version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 244
start: 9 1 116 18 54 26
data:
$ID,542
$MISSION,14
$DIVE,244
$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,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,510.95157
$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,-41498.477
$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,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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
$GPS1,010916,184457,-4305.201,829.424,47,0.9,48,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-57.8
$GPS2,010916,185341,-4305.157,829.449,17,1.9,17,-25.0
$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,193.3,1614,-17.1,-9.443,-20.00,2451
$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,-0.57,-97.3,139,1967,554,569,0.0,0.0,0,121,0.00,0.00,-100.78,0.000,16390,0.000,0.000,140,1967,3080,3127,3034,0,0,0,0,0,0,28.83,28.83,26.22
$GC,124,-0.57,-97.3,139,1967,3128,3035,3.0,-3.4,16,138,8.85,2.30,0.00,0.000,2308,0.227,0.054,2371,3369,3086,3145,3027,0,0,0,0,0,0,25.10,25.66,28.83
$GC,226,-0.57,-97.3,1424,3368,3141,3002,21.9,-12.5,35,233,0.00,2.28,0.00,0.000,1030,0.000,0.051,2371,1951,3086,3166,3007,0,0,0,0,0,0,28.83,25.65,28.83
$GC,355,-0.57,-97.3,1424,1949,3143,3001,40.4,-13.8,60,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1951,3086,3167,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,668,-0.57,-97.3,2371,1951,3168,3006,83.7,-14.2,121,674,0.00,2.28,0.00,0.000,260,0.000,0.058,2361,3366,3087,3168,3006,0,0,0,0,0,0,28.83,25.74,28.83
$GC,716,-0.57,-97.3,2361,3367,3168,3006,90.8,-14.4,130,723,0.00,2.25,0.00,0.000,1030,0.000,0.050,2361,1951,3087,3168,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1032,-0.57,-97.3,2361,1951,3168,3006,136.9,-14.3,167,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1951,3087,3168,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1334,-0.57,-97.3,2361,1951,3168,3005,179.0,-14.0,197,1342,0.00,2.25,0.00,0.000,516,0.000,0.063,2361,551,3087,3168,3006,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1365,-0.57,-97.3,2361,551,3168,3006,183.9,-14.4,200,1376,0.15,2.22,0.00,0.000,3078,0.181,0.050,2387,1966,3087,3168,3006,0,0,0,0,0,0,25.55,25.91,28.83
$GC,1677,-0.57,-97.3,2386,1966,3169,3005,221.2,-11.8,231,1685,0.00,2.20,0.00,0.000,260,0.000,0.058,2378,3361,3087,3169,3006,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1728,-0.57,-97.3,2378,3361,3169,3006,227.4,-12.1,236,1738,0.00,2.22,0.00,0.000,1030,0.000,0.050,2378,1946,3087,3169,3006,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2039,-0.57,-97.3,2378,1946,3169,3006,264.7,-11.5,267,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1945,3087,3169,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.57,-97.3,2378,1946,3169,3006,298.0,-11.2,297,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1945,3087,3169,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.57,-97.3,2378,1945,3169,3006,331.0,-11.1,327,2648,0.00,2.25,0.00,0.000,260,0.000,0.058,2368,3365,3087,3169,3006,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2733,-0.57,-97.3,2368,3365,3169,3006,341.8,-11.6,336,2742,0.00,2.22,0.00,0.000,1030,0.000,0.050,2368,1951,3087,3169,3006,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3044,-0.57,-97.3,2367,1951,3169,3005,380.1,-12.6,367,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3088,3170,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.57,-97.3,2368,1951,3169,3006,418.5,-12.4,391,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1951,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-0.57,-97.3,2367,1951,3169,3005,454.8,-12.0,406,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3087,3169,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3953,-0.57,-97.3,2368,1951,3169,3005,492.2,-12.7,421,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4253,-0.57,-97.3,2368,1951,3169,3005,528.0,-12.1,436,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4553,-0.57,-97.3,2368,1951,3169,3004,564.5,-12.4,451,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4853,-0.57,-97.3,2368,1951,3169,3003,602.7,-12.7,466,4859,0.00,2.28,0.00,0.000,260,0.000,0.061,2358,3365,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4915,-0.57,-97.3,1536,3365,3151,2999,610.5,-12.9,469,4920,0.12,2.25,0.00,0.000,3078,0.177,0.053,2386,1952,3086,3169,3003,0,0,0,0,0,0,25.68,25.93,28.83
$GC,5233,-0.57,-97.3,2386,1951,3169,3002,645.3,-10.4,485,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.57,-97.3,2386,1951,3169,3002,675.2,-9.9,500,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1951,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-0.57,-97.3,2386,1951,3169,3001,703.4,-9.2,515,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,-0.57,-97.3,2386,1951,3169,3000,731.1,-9.5,530,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6433,-0.57,-97.3,2386,1951,3169,2999,758.6,-9.0,545,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3083,3169,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6733,-0.57,-97.3,2386,1951,3169,2996,784.6,-8.8,560,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3082,3169,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