version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 117
start: 8 6 116 14 28 30
data:
$ID,542
$MISSION,14
$DIVE,117
$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,-40113.09
$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
$GPS1,060816,142234,-4255.282,829.612,29,1.0,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.0
$GPS2,060816,142746,-4255.254,829.651,17,0.9,18,-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,50.9,2243,-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,-97.3,141,1992,1808,1697,0.0,0.0,0,68,0.00,0.00,-51.30,0.000,16386,0.000,0.000,139,1991,3065,3143,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.60,-97.3,139,1991,3145,2988,3.2,-5.1,8,86,8.57,2.38,-0.70,0.000,18948,0.232,0.076,2375,557,3098,3185,3011,0,0,0,0,0,0,25.73,26.04,26.30
$GC,200,-0.60,-97.3,1440,557,3168,3006,26.3,-14.6,32,207,0.00,2.25,0.00,0.000,1030,0.000,0.057,2367,1970,3101,3191,3011,0,0,0,0,0,0,28.83,26.09,28.83
$GC,331,-0.60,-97.3,2367,1969,3192,3011,45.6,-14.3,57,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1969,3101,3192,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,639,-0.60,-97.3,2367,1970,3192,3010,93.6,-15.7,118,647,0.00,2.28,0.00,0.000,260,0.000,0.063,2356,3391,3101,3192,3010,0,0,0,0,0,0,28.83,26.17,28.83
$GC,727,-0.60,-97.3,2356,3392,3192,3011,106.4,-14.9,130,735,0.00,2.28,0.00,0.000,1030,0.000,0.054,2357,1978,3101,3192,3010,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1034,-0.60,-97.3,2356,1977,3193,3010,154.9,-15.6,161,1038,0.00,2.25,0.00,0.000,260,0.000,0.063,2346,3395,3101,3193,3010,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1110,-0.60,-97.3,2346,3395,3193,3011,166.6,-15.3,168,1115,0.12,2.22,0.00,0.000,3078,0.188,0.054,2374,1976,3102,3193,3011,0,0,0,0,0,0,26.09,26.27,28.83
$GC,1415,-0.60,-97.3,2374,1975,3193,3011,209.6,-13.8,198,1419,0.00,2.25,0.00,0.000,260,0.000,0.063,2366,3395,3102,3193,3011,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1441,-0.60,-97.3,2365,3395,3193,3011,213.2,-13.9,200,1445,0.00,2.25,0.00,0.000,1030,0.000,0.054,2366,1970,3102,3194,3011,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1746,-0.60,-97.3,2365,1970,3194,3010,257.3,-14.2,230,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1970,3102,3194,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-0.60,-97.3,2365,1970,3194,3011,299.3,-14.0,260,2050,0.00,2.22,0.00,0.000,516,0.000,0.067,2366,570,3102,3194,3011,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2152,-0.60,-97.3,2365,570,3194,3011,314.8,-14.5,270,2162,0.00,2.20,0.00,0.000,1030,0.000,0.055,2356,1979,3102,3194,3010,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2462,-0.60,-97.3,2356,1979,3195,3011,358.2,-13.7,301,2466,0.00,2.22,0.00,0.000,260,0.000,0.062,2345,3394,3103,3195,3011,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2568,-0.60,-97.3,2344,3394,3195,3011,372.2,-13.1,311,2577,0.12,2.20,0.00,0.000,3078,0.185,0.054,2373,1977,3103,3196,3011,0,0,0,0,0,0,26.20,26.37,28.83
$GC,2878,-0.60,-97.3,2373,1977,3196,3011,407.4,-11.3,339,2884,0.00,2.25,0.00,0.000,516,0.000,0.068,2373,564,3103,3196,3011,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2917,-0.60,-97.3,2373,564,3196,3011,412.0,-11.4,341,2921,0.00,2.20,0.00,0.000,1030,0.000,0.055,2365,1979,3103,3196,3011,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3233,-0.60,-97.3,2365,1980,3196,3011,449.9,-12.4,357,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,3103,3196,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,-0.60,-97.3,2365,1980,3196,3011,487.3,-12.4,372