version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 265
start: 9 6 116 9 9 48
data:
$ID,542
$MISSION,14
$DIVE,265
$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,-41524.938
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,060916,090227,-4257.736,829.096,38,1.0,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-54.4
$GPS2,060916,090905,-4257.669,829.097,13,1.0,14,-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,56.3,6778,-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,-97.3,138,1960,576,580,0.0,0.0,0,120,0.00,0.00,-101.30,0.000,16390,0.000,0.000,138,1959,3081,3127,3036,0,0,0,0,0,0,28.83,28.83,26.26
$GC,122,-0.55,-97.3,137,1959,3129,3035,3.0,-3.7,16,138,8.90,2.33,0.00,0.000,2564,0.228,0.050,2393,532,3085,3153,3017,0,0,0,0,0,0,25.12,25.72,28.83
$GC,331,-0.55,-97.3,1440,532,3143,3003,37.3,-14.0,56,338,0.00,2.28,0.00,0.000,1030,0.000,0.052,2385,1956,3087,3168,3007,0,0,0,0,0,0,28.83,25.73,28.83
$GC,462,-0.55,-97.3,2385,1955,3170,3005,54.0,-13.5,81,470,0.00,2.25,0.00,0.000,260,0.000,0.057,2374,3367,3088,3171,3005,0,0,0,0,0,0,28.83,25.71,28.83
$GC,528,-0.55,-97.3,2374,3366,3170,3005,62.9,-12.7,93,536,0.00,2.25,0.00,0.000,1030,0.000,0.050,2374,1945,3087,3170,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,839,-0.55,-97.3,2374,1945,3171,3005,107.7,-14.5,149,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1945,3088,3171,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.55,-97.3,2374,1945,3171,3005,153.1,-14.5,179,1149,0.00,2.25,0.00,0.000,260,0.000,0.058,2364,3365,3087,3171,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1214,-0.55,-97.3,2364,3365,3171,3005,163.8,-14.9,186,1222,0.08,2.28,0.00,0.000,3078,0.158,0.050,2387,1957,3087,3170,3005,0,0,0,0,0,0,25.63,25.88,28.83
$GC,1522,-0.55,-97.3,2388,1957,3172,3005,204.3,-12.5,217,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1957,3088,3172,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1822,-0.55,-97.3,2387,1957,3171,3005,239.2,-11.8,247,1831,0.00,2.22,0.00,0.000,260,0.000,0.057,2379,3365,3088,3172,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1906,-0.55,-97.3,2379,3365,3172,3004,248.8,-11.5,255,1913,0.00,2.22,0.00,0.000,1030,0.000,0.049,2379,1954,3088,3172,3005,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2213,-0.55,-97.3,2379,1953,3172,3005,285.6,-11.9,286,2223,0.00,2.28,0.00,0.000,516,0.000,0.062,2379,542,3088,3172,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2246,-0.55,-97.3,2379,542,3172,3004,289.6,-12.5,289,2256,0.00,2.22,0.00,0.000,1030,0.000,0.050,2369,1966,3088,3172,3004,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2555,-0.55,-97.3,2369,1966,3172,3004,329.9,-13.2,320,2559,0.00,2.22,0.00,0.000,260,0.000,0.057,2358,3372,3088,3172,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2686,-0.55,-97.3,1504,3371,3153,3001,346.7,-13.1,332,2694,0.15,2.25,0.00,0.000,3078,0.170,0.049,2395,1947,3088,3172,3005,0,0,0,0,0,0,25.63,25.95,28.83
