version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 249
start: 9 2 116 21 29 47
data:
$ID,542
$MISSION,14
$DIVE,249
$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,-41504.762
$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,23
$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,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
$GPS1,020916,211203,-4259.901,829.549,52,1.0,53,-25.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.9
$GPS2,020916,212905,-4259.744,829.645,14,0.8,15,-25.0
$SPEED_LIMITS,0.259,0.269
$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,41.3,10519,-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,-0.55,-97.3,175,1962,572,574,0.0,0.0,0,115,0.00,0.00,-96.80,0.000,16386,0.000,0.000,175,1961,3006,3057,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.55,-97.3,174,1961,3057,2956,3.1,-5.1,15,134,8.90,2.40,-1.77,0.000,18948,0.233,0.076,2394,536,3084,3154,3014,0,0,0,0,0,0,25.13,25.63,26.11
$GC,323,-0.55,-97.3,1440,536,3145,2999,33.1,-13.8,54,330,0.00,2.28,0.00,0.000,1030,0.000,0.052,2385,1959,3085,3169,3002,0,0,0,0,0,0,28.83,25.69,28.83
$GC,453,-0.55,-97.3,2385,1958,3172,3001,51.4,-13.9,79,460,0.00,2.25,0.00,0.000,260,0.000,0.058,2375,3367,3086,3172,3000,0,0,0,0,0,0,28.83,25.67,28.83
$GC,499,-0.55,-97.3,2374,3368,3173,3000,57.4,-13.4,87,506,0.00,2.25,0.00,0.000,1030,0.000,0.050,2375,1951,3086,3173,3000,0,0,0,0,0,0,28.83,25.72,28.83
$GC,811,-0.55,-97.3,2374,1950,3173,3000,101.6,-12.7,147,820,0.00,2.25,0.00,0.000,260,0.000,0.057,2365,3362,3086,3172,3000,0,0,0,0,0,0,28.83,25.76,28.83
$GC,833,-0.55,-97.3,2364,3363,3172,3000,104.6,-13.2,149,842,0.12,2.22,0.00,0.000,3078,0.174,0.050,2393,1952,3086,3172,3000,0,0,0,0,0,0,25.56,25.80,28.83
$GC,1142,-0.55,-97.3,2393,1952,3173,3000,141.7,-11.4,180,1152,0.00,2.28,0.00,0.000,516,0.000,0.063,2393,543,3086,3173,3000,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1157,-0.55,-97.3,2393,543,3173,3000,142.6,-11.4,181,1164,0.00,2.22,0.00,0.000,1030,0.000,0.050,2385,1956,3086,3173,3000,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1465,-0.55,-97.3,2385,1956,3173,3000,179.4,-11.5,212,1474,0.00,2.25,0.00,0.000,260,0.000,0.058,2375,3369,3086,3173,3000,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1497,-0.55,-97.3,2374,3369,3173,3000,183.1,-11.5,215,1506,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1953,3086,3173,3000,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1806,-0.55,-97.3,2374,1952,3173,3000,221.2,-12.6,246,1810,0.00,2.28,0.00,0.000,260,0.000,0.057,2364,3375,3086,3173,3000,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1863,-0.55,-97.3,2364,3375,3173,3000,228.7,-13.2,251,1874,0.12,2.25,0.00,0.000,3078,0.173,0.050,2393,1948,3086,3173,3000,0,0,0,0,0,0,25.67,25.92,28.83
$GC,2173,-0.55,-97.3,2393,1948,3173,3000,265.9,-12.0,282,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1948,3086,3173,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.55,-97.3,2393,1948,3174,3000,300.8,-11.4,312,2484,0.00,2.25,0.00,0.000,260,0.000,0.057,2385,3367,3086,3173,3000,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2495,-0.55,-97.3,2384,3367,3173,3000,303.4,-11.3,314,2500,0.00,2.22,0.00,0.000,1030,0.000,0.049,2384,1954,3086,3173,3000,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2801,-0.55,-97.3,2384,1954,3173,3001,341.9,-12.9,344,2811,0.00,2.28,0.00,0.000,516,0.000,0.063,2384,544,3086,3173,3000,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2854,-0.55,-97.3,2384,544,3173,3000,349.0,-13.7,349,2863,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1961,3086,3173,3000,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3163,-0.55,-97.3,2374,1961,3173,3000,390.7,-12.9,380,3173,0.00,2.25,0.00,0.000,260,0.000,0.058,2363,3373,3086,3173,3000,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3238,-0.55,-97.3,2363,3373,3173,3000,400.0,-12.5,387,3247,0.12,2.25,0.00,0.000,3078,0.171,0.049,2392,1944,3087,3174,3000,0,0,0,0,0,0,25.71,25.95,28.83
