version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 186
start: 8 20 116 14 14 11
data:
$ID,542
$MISSION,14
$DIVE,186
$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,-41423.289
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,200816,140540,-4300.379,831.214,295,2.0,295,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.8
$GPS2,200816,141329,-4300.258,831.300,91,1.1,91,-25.1
$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,218.8,10650,-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,-97.3,138,1967,2028,1921,0.0,0.0,0,63,0.00,0.00,-44.70,0.000,16390,0.000,0.000,138,1967,3099,3174,3025,0,0,0,0,0,0,28.83,28.83,26.40
$GC,66,-0.58,-97.3,137,1967,3175,3025,2.8,-4.6,7,80,8.82,2.35,0.00,0.000,2820,0.233,0.057,2391,539,3102,3179,3025,0,0,0,0,0,0,25.42,25.87,28.83
$GC,117,-0.58,-97.3,1456,538,3159,3020,14.4,-14.4,16,125,0.00,2.25,0.00,0.000,1030,0.000,0.053,2383,1952,3103,3182,3024,0,0,0,0,0,0,28.83,25.91,28.83
$GC,167,-0.58,-97.3,1472,1950,3161,3017,20.3,-11.7,25,175,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3102,3183,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,298,-0.58,-97.3,2382,1952,3184,3022,37.7,-13.1,50,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,426,-0.58,-97.3,1472,1950,3162,3017,55.0,-14.4,75,432,0.00,2.28,0.00,0.000,260,0.000,0.060,2372,3376,3102,3184,3021,0,0,0,0,0,0,28.83,25.94,28.83
$GC,474,-0.58,-97.3,2372,3376,3184,3021,62.1,-14.3,84,481,0.00,2.28,0.00,0.000,1030,0.000,0.052,2372,1945,3102,3184,3021,0,0,0,0,0,0,28.83,25.97,28.83
$GC,784,-0.58,-97.3,2372,1945,3185,3021,105.7,-13.8,141,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1945,3103,3185,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1085,-0.58,-97.3,2372,1945,3185,3021,147.7,-14.1,171,1094,0.00,2.28,0.00,0.000,516,0.000,0.063,2372,541,3103,3185,3021,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1136,-0.58,-97.3,2372,541,3186,3021,155.3,-14.4,176,1140,0.00,2.22,0.00,0.000,1030,0.000,0.052,2362,1962,3103,3185,3021,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1442,-0.58,-97.3,2362,1963,3186,3021,199.3,-14.7,206,1451,0.00,2.22,0.00,0.000,260,0.000,0.059,2351,3371,3103,3186,3021,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1543,-0.58,-97.3,2351,3370,3186,3021,214.1,-14.3,216,1548,0.12,2.22,0.00,0.000,3078,0.181,0.051,2379,1955,3103,3186,3021,0,0,0,0,0,0,25.89,26.14,28.83
$GC,1849,-0.58,-97.3,2379,1955,3187,3021,255.7,-13.4,246,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.58,-97.3,2379,1955,3187,3021,296.1,-13.7,276,2159,0.00,2.25,0.00,0.000,516,0.000,0.064,2379,543,3104,3187,3021,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2204,-0.58,-97.3,2379,543,3187,3021,303.4,-14.0,281,2212,0.00,2.25,0.00,0.000,1030,0.000,0.052,2371,1956,3103,3186,3021,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2511,-0.58,-97.3,2371,1956,3187,3021,346.1,-13.0,312,2516,0.00,2.22,0.00,0.000,260,0.000,0.060,2360,3365,3104,3187,3021,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2579,-0.58,-97.3,2360,3365,3187,3021,354.7,-13.1,318,2588,0.00,2.20,0.00,0.000,1030,0.000,0.051,2360,1956,3104,3187,3021,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2889,-0.58,-97.3,2360,1956,3187,3021,394.0,-12.6,349,2898,0.00,2.25,0.00,0.000,260,0.000,0.060,2350,3374,3104,3187,3021,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2998,-0.58,-97.3,2350,3375,3187,3021,407.2,-12.8,357,3003,0.12,2.22,0.00,0.000,3078,0.181,0.052,2379,1954,3104,3187,3021,0,0,0,0,0,0,25.95,26.20,28.83
$GC,3305,-0.58,-97.3,2379,1954,3187,3021,444.7,-12.1,372,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-0.58,-97.3,2379,1954,3187,3021,482.0,-12.6,387,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.58,-97.3,2379,1954,3187,3022,519.3,-12.3,402,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3104,3187,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4205,-0.58,-97.3,2379,1954,3187,3021,555.2,-11.4,417,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1953,3104,3187,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-0.58,-97.3,2379,1954,3187,3021,588.3,-10.7,432,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3104,3187,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4805,-0.58,-97.3,2379,1954,3187,3020,619.3,-10.4,447,4809,0.00,2.25,0.00,0.000,260,0.000,0.063,2371,3363,3103,3187,3020,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4834,-0.58,-97.3,2371,3363,3187,3020,620.9,-10.4,448,4841,0.00,2.22,0.00,0.000,1030,0.000,0.054,2371,1955,3103,3187,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5141,-0.58,-97.3,2371,1955,3187,3019,657.1,-11.5,464,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-0.58,-97.3,2370,1955,3187,3018,691.5,-11.6,479,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3102,3187,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5742,-0.58,-97.3,2371,1955,3187,3017,726.7,-11.7,494,5748,0.00,2.25,0.00,0.000,260,0.000,0.064,2361,3368,3101,3187,3016,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5794,-0.58,-97.3,2361,3367,3187,3017,731.5,-11.8,496,5801,0.00,2.25,0.00,0.000,1030