version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 121
start: 8 7 116 8 31 12
data:
$ID,542
$MISSION,14
$DIVE,121
$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,-40118.121
$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,21
$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
$GPS1,070816,082420,-4256.502,830.573,64,1.3,64,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.7
$GPS2,070816,083028,-4256.504,830.662,33,1.2,34,-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,207.1,17480,-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,-97.3,162,1983,2025,1917,0.0,0.0,0,63,0.00,0.00,-43.60,0.000,16390,0.000,0.000,162,1983,3098,3176,3021,0,0,0,0,0,0,28.83,28.83,26.37
$GC,65,-0.58,-97.3,162,1983,3177,3022,3.4,-5.4,7,81,8.65,2.30,0.00,0.000,2308,0.237,0.057,2369,3395,3101,3181,3021,0,0,0,0,0,0,25.65,25.97,28.83
$GC,209,-0.58,-97.3,1424,3394,3159,3016,28.1,-12.7,34,216,0.00,2.28,0.00,0.000,1030,0.000,0.055,2369,1972,3102,3184,3020,0,0,0,0,0,0,28.83,26.03,28.83
$GC,340,-0.58,-97.3,2369,1972,3185,3020,45.2,-13.8,59,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1972,3102,3185,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,658,-0.58,-97.3,2369,1972,3185,3020,92.9,-13.0,120,666,0.00,2.30,0.00,0.000,260,0.000,0.063,2359,3385,3102,3185,3020,0,0,0,0,0,0,28.83,26.15,28.83
$GC,704,-0.58,-97.3,2358,3385,3185,3020,100.0,-15.8,128,712,0.00,2.28,0.00,0.000,1030,0.000,0.055,2359,1977,3102,3185,3020,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1009,-0.58,-97.3,2358,1976,3186,3020,146.8,-15.1,159,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1977,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.58,-97.3,2358,1976,3186,3020,191.2,-14.4,189,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1976,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.58,-97.3,2358,1977,3186,3020,234.6,-14.4,219,1613,0.00,2.25,0.00,0.000,260,0.000,0.062,2349,3396,3103,3186,3020,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1704,-0.58,-97.3,2348,3397,3186,3020,248.5,-14.4,228,1709,0.15,2.22,0.00,0.000,3078,0.181,0.054,2385,1977,3103,3187,3020,0,0,0,0,0,0,26.13,26.30,28.83
$GC,2009,-0.58,-97.3,2385,1977,3187,3020,288.4,-12.7,258,2013,0.00,2.22,0.00,0.000,260,0.000,0.062,2376,3393,3103,3187,3020,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2095,-0.58,-97.3,2376,3393,3187,3020,298.9,-12.2,266,2099,0.00,2.22,0.00,0.000,1030,0.000,0.054,2377,1972,3103,3187,3020,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2400,-0.58,-97.3,2376,1971,3187,3020,336.4,-12.2,296,2404,0.00,2.25,0.00,0.000,260,0.000,0.063,2366,3394,3103,3187,3020,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2436,-0.58,-97.3,2366,3393,3187,3020,340.7,-12.1,299,2440,0.00,2.22,0.00,0.000,1030,0.000,0.054,2366,1970,3103,3187,3020,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2742,-0.58,-97.3,2366,1969,3188,3020,381.4,-13.5,329,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1969,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,-0.58,-97.3,2366,1970,3188,3020,423.0,-14.2,351,3045,0.00,2.22,0.00,0.000,516,0.000,0.067,2366,571,3104,3188,3020,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3065,-0.58,-97.3,2366,571,3188,3020,425.3,-14.3,352,3070,0.12,2.20,0.00,0.000,3078,0.193,0.054,2385,1981,3104,3188,3020,0,0,0,0,0,0,26.20,26.37,28.83
$GC,3377,-0.58,-97.3,2384,1981,3188,3020,463.9,-11.7,368,3381,0.00,2.22,0.00,0.000,260,0.000,0.063,2375,3394,3104,3188,3020,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3461,-0.58,-97.3,2375,3394,3188,3020,472.8,-11.7,372,3465,0.00,2.22,0.00,0.000,1030,0.000,0.054,2376,1975,3104,3188,3020,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3773,-0.58,-97.3,2375,1974,3188,3020,513.2,-12.7,388,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1974,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.58,-97.3,2375,1974,3188,3020,552.4,-12.9,403,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1974,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.58,-97.3,2375,1974,3188,3020,590.9,-12.9,418,4377,0.00,2.25,0.00,0.000,516,0.000,0.071,2375,570,3104,3188,3020,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4404,-0.58,-97.3,2375,571,3188,3020,593.0,-13.0,419,4410,0.00,2.20,0.00,0.000,1030,0.000,0.057,2365,1978,3104,3188,3020,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4709,-0.58,-97.3,2365,1978,3188,3019,636.1,-13.5,435,4713,0.00,2.22,0.00,0.000,260,0.000,0.067,2355,3390,3103,3188,3019,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4758,-0.58,-97.3,2355,3389,3188,3019,641.6,-13.4,437,4762,0.12,2.22,0.00,0.000,3078,0.184,0.057,2383,1978,3103,3187,3019,0,0,0,0,0,0,26.23,26.40,28.83
