version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 137
start: 8 10 116 14 12 57
data:
$ID,542
$MISSION,14
$DIVE,137
$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,150
$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,-40159.895
$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,1955
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,13
$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
$GPS1,100816,140308,-4259.690,829.683,166,2.0,166,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.4
$GPS2,100816,141214,-4259.689,829.758,16,2.2,37,-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,30.7,10412,-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,-97.3,164,1954,2114,2000,0.0,0.0,0,56,0.00,0.00,-38.75,0.000,16386,0.000,0.000,165,1954,3073,3149,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.58,-97.3,164,1954,3150,2997,3.2,-6.3,6,73,8.62,0.00,-0.55,0.000,18694,0.234,0.000,2379,1953,3098,3181,3015,0,0,0,0,0,0,25.58,28.83,26.18
$GC,114,-0.58,-97.3,1444,1951,3161,3010,16.7,-17.8,16,122,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3379,3100,3185,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,149,-0.58,-97.3,1448,3377,3162,3010,22.2,-15.2,22,157,0.00,2.30,0.00,0.000,1030,0.000,0.055,2370,1944,3100,3185,3015,0,0,0,0,0,0,28.83,25.97,28.83
$GC,278,-0.58,-97.3,1424,1943,3161,3010,40.8,-14.2,47,284,0.00,2.28,0.00,0.000,516,0.000,0.067,2370,539,3100,3186,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,322,-0.58,-97.3,2370,539,3185,3015,47.3,-14.2,55,328,0.00,2.25,0.00,0.000,1030,0.000,0.054,2360,1964,3100,3186,3015,0,0,0,0,0,0,28.83,26.04,28.83
$GC,639,-0.58,-97.3,2360,1964,3187,3015,93.3,-14.3,116,647,0.00,2.28,0.00,0.000,260,0.000,0.061,2349,3368,3101,3187,3015,0,0,0,0,0,0,28.83,26.11,28.83
$GC,745,-0.58,-97.3,2349,3367,3187,3015,108.9,-14.6,131,750,0.15,2.22,0.00,0.000,3078,0.181,0.054,2385,1955,3101,3187,3015,0,0,0,0,0,0,25.94,26.15,28.83
$GC,1051,-0.58,-97.3,2385,1954,3188,3015,149.1,-13.8,161,1059,0.00,2.25,0.00,0.000,260,0.000,0.060,2377,3379,3101,3188,3015,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1073,-0.58,-97.3,2377,3378,3187,3015,152.0,-13.9,163,1081,0.00,2.22,0.00,0.000,1030,0.000,0.054,2377,1952,3101,3187,3015,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1381,-0.58,-97.3,2377,1952,3188,3015,194.6,-13.1,194,1385,0.00,2.28,0.00,0.000,516,0.000,0.067,2377,536,3101,3188,3014,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1410,-0.58,-97.3,2377,536,3188,3014,198.2,-13.6,196,1419,0.00,2.22,0.00,0.000,1030,0.000,0.054,2367,1957,3101,3188,3015,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1717,-0.58,-97.3,2367,1957,3188,3015,241.8,-14.3,227,1721,0.00,2.22,0.00,0.000,260,0.000,0.060,2356,3369,3101,3188,3015,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1845,-0.58,-97.3,2356,3369,3188,3015,258.9,-13.5,239,1853,0.00,2.28,0.00,0.000,1030,0.000,0.053,2356,1949,3101,3188,3015,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2153,-0.58,-97.3,2356,1949,3188,3014,301.4,-13.7,270,2158,0.12,2.25,0.00,0.000,2308,0.194,0.059,2381,3372,3102,3189,3015,0,0,0,0,0,0,26.14,26.29,28.83
