version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 256
start: 9 4 116 10 32 42
data:
$ID,542
$MISSION,14
$DIVE,256
$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,-41513.645
$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,28
$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
$GPS1,040916,102257,-4259.326,829.447,35,1.0,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-48.6
$GPS2,040916,103159,-4259.314,829.497,15,1.4,15,-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,190.7,12272,-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,-97.3,150,1961,579,575,0.0,0.0,0,125,0.00,0.00,-101.85,0.000,16390,0.000,0.000,147,1961,3081,3126,3036,0,0,0,0,0,0,28.83,28.83,26.22
$GC,128,-0.55,-97.3,148,1961,3139,3029,4.1,-9.3,17,142,8.82,2.28,0.00,0.000,2820,0.224,0.054,2377,3365,3084,3152,3016,0,0,0,0,0,0,25.13,25.65,28.83
$GC,431,-0.55,-97.3,1480,3364,3146,3001,50.7,-10.4,76,439,0.00,2.30,0.00,0.000,1030,0.000,0.052,2377,1955,3086,3168,3005,0,0,0,0,0,0,28.83,25.72,28.83
$GC,743,-0.55,-97.3,1440,1953,3145,3001,91.2,-13.9,137,750,0.00,2.25,0.00,0.000,260,0.000,0.057,2368,3364,3086,3168,3005,0,0,0,0,0,0,28.83,25.75,28.83
$GC,808,-0.55,-97.3,1488,3362,3147,3001,100.8,-13.9,149,817,0.00,2.25,0.00,0.000,1030,0.000,0.050,2368,1949,3086,3168,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1119,-0.55,-97.3,2367,1949,3168,3005,144.5,-14.3,180,1128,0.00,2.28,0.00,0.000,260,0.000,0.057,2357,3372,3086,3168,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1180,-0.55,-97.3,2357,3372,3168,3005,153.5,-14.5,186,1191,0.15,2.25,0.00,0.000,3078,0.171,0.050,2393,1947,3086,3168,3005,0,0,0,0,0,0,25.53,25.85,28.83
$GC,1491,-0.55,-97.3,2393,1947,3169,3005,191.0,-11.5,217,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1947,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1792,-0.55,-97.3,2393,1947,3169,3005,225.9,-11.8,247,1801,0.00,2.25,0.00,0.000,260,0.000,0.057,2385,3365,3087,3169,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1836,-0.55,-97.3,2385,3365,3169,3005,231.1,-12.0,251,1844,0.00,2.25,0.00,0.000,1030,0.000,0.050,2385,1940,3087,3169,3005,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2144,-0.55,-97.3,2385,1940,3169,3005,267.8,-11.5,282,2148,0.00,2.28,0.00,0.000,260,0.000,0.057,2375,3368,3087,3169,3005,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2193,-0.55,-97.3,2374,3368,3169,3005,273.3,-12.0,286,2200,0.00,2.28,0.00,0.000,1030,0.000,0.049,2375,1952,3087,3169,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2501,-0.55,-97.3,2375,1952,3169,3005,314.4,-13.8,317,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1951,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.55,-97.3,2375,1951,3169,3005,354.3,-12.7,347,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1952,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,-0.55,-97.3,2375,1951,3169,3005,392.5,-12.7,377,3111,0.00,2.22,0.00,0.000,260,0.000,0.057,2365,3356,3087,3170,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3172,-0.55,-97.3,2364,3355,3170,3005,400.4,-12.4,383,3177,0.12,2.22,0.00,0.000,3078,0.171,0.050,2394,1946,3087,3170,3005,0,0,0,0,0,0,25.70,25.94,28.83
$GC,3479,-0.55,-97.3,2394,1945,3170,3005,436.1,-11.3,398,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3779,-0.55,-97.3,2394,1946,3170,3005,469.5,-11.2,413,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4079,-0.55,-97.3,2393,1945,3170,3004,503.3,-11.1,428,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.55,-97.3,2393,1945,3170,3004,534.9,-10.4,443,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4679,-0.55,-97.3,2394,1945,3170,3003,566.5,-10.6,458,4685,0.00,2.28,0.00,0.000,260,0.000,0.059,2385,3362,3087,3171,3003,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4761,-0.55,-97.3,2384,3362,3170,3003,575.1,-10.7,462,4766,0.00,2.20,0.00,0.000,1030,0.000,0.053,2385,1956,3086,3170,3003,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5079,-0.55,-97.3,2385,1955,3170,3002,609.9,-10.6,478,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1956,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5379,-0.55,-97.3,2385,1955,3170,3002,640.6,-10.1,493,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1956,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5680,-0.55,-97.3,2385,1955,3170,3001,672.0,-10.4,508,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1955,3085,3170,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5979,-0.55,-97.3,2385,1955,3170,3000,703.1,-10.3,523,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1956,3085,3170,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6279,-0.55,-97.3,2385,1955,3170,2998,733.8,-10.1,538,6283,0.00,2.28,0.00,0.000,260,0.000,0.061,2375,3369,3084,3170,2999,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6416,-0.55,-97.3,2375,3369,3170,2998,747.6,-10.0,545,6422,0.00,2.25,0.00,0.000,1030,0.000,0.054,2375,1951,3084,3170,2998,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6735,-0.55,-97.3,2375,1951,3170,2996,782.1,-11.1,561,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1951,3082,3168,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7036,-0.55,-97.3,2375,1950,3170,2996,815.2,-11.1,576,7041,0.00,2.30,0.00,0.000,260,0.000,0.063,2365,3366,3083,3170,2996,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7075,-0.55,-97.3,2365,3367,3170,2996,819.7,-11.2,578,7082,0.12,2.28,0.00,0.000,3078,0.174,0.056,2394,1952,3082,3170,2995,0,0,0,0,0,0,25.63,25.86,28.83
