version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 204
start: 8 24 116 5 55 40
data:
$ID,542
$MISSION,14
$DIVE,204
$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,-41446
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,240816,054903,-4301.100,829.837,35,0.9,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.3
$GPS2,240816,055458,-4301.121,829.834,32,1.0,32,-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,19.0,13061,-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,-97.3,138,1944,1832,1742,0.0,0.0,0,69,0.00,0.00,-51.30,0.000,16390,0.000,0.000,138,1944,3098,3176,3020,0,0,0,0,0,0,28.83,28.83,26.41
$GC,72,-0.58,-97.3,138,1944,3178,3020,3.0,-3.8,8,87,8.77,2.33,0.00,0.000,2564,0.230,0.057,2389,533,3100,3181,3020,0,0,0,0,0,0,25.37,25.87,28.83
$GC,185,-0.58,-97.3,1456,533,3161,3016,23.9,-13.6,29,192,0.00,2.28,0.00,0.000,1030,0.000,0.054,2381,1956,3102,3185,3020,0,0,0,0,0,0,28.83,25.89,28.83
$GC,315,-0.58,-97.3,2381,1957,3185,3020,43.4,-15.6,54,322,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3369,3102,3185,3020,0,0,0,0,0,0,28.83,25.87,28.83
$GC,345,-0.58,-97.3,2370,3369,3185,3020,48.3,-16.0,59,351,0.00,2.28,0.00,0.000,1030,0.000,0.054,2370,1945,3102,3185,3020,0,0,0,0,0,0,28.83,25.91,28.83
$GC,657,-0.58,-97.3,2370,1945,3186,3020,93.7,-14.2,120,664,0.00,2.30,0.00,0.000,260,0.000,0.060,2360,3375,3102,3185,3020,0,0,0,0,0,0,28.83,25.94,28.83
$GC,733,-0.58,-97.3,2360,3375,3186,3020,104.7,-14.5,131,741,0.00,2.22,0.00,0.000,1030,0.000,0.053,2360,1959,3102,3185,3020,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1041,-0.58,-97.3,2360,1959,3186,3020,152.0,-15.0,162,1045,0.00,2.25,0.00,0.000,260,0.000,0.060,2349,3369,3103,3186,3020,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1221,-0.58,-97.3,2350,3369,3186,3019,178.8,-14.8,179,1230,0.15,2.25,0.00,0.000,3078,0.182,0.052,2389,1945,3103,3186,3020,0,0,0,0,0,0,25.71,26.05,28.83
$GC,1531,-0.58,-97.3,2389,1945,3187,3020,217.8,-12.1,210,1541,0.00,2.25,0.00,0.000,260,0.000,0.060,2381,3372,3103,3187,3020,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1573,-0.58,-97.3,2380,3372,3187,3020,223.0,-12.1,214,1577,0.00,2.25,0.00,0.000,1030,0.000,0.051,2381,1951,3104,3188,3020,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1878,-0.58,-97.3,2381,1951,3187,3020,261.5,-12.4,244,1882,0.00,2.28,0.00,0.000,260,0.000,0.060,2371,3379,3103,3187,3020,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1907,-0.58,-97.3,2370,3379,3187,3020,264.7,-12.3,246,1916,0.00,2.28,0.00,0.000,1030,0.000,0.051,2371,1960,3103,3187,3020,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2215,-0.58,-97.3,2370,1959,3188,3020,303.6,-12.6,277,2224,0.00,2.28,0.00,0.000,516,0.000,0.064,2371,545,3104,3188,3020,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2257,-0.58,-97.3,2370,544,3188,3020,309.2,-13.4,281,2266,0.00,2.22,0.00,0.000,1030,0.000,0.053,2361,1969,3104,3188,3020,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2566,-0.58,-97.3,2361,1969,3188,3020,349.3,-13.0,312,2570,0.00,2.22,0.00,0.000,260,0.000,0.060,2350,3370,3104,3188,3020,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2644,-0.58,-97.3,2349,3371,3188,3020,359.5,-13.1,319,2653,0.10,2.22,0.00,0.000,3078,0.165,0.051,2380,1941,3104,3188,3020,0,0,0,0,0,0,25.83,26.13,28.83
