version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 233
start: 8 30 116 7 22 6
data:
$ID,542
$MISSION,14
$DIVE,233
$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,353
$T_MISSION,395
$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,1
$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,1
$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,-41484.559
$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,55
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,300816,071421,-4259.937,831.705,36,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-61.1
$GPS2,300816,072125,-4259.905,831.838,20,1.0,20,-25.1
$SPEED_LIMITS,0.259,0.269
$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,217.7,11432,-16.3,-9.443,-19.31,2668
$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,-0.39,-97.3,149,1964,1419,1291,0.0,0.0,0,92,0.00,0.00,-71.25,0.000,16390,0.000,0.000,148,1966,3082,3145,3019,0,0,0,0,0,0,28.83,28.83,26.32
$GC,94,-0.39,-97.3,148,1965,3146,3018,3.2,-5.6,12,109,8.77,2.30,0.00,0.000,2820,0.220,0.056,2428,3369,3083,3151,3016,0,0,0,0,0,0,25.27,25.79,28.83
$GC,278,-0.36,-97.3,1512,3368,3144,3001,26.2,-8.8,47,285,0.00,2.28,0.00,0.000,1030,0.000,0.051,2428,1948,3085,3166,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,408,-0.30,-97.3,2428,1948,3167,3004,41.6,-12.9,72,415,0.12,0.00,0.00,0.000,2054,0.182,0.000,2463,1948,3086,3167,3005,0,0,0,0,0,0,25.77,28.83,28.83
$GC,721,-0.30,-97.3,2463,1948,3167,3005,66.6,-7.7,133,728,0.00,2.28,0.00,0.000,260,0.000,0.059,2454,3365,3086,3167,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,822,-0.32,-97.3,2454,3365,3167,3005,74.7,-9.2,152,829,0.00,2.28,0.00,0.000,1030,0.000,0.050,2454,1954,3085,3167,3004,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1134,-0.32,-97.3,2454,1954,3168,3004,101.4,-9.2,212,1143,0.00,2.25,0.00,0.000,260,0.000,0.059,2444,3371,3086,3167,3005,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1166,-0.32,-97.3,2444,3372,3168,3005,104.2,-8.6,215,1175,0.00,2.22,0.00,0.000,1030,0.000,0.049,2444,1954,3086,3168,3005,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1476,-0.30,-97.3,2444,1953,3168,3004,130.7,-8.1,246,1486,0.12,2.22,0.00,0.000,2308,0.177,0.057,2471,3359,3086,3168,3004,0,0,0,0,0,0,25.99,26.00,28.83
$GC,1511,-0.30,-97.3,2471,3359,3168,3005,132.9,-7.1,249,1518,0.00,2.22,0.00,0.000,1030,0.000,0.049,2471,1948,3086,3168,3005,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1819,-0.32,-97.3,2471,1948,3168,3004,156.1,-7.4,280,1829,0.00,2.25,0.00,0.000,260,0.000,0.058,2463,3366,3086,3168,3004,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1855,-0.36,-97.3,2463,3366,3168,3004,158.3,-6.7,283,1861,0.00,2.22,0.00,0.000,1030,0.000,0.049,2463,1947,3086,3168,3004,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2162,-0.36,-97.3,2463,1947,3168,3004,178.3,-7.0,314,2166,0.00,2.28,0.00,0.000,260,0.000,0.059,2453,3365,3086,3168,3004,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2228,-0.39,-97.3,1544,3364,3147,3001,182.9,-7.3,320,2235,0.00,2.25,0.00,0.000,1030,0.000,0.049,2453,1938,3086,3168,3005,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2535,-0.39,-97.3,2453,1937,3168,3004,208.9,-8.6,351,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1937,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-0.39,-97.3,2453,1937,3168,3004,234.6,-8.7,381,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1937,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-0.39,-97.3,2453,1937,3169,3004,262.1,-8.8,412,3155,0.00,2.30,0.00,0.000,260,0.000,0.058,2443,3372,3086,3169,3004,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3211,-0.39,-97.3,2442,3372,3169,3005,268.0,-9.4,418,3218,0.00,2.25,0.00,0.000,1030,0.000,0.049,2443,1959,3086,3168,3004,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3519,-0.39,-97.3,2442,1959,3169,3004,296.9,-9.4,449,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1958,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-0.39,-97.3,2443,1958,3169,3004,325.0,-9.3,479,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1959,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.39,-97.3,2443,1959,3169,3005,351.3,-8.3,509,4128,0.00,2.25,0.00,0.000,516,0.000,0.065,2443,545,3086,3169,3004,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4181,-0.39,-97.3,2443,545,3169,3005,357.0,-9.3,515,4190,0.00,2.20,0.00,0.000,1030,0.000,0.050,2432,1957,3086,3169,3004,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4491,-0.36,-97.3,2432,1957,3169,3004,385.9,-9.2,546,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1957,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.34,-97.3,2432,1957,3169,3004,412.6,-8.4,570,4808,0.12,2.22,0.00,0.000,2308,0.175,0.058,2460,3359,3087,3169,3005,0,0,0,0,0,0,26.09,26.08,28.83
$GC,4875,-0.36,-97.3,2460,3359,3169,3004,416.7,-7.2,573,4881,0.00,2.20,0.00,0.000,1030,0.000,0.050,2460,1953,3086,3169,3004,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5181,-0.39,-97.3,2460,1954,3169,3004,437.4,-6.5,589,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1954,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,-0.41,-97.3,2460,1954,3169,3003,457.5,-6.7,604,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1954,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.44,-97.3,2460,1954,3169,3003,477.8,-6.7,619,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1953,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.47,-97.3,2460,1954,3169,3003,497.8,-6.6,634,6084,0.12,0.00,0.00,0.000,4102,0.089,0.000,2395,1953,3086,3169,3003,0,0,0,0,0,0,26.47,28.83,28.83