$GC,5070,-0.58,-97.3,2383,1977,3188,3018,680.6,-11.7,453,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1977,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.58,-97.3,2383,1978,3188,3017,714.3,-11.3,468,5374,0.00,2.25,0.00,0.000,260,0.000,0.068,2375,3395,3102,3188,3017,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5439,-0.58,-97.3,2375,3394,3188,3017,720.6,-11.1,471,5446,0.00,2.22,0.00,0.000,1030,0.000,0.057,2375,1980,3102,3188,3017,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5746,-0.58,-97.3,2375,1979,3188,3016,757.3,-11.4,487,5750,0.00,2.25,0.00,0.000,260,0.000,0.069,2365,3388,3102,3188,3016,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5782,-0.58,-97.3,2364,3388,3188,3016,761.3,-11.1,489,5788,0.00,2.22,0.00,0.000,1030,0.000,0.059,2365,1979,3102,3188,3016,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6102,-0.58,-97.3,2364,1978,3188,3016,800.3,-12.5,505,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1978,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,-0.58,-97.3,2364,1978,3188,3015,835.7,-11.4,520,6409,0.00,2.25,0.00,0.000,260,0.000,0.070,2355,3392,3101,3188,3015,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6462,-0.58,-97.3,2354,3392,3188,3015,842.6,-11.4,523,6467,0.12,2.25,0.00,0.000,3078,0.185,0.059,2383,1967,3101,3188,3015,0,0,0,0,0,0,26.23,26.41,28.83
$GC,6780,-0.58,-97.3,2383,1967,3188,3014,874.6,-9.9,539,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1967,3101,3188,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,-0.58,-97.3,2383,1967,3188,3013,903.8,-9.9,554,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1968,3100,3188,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7379,-0.58,-97.3,2382,1967,3188,3012,934.1,-10.2,569,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1967,3100,3188,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,-0.58,-97.3,2383,1967,3188,3012,965.0,-10.3,584,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1967,3100,3188,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7978,-0.58,-97.3,2383,1967,3188,3011,996.0,-10.6,599,7982,0.00,2.30,0.00,0.000,260,0.000,0.071,2374,3395,3099,3188,3011,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8017,-0.58,-97.3,1584,3394,3171,3007,999.8,-10.6,601,8021,0.00,2.30,0.00,0.000,1030,0.000,0.061,2374,1983,3099,3188,3011,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,8033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8033,begin apogee
$GC,8037,-0.14,0.0,2374,1860,3188,3011,1001.9,-10.6,602,8129,0.50,0.00,88.60,1.737,10246,0.158,0.000,2523,1859,2700,2789,2611,0,0,0,0,0,0,26.21,28.83,23.62
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8132,0.58,97.3,2523,1859,2790,2610,1005.6,0.0,606,8228,0.70,0.00,92.30,1.704,10758,0.105,0.000,2752,1860,2303,2376,2230,0,0,0,0,0,0,24.62,28.83,23.04
$GC,8515,0.61,122.1,2752,1859,2367,2219,977.4,9.1,626,8544,0.00,2.47,23.10,1.642,8452,0.000,0.071,2752,3281,2202,2278,2127,0,0,0,0,0,0,28.83,24.74,23.84
$GC,8579,0.62,134.7,2752,3281,2275,2126,971.9,9.5,629,8598,0.00,2.40,14.18,1.575,9222,0.000,0.063,2762,1876,2149,2224,2074,0,0,0,0,0,0,28.83,25.02,23.80
$GC,8911,0.62,134.7,2762,1876,2220,2066,933.5,11.2,646,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1876,2143,2220,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,0.62,134.7,2762,1876,2220,2065,899.7,11.4,661,9217,0.00,2.38,0.00,0.000,516,0.000,0.082,2773,460,2141,2219,2064,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9259,0.62,134.7,2772,460,2218,2064,894.9,11.7,663,9263,0.00,2.33,0.00,0.000,1030,0.000,0.064,2773,1880,2141,2218,2065,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9565,0.62,134.7,2772,1880,2218,2063,856.3,12.3,678,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1880,2140,2218,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,0.62,134.7,2772,1880,2217,2062,818.6,12.7,693,9872,0.00,2.30,0.00,0.000,260,0.000,0.073,2772,3290,2139,2217,2062,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9948,0.62,134.7,1904,3289,2175,2057,807.6,13.7,697,9953,0.00,2.35,0.00,0.000,1030,0.000,0.067,2783,1879,2138,2214,2062,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10266,0.62,134.7,2783,1878,2214,2062,765.3,13.0,713,10272,0.00,2.38,0.00,0.000,516,0.000,0.082,2794,452,2138,2214,2062,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10306,0.62,134.7,2794,452,2214,2062,759.9,13.2,715,10310,0.00,2.30,0.00,0.000,1030,0.000,0.065,2794,1877,2138,2214,2062,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10621,0.62,134.7,2794,1877,2214,2062,718.6,13.0,731,10626,0.00,2.30,0.00,0.000,260,0.000,0.072,2794,3297,2138,2214,2062,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10739,0.62,134.7,2794,3296,2212,2061,702.3,14.0,737,10745,0.08,2.28,0.00,0.000,5126,0.200,0.067,2784,1877,2136,2212,2061,0,0,0,0,0,0,26.03,26.21,28.83
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$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17043,begin surface coast
$FINISH,1.4,1.026609
$STATE,17055,end surface coast,CONTROL_FINISHED_OK
$STATE,17055,begin surface
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$IRIDIUM_FIX,-4239.11,827.77,030609,171723
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.01
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.0,18.344
$10V_AH,10.2,11.611
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.700,114.000,242.550,0.000,0.000,26.023,20.171,188.359,0.000,0.000,35.294,3416.275,10963.549,359.747,2604.205,171.256,0.000,1522.951,0.000,2234.065,0.000,1.012,0.000
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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,353172
$DATA_FILE_SIZE,83847,1321
$CAP_FILE_SIZE,165142,0
$CFSIZE,259252224,250191872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,  1.9,1
$GPS,070816,131757,-4257.892,830.505,41,0.8,41,-25.0