$GC,2953,-0.58,-97.3,2379,1940,3188,3020,395.0,-11.3,350,2957,0.00,2.25,0.00,0.000,516,0.000,0.065,2379,540,3104,3188,3020,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2972,-0.58,-97.3,2379,540,3188,3020,397.0,-11.7,351,2979,0.00,2.25,0.00,0.000,1030,0.000,0.051,2371,1943,3104,3188,3020,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3279,-0.58,-97.3,2371,1943,3188,3020,433.4,-11.3,368,3284,0.00,2.28,0.00,0.000,260,0.000,0.060,2361,3380,3104,3188,3020,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3444,-0.58,-97.3,2360,3380,3189,3020,451.9,-12.0,376,3448,0.00,2.25,0.00,0.000,1030,0.000,0.052,2361,1951,3103,3187,3020,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3751,-0.58,-97.3,2360,1950,3188,3020,492.6,-13.2,391,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1951,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.58,-97.3,2360,1951,3189,3019,531.6,-13.0,406,4057,0.00,2.28,0.00,0.000,516,0.000,0.066,2360,539,3104,3189,3020,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4063,-0.58,-97.3,2360,539,3188,3020,531.6,-13.0,406,4072,0.12,2.22,0.00,0.000,3078,0.190,0.053,2379,1958,3104,3188,3020,0,0,0,0,0,0,25.87,26.17,28.83
$GC,4371,-0.58,-97.3,2379,1959,3188,3020,569.4,-11.7,422,4376,0.00,2.25,0.00,0.000,260,0.000,0.062,2370,3374,3104,3189,3020,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4450,-0.58,-97.3,2370,3374,3189,3020,578.7,-11.7,426,4455,0.00,2.25,0.00,0.000,1030,0.000,0.054,2370,1951,3104,3189,3020,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4767,-0.58,-97.3,2370,1950,3189,3020,617.4,-11.9,442,4771,0.00,2.28,0.00,0.000,260,0.000,0.063,2360,3371,3104,3189,3020,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4811,-0.58,-97.3,2359,3371,3189,3020,621.8,-11.9,444,4815,0.00,2.25,0.00,0.000,1030,0.000,0.055,2360,1950,3104,3189,3020,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5118,-0.58,-97.3,2360,1950,3189,3020,660.6,-12.3,459,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1950,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5418,-0.58,-97.3,2359,1950,3188,3020,697.7,-12.1,474,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1950,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.58,-97.3,2359,1951,3189,3020,733.6,-11.6,489,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1950,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,-0.58,-97.3,2359,1950,3188,3018,767.4,-11.3,504,6022,0.00,2.28,0.00,0.000,260,0.000,0.064,2349,3365,3103,3189,3018,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6026,-0.58,-97.3,2349,3365,3188,3017,767.4,-11.3,504,6034,0.10,2.28,0.00,0.000,3078,0.166,0.054,2379,1963,3102,3188,3017,0,0,0,0,0,0,25.83,26.14,28.83
$GC,6334,-0.58,-97.3,2379,1963,3189,3017,799.0,-10.0,520,6340,0.00,2.25,0.00,0.000,260,0.000,0.065,2371,3365,3102,3188,3017,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6362,-0.58,-97.3,2370,3365,3188,3016,801.1,-10.0,521,6366,0.00,2.25,0.00,0.000,1030,0.000,0.057,2371,1952,3102,3188,3017,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6669,-0.58,-97.3,2371,1952,3189,3016,837.5,-11.8,536,6675,0.00,2.30,0.00,0.000,260,0.000,0.065,2360,3373,3102,3188,3016,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6709,-0.58,-97.3,2360,3373,3189,3016,842.4,-11.9,538,6713,0.00,2.28,0.00,0.000,1030,0.000,0.057,2361,1952,3102,3188,3016,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7025,-0.58,-97.3,2360,1952,3188,3016,881.4,-12.1,554,7029,0.00,2.30,0.00,0.000,516,0.000,0.071,2361,542,3102,3189,3016,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7044,-0.58,-97.3,2360,541,3188,3016,883.3,-11.9,555,7049,0.12,2.25,0.00,0.000,3078,0.191,0.057,2379,1954,3102,3188,3016,0,0,0,0,0,0,25.84,26.13,28.83