,0.000,0.056,2361,1952,3102,3187,3017,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6101,-0.58,-97.3,2361,1952,3187,3016,769.5,-11.9,512,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1952,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6402,-0.58,-97.3,2361,1952,3187,3016,805.0,-11.7,527,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1952,3101,3187,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,-0.58,-97.3,2360,1952,3187,3015,838.9,-11.3,542,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1952,3101,3187,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7001,-0.58,-97.3,2361,1952,3187,3015,872.6,-11.4,557,7005,0.00,2.28,0.00,0.000,260,0.000,0.067,2351,3368,3101,3187,3015,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7037,-0.58,-97.3,2350,3368,3186,3015,876.7,-11.4,559,7044,0.12,2.25,0.00,0.000,3078,0.181,0.057,2379,1955,3101,3187,3015,0,0,0,0,0,0,25.95,26.17,28.83
$GC,7358,-0.58,-97.3,2379,1955,3187,3014,909.2,-9.8,575,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3100,3187,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7658,-0.58,-97.3,2379,1955,3187,3013,938.9,-10.2,590,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3100,3187,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7957,-0.58,-97.3,2378,1955,3187,3012,971.0,-10.9,605,7961,0.00,2.28,0.00,0.000,516,0.000,0.073,2379,548,3099,3187,3012,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7981,-0.58,-97.3,2379,547,3187,3012,972.7,-10.8,606,7985,0.00,2.22,0.00,0.000,1030,0.000,0.059,2371,1948,3099,3187,3012,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,8212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8212,begin apogee
$GC,8217,-0.14,0.0,2370,1873,3186,3012,1000.1,-11.5,618,8314,0.52,0.00,89.15,1.752,10246,0.156,0.000,2526,1873,2701,2790,2612,0,0,0,0,0,0,25.79,28.83,23.48
$STATE,8315,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin climb
$GC,8316,0.58,97.3,2526,1873,2790,2612,1004.6,0.0,623,8418,0.68,2.60,93.70,1.691,10756,0.098,0.075,2761,470,2303,2376,2230,0,0,0,0,0,0,24.65,23.60,22.65
$GC,8464,0.69,189.4,2761,469,2366,2228,998.6,6.5,630,8564,0.10,2.45,93.20,1.674,11270,0.110,0.060,2798,1874,1926,1998,1855,0,0,0,0,0,0,24.34,24.34,22.51
$GC,8871,0.69,189.4,2798,1874,1988,1841,937.2,16.0,651,8875,0.00,2.38,0.00,0.000,260,0.000,0.067,2798,3295,1914,1988,1840,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8935,0.69,189.4,2798,3295,1985,1840,927.8,16.7,654,8939,0.00,2.38,0.00,0.000,1030,0.000,0.063,2809,1875,1912,1985,1840,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9247,0.69,189.4,2808,1874,1986,1838,873.7,17.1,670,9253,0.00,2.38,0.00,0.000,516,0.000,0.079,2820,456,1912,1986,1838,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9270,0.69,189.4,2820,456,1986,1838,870.1,17.2,671,9274,0.00,2.33,0.00,0.000,1030,0.000,0.062,2820,1875,1912,1986,1838,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9587,0.69,189.4,2820,1875,1985,1836,814.3,17.6,687,9591,0.00,2.33,0.00,0.000,260,0.000,0.068,2820,3295,1910,1985,1836,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9683,0.69,189.4,2820,3295,1983,1836,797.5,17.5,692,9690,0.15,2.30,0.00,0.000,5126,0.207,0.062,2797,1874,1909,1983,1835,0,0,0,0,0,0,25.65,25.91,28.83
$GC,10003,0.69,189.4,2797,1874,1983,1835,749.7,14.6,708,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1875,1909,1983,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,0.69,189.4,2797,1874,1983,1835,706.8,14.2,723,10307,0.00,2.30,0.00,0.000,260,0.000,0.068,2795,3292,1909,1983,1835,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10339,0.69,189.4,2795,3292,1981,1835,701.5,14.6,725,10345,0.00,2.30,0.00,0.000,1030,0.000,0.063,2804,1873,1907,1981,1834,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10659,0.69,189.4,2803,1873,1981,1835,652.9,15.4,741,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1873,1908,1981,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10959,0.69,189.4,2803,1873,1981,1834,606.5,15.2,756,10965,0.00,2.30,0.00,0.000,260,0.000,0.068,2804,3295,1907,1981,1834,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10988,0.69,189.4,2803,3295,1980,1834,603.4,15.2,757,10993,0.00,2.30,0.00,0.000,1030,0.000,0.062,2814,1868,1907,1980,1834,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,14968,end climb,SURFACE_DEPTH_REACHED
$STATE,14968,begin surface coast
$FINISH,0.3,1.026619
$STATE,14974,end surface coast,CONTROL_FINISHED_OK
$STATE,14974,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.31
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.5,27.411
$10V_AH,10.1,17.706
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.700,119.025,276.050,0.000,0.000,25.589,56.811,202.334,0.000,0.000,91.882,2957.715,9399.226,417.709,2595.237,165.805,0.000,1488.143,0.000,2064.607,0.000,1.011,0.000
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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,76947,1144
$CAP_FILE_SIZE,144321,0
$CFSIZE,259252224,245350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164, 23.1,1
$GPS,200816,182651,-4301.006,831.394,75,0.9,75,-25.1