version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 266
start: 9 6 116 14 40 42
data:
$ID,542
$MISSION,14
$DIVE,266
$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,-41526.195
$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,19
$R_STBD_OVSHOOT,21
$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
$GPS1,060916,142059,-4254.890,828.772,42,0.8,42,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-55.6
$GPS2,060916,143958,-4254.749,828.781,21,1.2,21,-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,113.6,2077,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,137,1944,579,574,0.0,0.0,0,123,0.00,0.00,-102.03,0.000,16390,0.000,0.000,138,1944,3081,3126,3036,0,0,0,0,0,0,28.83,28.83,26.29
$GC,126,-0.57,-97.3,138,1944,3127,3037,3.1,-3.9,16,141,8.77,2.33,0.00,0.000,2564,0.225,0.054,2390,525,3085,3151,3019,0,0,0,0,0,0,25.20,25.75,28.83
$GC,354,-0.57,-97.3,1440,525,3141,3004,37.0,-12.5,60,362,0.00,2.28,0.00,0.000,1030,0.000,0.051,2381,1957,3086,3166,3007,0,0,0,0,0,0,28.83,25.78,28.83
$GC,485,-0.57,-97.3,1472,1956,3145,3001,53.8,-13.3,85,492,0.00,2.25,0.00,0.000,260,0.000,0.057,2371,3368,3086,3168,3005,0,0,0,0,0,0,28.83,25.75,28.83
$GC,565,-0.57,-97.3,2370,3368,3168,3005,64.7,-13.3,100,573,0.00,2.30,0.00,0.000,1030,0.000,0.050,2371,1948,3086,3168,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,877,-0.57,-97.3,2371,1948,3168,3005,109.1,-14.4,155,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1948,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-0.57,-97.3,2371,1948,3167,3005,151.4,-14.1,185,1186,0.00,2.25,0.00,0.000,260,0.000,0.057,2361,3367,3086,3168,3005,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1209,-0.57,-97.3,2360,3367,3168,3005,156.1,-14.3,188,1213,0.00,2.22,0.00,0.000,1030,0.000,0.049,2361,1954,3086,3168,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1514,-0.57,-97.3,2361,1953,3168,3005,200.9,-13.7,218,1524,0.00,2.25,0.00,0.000,260,0.000,0.057,2350,3368,3086,3168,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1556,-0.57,-97.3,2350,3368,3168,3005,206.7,-13.8,222,1567,0.15,2.22,0.00,0.000,3078,0.171,0.048,2387,1953,3087,3169,3005,0,0,0,0,0,0,25.61,25.94,28.83
$GC,1867,-0.57,-97.3,2387,1952,3169,3005,243.1,-11.2,253,1876,0.00,2.28,0.00,0.000,260,0.000,0.057,2378,3379,3086,3168,3005,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1911,-0.57,-97.3,2378,3379,3168,3005,247.9,-11.0,257,1919,0.00,2.30,0.00,0.000,1030,0.000,0.049,2378,1953,3087,3169,3005,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2218,-0.57,-97.3,2378,1953,3168,3005,286.1,-13.0,288,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1953,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.57,-97.3,2378,1953,3168,3005,324.9,-12.9,318,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1952,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-0.57,-97.3,2378,1952,3169,3005,361.7,-12.0,348,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1953,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.57,-97.3,2378,1952,3169,3005,394.9,-10.3,378,3129,0.00,2.25,0.00,0.000,260,0.000,0.057,2368,3373,3086,3168,3005,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3190,-0.57,-97.3,2368,3373,3168,3005,401.3,-10.0,384,3194,0.00,2.25,0.00,0.000,1030,0.000,0.048,2368,1947,3086,3168,3005,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3497,-0.57,-97.3,2368,1947,3168,3005,434.8,-11.1,399,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1946,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.57,-97.3,2368,1947,3169,3005,467.5,-10.6,414,3804,0.00,2.28,0.00,0.000,260,0.000,0.057,2358,3369,3086,3168,3005,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3865,-0.57,-97.3,2357,3370,3168,3005,474.1,-11.0,417,3870,0.12,2.25,0.00,0.000,3078,0.171,0.050,2387,1948,3087,3169,3005,0,0,0,0,0,0,25.72,25.97,28.83