$GC,7357,-0.58,-97.3,2379,1954,3188,3015,916.6,-10.2,571,7362,0.00,2.28,0.00,0.000,260,0.000,0.067,2370,3377,3102,3189,3016,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7424,-0.58,-97.3,2370,3377,3189,3015,922.7,-10.2,574,7429,0.00,2.28,0.00,0.000,1030,0.000,0.057,2370,1950,3101,3188,3015,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7731,-0.58,-97.3,2370,1951,3189,3015,954.9,-10.2,589,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8031,-0.58,-97.3,2370,1951,3189,3014,986.9,-11.1,604,8035,0.00,2.30,0.00,0.000,516,0.000,0.073,2370,542,3101,3189,3014,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8051,-0.58,-97.3,2370,541,3189,3014,988.9,-11.3,605,8055,0.00,2.25,0.00,0.000,1030,0.000,0.059,2360,1954,3101,3189,3014,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8141,begin apogee
$GC,8145,-0.14,0.0,2359,1866,3189,3014,1000.5,-12.2,610,8244,0.55,0.00,89.97,1.737,10246,0.161,0.000,2519,1865,2699,2787,2612,0,0,0,0,0,0,25.66,28.83,23.44
$STATE,8245,end apogee,CONTROL_FINISHED_OK
$STATE,8245,begin climb
$GC,8247,0.58,97.3,2519,1865,2787,2612,1005.6,0.0,615,8349,0.73,2.58,93.22,1.691,10756,0.103,0.073,2764,470,2304,2376,2232,0,0,0,0,0,0,24.63,23.55,22.55
$GC,8371,0.76,248.6,2764,470,2370,2232,1002.1,4.3,621,8533,0.17,2.47,153.15,1.668,11270,0.077,0.059,2831,1876,1686,1750,1623,0,0,0,0,0,0,24.12,24.07,22.47
$GC,8840,0.76,248.6,2831,1876,1740,1604,917.4,20.6,645,8844,0.00,2.38,0.00,0.000,260,0.000,0.067,2831,3293,1672,1740,1605,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8899,0.76,248.6,2831,3293,1739,1604,905.4,21.5,648,8904,0.00,2.35,0.00,0.000,1030,0.000,0.062,2842,1883,1671,1739,1604,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9211,0.76,248.6,2842,1883,1738,1602,835.7,22.0,664,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1883,1670,1738,1602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,0.76,248.6,2842,1882,1738,1600,770.4,21.8,679,9517,0.00,2.30,0.00,0.000,260,0.000,0.067,2842,3291,1669,1738,1600,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9579,0.76,248.6,2841,3290,1736,1600,757.7,21.2,682,9584,0.15,2.33,0.00,0.000,5126,0.219,0.063,2819,1867,1668,1736,1600,0,0,0,0,0,0,25.56,25.86,28.83
$GC,9886,0.76,248.6,2819,1867,1736,1600,700.0,18.0,697,9892,0.00,2.35,0.00,0.000,516,0.000,0.077,2829,465,1667,1735,1600,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,13667,end climb,SURFACE_DEPTH_REACHED
$STATE,13667,begin surface coast
$FINISH,0.0,1.026692
$STATE,13685,end surface coast,CONTROL_FINISHED_OK
$STATE,13685,begin surface
$SM_CCo,13759,0.00,0.000,0,0,1663,254.13
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$IRIDIUM_FIX,-4247.91,831.99,200609,151536
$TT8_MAMPS,0.020972,0.020972
$HUMID,61.06
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,22.5,29.904
$10V_AH,10.1,19.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.200,146.550,336.350,0.000,0.000,24.730,38.815,161.504,0.000,0.000,33.615,2747.384,8337.845,456.265,2415.572,172.269,0.000,1522.402,0.000,2008.156,0.000,1.009,0.000
$DEVICE_MAMPS,229.500,95.625,1736.550,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,749.328,221.476,697.209,325.275,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353140
$DATA_FILE_SIZE,70552,1051
$CAP_FILE_SIZE,142961,0
$CFSIZE,259252224,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028, 71.6,1
$GPS,240816,094603,-4259.236,829.882,29,0.8,29,-25.0