1984,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-0.58,-97.3,2363,1985,3189,3016,633.5,-13.1,421,4592,0.00,2.22,0.00,0.000,260,0.000,0.067,2352,3392,3102,3189,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4645,-0.58,-97.3,2352,3392,3189,3016,640.8,-13.0,424,4652,0.10,2.22,0.00,0.000,3078,0.190,0.058,2377,1974,3102,3189,3016,0,0,0,0,0,0,26.25,26.41,28.83
$GC,4964,-0.58,-97.3,2377,1974,3189,3016,678.5,-11.5,440,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1973,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,-0.58,-97.3,2377,1973,3189,3015,711.9,-10.8,455,5268,0.00,2.25,0.00,0.000,516,0.000,0.073,2378,571,3102,3189,3015,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5293,-0.58,-97.3,2377,571,3189,3015,713.7,-11.0,456,5300,0.00,2.25,0.00,0.000,1030,0.000,0.059,2370,1967,3102,3189,3016,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5600,-0.58,-97.3,2369,1967,3188,3014,750.6,-11.6,472,5604,0.00,2.28,0.00,0.000,260,0.000,0.067,2359,3395,3101,3189,3014,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5684,-0.58,-97.3,2358,3395,3189,3013,759.4,-11.5,476,5688,0.00,2.25,0.00,0.000,1030,0.000,0.059,2358,1973,3101,3189,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5996,-0.58,-97.3,2358,1973,3190,3013,797.7,-12.1,492,6000,0.00,2.28,0.00,0.000,516,0.000,0.074,2359,563,3101,3189,3013,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6015,-0.58,-97.3,2358,562,3189,3012,799.7,-12.1,493,6020,0.10,2.28,0.00,0.000,3078,0.181,0.060,2378,1974,3100,3189,3012,0,0,0,0,0,0,26.20,26.41,28.83
$GC,6332,-0.58,-97.3,2378,1975,3189,3012,835.3,-10.9,509,6336,0.00,2.28,0.00,0.000,260,0.000,0.070,2369,3398,3100,3189,3012,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6361,-0.58,-97.3,2369,3398,3189,3011,837.0,-10.8,510,6368,0.00,2.25,0.00,0.000,1030,0.000,0.060,2369,1974,3100,3189,3011,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6668,-0.58,-97.3,2369,1974,3189,3011,872.8,-11.2,526,6674,0.00,2.28,0.00,0.000,516,0.000,0.076,2369,566,3100,3189,3011,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6688,-0.58,-97.3,2369,565,3189,3011,875.1,-11.3,527,6692,0.00,2.25,0.00,0.000,1030,0.000,0.062,2359,1988,3100,3189,3011,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7004,-0.58,-97.3,2359,1988,3190,3010,912.7,-11.8,543,7008,0.00,2.25,0.00,0.000,260,0.000,0.070,2348,3395,3099,3189,3010,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7023,-0.58,-97.3,2348,3395,3189,3010,914.7,-12.0,544,7028,0.15,2.28,0.00,0.000,3078,0.184,0.060,2384,1960,3099,3189,3010,0,0,0,0,0,0,26.20,26.40,28.83
$GC,7340,-0.58,-97.3,2384,1959,3189,3009,947.9,-9.8,560,7346,0.00,2.25,0.00,0.000,516,0.000,0.076,2384,571,3099,3189,3009,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7360,-0.58,-97.3,2384,571,3189,3010,949.9,-9.8,561,7364,0.00,2.22,0.00,0.000,1030,0.000,0.063,2376,1978,3099,3189,3009,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7676,-0.58,-97.3,2376,1978,3189,3008,979.8,-9.5,577,7682,0.00,2.25,0.00,0.000,260,0.000,0.071,2365,3390,3098,3189,3008,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7736,-0.58,-97.3,2365,3390,3189,3008,985.7,-9.9,580,7743,0.00,2.25,0.00,0.000,1030,0.000,0.062,2365,1972,3098,3189,3008,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7895,begin apogee
$GC,7899,-0.14,0.0,2365,1864,3189,3008,1002.1,-10.3,588,7990,0.52,0.00,88.28,1.750,10246,0.161,0.000,2521,1863,2700,2790,2610,0,0,0,0,0,0,26.19,28.83,23.61
$STATE,7991,end apogee,CONTROL_FINISHED_OK
$STATE,7991,begin climb
$GC,7993,0.58,97.3,2520,1863,2791,2610,1005.1,0.0,592,8098,0.73,2.60,92.30,1.717,10500,0.106,0.070,2754,3280,2300,2372,2229,0,0,0,0,0,0,24.61,23.96,23.05
$GC,8114,0.72,214.8,2754,3280,2369,2229,1000.4,5.6,598,8243,0.12,2.45,118.57,1.694,11270,0.093,0.063,2814,1884,1824,1890,1758,0,0,0,0,0,0,24.37,24.34,22.49
$GC,8541,0.72,214.8,2814,1884,1879,1736,925.8,17.8,620,8545,0.00,2.45,0.00,0.000,516,0.000,0.082,2826,462,1807,1879,1736,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8619,0.72,214.8,1952,461,1846,1728,911.7,18.6,624,8624,0.00,2.40,0.00,0.000,1030,0.000,0.065,2826,1872,1804,1877,1732,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8937,0.72,214.8,2826,1872,1877,1730,852.6,18.5,640,8943,0.00,2.35,0.00,0.000,260,0.000,0.073,2825,3295,1803,1877,1730,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8957,0.72,214.8,2825,3295,1876,1730,848.8,18.7,641,8962,0.12,2.35,0.00,0.000,5126,0.218,0.066,2810,1868,1802,1875,1730,0,0,0,0,0,0,25.62,25.77,28.83
$GC,9274,0.72,214.8,2810,1867,1876,1729,795.0,17.1,657,9278,0.00,2.35,0.00,0.000,516,0.000,0.082,2820,460,1802,1876,1729,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9292,0.72,214.8,1936,460,1843,1725,792.2,17.0,658,9297,0.00,2.35,0.00,0.000,1030,0.000,0.064,2819,1876,1802,1875,1729,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9610,0.72,214.8,2819,1876,1875,1727,732.5,18.9,674,9616,0.00,2.30,0.00,0.000,260,0.000,0.072,2819,3294,1801,1875,1727,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9643,0.72,214.8,2819,3294,1875,1727,728.6,18.9,675,9651,0.00,2.33,0.00,0.000,1030,0.000,0.066,2829,1863,1801,1875,1727,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,13905,end climb,SURFACE_DEPTH_REACHED
$STATE,13905,begin surface coast
$FINISH,0.2,1.026650
$STATE,13922,end surface coast,CONTROL_FINISHED_OK
$STATE,13922,begin surface
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$IRIDIUM_FIX,-4244.98,825.29,020609,191954
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.39
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.5,17.512
$10V_AH,10.2,11.142
$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,67004,1069
$CAP_FILE_SIZE,148545,0
$CFSIZE,259252224,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,337.7,1
$GPS,060816,102858,-4257.896,829.801,39,1.1,39,-25.0