,-0.57,-97.3,2386,1951,3169,2996,811.6,-9.0,575,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3082,3169,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7333,-0.57,-97.3,2386,1952,3169,2995,840.5,-9.7,590,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7633,-0.57,-97.3,2386,1951,3169,2995,869.6,-9.8,605,7639,0.00,2.33,0.00,0.000,516,0.000,0.070,2386,541,3082,3169,2995,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7675,-0.57,-97.3,1584,541,3150,2991,873.7,-10.1,607,7679,0.00,2.30,0.00,0.000,1030,0.000,0.056,2378,1949,3082,3169,2995,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7993,-0.57,-97.3,2378,1950,3169,2994,906.7,-10.4,623,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1950,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8293,-0.57,-97.3,2378,1950,3168,2993,939.0,-10.9,638,8299,0.00,2.30,0.00,0.000,260,0.000,0.064,2367,3374,3081,3169,2993,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8381,-0.57,-97.3,2367,3374,3169,2992,948.0,-11.2,642,8385,0.00,2.30,0.00,0.000,1030,0.000,0.055,2367,1962,3080,3169,2992,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8693,-0.57,-97.3,2367,1962,3169,2992,985.7,-11.9,658,8699,0.00,2.35,0.00,0.000,516,0.000,0.072,2367,535,3080,3169,2992,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8721,-0.57,-97.3,2367,535,3169,2992,988.2,-12.0,659,8726,0.12,2.28,0.00,0.000,3078,0.181,0.057,2385,1956,3080,3169,2992,0,0,0,0,0,0,25.61,25.87,28.83
$STATE,8826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8826,begin apogee
$GC,8831,-0.14,0.0,2385,1883,3169,2992,1001.1,-10.8,664,8922,0.45,0.00,88.28,1.753,10246,0.145,0.000,2521,1882,2682,2784,2581,0,0,0,0,0,0,25.47,28.83,23.26
$STATE,8923,end apogee,CONTROL_FINISHED_OK
$STATE,8923,begin climb
$GC,8925,0.57,97.3,2521,1882,2784,2581,1004.8,0.0,668,9028,0.70,0.00,95.82,1.711,10758,0.096,0.000,2752,1881,2286,2371,2201,0,0,0,0,0,0,24.49,28.83,22.34
$GC,9328,0.58,104.8,2752,1882,2362,2192,975.0,9.1,689,9340,0.00,2.45,6.90,1.451,8452,0.000,0.066,2752,3306,2254,2341,2168,0,0,0,0,0,0,28.83,25.15,23.85
$GC,9369,0.58,107.5,2751,3307,2341,2168,971.2,9.3,691,9380,0.00,2.35,4.55,1.278,9222,0.000,0.058,2762,1886,2244,2332,2156,0,0,0,0,0,0,28.83,25.20,23.84
$GC,9688,0.58,107.5,2761,1886,2331,2155,940.1,9.8,707,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1886,2243,2331,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9988,0.58,108.3,2762,1886,2331,2152,911.9,9.4,722,9994,0.00,2.33,0.00,0.000,260,0.000,0.066,2762,3301,2241,2331,2152,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10028,0.58,108.3,2762,3301,2330,2152,907.9,9.8,724,10034,0.00,2.33,0.00,0.000,1030,0.000,0.060,2772,1877,2241,2330,2152,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10348,0.58,108.9,2772,1877,2330,2152,877.7,9.4,740,10354,0.00,2.33,0.00,0.000,260,0.000,0.066,2772,3301,2241,2330,2152,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10388,0.58,108.9,2772,3301,2329,2152,873.5,10.1,742,10394,0.00,2.30,0.00,0.000,1030,0.000,0.060,2782,1886,2240,2329,2152,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10708,0.58,108.9,2782,1886,2329,2151,841.0,9.9,758,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1886,2240,2329,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11008,0.58,108.9,2782,1886,2329,2151,810.8,9.9,773,11013,0.00,2.33,0.00,0.000,260,0.000,0.067,2782,3309,2240,2329,2151,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11101,0.58,108.9,2782,3309,2327,2151,802.1,10.8,777,11108,0.12,2.30,0.00,0.000,5126,0.210,0.059,2768,1886,2239,2328,2151,0,0,0,0,0,0,25.53,25.85,28.83
$GC,11408,0.59,111.6,2768,1886,2327,2151,772.1,9.3,793,11417,0.00,2.38,4.53,1.274,8452,0.000,0.067,2768,3305,2227,2317,2137,0,0,0,0,0,0,28.83,26.06,24.60
$GC,11453,0.59,111.6,2767,3305,2317,2137,768.5,9.5,795,11457,0.00,2.30,0.00,0.000,1030,0.000,0.060,2777,1881,2226,2316,2137,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11760,0.59,112.4,2776,1881,2316,2137,738.2,9.4,810,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1880,2227,2317,2137,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15538,0.60,127.0,2778,1882,2250,2067,348.5,10.0,1022,15549,0.00,2.30,0.00,0.000,260,0.000,0.063,2779,3303,2158,2250,2067,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,19037,end climb,SURFACE_DEPTH_REACHED
$STATE,19037,begin surface coast
$FINISH,0.3,1.017164
$STATE,19060,end surface coast,CONTROL_FINISHED_OK
$STATE,19060,begin surface
$SM_CCo,19075,152.43,0.155,0,0,598,510.95
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$TT8_MAMPS,0.021721,0.021721
$HUMID,57.95
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.3,35.919
$10V_AH,10.1,24.546
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.925,124.275,232.250,152.425,0.000,24.017,20.704,354.099,0.000,0.000,19.037,3754.763,11971.397,593.820,3188.562,260.305,0.000,1903.031,0.000,2596.455,0.000,1.010,0.000
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$MEM,353096
$DATA_FILE_SIZE,97199,1467
$CAP_FILE_SIZE,176117,0
$CFSIZE,259252224,240013312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,322.5,1
$GPS,020916,001603,-4306.761,829.586,32,0.9,32,-25.1