version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 155
start: 8 14 116 3 19 29
data:
$ID,542
$MISSION,14
$DIVE,155
$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,-40182.715
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,140816,031211,-4253.644,830.198,412,1.4,412,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.5
$GPS2,140816,031846,-4253.573,830.228,34,1.4,35,-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,198.9,22888,-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,16,-0.58,-97.3,137,1965,2027,1927,0.0,0.0,0,58,0.00,0.00,-40.55,0.000,16386,0.000,0.000,137,1964,3043,3107,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.58,-97.3,137,1964,3110,2980,3.6,-9.0,6,76,8.73,2.38,-1.23,0.000,19204,0.232,0.074,2391,531,3098,3182,3015,0,0,0,0,0,0,25.50,25.88,26.21
$GC,453,-0.58,-97.3,2391,531,3188,3015,62.6,-13.9,82,460,0.00,2.28,0.00,0.000,1030,0.000,0.057,2382,1961,3101,3188,3015,0,0,0,0,0,0,28.83,26.04,28.83
$GC,776,-0.58,-97.3,2382,1961,3189,3015,107.2,-13.9,139,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1961,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1079,-0.58,-97.3,2382,1961,3189,3015,148.5,-13.7,169,1087,0.00,2.22,0.00,0.000,260,0.000,0.063,2371,3366,3102,3189,3015,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1164,-0.58,-97.3,2371,3366,3189,3015,159.3,-12.2,177,1171,0.00,2.28,0.00,0.000,1030,0.000,0.054,2372,1955,3102,3189,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1471,-0.58,-97.3,2371,1955,3189,3015,199.1,-13.3,208,1475,0.00,2.25,0.00,0.000,516,0.000,0.067,2372,546,3102,3190,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1508,-0.58,-97.3,2371,546,3190,3015,204.0,-13.3,211,1517,0.00,2.22,0.00,0.000,1030,0.000,0.054,2362,1956,3102,3190,3015,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1817,-0.58,-97.3,2361,1955,3190,3015,247.4,-13.9,242,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1955,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.58,-97.3,2361,1956,3190,3014,288.7,-13.9,272,2128,0.00,2.25,0.00,0.000,260,0.000,0.062,2351,3368,3103,3191,3015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2174,-0.58,-97.3,2350,3369,3190,3015,296.0,-13.7,277,2182,0.10,2.28,0.00,0.000,3078,0.162,0.053,2381,1949,3102,3190,3015,0,0,0,0,0,0,26.05,26.26,28.83
$GC,2481,-0.58,-97.3,2381,1949,3191,3015,332.9,-11.6,308,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1949,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2782,-0.58,-97.3,2381,1949,3191,3015,368.3,-12.2,338,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1949,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3092,-0.58,-97.3,2381,1949,3191,3015,405.7,-11.8,367,3098,0.00,2.25,0.00,0.000,516,0.000,0.067,2381,547,3103,3191,3015,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3144,-0.58,-97.3,2381,547,3191,3015,410.8,-12.2,369,3151,0.00,2.22,0.00,0.000,1030,0.000,0.055,2372,1966,3103,3191,3015,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3452,-0.58,-97.3,2372,1966,3191,3015,449.8,-11.9,385,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1966,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3752,-0.58,-97.3,2372,1967,3191,3015,485.3,-11.9,400,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.58,-97.3,2372,1967,3191,3015,520.7,-11.7,415,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4352,-0.58,-97.3,2372,1967,3191,3015,556.5,-12.0,430,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1967,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4652,-0.58,-97.3,2372,1967,3191,3014,593.8,-12.5,445,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.58,-97.3,2372,1967,3191,3014,630.3,-12.1,460,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1967,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5252,-0.58,-97.3,2372,1967,3191,3014,667.4,-12.3,475,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1966,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5551,-0.58,-97.3,2372,1966,3191,3014,703.5,-12.3,490,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1967,3102,3191,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,-0.58,-97.3,2372,1967,3191,3014,741.2,-12.6,505,5856,0.00,2.22,0.00,0.000,260,0.000,0.067,2362,3362,3102,3190,3014,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5955,-0.58,-97.3,1544,3361,3174,3011,753.9,-12.6,510,5960,0.00,2.28,0.00,0.000,1030,0.000,0.060,2362,1954,3102,3191,3014,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6273,-0.58,-97.3,2362,1952,3191,3014,794.8,-12.7,526,6277,0.00,2.28,0.00,0.000,516,0.000,0.073,2362,545,3102,3191,3014,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6297,-0.58,-97.3,2362,545,3191,3014,796.8,-12.7,527,6302,0.12,2.25,0.00,0.000,3078,0.186,0.060,2380,1962,3102,3191,3014,0,0,0,0,0,0,26.11,26.31,28.83