$GC,2993,-0.55,-97.3,2394,1947,3173,3005,383.4,-11.7,363,3002,0.00,2.25,0.00,0.000,260,0.000,0.057,2386,3362,3088,3172,3004,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3025,-0.55,-97.3,2386,3363,3172,3004,387.1,-12.1,366,3035,0.00,2.22,0.00,0.000,1030,0.000,0.049,2386,1945,3088,3173,3004,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3334,-0.55,-97.3,2386,1945,3173,3005,423.4,-11.5,387,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1946,3088,3173,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.55,-97.3,2386,1945,3172,3005,456.3,-10.9,402,3640,0.00,2.25,0.00,0.000,516,0.000,0.063,2386,548,3088,3173,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3658,-0.55,-97.3,2386,548,3173,3004,458.6,-11.0,403,3662,0.00,2.20,0.00,0.000,1030,0.000,0.050,2376,1950,3088,3173,3004,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3969,-0.55,-97.3,2376,1950,3173,3005,495.9,-11.9,419,3973,0.00,2.28,0.00,0.000,260,0.000,0.059,2365,3372,3088,3173,3004,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4068,-0.55,-97.3,1568,3371,3155,3001,507.4,-12.0,424,4072,0.00,2.28,0.00,0.000,1030,0.000,0.050,2365,1958,3088,3173,3004,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4385,-0.55,-97.3,2365,1958,3172,3004,548.4,-12.9,440,4392,0.12,2.28,0.00,0.000,2308,0.188,0.057,2391,3375,3088,3173,3004,0,0,0,0,0,0,25.98,25.88,28.83
$GC,4418,-0.55,-97.3,2390,3375,3172,3004,550.8,-12.8,441,4426,0.00,2.25,0.00,0.000,1030,0.000,0.051,2391,1951,3088,3173,3003,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4726,-0.55,-97.3,2390,1951,3172,3003,586.3,-10.9,457,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1951,3087,3172,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5025,-0.55,-97.3,2390,1951,3173,3002,618.6,-11.0,472,5029,0.00,2.28,0.00,0.000,260,0.000,0.060,2381,3367,3087,3172,3002,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5064,-0.55,-97.3,1572,3366,3155,2998,622.6,-10.9,474,5068,0.00,2.28,0.00,0.000,1030,0.000,0.052,2381,1961,3087,3173,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5382,-0.55,-97.3,2380,1959,3173,3002,658.9,-11.4,490,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1960,3087,3172,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.55,-97.3,2380,1959,3173,3001,693.4,-11.4,505,5686,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3372,3087,3173,3001,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5720,-0.55,-97.3,1540,3371,3154,2997,697.5,-11.3,507,5725,0.00,2.25,0.00,0.000,1030,0.000,0.053,2370,1952,3086,3173,3000,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6038,-0.55,-97.3,2370,1952,3173,2999,735.9,-11.9,523,6042,0.00,2.28,0.00,0.000,260,0.000,0.061,2360,3365,3086,3173,2999,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6102,-0.55,-97.3,2360,3365,3173,2999,742.5,-11.8,526,6107,0.12,2.30,0.00,0.000,3078,0.175,0.053,2389,1952,3086,3173,2999,0,0,0,0,0,0,25.67,25.89,28.83
$GC,6415,-0.55,-97.3,2389,1951,3173,2997,775.7,-10.0,542,6421,0.00,2.30,0.00,0.000,260,0.000,0.062,2381,3375,3085,3173,2997,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6447,-0.55,-97.3,2380,3375,3173,2996,777.7,-9.9,543,6454,0.00,2.28,0.00,0.000,1030,0.000,0.053,2381,1948,3084,3172,2996,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6754,-0.55,-97.3,2380,1948,3173,2996,812.6,-11.0,559,6760,0.00,2.30,0.00,0.000,516,0.000,0.068,2380,539,3084,3173,2996,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6777,-0.55,-97.3,2381,539,3173,2996,815.0,-11.1,560,6781,0.00,2.25,0.00,0.000,1030,0.000,0.054,2370,1951,3084,3172,2996,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7089,-0.55,-97.3,2370,1952,3173,2995,853.5,-12.6,576,7094,0.00,2.30,0.00,0.000,260,0.000,0.063,2359,3375,3084,3173,2995,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7189,-0.55,-97.3,2359,3375,3173,2995,865.8,-12.3,581,7196,0.12,2.25,0.00,0.000,3078,0.175,0.054,2388,1954,3084,3173,2995,0,0,0,0,0,0,25.61,25.86,28.83