$GC,2213,-0.58,-97.3,2380,3373,3188,3015,308.2,-11.3,275,2220,0.00,2.22,0.00,0.000,1030,0.000,0.053,2381,1954,3102,3189,3015,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2520,-0.58,-97.3,2380,1954,3189,3015,342.6,-11.0,306,2524,0.00,2.22,0.00,0.000,260,0.000,0.061,2371,3369,3102,3189,3015,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2556,-0.58,-97.3,2371,3369,3189,3015,346.6,-10.9,309,2565,0.00,2.22,0.00,0.000,1030,0.000,0.054,2371,1945,3102,3189,3015,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2866,-0.58,-97.3,2370,1945,3190,3015,384.7,-12.7,340,2870,0.00,2.25,0.00,0.000,260,0.000,0.060,2361,3376,3102,3190,3015,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2942,-0.58,-97.3,2360,3376,3191,3015,394.5,-12.9,347,2946,0.00,2.22,0.00,0.000,1030,0.000,0.054,2360,1954,3102,3190,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3247,-0.58,-97.3,2360,1953,3191,3015,434.5,-13.4,364,3251,0.00,2.25,0.00,0.000,260,0.000,0.061,2350,3376,3102,3190,3015,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3271,-0.58,-97.3,2350,3376,3190,3015,436.6,-13.3,365,3276,0.12,2.22,0.00,0.000,3078,0.181,0.054,2380,1955,3102,3190,3015,0,0,0,0,0,0,26.16,26.35,28.83
$GC,3578,-0.58,-97.3,2380,1955,3190,3015,473.4,-11.5,380,3582,0.00,2.25,0.00,0.000,516,0.000,0.068,2380,542,3102,3190,3015,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3597,-0.58,-97.3,2380,541,3190,3015,475.3,-11.6,381,3601,0.00,2.22,0.00,0.000,1030,0.000,0.055,2372,1961,3102,3190,3015,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3909,-0.58,-97.3,2371,1961,3190,3015,513.7,-12.1,397,3914,0.00,2.22,0.00,0.000,260,0.000,0.063,2361,3370,3102,3190,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3992,-0.58,-97.3,2361,3370,3190,3014,523.3,-12.0,401,3996,0.00,2.22,0.00,0.000,1030,0.000,0.054,2361,1951,3102,3190,3015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4309,-0.58,-97.3,2361,1951,3190,3014,563.5,-12.7,417,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1951,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.58,-97.3,2361,1951,3190,3015,602.1,-12.8,432,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1951,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4908,-0.58,-97.3,2360,1951,3190,3014,641.0,-12.7,447,4913,0.00,2.25,0.00,0.000,516,0.000,0.071,2361,546,3102,3190,3015,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4932,-0.58,-97.3,2361,546,3190,3014,643.1,-12.8,448,4937,0.12,2.22,0.00,0.000,3078,0.194,0.058,2379,1955,3102,3190,3014,0,0,0,0,0,0,26.17,26.37,28.83
$GC,5239,-0.58,-97.3,2378,1955,3190,3013,680.5,-11.5,463,5243,0.00,2.25,0.00,0.000,260,0.000,0.067,2370,3369,3101,3190,3012,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5288,-0.58,-97.3,2370,3369,3190,3012,684.6,-11.4,465,5295,0.00,2.22,0.00,0.000,1030,0.000,0.057,2370,1955,3101,3190,3012,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5596,-0.58,-97.3,2369,1955,3191,3011,722.4,-11.9,481,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1955,3100,3190,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5895,-0.58,-97.3,2369,1955,3190,3010,758.2,-12.0,496,5899,0.00,2.28,0.00,0.000,516,0.000,0.073,2370,537,3100,3190,3010,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5924,-0.58,-97.3,2370,538,3190,3010,760.2,-12.1,497,5931,0.00,2.25,0.00,0.000,1030,0.000,0.060,2359,1961,3100,3190,3010,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6232,-0.58,-97.3,2359,1961,3190,3009,800.8,-12.5,513,6237,0.00,2.25,0.00,0.000,260,0.000,0.067,2349,3372,3099,3190,3009,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6314,-0.58,-97.3,2348,3372,3191,3009,810.9,-12.6,517,6320,0.10,2.22,0.00,0.000,3078,0.166,0.059,2379,1952,3100,3191,3009,0,0,0,0,0,0,26.17,26.36,28.83
