version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 178
start: 8 18 116 23 43 35
data:
$ID,542
$MISSION,14
$DIVE,178
$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,-41413.164
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,180816,233657,-4252.062,830.320,70,0.9,70,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.5
$GPS2,180816,234252,-4251.994,830.317,21,1.0,21,-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,198.9,3868,-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,-97.3,152,1952,1948,1838,0.0,0.0,0,63,0.00,0.00,-46.42,0.000,16390,0.000,0.000,152,1952,3098,3174,3022,0,0,0,0,0,0,28.83,28.83,26.41
$GC,66,-0.58,-97.3,152,1952,3176,3022,3.0,-4.3,7,80,8.85,2.33,0.00,0.000,2564,0.237,0.059,2390,536,3101,3180,3022,0,0,0,0,0,0,25.44,25.90,28.83
$GC,163,-0.58,-97.3,1440,536,3158,3017,21.7,-13.6,25,171,0.00,2.28,0.00,0.000,1030,0.000,0.055,2381,1957,3102,3183,3022,0,0,0,0,0,0,28.83,25.94,28.83
$GC,293,-0.58,-97.3,2381,1958,3184,3020,42.0,-12.8,50,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1958,3102,3184,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-0.58,-97.3,1472,1956,3162,3016,83.4,-13.7,111,607,0.00,2.25,0.00,0.000,260,0.000,0.061,2370,3370,3102,3185,3020,0,0,0,0,0,0,28.83,26.01,28.83
$GC,659,-0.58,-97.3,1472,3368,3162,3016,91.4,-13.8,122,666,0.00,2.25,0.00,0.000,1030,0.000,0.052,2371,1938,3102,3185,3020,0,0,0,0,0,0,28.83,26.06,28.83
$GC,974,-0.58,-97.3,2370,1938,3186,3021,136.3,-14.7,159,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1938,3102,3185,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.58,-97.3,2371,1938,3186,3020,178.7,-13.9,189,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1938,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1574,-0.58,-97.3,2370,1938,3186,3020,219.3,-13.2,219,1583,0.00,2.25,0.00,0.000,260,0.000,0.060,2361,3362,3103,3186,3020,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1656,-0.58,-97.3,2360,3362,3186,3020,230.2,-13.5,227,1665,0.00,2.20,0.00,0.000,1030,0.000,0.051,2361,1955,3103,3186,3020,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1966,-0.58,-97.3,2360,1954,3187,3020,272.2,-13.6,258,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1954,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2266,-0.58,-97.3,2360,1954,3187,3020,311.1,-12.4,288,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1954,3104,3187,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,-0.58,-97.3,2360,1954,3187,3020,346.9,-11.4,318,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1954,3104,3187,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.58,-97.3,2360,1954,3188,3020,384.3,-12.2,349,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1954,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-0.58,-97.3,2360,1954,3188,3020,423.9,-12.8,371,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1954,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3486,-0.58,-97.3,2360,1954,3188,3021,463.1,-13.0,386,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1954,3104,3188,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,-0.58,-97.3,2360,1954,3188,3020,503.0,-13.5,401,3789,0.00,2.25,0.00,0.000,516,0.000,0.067,2361,548,3104,3188,3020,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3821,-0.58,-97.3,2360,548,3188,3020,508.1,-13.9,403,3828,0.12,2.22,0.00,0.000,3078,0.186,0.054,2380,1967,3104,3188,3020,0,0,0,0,0,0,26.01,26.25,28.83
$GC,4141,-0.58,-97.3,2380,1967,3188,3020,548.0,-12.3,419,4145,0.00,2.22,0.00,0.000,260,0.000,0.063,2370,3372,3104,3189,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4177,-0.58,-97.3,2371,3372,3188,3020,552.5,-12.4,421,4181,0.00,2.22,0.00,0.000,1030,0.000,0.054,2371,1952,3104,3188,3020,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4493,-0.58,-97.3,2371,1950,3188,3020,593.3,-12.9,437,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3104,3188,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4793,-0.58,-97.3,2371,1951,3188,3019,630.8,-12.7,452,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3103,3188,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5093,-0.58,-97.3,2371,1951,3189,3018,669.0,-12.5,467,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3103,3188,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.58,-97.3,2371,1951,3189,3017,705.6,-12.3,482,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5693,-0.58,-97.3,2371,1951,3188,3016,742.8,-12.4,497,5697,0.00,2.28,0.00,0.000,516,0.000,0.070,2370,541,3102,3188,3016,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5763,-0.58,-97.3,2371,541,3188,3016,750.1,-13.0,500,5769,0.00,2.25,0.00,0.000,1030,0.000,0.058,2361,1962,3102,3189,3016,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6069,-0.58,-97.3,2360,1963,3188,3016,791.0,-13.0,516,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1963,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.58,-97.3,2361,1963,3188,3016,830.2,-13.0,531,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1963,3102,3188,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-0.58,-97.3,2360,1963,3188,3015,866.9,-12.0,546,6675,0.00,2.25,0.00,0.000,260,0.000,0.066,2350,3368,3101,3188,3015,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6769,-0.58,-97.3,2349,3368,3188,3015,878.9,-12.0,551,6774,0.12,2.22,0.00,0.000,3078,0.179,0.057,2380,1957,3101,3188,3015,0,0,0,0,0,0,25.99,26.22,28.83
