version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 205
start: 8 24 116 9 52 5
data:
$ID,542
$MISSION,14
$DIVE,205
$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,-41447.258
$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,35
$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
$GPS1,240816,094603,-4259.236,829.882,29,0.8,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.7
$GPS2,240816,095123,-4259.254,829.911,16,0.9,16,-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,20.4,9602,-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,-97.3,138,1975,1692,1608,0.0,0.0,0,75,0.00,0.00,-57.22,0.000,16390,0.000,0.000,138,1975,3099,3171,3027,0,0,0,0,0,0,28.83,28.83,26.42
$GC,78,-0.58,-97.3,138,1976,3173,3026,3.0,-3.0,9,92,8.80,2.25,0.00,0.000,2308,0.232,0.054,2368,3359,3101,3177,3026,0,0,0,0,0,0,25.36,25.90,28.83
$GC,309,-0.58,-97.3,1440,3358,3158,3019,41.3,-14.6,54,316,0.00,2.25,0.00,0.000,1030,0.000,0.054,2368,1953,3103,3182,3024,0,0,0,0,0,0,28.83,25.93,28.83
$GC,620,-0.58,-97.3,2368,1952,3183,3023,88.2,-15.4,115,627,0.00,2.25,0.00,0.000,260,0.000,0.060,2358,3356,3103,3183,3023,0,0,0,0,0,0,28.83,25.96,28.83
$GC,675,-0.58,-97.3,1472,3354,3161,3019,96.5,-14.7,125,681,0.00,2.22,0.00,0.000,1030,0.000,0.052,2358,1953,3103,3183,3023,0,0,0,0,0,0,28.83,25.99,28.83
$GC,983,-0.58,-97.3,2358,1953,3183,3023,144.5,-15.8,158,987,0.00,2.25,0.00,0.000,260,0.000,0.059,2348,3362,3103,3183,3023,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1052,-0.58,-97.3,1536,3362,3164,3019,154.8,-15.5,164,1060,0.10,2.28,0.00,0.000,3078,0.169,0.052,2378,1956,3103,3183,3023,0,0,0,0,0,0,25.75,26.05,28.83
$GC,1360,-0.58,-97.3,2378,1955,3184,3023,198.6,-14.0,195,1369,0.00,2.22,0.00,0.000,260,0.000,0.059,2370,3356,3103,3184,3023,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1391,-0.58,-97.3,2370,3356,3184,3024,203.1,-14.1,198,1395,0.00,2.22,0.00,0.000,1030,0.000,0.051,2370,1947,3103,3184,3023,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1697,-0.58,-97.3,2369,1946,3184,3023,246.8,-14.2,228,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3103,3184,3023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1997,-0.58,-97.3,2370,1946,3185,3023,289.3,-14.8,258,2007,0.00,2.25,0.00,0.000,516,0.000,0.064,2370,544,3104,3185,3023,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2070,-0.58,-97.3,2369,544,3185,3023,300.0,-13.9,265,2079,0.00,2.20,0.00,0.000,1030,0.000,0.052,2360,1950,3104,3185,3023,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2380,-0.58,-97.3,2360,1950,3185,3023,341.9,-13.5,296,2389,0.00,2.25,0.00,0.000,260,0.000,0.059,2349,3374,3104,3185,3023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2432,-0.58,-97.3,2348,3373,3185,3023,348.9,-13.3,301,2441,0.15,2.25,0.00,0.000,3078,0.178,0.051,2385,1945,3104,3185,3023,0,0,0,0,0,0,25.82,26.13,28.83
$GC,2742,-0.58,-97.3,2384,1945,3186,3023,384.3,-11.2,332,2751,0.00,2.28,0.00,0.000,260,0.000,0.059,2376,3373,3104,3186,3023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2763,-0.58,-97.3,2376,3373,3186,3023,386.8,-11.3,334,2768,0.00,2.25,0.00,0.000,1030,0.000,0.050,2376,1946,3104,3186,3023,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3079,-0.58,-97.3,2376,1945,3186,3023,424.4,-12.2,355,3083,0.00,2.28,0.00,0.000,260,0.000,0.060,2366,3373,3104,3186,3023,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3157,-0.58,-97.3,1536,3372,3167,3020,434.3,-13.0,359,3161,0.00,2.22,0.00,0.000,1030,0.000,0.050,2365,1956,3104,3186,3023,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3475,-0.58,-97.3,2365,1954,3186,3023,476.9,-13.3,375,3479,0.00,2.25,0.00,0.000,260,0.000,0.060,2356,3371,3104,3186,3023,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3524,-0.58,-97.3,2355,3371,3186,3023,481.6,-13.2,377,3532,0.12,2.25,0.00,0.000,3078,0.180,0.051,2384,1947,3104,3186,3023,0,0,0,0,0,0,25.90,26.15,28.83