,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3834,-0.60,-97.3,2365,1980,3196,3010,524.4,-12.2,387,3839,0.00,2.22,0.00,0.000,260,0.000,0.065,2354,3389,3103,3196,3011,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3861,-0.60,-97.3,2354,3389,3196,3010,526.8,-12.3,388,3865,0.00,2.22,0.00,0.000,1030,0.000,0.056,2354,1968,3103,3196,3011,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4173,-0.60,-97.3,2354,1967,3196,3010,567.9,-12.9,404,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1967,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-0.60,-97.3,2354,1967,3196,3010,606.4,-12.7,419,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1967,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.60,-97.3,2354,1968,3196,3010,644.9,-12.8,434,4778,0.00,2.25,0.00,0.000,260,0.000,0.067,2344,3392,3103,3196,3010,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4792,-0.60,-97.3,1556,3390,3179,3006,646.9,-12.6,435,4797,0.10,2.28,0.00,0.000,3078,0.174,0.057,2373,1977,3103,3197,3010,0,0,0,0,0,0,26.22,26.41,28.83
$GC,5110,-0.60,-97.3,2373,1976,3196,3010,684.6,-12.1,451,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,-0.60,-97.3,2373,1976,3196,3010,721.1,-12.3,466,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.60,-97.3,2373,1976,3196,3010,757.9,-12.4,481,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3102,3195,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6009,-0.60,-97.3,2373,1976,3196,3009,795.2,-12.4,496,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3103,3196,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.60,-97.3,2373,1976,3196,3010,830.6,-11.5,511,6316,0.00,2.28,0.00,0.000,516,0.000,0.075,2373,570,3103,3196,3010,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6329,-0.60,-97.3,2373,570,3196,3010,833.0,-11.6,512,6333,0.00,2.22,0.00,0.000,1030,0.000,0.061,2365,1980,3103,3196,3010,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6645,-0.60,-97.3,2365,1981,3196,3010,869.5,-11.3,528,6649,0.00,2.25,0.00,0.000,260,0.000,0.070,2354,3392,3103,3196,3010,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6663,-0.60,-97.3,1552,3391,3178,3006,871.3,-11.2,529,6668,0.00,2.28,0.00,0.000,1030,0.000,0.059,2354,1981,3103,3196,3010,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6981,-0.60,-97.3,2354,1981,3196,3010,908.1,-11.4,545,6985,0.00,2.28,0.00,0.000,516,0.000,0.075,2354,571,3103,3196,3010,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7010,-0.60,-97.3,2354,570,3195,3010,910.1,-11.5,546,7019,0.15,2.22,0.00,0.000,3078,0.195,0.062,2379,1980,3103,3196,3010,0,0,0,0,0,0,26.19,26.39,28.83
$GC,7317,-0.60,-97.3,2379,1980,3196,3009,942.2,-10.0,562,7323,0.00,2.25,0.00,0.000,260,0.000,0.070,2370,3390,3101,3195,3008,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7405,-0.60,-97.3,2370,3389,3195,3008,950.1,-9.9,566,7410,0.00,2.25,0.00,0.000,1030,0.000,0.060,2370,1972,3101,3195,3007,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7712,-0.60,-97.3,2370,1971,3196,3007,983.6,-11.0,581,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1971,3101,3195,3007,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7871,begin apogee
$GC,7875,-0.14,0.0,2369,1863,3195,3005,1001.2,-10.9,589,7967,0.52,0.00,88.70,1.745,10246,0.161,0.000,2526,1863,2700,2794,2606,0,0,0,0,0,0,26.21,28.83,23.63
$STATE,7968,end apogee,CONTROL_FINISHED_OK
$STATE,7968,begin climb
$GC,7969,0.60,97.3,2525,1863,2794,2607,1004.7,0.0,593,8074,0.70,2.60,92.18,1.715,10756,0.101,0.079,2767,471,2302,2377,2228,0,0,0,0,0,0,24.64,23.96,23.07