$GC,6604,-0.58,-97.3,2380,1962,3191,3014,831.9,-10.9,542,6608,0.00,2.25,0.00,0.000,260,0.000,0.068,2371,3366,3102,3191,3014,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6662,-0.58,-97.3,1584,3365,3174,3010,838.1,-11.1,545,6667,0.00,2.28,0.00,0.000,1030,0.000,0.059,2371,1959,3102,3191,3014,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6981,-0.58,-97.3,2371,1959,3191,3013,875.5,-11.6,561,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1959,3102,3191,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,-0.58,-97.3,2370,1959,3190,3012,909.9,-11.2,576,7284,0.00,2.30,0.00,0.000,516,0.000,0.075,2371,546,3101,3191,3012,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7324,-0.58,-97.3,2371,546,3191,3012,914.2,-11.4,578,7328,0.00,2.25,0.00,0.000,1030,0.000,0.062,2361,1962,3101,3191,3012,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7632,-0.58,-97.3,2361,1962,3191,3011,951.7,-11.9,593,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1963,3101,3191,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.58,-97.3,2361,1962,3191,3010,987.1,-11.7,608,7935,0.00,2.25,0.00,0.000,260,0.000,0.069,2350,3365,3100,3190,3010,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8007,-0.58,-97.3,2350,3366,3191,3010,996.0,-11.7,612,8014,0.12,2.25,0.00,0.000,3078,0.183,0.060,2379,1946,3100,3191,3010,0,0,0,0,0,0,26.09,26.29,28.83
$STATE,8045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8045,begin apogee
$GC,8050,-0.14,0.0,2379,1866,3191,3010,1000.4,-11.4,614,8141,0.47,0.00,88.45,1.744,10246,0.154,0.000,2523,1866,2699,2787,2612,0,0,0,0,0,0,26.03,28.83,23.57
$STATE,8142,end apogee,CONTROL_FINISHED_OK
$STATE,8143,begin climb
$GC,8144,0.58,97.3,2522,1866,2786,2612,1003.6,0.0,618,8241,0.70,0.00,93.55,1.692,10246,0.105,0.000,2751,1866,2302,2373,2232,0,0,0,0,0,0,24.60,28.83,22.82
$GC,8529,0.60,116.0,2751,1866,2365,2221,973.8,9.3,638,8552,0.00,2.45,17.55,1.608,8452,0.000,0.068,2751,3289,2227,2300,2154,0,0,0,0,0,0,28.83,24.84,23.91
$GC,8612,0.60,116.0,2751,3289,2295,2153,965.9,10.4,642,8616,0.00,2.38,0.00,0.000,1030,0.000,0.063,2761,1880,2224,2295,2153,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8919,0.60,116.0,2761,1879,2295,2148,930.8,11.4,657,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1880,2221,2295,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9219,0.60,116.0,2761,1879,2295,2147,896.5,11.1,672,9223,0.00,2.33,0.00,0.000,260,0.000,0.070,2761,3294,2221,2295,2147,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9255,0.60,116.0,2761,3294,2294,2147,892.3,11.4,674,9261,0.00,2.33,0.00,0.000,1030,0.000,0.064,2771,1870,2220,2294,2147,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9575,0.60,116.0,2771,1870,2294,2146,855.6,11.3,690,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1870,2220,2294,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9875,0.60,116.0,2771,1870,2293,2145,823.6,10.5,705,9881,0.00,2.33,0.00,0.000,260,0.000,0.070,2771,3294,2219,2293,2145,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9937,0.60,116.0,2771,3294,2292,2145,816.8,11.1,708,9942,0.00,2.35,0.00,0.000,1030,0.000,0.063,2781,1877,2218,2292,2145,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10255,0.60,116.0,2781,1876,2292,2145,782.3,10.7,724,10259,0.00,2.30,0.00,0.000,260,0.000,0.070,2782,3291,2218,2292,2145,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10299,0.60,116.0,2781,3291,2291,2145,778.2,11.0,726,10303,0.00,2.30,0.00,0.000,1030,0.000,0.064,2792,1872,2218,2291,2145,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10606,0.60,116.0,2792,1871,2291,2145,744.1,10.6,741,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1871,2218,2291,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10906,0.60,116.0,2792,1871,2290,2144,712.2,10.4,756,10910,0.00,2.33,0.00,0.000,260,0.000,0.070,2792,3293,2217,2291,2144,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10982,0.60,116.0,2791,3294,2289,2143,704.0,10.8,760,10989,0.15,2.28,0.00,0.000,5126,0.206,0.063,2768,1877,2216,2290,2143,0,0,0,0,0,0,25.92,26.17,28.83
$GC,11303,0.62,136.1,2769,1876,2290,2143,675.0,9.3,776,11326,0.00,2.35,18.35,1.518,8452,0.000,0.070,2769,3291,2144,2217,2072,0,0,0,0,0,0,28.83,25.74,24.75
$GC,11378,0.63,138.4,2768,3290,2214,2072,668.8,9.9,779,11385,0.00,2.33,0.00,0.000,1030,0.000,0.064,2777,1875,2143,2214,2072,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11683,0.63,138.4,2777,1875,2213,2067,634.3,11.0,795,11687,0.00,2.30,0.00,0.000,260,0.000,0.070,2777,3285,2140,2214,2067,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,17108,end climb,SURFACE_DEPTH_REACHED
$STATE,17108,begin surface coast
$FINISH,0.1,1.026712
$STATE,17130,end surface coast,CONTROL_FINISHED_OK
$STATE,17130,begin surface
$SM_CCo,17205,0.00,0.000,0,0,2023,166.07
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$IRIDIUM_FIX,-4239.11,824.86,100609,111126
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.56
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.8,22.889
$10V_AH,10.1,14.595
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.550,127.950,231.350,0.000,0.000,23.090,28.170,210.144,0.000,0.000,35.586,3390.082,10802.387,401.926,2832.119,188.509,0.000,1573.042,0.000,2365.285,0.000,1.010,0.000
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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,86955,1306
$CAP_FILE_SIZE,160157,0
$CFSIZE,259252224,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,340.7,1
$GPS,140816,080820,-4254.590,830.207,93,1.9,93,-25.0