$GC,7509,-0.55,-97.3,2388,1954,3172,2994,899.9,-10.5,597,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1954,3083,3173,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7809,-0.55,-97.3,2388,1954,3173,2993,929.9,-9.9,612,7815,0.00,2.33,0.00,0.000,516,0.000,0.070,2388,540,3083,3173,2993,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7862,-0.55,-97.3,2388,540,3173,2993,934.1,-10.1,614,7869,0.00,2.28,0.00,0.000,1030,0.000,0.056,2380,1961,3082,3172,2993,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8169,-0.55,-97.3,2379,1962,3172,2992,968.7,-10.9,630,8175,0.00,2.28,0.00,0.000,260,0.000,0.063,2369,3370,3082,3172,2992,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8197,-0.55,-97.3,2369,3369,3173,2991,970.9,-10.9,631,8201,0.00,2.25,0.00,0.000,1030,0.000,0.054,2369,1956,3082,3173,2991,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,8463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8463,begin apogee
$GC,8468,-0.14,0.0,2369,1873,3173,2991,1001.7,-10.9,644,8564,0.52,0.00,88.50,1.756,10246,0.151,0.000,2523,1873,2683,2785,2581,0,0,0,0,0,0,25.33,28.83,23.22
$STATE,8565,end apogee,CONTROL_FINISHED_OK
$STATE,8565,begin climb
$GC,8567,0.55,97.3,2523,1873,2785,2581,1005.5,0.0,649,8666,0.68,0.00,95.20,1.698,10758,0.096,0.000,2747,1873,2285,2372,2199,0,0,0,0,0,0,24.53,28.83,22.34
$GC,8965,0.57,117.6,2746,1873,2364,2189,976.7,8.7,669,8991,0.00,2.50,19.35,1.664,8452,0.000,0.065,2746,3298,2202,2295,2110,0,0,0,0,0,0,28.83,24.85,23.65
$GC,9032,0.57,121.5,2746,3298,2293,2107,971.0,9.3,672,9044,0.00,2.35,4.95,1.334,9222,0.000,0.058,2757,1899,2187,2280,2094,0,0,0,0,0,0,28.83,25.08,23.74
$GC,9344,0.57,121.5,2757,1899,2278,2091,938.1,10.1,688,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1899,2184,2278,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,0.57,121.5,2757,1899,2278,2089,907.9,10.0,703,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1899,2183,2278,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,0.57,121.5,2756,1899,2278,2087,877.9,9.8,718,9950,0.00,2.38,0.00,0.000,516,0.000,0.076,2767,473,2182,2278,2087,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9977,0.57,121.5,2767,473,2277,2087,875.9,9.7,719,9984,0.00,2.30,0.00,0.000,1030,0.000,0.058,2768,1896,2182,2277,2087,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10284,0.57,121.5,2767,1896,2277,2087,843.2,10.0,735,10290,0.00,2.28,0.00,0.000,260,0.000,0.065,2767,3301,2182,2277,2087,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10372,0.57,121.5,2767,3301,2276,2086,834.7,10.7,739,10377,0.00,2.30,0.00,0.000,1030,0.000,0.060,2777,1880,2181,2276,2086,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,18438,end climb,SURFACE_DEPTH_REACHED
$STATE,18438,begin surface coast
$FINISH,-0.1,1.026669
$STATE,18459,end surface coast,CONTROL_FINISHED_OK
$STATE,18459,begin surface
$SM_CCo,18476,115.72,0.151,0,0,598,510.95
$SM_GC,0.68,6.95,2.28,115.72,0.043,0.057,0.151,174,1948,598,-7.42,0.45,510.95,0,0,0,0,0,0,25.84,25.73,25.31
$IRIDIUM_FIX,-4242.04,831.55,030709,171733
$TT8_MAMPS,0.021721,0.021721
$HUMID,57.75
$INTERNAL_PRESSURE,9.2676
$TCM_TEMP,18.50
$XPDR_PINGS,1
$24V_AH,22.3,39.000
$10V_AH,10.1,26.754
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,93630,1412
$CAP_FILE_SIZE,181900,0
$CFSIZE,259252224,238288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159,306.0,1
$GPS,060916,142059,-4254.890,828.772,42,0.8,42,-25.0