$GC,6632,-0.58,-97.3,2379,1951,3190,3009,847.2,-11.2,533,6638,0.00,2.28,0.00,0.000,260,0.000,0.067,2370,3372,3099,3190,3008,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6652,-0.58,-97.3,2370,3372,3190,3008,849.5,-11.2,534,6656,0.00,2.25,0.00,0.000,1030,0.000,0.059,2370,1951,3099,3190,3008,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6968,-0.58,-97.3,2370,1951,3190,3007,885.0,-10.9,550,6972,0.00,2.28,0.00,0.000,260,0.000,0.068,2360,3369,3098,3190,3007,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6997,-0.58,-97.3,2360,3369,3190,3007,886.7,-10.9,551,7004,0.00,2.25,0.00,0.000,1030,0.000,0.058,2360,1951,3098,3190,3007,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7304,-0.58,-97.3,2360,1951,3190,3007,924.0,-11.8,567,7308,0.00,2.28,0.00,0.000,260,0.000,0.068,2350,3368,3098,3190,3007,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7328,-0.58,-97.3,2350,3368,3190,3007,925.9,-11.9,568,7333,0.15,2.25,0.00,0.000,3078,0.182,0.059,2386,1948,3098,3190,3007,0,0,0,0,0,0,26.14,26.36,28.83
$GC,7635,-0.58,-97.3,2386,1948,3190,3006,956.7,-9.3,583,7639,0.00,2.30,0.00,0.000,516,0.000,0.076,2386,542,3098,3190,3006,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7656,-0.58,-97.3,2386,542,3190,3006,958.8,-9.4,584,7662,0.00,2.25,0.00,0.000,1030,0.000,0.061,2378,1958,3098,3190,3006,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7976,-0.58,-97.3,2378,1958,3190,3005,990.8,-10.2,600,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3098,3190,3006,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8074,begin apogee
$GC,8079,-0.14,0.0,2378,1872,3190,3005,1001.1,-10.3,605,8170,0.47,0.00,88.07,1.758,10246,0.155,0.000,2520,1872,2700,2791,2609,0,0,0,0,0,0,26.14,28.83,23.58
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8173,0.58,97.3,2520,1872,2791,2609,1004.3,0.0,609,8269,0.73,0.00,92.72,1.710,10758,0.106,0.000,2755,1872,2303,2376,2231,0,0,0,0,0,0,24.61,28.83,22.94
$GC,8557,0.58,97.3,2755,1872,2368,2219,972.4,10.2,629,8563,0.00,2.40,0.00,0.000,516,0.000,0.080,2766,469,2294,2368,2220,0,0,0,0,0,0,28.83,25.31,28.83
$GC,8576,0.58,97.3,2766,468,2366,2220,970.4,10.2,630,8581,0.00,2.35,0.00,0.000,1030,0.000,0.063,2766,1879,2293,2366,2220,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8893,0.58,97.3,2766,1879,2365,2217,935.4,11.1,646,8898,0.00,2.33,0.00,0.000,260,0.000,0.070,2766,3290,2291,2365,2217,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8940,0.58,97.3,2766,3289,2364,2217,930.6,11.6,648,8945,0.00,2.33,0.00,0.000,1030,0.000,0.063,2776,1876,2290,2364,2217,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9253,0.58,97.3,2776,1876,2364,2216,894.2,11.2,664,9258,0.00,2.33,0.00,0.000,260,0.000,0.070,2776,3292,2289,2364,2215,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9267,0.58,97.3,2775,3292,2363,2216,894.2,11.2,664,9274,0.00,2.33,0.00,0.000,1030,0.000,0.063,2786,1865,2289,2363,2215,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,17255,end climb,SURFACE_DEPTH_REACHED
$STATE,17255,begin surface coast
$FINISH,-0.1,1.009868
$STATE,17276,end surface coast,CONTROL_FINISHED_OK
$STATE,17276,begin surface
$SM_CCo,17291,2.62,0.220,0,0,2086,150.12
$SM_GC,1.41,7.12,0.12,2.62,0.069,0.101,0.220,162,1961,2086,-7.42,-0.79,150.12,0,0,0,0,0,0,26.42,26.41,26.08
$IRIDIUM_FIX,-4244.98,708.23,070609,030331
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.68
$INTERNAL_PRESSURE,9.41409
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,22.9,20.440
$10V_AH,10.2,12.978
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.450,191.700,228.750,2.625,0.000,65.670,85.607,199.797,0.000,0.000,38.914,3449.434,10965.636,424.289,2828.662,188.009,0.000,1693.029,0.000,2335.422,0.000,1.011,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.595,120.399,332.491,356.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353168
$DATA_FILE_SIZE,83819,1312
$CAP_FILE_SIZE,188106,0
$CFSIZE,259252224,248987648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062, 18.0,1
$GPS,100816,190627,-4257.195,830.237,282,1.1,282,-25.0