version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 187
start: 8 20 116 18 33 46
data:
$ID,542
$MISSION,14
$DIVE,187
$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,-41424.547
$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,16
$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
$GPS1,200816,182651,-4301.006,831.394,75,0.9,75,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.6
$GPS2,200816,183304,-4300.935,831.464,18,0.9,18,-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,223.5,9461,-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,14,begin dive
$GC,15,-0.58,-97.3,150,1958,1943,1840,0.0,0.0,0,69,0.00,0.00,-47.42,0.000,16390,0.000,0.000,150,1959,3098,3178,3019,0,0,0,0,0,0,28.83,28.83,26.40
$GC,72,-0.58,-97.3,149,1959,3178,3019,3.8,-7.5,8,86,8.75,2.28,0.00,0.000,2308,0.231,0.050,2370,3373,3100,3181,3019,0,0,0,0,0,0,25.37,25.91,28.83
$GC,245,-0.58,-97.3,1416,3373,3160,3014,35.0,-13.4,41,252,0.00,2.28,0.00,0.000,1030,0.000,0.054,2370,1947,3101,3185,3018,0,0,0,0,0,0,28.83,25.92,28.83
$GC,377,-0.58,-97.3,2370,1946,3186,3018,52.5,-12.4,66,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,689,-0.58,-97.3,2370,1946,3186,3019,96.6,-13.9,127,696,0.00,2.25,0.00,0.000,516,0.000,0.064,2370,544,3102,3187,3018,0,0,0,0,0,0,28.83,25.98,28.83
$GC,722,-0.58,-97.3,2370,544,3186,3018,101.6,-14.6,132,727,0.00,2.22,0.00,0.000,1030,0.000,0.052,2360,1963,3102,3186,3018,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1027,-0.58,-97.3,2360,1962,3187,3019,146.4,-14.5,162,1031,0.00,2.22,0.00,0.000,260,0.000,0.059,2349,3370,3103,3187,3019,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1160,-0.58,-97.3,2349,3371,3187,3019,164.8,-13.9,174,1168,0.08,2.28,0.00,0.000,3078,0.168,0.052,2380,1952,3103,3187,3019,0,0,0,0,0,0,25.82,26.10,28.83
$GC,1466,-0.58,-97.3,2380,1952,3188,3018,203.5,-13.2,205,1475,0.00,2.25,0.00,0.000,260,0.000,0.059,2372,3372,3103,3188,3019,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1529,-0.58,-97.3,2371,3372,3188,3018,211.8,-13.2,211,1537,0.00,2.22,0.00,0.000,1030,0.000,0.051,2371,1953,3103,3188,3019,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1838,-0.58,-97.3,2371,1953,3189,3019,255.5,-14.2,242,1842,0.00,2.25,0.00,0.000,260,0.000,0.058,2362,3373,3103,3188,3019,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1897,-0.58,-97.3,2361,3373,3188,3018,263.2,-13.8,247,1905,0.00,2.28,0.00,0.000,1030,0.000,0.052,2361,1956,3103,3188,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2205,-0.58,-97.3,2361,1956,3189,3019,307.5,-14.4,278,2209,0.00,2.22,0.00,0.000,260,0.000,0.058,2351,3366,3103,3188,3019,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2337,-0.58,-97.3,2351,3366,3189,3019,325.0,-14.0,290,2346,0.10,2.25,0.00,0.000,3078,0.164,0.051,2389,1958,3103,3188,3019,0,0,0,0,0,0,25.86,26.19,28.83
$GC,2644,-0.58,-97.3,2388,1957,3189,3018,364.4,-12.2,321,2652,0.00,2.28,0.00,0.000,516,0.000,0.066,2389,539,3104,3189,3019,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2667,-0.58,-97.3,2389,538,3188,3019,367.1,-12.1,323,2675,0.00,2.28,0.00,0.000,1030,0.000,0.052,2381,1958,3104,3189,3019,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2975,-0.58,-97.3,2380,1958,3189,3019,405.8,-12.5,352,2979,0.00,2.22,0.00,0.000,260,0.000,0.060,2370,3369,3104,3189,3019,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3091,-0.58,-97.3,2370,3370,3189,3019,420.1,-12.2,358,3095,0.00,2.22,0.00,0.000,1030,0.000,0.052,2370,1950,3104,3189,3019,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3407,-0.58,-97.3,2370,1949,3189,3019,459.1,-11.6,374,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-0.58,-97.3,2370,1949,3189,3019,493.7,-11.7,389,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1948,3104,3189,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4007,-0.58,-97.3,2370,1949,3189,3018,530.0,-12.4,404,4011,0.00,2.25,0.00,0.000,260,0.000,0.060,2360,3369,3104,3189,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4066,-0.58,-97.3,1552,3368,3172,3015,536.9,-12.4,407,4070,0.00,2.28,0.00,0.000,1030,0.000,0.054,2360,1955,3103,3189,3018,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4383,-0.58,-97.3,2359,1955,3189,3018,578.8,-12.8,423,4389,0.00,2.25,0.00,0.000,260,0.000,0.061,2349,3380,3103,3189,3018,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4471,-0.58,-97.3,2349,3380,3189,3018,588.8,-12.5,427,4476,0.15,2.25,0.00,0.000,3078,0.176,0.054,2385,1952,3103,3189,3018,0,0,0,0,0,0,25.92,26.20,28.83