$GC,7087,-0.58,-97.3,2380,1956,3188,3014,910.8,-9.7,567,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1956,3101,3188,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7387,-0.58,-97.3,2380,1956,3188,3013,940.1,-9.8,582,7393,0.00,2.30,0.00,0.000,516,0.000,0.073,2380,542,3100,3188,3013,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7419,-0.58,-97.3,2380,542,3188,3013,942.2,-9.9,583,7426,0.00,2.25,0.00,0.000,1030,0.000,0.060,2372,1954,3100,3188,3013,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7727,-0.58,-97.3,2371,1954,3188,3012,974.1,-9.8,599,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1954,3100,3188,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8005,begin apogee
$GC,8009,-0.14,0.0,2371,1868,3188,3011,1001.0,-9.5,613,8106,0.50,0.00,89.25,1.741,10246,0.152,0.000,2521,1866,2700,2790,2610,0,0,0,0,0,0,25.88,28.83,23.53
$STATE,8107,end apogee,CONTROL_FINISHED_OK
$STATE,8107,begin climb
$GC,8109,0.58,97.3,2521,1866,2790,2610,1003.7,0.0,618,8210,0.70,2.62,92.70,1.693,10756,0.099,0.076,2760,475,2302,2377,2228,0,0,0,0,0,0,24.68,23.65,22.69
$GC,8300,0.58,97.3,2760,474,2365,2228,989.8,11.1,627,8307,0.00,2.40,0.00,0.000,1030,0.000,0.060,2760,1875,2296,2365,2227,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8608,0.58,97.3,2760,1874,2365,2220,955.5,10.6,643,8613,0.00,2.35,0.00,0.000,260,0.000,0.067,2761,3290,2292,2365,2220,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8707,0.58,97.3,2760,3291,2365,2219,944.6,10.8,648,8712,0.00,2.33,0.00,0.000,1030,0.000,0.062,2770,1876,2292,2365,2219,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9024,0.58,97.3,2770,1876,2364,2217,912.0,10.2,664,9029,0.00,2.33,0.00,0.000,260,0.000,0.069,2770,3289,2291,2365,2217,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9071,0.58,97.3,2770,3289,2364,2217,907.8,10.3,666,9075,0.00,2.33,0.00,0.000,1030,0.000,0.062,2780,1869,2290,2364,2217,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9384,0.58,97.3,2780,1869,2363,2216,874.4,10.6,682,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1869,2289,2363,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9684,0.58,100.1,2780,1869,2362,2216,843.9,9.9,697,9689,0.00,2.33,0.00,0.000,260,0.000,0.068,2780,3295,2289,2362,2216,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9776,0.58,100.1,2780,3295,2362,2216,835.5,10.6,701,9784,0.00,2.30,0.00,0.000,1030,0.000,0.061,2791,1873,2288,2362,2215,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10084,0.58,100.1,2790,1873,2362,2215,801.6,10.8,717,10086,0.12,0.00,0.00,0.000,4102,0.223,0.000,2765,1872,2288,2362,2215,0,0,0,0,0,0,25.90,28.83,28.83
$GC,10384,0.59,104.9,2765,1872,2361,2215,772.2,9.8,732,10396,0.00,2.40,5.38,1.342,8452,0.000,0.070,2759,3297,2272,2347,2197,0,0,0,0,0,0,28.83,26.07,24.88
$GC,10446,0.59,104.9,1856,3296,2306,2191,766.0,10.1,735,10450,0.00,2.33,0.00,0.000,1030,0.000,0.063,2767,1869,2272,2347,2197,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10764,0.59,105.0,2767,1869,2347,2197,734.1,10.0,751,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1869,2272,2347,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11064,0.60,113.8,2767,1869,2347,2196,704.9,9.7,766,11076,0.00,0.00,10.02,1.489,8198,0.000,0.000,2767,1869,2235,2311,2159,0,0,0,0,0,0,28.83,28.83,24.84
$GC,11364,0.60,113.8,2767,1869,2311,2159,674.9,10.1,781,11370,0.00,2.33,0.00,0.000,260,0.000,0.069,2767,3291,2234,2311,2158,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11396,0.60,113.8,2767,3291,2311,2158,672.8,10.2,782,11404,0.00,2.30,0.00,0.000,1030,0.000,0.062,2777,1873,2234,2311,2158,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11705,0.60,115.6,2777,1873,2311,2158,639.9,9.9,798,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1873,2234,2311,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12004,0.62,130.3,2777,1873,2311,2158,611.7,9.5,813,12027,0.00,2.42,17.00,1.456,8452,0.000,0.068,2777,3302,2168,2245,2091,0,0,0,0,0,0,28.83,25.71,24.73
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$GC,15038,0.63,143.2,2788,1881,2238,2085,271.9,9.5,1025,15056,0.00,0.00,12.12,1.239,8198,0.000,0.000,2788,1881,2115,2192,2038,0,0,0,0,0,0,28.83,28.83,25.08
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$STATE,17533,end climb,SURFACE_DEPTH_REACHED
$STATE,17533,begin surface coast
$FINISH,0.1,1.026646
$STATE,17555,end surface coast,CONTROL_FINISHED_OK
$STATE,17555,begin surface
$SM_CCo,17629,0.00,0.000,0,0,2004,170.73
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$IRIDIUM_FIX,-4236.17,824.43,150609,080847
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.12
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.7,26.288
$10V_AH,10.1,16.942
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.600,101.550,243.800,0.000,0.000,22.838,25.650,182.559,0.000,0.000,22.117,3484.817,11111.151,392.241,2840.518,172.564,0.000,1576.462,0.000,2399.669,0.000,1.009,0.000
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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,353196
$DATA_FILE_SIZE,90531,1361
$CAP_FILE_SIZE,157641,0
$CFSIZE,259252224,245915648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,348.4,1
$GPS,190816,043933,-4253.049,830.362,95,1.1,95,-25.0