$GC,7395,-0.55,-97.3,2394,1952,3170,2995,852.0,-10.2,594,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1952,3082,3170,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.55,-97.3,2394,1952,3170,2994,882.9,-10.3,609,7701,0.00,2.30,0.00,0.000,260,0.000,0.063,2386,3369,3082,3170,2994,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7748,-0.55,-97.3,2385,3369,3170,2994,886.9,-10.2,611,7756,0.00,2.28,0.00,0.000,1030,0.000,0.055,2386,1952,3082,3170,2994,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8056,-0.55,-97.3,2386,1952,3170,2992,918.3,-9.3,627,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1952,3081,3170,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,-0.55,-97.3,2385,1952,3170,2992,944.8,-8.7,642,8362,0.00,2.33,0.00,0.000,516,0.000,0.071,2386,540,3081,3170,2992,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8383,-0.55,-97.3,2385,540,3170,2992,946.6,-8.9,643,8388,0.00,2.25,0.00,0.000,1030,0.000,0.057,2376,1947,3081,3170,2992,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8691,-0.55,-97.3,2376,1947,3170,2991,976.0,-9.3,658,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3080,3170,2991,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8969,begin apogee
$GC,8973,-0.14,0.0,2375,1887,3170,2991,1001.4,-9.1,672,9070,0.50,0.00,89.97,1.771,10246,0.145,0.000,2525,1887,2682,2785,2580,0,0,0,0,0,0,25.39,28.83,23.21
$STATE,9071,end apogee,CONTROL_FINISHED_OK
$STATE,9072,begin climb
$GC,9073,0.55,97.3,2524,1887,2785,2580,1004.1,0.0,677,9175,0.65,2.60,94.53,1.694,10756,0.093,0.073,2753,481,2285,2373,2197,0,0,0,0,0,0,24.50,23.45,22.34
$GC,9249,0.55,97.3,2752,481,2361,2197,991.6,9.8,686,9255,0.00,2.42,0.00,0.000,1030,0.000,0.057,2752,1893,2279,2361,2197,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9569,0.55,97.3,2752,1894,2361,2190,960.5,9.5,702,9575,0.00,2.35,0.00,0.000,260,0.000,0.066,2752,3306,2275,2360,2190,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9633,0.55,97.3,2752,3306,2359,2189,954.7,9.7,705,9637,0.00,2.35,0.00,0.000,1030,0.000,0.060,2763,1886,2274,2359,2189,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9945,0.56,107.2,2762,1886,2359,2188,925.7,9.1,721,9955,0.00,0.00,8.52,1.530,8198,0.000,0.000,2763,1886,2245,2332,2158,0,0,0,0,0,0,28.83,28.83,24.33
$GC,10245,0.59,133.0,2762,1886,2332,2157,899.8,8.4,736,10277,0.00,2.45,26.17,1.675,8708,0.000,0.077,2773,467,2140,2234,2046,0,0,0,0,0,0,28.83,25.10,23.97
$GC,10337,0.59,133.0,2773,467,2228,2045,892.0,9.7,740,10344,0.00,2.35,0.00,0.000,1030,0.000,0.058,2774,1895,2136,2228,2045,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10645,0.59,133.0,2773,1895,2227,2040,858.7,10.4,756,10651,0.00,2.30,0.00,0.000,260,0.000,0.066,2773,3302,2133,2227,2039,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10725,0.59,133.0,2773,3302,2225,2039,850.0,10.9,760,10731,0.00,2.33,0.00,0.000,1030,0.000,0.063,2784,1880,2132,2225,2039,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11045,0.59,133.0,2784,1880,2224,2039,816.6,10.3,776,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1880,2132,2225,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11344,0.59,133.0,2784,1880,2225,2038,786.1,10.6,791,11351,0.00,2.33,0.00,0.000,260,0.000,0.065,2784,3305,2131,2225,2037,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11417,0.59,133.0,2784,3305,2223,2037,779.3,11.2,794,11425,0.12,2.33,0.00,0.000,5126,0.201,0.062,2769,1881,2129,2223,2036,0,0,0,0,0,0,25.57,25.84,28.83
$GC,11725,0.59,133.0,2768,1882,2223,2036,745.8,10.6,810,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1881,2129,2223,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12024,0.59,133.0,2768,1882,2224,2036,712.7,11.2,825,12030,0.00,2.33,0.00,0.000,260,0.000,0.065,2768,3301,2129,2223,2036,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,18531,end climb,SURFACE_DEPTH_REACHED
$STATE,18532,begin surface coast
$FINISH,-0.0,1.026688
$STATE,18554,end surface coast,CONTROL_FINISHED_OK
$STATE,18554,begin surface
$SM_CCo,18569,140.57,0.155,0,0,599,510.95
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$IRIDIUM_FIX,-4236.17,529.76,010709,191928
$TT8_MAMPS,0.021721,0.021721
$HUMID,58.30
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.3,37.674
$10V_AH,10.1,25.814
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.725,128.900,248.475,140.575,0.000,23.731,20.267,367.606,0.000,0.000,16.381,3633.501,11629.659,587.989,3157.386,257.710,0.000,1892.986,0.000,2558.379,0.000,1.010,0.000
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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,353092
$DATA_FILE_SIZE,93730,1416
$CAP_FILE_SIZE,173378,0
$CFSIZE,259252224,239034368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,335.6,1
$GPS,040916,154552,-4300.355,829.424,43,2.0,43,-25.0