$GC,4778,-0.58,-97.3,2385,1952,3189,3018,623.9,-10.9,442,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.58,-97.3,2385,1952,3189,3018,656.5,-10.8,457,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5378,-0.58,-97.3,2385,1952,3189,3017,689.7,-11.1,472,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5678,-0.58,-97.3,2385,1952,3189,3016,723.6,-11.6,487,5684,0.00,2.28,0.00,0.000,260,0.000,0.065,2377,3369,3102,3189,3016,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5726,-0.58,-97.3,2376,3369,3189,3016,728.3,-11.6,489,5730,0.00,2.25,0.00,0.000,1030,0.000,0.055,2377,1947,3102,3189,3016,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6038,-0.58,-97.3,2377,1946,3189,3016,766.5,-11.9,505,6044,0.00,2.28,0.00,0.000,260,0.000,0.064,2366,3369,3102,3189,3016,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6091,-0.58,-97.3,2366,3369,3189,3016,771.3,-11.8,507,6098,0.00,2.25,0.00,0.000,1030,0.000,0.056,2366,1952,3102,3189,3016,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6399,-0.58,-97.3,2366,1953,3189,3015,810.0,-12.0,523,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1952,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.58,-97.3,2366,1952,3189,3015,845.9,-11.7,538,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1952,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6998,-0.58,-97.3,2366,1952,3189,3015,880.9,-11.6,553,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1952,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-0.58,-97.3,2366,1952,3189,3014,913.2,-10.2,568,7304,0.00,2.30,0.00,0.000,516,0.000,0.072,2367,536,3101,3189,3014,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7331,-0.58,-97.3,2366,536,3189,3014,915.4,-10.2,569,7338,0.12,2.25,0.00,0.000,3078,0.186,0.057,2385,1954,3101,3189,3014,0,0,0,0,0,0,25.95,26.20,28.83
$GC,7638,-0.58,-97.3,2385,1954,3189,3013,945.2,-9.5,585,7644,0.00,2.28,0.00,0.000,260,0.000,0.067,2376,3371,3101,3189,3013,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7779,-0.58,-97.3,2376,3372,3189,3013,958.8,-9.6,592,7785,0.00,2.22,0.00,0.000,1030,0.000,0.058,2376,1958,3101,3189,3013,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8098,-0.58,-97.3,2376,1958,3189,3012,991.2,-10.2,608,8102,0.00,2.30,0.00,0.000,516,0.000,0.073,2375,543,3100,3189,3012,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8134,-0.58,-97.3,2375,543,3189,3012,995.1,-10.4,610,8140,0.00,2.25,0.00,0.000,1030,0.000,0.060,2365,1958,3100,3189,3012,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,8192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8192,begin apogee
$GC,8197,-0.14,0.0,2365,1869,3189,3012,1001.5,-10.7,613,8294,0.55,0.00,89.72,1.746,10246,0.158,0.000,2527,1869,2700,2789,2611,0,0,0,0,0,0,25.77,28.83,23.48
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8297,0.58,97.3,2527,1869,2788,2611,1005.0,0.0,618,8398,0.73,2.58,93.62,1.700,10756,0.099,0.076,2770,472,2302,2376,2229,0,0,0,0,0,0,24.65,23.59,22.63
$GC,8451,0.60,117.7,2770,472,2366,2228,995.2,9.2,626,8478,0.00,2.42,20.62,1.611,9222,0.000,0.059,2770,1876,2220,2294,2146,0,0,0,0,0,0,28.83,24.38,23.01
$GC,8792,0.60,117.7,2770,1877,2291,2137,956.8,11.2,643,8797,0.00,2.35,0.00,0.000,260,0.000,0.067,2770,3289,2214,2291,2137,0,0,0,0,0,0,28.83,25.31,28.83
$GC,8870,0.60,117.7,2770,3289,2289,2137,947.4,11.7,647,8875,0.00,2.33,0.00,0.000,1030,0.000,0.061,2780,1883,2212,2289,2136,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9187,0.60,117.7,2781,1882,2289,2136,910.4,12.0,663,9193,0.00,2.33,0.00,0.000,260,0.000,0.067,2781,3295,2212,2289,2136,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9234,0.60,117.7,2780,3295,2288,2135,905.4,12.3,665,9239,0.00,2.35,0.00,0.000,1030,0.000,0.063,2791,1863,2211,2287,2135,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9547,0.60,117.7,2791,1863,2288,2134,866.5,12.1,681,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1863,2210,2287,2134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9847,0.60,117.7,2791,1864,2287,2132,831.3,11.3,696,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1863,2209,2287,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10146,0.60,117.7,2791,1864,2286,2132,796.4,11.6,711,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1863,2209,2286,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10447,0.60,117.7,2791,1864,2285,2131,762.7,10.9,726,10451,0.00,2.33,0.00,0.000,260,0.000,0.067,2791,3295,2208,2285,2131,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10526,0.60,117.7,2791,3295,2283,2131,753.8,11.7,730,10531,0.12,2.30,0.00,0.000,5126,0.208,0.062,2774,1872,2207,2284,2131,0,0,0,0,0,0,25.79,26.06,28.83
$GC,10838,0.60,117.7,2774,1872,2284,2131,721.3,10.1,746,10842,0.00,2.33,0.00,0.000,260,0.000,0.069,2770,3298,2207,2283,2131,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17259,end climb,SURFACE_DEPTH_REACHED
$STATE,17259,begin surface coast
$FINISH,-0.1,1.026664
$STATE,17280,end surface coast,CONTROL_FINISHED_OK
$STATE,17280,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.31
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.6,27.541
$10V_AH,10.1,17.804
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,87048,1310
$CAP_FILE_SIZE,165569,0
$CFSIZE,259252224,245248000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 22.9,1
$GPS,200816,232551,-4301.129,831.509,136,0.9,136,-25.1