$GC,3831,-0.58,-97.3,2384,1947,3186,3024,519.2,-11.5,393,3835,0.00,2.28,0.00,0.000,260,0.000,0.060,2375,3375,3104,3186,3023,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3850,-0.58,-97.3,2375,3375,3186,3023,521.0,-11.4,394,3854,0.00,2.25,0.00,0.000,1030,0.000,0.052,2375,1949,3104,3186,3023,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4162,-0.58,-97.3,2375,1949,3186,3023,557.4,-11.7,410,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1949,3104,3186,3023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-0.58,-97.3,2375,1949,3186,3023,591.3,-11.1,425,4466,0.00,2.28,0.00,0.000,516,0.000,0.067,2375,540,3104,3186,3023,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4501,-0.58,-97.3,2375,539,3186,3023,595.6,-11.4,427,4505,0.00,2.22,0.00,0.000,1030,0.000,0.054,2365,1953,3104,3186,3023,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4818,-0.58,-97.3,2365,1953,3186,3023,634.1,-12.3,443,4824,0.00,2.25,0.00,0.000,260,0.000,0.062,2355,3367,3104,3186,3023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4871,-0.58,-97.3,2355,3368,3186,3021,639.2,-12.5,445,4878,0.12,2.25,0.00,0.000,3078,0.181,0.054,2383,1949,3103,3186,3021,0,0,0,0,0,0,25.89,26.13,28.83
$GC,5178,-0.58,-97.3,2382,1949,3186,3020,676.6,-11.0,461,5184,0.00,2.28,0.00,0.000,260,0.000,0.063,2374,3371,3103,3186,3020,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5197,-0.58,-97.3,2374,3370,3186,3020,678.8,-11.0,462,5202,0.00,2.25,0.00,0.000,1030,0.000,0.054,2374,1948,3103,3186,3020,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5513,-0.58,-97.3,2374,1948,3186,3020,713.8,-11.0,478,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1948,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-0.58,-97.3,2374,1948,3185,3019,746.8,-11.2,493,5820,0.00,2.28,0.00,0.000,516,0.000,0.069,2374,544,3102,3186,3019,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5841,-0.58,-97.3,2374,544,3186,3019,749.4,-11.6,494,5846,0.00,2.22,0.00,0.000,1030,0.000,0.056,2364,1953,3102,3186,3019,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6154,-0.58,-97.3,2364,1953,3186,3017,789.6,-13.0,510,6158,0.00,2.28,0.00,0.000,260,0.000,0.064,2354,3375,3101,3186,3017,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6193,-0.58,-97.3,2353,3375,3187,3017,794.2,-12.9,512,6198,0.12,2.25,0.00,0.000,3078,0.183,0.054,2381,1954,3101,3186,3017,0,0,0,0,0,0,25.87,26.12,28.83
$GC,6505,-0.58,-97.3,2381,1954,3186,3017,830.1,-11.2,528,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1953,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6805,-0.58,-97.3,2381,1953,3186,3016,862.1,-10.4,543,6809,0.00,2.28,0.00,0.000,260,0.000,0.065,2372,3369,3101,3186,3016,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6829,-0.58,-97.3,2373,3369,3186,3016,863.7,-10.2,544,6833,0.00,2.25,0.00,0.000,1030,0.000,0.056,2373,1956,3101,3186,3016,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7136,-0.58,-97.3,2373,1955,3186,3016,895.7,-10.2,559,7140,0.00,2.28,0.00,0.000,260,0.000,0.065,2362,3370,3101,3186,3016,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7195,-0.58,-97.3,2363,3370,3186,3016,901.6,-10.4,562,7200,0.00,2.28,0.00,0.000,1030,0.000,0.056,2363,1947,3101,3186,3016,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7507,-0.58,-97.3,2362,1947,3187,3016,935.7,-11.0,578,7511,0.00,2.28,0.00,0.000,516,0.000,0.072,2363,549,3101,3186,3016,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7546,-0.58,-97.3,1568,548,3169,3012,940.0,-11.4,580,7551,0.10,2.28,0.00,0.000,3078,0.167,0.058,2382,1948,3101,3186,3016,0,0,0,0,0,0,25.80,26.14,28.83