$GC,6381,-0.40,-97.3,2395,1953,3169,3002,527.6,-10.3,649,6387,0.15,2.28,0.00,0.000,2308,0.164,0.060,2430,3368,3085,3169,3002,0,0,0,0,0,0,26.01,26.04,28.83
$GC,6441,-0.37,-97.3,2429,3368,3169,3002,532.4,-8.6,652,6446,0.00,2.25,0.00,0.000,1030,0.000,0.052,2430,1951,3085,3169,3002,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6764,-0.35,-97.3,2429,1951,3169,3001,557.5,-7.7,668,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1951,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7064,-0.33,-97.3,2429,1951,3169,3000,581.1,-8.0,683,7070,0.12,2.25,0.00,0.000,2308,0.175,0.061,2458,3361,3084,3169,3000,0,0,0,0,0,0,26.10,26.01,28.83
$GC,7103,-0.33,-97.3,2458,3361,3169,3000,583.8,-7.5,685,7109,0.00,2.22,0.00,0.000,1030,0.000,0.052,2458,1949,3084,3169,3000,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7424,-0.36,-97.3,2458,1949,3169,2999,605.5,-7.0,701,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1949,3084,3169,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,-0.40,-97.3,2458,1949,3169,2997,628.0,-8.0,716,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1949,3083,3169,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.43,-97.3,2458,1950,3169,2996,653.1,-8.5,731,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1950,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8324,-0.46,-97.3,2458,1949,3169,2995,678.3,-8.3,746,8326,0.10,0.00,0.00,0.000,4102,0.099,0.000,2405,1949,3082,3168,2996,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8623,-0.41,-97.3,2405,1949,3169,2995,710.3,-10.7,761,8625,0.12,0.00,0.00,0.000,2054,0.172,0.000,2434,1949,3082,3169,2995,0,0,0,0,0,0,26.15,28.83,28.83
$GC,8923,-0.41,-97.3,2434,1949,3169,2994,737.3,-8.9,776,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9223,-0.41,-97.3,2434,1949,3169,2994,762.9,-8.3,791,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1948,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,-0.41,-97.3,2434,1949,3168,2994,786.1,-7.5,806,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9823,-0.41,-97.3,2434,1949,3169,2994,807.4,-6.7,821,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1948,3081,3169,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10123,-0.41,-97.3,2434,1949,3169,2993,826.9,-6.4,836,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3081,3169,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,-0.41,-97.3,2434,1949,3169,2992,846.5,-6.6,851,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3080,3169,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10723,-0.41,-97.3,2434,1949,3169,2992,866.5,-6.6,866,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3080,3169,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11023,-0.41,-97.3,2434,1948,3169,2991,887.9,-7.5,881,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11323,-0.41,-97.3,2434,1949,3168,2991,910.1,-7.1,896,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11623,-0.41,-97.3,2434,1949,3169,2991,931.3,-7.1,911,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1949,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11861,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11861,begin apogee
$GC,11866,-0.09,0.0,2434,1886,3169,2991,948.4,-7.1,923,11962,0.35,0.00,88.65,1.707,10246,0.137,0.000,2542,1885,2682,2770,2594,0,0,0,0,0,0,25.70,28.83,23.37
$STATE,11963,end apogee,CONTROL_FINISHED_OK
$STATE,11963,begin climb
$GC,11965,0.39,97.3,2542,1885,2770,2594,951.4,0.0,928,12066,0.47,2.65,93.70,1.656,10756,0.096,0.073,2706,487,2285,2364,2207,0,0,0,0,0,0,24.62,23.52,22.48
$GC,12093,0.51,236.2,2706,487,2356,2207,947.8,4.1,934,12238,0.00,2.42,136.80,1.642,9222,0.000,0.057,2706,1880,1719,1804,1635,0,0,0,0,0,0,28.83,24.09,22.42
$GC,12539,0.55,247.2,2706,1880,1795,1621,908.1,9.0,956,12551,0.12,0.00,9.43,1.490,10502,0.092,0.000,2764,1881,1675,1760,1591,0,0,0,0,0,0,25.41,28.83,23.88
$GC,12855,0.48,247.2,2763,1881,1758,1586,863.3,14.7,971,12857,0.15,0.00,0.00,0.000,4102,0.189,0.000,2730,1882,1672,1758,1586,0,0,0,0,0,0,25.44,28.83,28.83
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$STATE,20624,end climb,SURFACE_DEPTH_REACHED
$STATE,20624,begin surface coast
$FINISH,-0.1,1.026659
$STATE,20656,end surface coast,CONTROL_FINISHED_OK
$STATE,20656,begin surface
$SM_CCo,20731,0.00,0.000,0,0,1535,281.60
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$IRIDIUM_FIX,-4242.04,831.12,260609,141458
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.43
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.4,34.356
$10V_AH,10.1,23.363
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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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,353168
$DATA_FILE_SIZE,107208,1613
$CAP_FILE_SIZE,194178,0
$CFSIZE,259252224,240910336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300816,130851,-4300.254,831.374,39,0.9,39,-25.1