$GC,3545,-0.55,-97.3,2392,1944,3174,3000,434.0,-10.6,403,3550,0.00,2.25,0.00,0.000,516,0.000,0.064,2393,547,3087,3174,3000,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3590,-0.55,-97.3,2392,547,3174,3000,438.0,-10.8,405,3594,0.00,2.22,0.00,0.000,1030,0.000,0.051,2384,1955,3087,3174,3000,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3897,-0.55,-97.3,2384,1956,3174,3000,472.8,-11.2,420,3903,0.00,2.25,0.00,0.000,260,0.000,0.059,2373,3371,3086,3173,3000,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3970,-0.55,-97.3,2373,3371,3173,3000,479.7,-11.4,423,3977,0.00,2.22,0.00,0.000,1030,0.000,0.051,2373,1954,3086,3173,3000,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4277,-0.55,-97.3,2373,1954,3174,2999,518.5,-12.6,439,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3086,3174,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-0.55,-97.3,2373,1954,3174,2998,555.7,-12.4,454,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3086,3174,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,-0.55,-97.3,2373,1954,3174,2996,593.4,-12.6,469,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3084,3173,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5177,-0.55,-97.3,2373,1954,3174,2996,629.9,-12.1,484,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3085,3174,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5477,-0.55,-97.3,2373,1954,3173,2995,665.9,-11.8,499,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3084,3173,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5777,-0.55,-97.3,2373,1954,3174,2994,701.7,-11.9,514,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1954,3084,3174,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6077,-0.55,-97.3,2373,1954,3174,2994,737.0,-11.6,529,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3084,3174,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6377,-0.55,-97.3,2373,1954,3174,2992,770.8,-11.1,544,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3082,3173,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6677,-0.55,-97.3,2374,1954,3173,2992,803.1,-10.9,559,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3082,3173,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,-0.55,-97.3,2373,1954,3174,2991,836.1,-11.0,574,6981,0.00,2.30,0.00,0.000,260,0.000,0.063,2363,3374,3081,3173,2990,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6996,-0.55,-97.3,2363,3373,3174,2990,837.9,-11.0,575,7001,0.12,2.28,0.00,0.000,3078,0.171,0.054,2392,1948,3082,3174,2990,0,0,0,0,0,0,25.67,25.90,28.83