$GC,7864,-0.58,-97.3,2382,1950,3186,3015,972.5,-10.3,596,7870,0.00,2.28,0.00,0.000,260,0.000,0.066,2373,3373,3100,3186,3015,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7986,-0.58,-97.3,2373,3372,3186,3015,984.9,-10.3,602,7990,0.00,2.25,0.00,0.000,1030,0.000,0.057,2373,1956,3100,3186,3015,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8142,begin apogee
$GC,8147,-0.14,0.0,2373,1860,3186,3015,1002.0,-10.8,610,8244,0.50,0.00,90.12,1.743,10246,0.155,0.000,2520,1860,2699,2786,2612,0,0,0,0,0,0,25.68,28.83,23.43
$STATE,8245,end apogee,CONTROL_FINISHED_OK
$STATE,8245,begin climb
$GC,8246,0.58,97.3,2520,1859,2786,2612,1006.1,0.0,615,8344,0.70,0.00,93.43,1.680,10758,0.101,0.000,2751,1859,2303,2376,2231,0,0,0,0,0,0,24.60,28.83,22.56
$GC,8643,0.58,97.5,2750,1859,2368,2221,974.5,10.0,635,8649,0.00,2.40,0.00,0.000,260,0.000,0.067,2751,3290,2294,2367,2221,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8696,0.58,97.5,2750,3290,2366,2220,970.2,10.3,637,8703,0.00,2.35,0.00,0.000,1030,0.000,0.060,2761,1877,2293,2366,2220,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9004,0.59,106.6,2761,1877,2365,2219,938.1,9.7,653,9017,0.00,2.35,8.05,1.486,8452,0.000,0.066,2761,3294,2264,2339,2190,0,0,0,0,0,0,28.83,25.57,24.44
$GC,9069,0.59,111.7,2761,3294,2338,2189,932.5,9.8,655,9082,0.00,2.35,6.53,1.463,9222,0.000,0.061,2770,1870,2243,2318,2169,0,0,0,0,0,0,28.83,25.60,24.35
$GC,9400,0.59,111.7,2770,1870,2318,2167,896.8,10.8,672,9406,0.00,2.33,0.00,0.000,516,0.000,0.077,2781,468,2242,2318,2167,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9472,0.59,111.7,2781,469,2317,2167,889.8,11.5,675,9479,0.00,2.30,0.00,0.000,1030,0.000,0.062,2781,1882,2242,2317,2167,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9779,0.59,111.7,2781,1882,2317,2167,855.0,10.8,691,9783,0.00,2.30,0.00,0.000,260,0.000,0.068,2781,3294,2242,2317,2167,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9923,0.59,111.7,2781,3293,2316,2166,839.1,11.7,698,9927,0.00,2.33,0.00,0.000,1030,0.000,0.062,2791,1868,2241,2316,2166,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,17239,end climb,SURFACE_DEPTH_REACHED
$STATE,17239,begin surface coast
$FINISH,0.0,1.026657
$STATE,17260,end surface coast,CONTROL_FINISHED_OK
$STATE,17261,begin surface
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$IRIDIUM_FIX,-4244.98,825.73,200609,191956
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.59
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.6,30.036
$10V_AH,10.1,19.560
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.075,169.150,263.350,0.000,0.000,23.064,39.419,151.272,0.000,0.000,17.685,3381.090,10782.557,450.355,2843.866,214.221,0.000,1715.058,0.000,2451.267,0.000,1.011,0.000
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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,353160
$DATA_FILE_SIZE,87183,1298
$CAP_FILE_SIZE,171903,0
$CFSIZE,259252224,243847168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 17.0,1
$GPS,240816,144203,-4256.721,829.885,29,1.1,29,-25.0