$GC,8080,0.74,215.3,2767,472,2375,2228,1000.6,5.2,599,8207,0.15,2.47,118.88,1.698,11270,0.084,0.062,2828,1877,1822,1893,1751,0,0,0,0,0,0,24.25,24.21,22.51
$GC,8513,0.74,215.3,2827,1877,1883,1731,919.5,19.8,621,8518,0.00,2.38,0.00,0.000,260,0.000,0.070,2828,3290,1807,1883,1731,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8582,0.74,215.3,2827,3290,1880,1731,908.2,20.3,624,8590,0.00,2.35,0.00,0.000,1030,0.000,0.064,2838,1883,1805,1880,1731,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8889,0.74,215.3,2838,1883,1879,1730,843.1,20.5,640,8894,0.00,2.40,0.00,0.000,516,0.000,0.083,2850,458,1805,1880,1730,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8908,0.74,215.3,2849,459,1880,1730,839.8,20.5,641,8913,0.15,2.33,0.00,0.000,5126,0.209,0.064,2817,1878,1805,1880,1730,0,0,0,0,0,0,25.61,25.78,28.83
$GC,9226,0.74,215.3,2816,1878,1879,1728,779.7,18.5,657,9230,0.00,2.30,0.00,0.000,260,0.000,0.071,2817,3288,1803,1879,1728,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9262,0.74,215.3,2816,3288,1877,1727,772.8,18.7,659,9268,0.00,2.30,0.00,0.000,1030,0.000,0.065,2825,1874,1802,1877,1727,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9582,0.74,215.3,2825,1875,1877,1727,711.9,18.9,675,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1875,1802,1877,1727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9882,0.74,215.3,2825,1874,1877,1726,655.2,18.8,690,9886,0.00,2.35,0.00,0.000,516,0.000,0.083,2836,455,1801,1877,1726,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9920,0.74,215.3,2836,455,1877,1726,648.1,18.7,692,9925,0.00,2.30,0.00,0.000,1030,0.000,0.067,2836,1874,1801,1877,1726,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10238,0.74,215.3,2836,1874,1877,1725,587.3,18.5,708,10242,0.00,2.30,0.00,0.000,260,0.000,0.072,2836,3294,1800,1876,1725,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10296,0.74,215.3,1952,3293,1844,1720,576.8,18.9,711,10301,0.10,2.35,0.00,0.000,5126,0.201,0.065,2819,1872,1800,1876,1725,0,0,0,0,0,0,26.02,26.19,28.83
$GC,10614,0.74,215.3,2819,1872,1875,1725,522.6,17.0,727,10620,0.00,2.30,0.00,0.000,260,0.000,0.071,2818,3292,1800,1876,1725,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10636,0.74,215.3,1928,3290,1843,1720,519.0,17.2,728,10640,0.00,2.33,0.00,0.000,1030,0.000,0.065,2827,1876,1800,1875,1725,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,12025,0.74,215.3,1952,3290,1843,1720,272.6,17.2,833,12032,0.00,2.33,0.00,0.000,1030,0.000,0.063,2834,1871,1799,1874,1724,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,13562,end climb,SURFACE_DEPTH_REACHED
$STATE,13562,begin surface coast
$FINISH,0.1,1.026622
$STATE,13580,end surface coast,CONTROL_FINISHED_OK
$STATE,13581,begin surface
$SM_CCo,13655,0.00,0.000,0,0,1798,221.26
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$IRIDIUM_FIX,-4242.04,831.12,020609,232344
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.15
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.5,17.830
$10V_AH,10.2,11.282
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.875,123.800,299.750,0.000,0.000,24.548,43.493,136.686,0.000,0.000,19.480,2702.186,8614.285,403.034,2137.111,131.229,0.000,1404.020,0.000,1824.209,0.000,1.011,0.000
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$SENSOR_SECS,736.322,98.251,276.945,289.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353192
$DATA_FILE_SIZE,67210,1040
$CAP_FILE_SIZE,139921,0
$CFSIZE,259252224,250519552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,318.1,1
$GPS,060816,181705,-4252.750,829.685,27,0.8,27,-25.0