$GC,7309,-0.55,-97.3,2392,1948,3173,2990,869.8,-9.9,591,7314,0.00,2.30,0.00,0.000,516,0.000,0.070,2392,547,3082,3174,2990,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7376,-0.55,-97.3,2392,547,3174,2990,876.2,-10.6,594,7381,0.00,2.25,0.00,0.000,1030,0.000,0.056,2384,1959,3081,3174,2989,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7684,-0.55,-97.3,2384,1959,3174,2988,908.7,-10.0,609,7689,0.00,2.28,0.00,0.000,260,0.000,0.063,2373,3369,3080,3173,2988,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7766,-0.55,-97.3,2372,3369,3173,2988,916.5,-9.8,613,7771,0.00,2.28,0.00,0.000,1030,0.000,0.054,2373,1947,3080,3173,2988,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8078,-0.55,-97.3,2373,1947,3173,2987,946.6,-9.5,629,8084,0.00,2.30,0.00,0.000,516,0.000,0.071,2373,545,3080,3173,2987,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8102,-0.55,-97.3,2373,545,3174,2987,948.6,-9.5,630,8107,0.12,2.28,0.00,0.000,3078,0.177,0.057,2391,1965,3080,3174,2987,0,0,0,0,0,0,25.65,25.89,28.83
$GC,8415,-0.55,-97.3,2391,1965,3174,2986,974.7,-8.2,646,8421,0.00,2.25,0.00,0.000,260,0.000,0.065,2382,3367,3080,3174,2986,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8442,-0.55,-97.3,2382,3367,3173,2986,976.4,-8.3,647,8446,0.00,2.25,0.00,0.000,1030,0.000,0.055,2382,1955,3079,3173,2986,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8713,-0.14,0.0,2381,1873,3173,2985,1001.2,-8.9,660,8809,0.47,0.00,90.32,1.748,10246,0.145,0.000,2524,1872,2682,2787,2577,0,0,0,0,0,0,25.48,28.83,23.24
$STATE,8810,end apogee,CONTROL_FINISHED_OK
$STATE,8810,begin climb
$GC,8812,0.55,97.3,2524,1872,2787,2578,1004.2,0.0,665,8911,0.68,0.00,95.75,1.709,10758,0.092,0.000,2747,1872,2285,2373,2198,0,0,0,0,0,0,24.51,28.83,22.34
$GC,9210,0.56,107.0,2747,1872,2365,2189,972.9,9.1,685,9229,0.00,2.50,9.30,1.547,8452,0.000,0.065,2747,3311,2245,2334,2156,0,0,0,0,0,0,28.83,25.09,23.82
$GC,9281,0.56,107.0,2746,3311,2333,2156,966.8,9.6,688,9285,0.00,2.38,0.00,0.000,1030,0.000,0.059,2757,1889,2244,2333,2156,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9586,0.56,107.0,2757,1889,2333,2152,935.1,9.9,703,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1889,2242,2333,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9886,0.56,107.0,2757,1889,2333,2151,904.4,10.1,718,9892,0.00,2.33,0.00,0.000,260,0.000,0.065,2757,3305,2242,2333,2151,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9906,0.56,107.0,2757,3305,2332,2151,902.4,10.1,719,9912,0.00,2.33,0.00,0.000,1030,0.000,0.060,2767,1878,2241,2332,2151,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10227,0.56,107.0,2767,1878,2331,2151,870.0,10.1,735,10233,0.00,2.33,0.00,0.000,260,0.000,0.066,2767,3298,2241,2331,2151,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10286,0.56,107.0,2767,3298,2330,2150,863.7,10.4,738,10290,0.00,2.30,0.00,0.000,1030,0.000,0.060,2777,1885,2240,2330,2150,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10604,0.56,107.1,2777,1884,2330,2150,832.6,9.4,754,10609,0.00,2.33,0.00,0.000,516,0.000,0.076,2788,472,2240,2330,2150,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10675,0.56,107.1,2788,472,2329,2150,826.5,10.0,757,10683,0.12,2.28,0.00,0.000,5126,0.200,0.059,2761,1886,2239,2329,2150,0,0,0,0,0,0,25.54,25.86,28.83
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$STATE,18572,end climb,SURFACE_DEPTH_REACHED
$STATE,18572,begin surface coast
$FINISH,0.1,1.013982
$STATE,18593,end surface coast,CONTROL_FINISHED_OK
$STATE,18593,begin surface
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$TT8_MAMPS,0.020972,0.020972
$HUMID,58.07
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.3,36.655
$10V_AH,10.0,25.077
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353164
$DATA_FILE_SIZE,97019,1427
$CAP_FILE_SIZE,183510,0
$CFSIZE,259252224,239595520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,341.2,1
$GPS,030916,024334,-4256.559,829.767,42,1.0,42,-25.0