$GC,4172,-0.57,-97.3,2387,1947,3169,3004,506.2,-10.5,432,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1947,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4472,-0.57,-97.3,2387,1947,3169,3004,536.1,-9.7,447,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1947,3086,3168,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,-0.57,-97.3,2387,1947,3169,3003,565.4,-10.1,462,4778,0.00,2.28,0.00,0.000,516,0.000,0.065,2387,547,3085,3168,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4796,-0.57,-97.3,2387,547,3168,3003,567.6,-10.2,463,4800,0.00,2.22,0.00,0.000,1030,0.000,0.052,2378,1958,3086,3169,3003,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5107,-0.57,-97.3,2378,1958,3169,3002,602.1,-11.3,479,5111,0.00,2.28,0.00,0.000,260,0.000,0.060,2369,3372,3085,3169,3002,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5186,-0.57,-97.3,2367,3372,3169,3002,610.4,-11.0,483,5190,0.00,2.25,0.00,0.000,1030,0.000,0.052,2368,1955,3085,3168,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5498,-0.57,-97.3,2368,1955,3168,3001,645.8,-10.8,499,5504,0.00,2.25,0.00,0.000,260,0.000,0.060,2358,3369,3084,3168,3001,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5538,-0.57,-97.3,2357,3370,3169,3001,650.4,-11.3,501,5544,0.12,2.25,0.00,0.000,3078,0.174,0.052,2386,1947,3085,3169,3001,0,0,0,0,0,0,25.67,25.92,28.83
$GC,5858,-0.57,-97.3,2386,1947,3169,3000,683.8,-10.8,517,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1946,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6158,-0.57,-97.3,2385,1947,3169,2999,716.4,-10.8,532,6162,0.00,2.28,0.00,0.000,516,0.000,0.067,2386,549,3083,3168,2999,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6214,-0.57,-97.3,2386,548,3169,2998,723.1,-11.7,535,6218,0.00,2.22,0.00,0.000,1030,0.000,0.054,2378,1954,3083,3168,2999,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6530,-0.57,-97.3,2378,1955,3169,2996,759.7,-11.5,551,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1955,3082,3168,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6831,-0.57,-97.3,2378,1954,3169,2996,793.7,-11.1,566,6836,0.00,2.28,0.00,0.000,260,0.000,0.063,2367,3369,3082,3169,2996,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6924,-0.57,-97.3,2367,3369,3169,2995,802.6,-11.2,570,6930,0.00,2.25,0.00,0.000,1030,0.000,0.054,2366,1952,3082,3169,2995,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7231,-0.57,-97.3,2367,1952,3168,2995,840.8,-11.9,586,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1952,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.57,-97.3,2367,1951,3169,2994,875.7,-11.5,601,7536,0.00,2.30,0.00,0.000,260,0.000,0.062,2357,3372,3081,3169,2994,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7594,-0.57,-97.3,2357,3371,3169,2993,882.6,-11.5,604,7599,0.12,2.28,0.00,0.000,3078,0.177,0.054,2385,1948,3081,3169,2994,0,0,0,0,0,0,25.60,25.86,28.83
$GC,7906,-0.57,-97.3,2385,1948,3168,2993,913.4,-9.8,620,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1948,3080,3168,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8206,-0.57,-97.3,2384,1948,3169,2992,941.3,-9.5,635,8212,0.00,2.30,0.00,0.000,260,0.000,0.063,2377,3368,3080,3168,2992,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8286,-0.57,-97.3,2376,3368,3169,2991,949.0,-9.7,639,8290,0.00,2.25,0.00,0.000,1030,0.000,0.054,2376,1955,3080,3169,2991,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8602,-0.57,-97.3,2377,1955,3169,2991,981.2,-10.4,655,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8800,begin apogee
$GC,8805,-0.14,0.0,2376,1873,3169,2990,1001.6,-10.2,665,8903,0.50,0.00,89.40,1.765,10246,0.152,0.000,2523,1873,2682,2783,2582,0,0,0,0,0,0,25.30,28.83,23.22
$STATE,8904,end apogee,CONTROL_FINISHED_OK
$STATE,8904,begin climb
$GC,8905,0.57,97.3,2522,1873,2782,2582,1005.2,0.0,670,9004,0.73,0.00,95.20,1.709,10246,0.096,0.000,2756,1873,2285,2372,2199,0,0,0,0,0,0,24.51,28.83,22.34
$GC,9303,0.57,97.3,2756,1874,2365,2189,974.1,9.5,690,9309,0.00,2.38,0.00,0.000,260,0.000,0.063,2756,3300,2277,2365,2189,0,0,0,0,0,0,28.83,25.18,28.83
$GC,9335,0.57,97.3,2756,3300,2363,2189,972.1,9.6,691,9342,0.00,2.35,0.00,0.000,1030,0.000,0.058,2766,1891,2276,2363,2189,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9642,0.57,97.3,2766,1891,2362,2188,940.1,9.9,707,9647,0.00,2.33,0.00,0.000,260,0.000,0.063,2766,3300,2275,2363,2188,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9675,0.57,97.3,2766,3301,2362,2188,938.0,10.0,708,9682,0.00,2.33,0.00,0.000,1030,0.000,0.059,2776,1886,2275,2362,2188,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9982,0.57,97.3,2776,1885,2362,2187,903.5,10.6,724,9987,0.00,2.33,0.00,0.000,260,0.000,0.064,2777,3304,2274,2361,2187,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10042,0.57,97.3,2776,3304,2361,2186,896.9,11.0,727,10048,0.00,2.30,0.00,0.000,1030,0.000,0.059,2787,1888,2274,2361,2187,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10362,0.57,97.3,2787,1888,2360,2186,863.0,10.2,743,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1888,2273,2360,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10662,0.57,97.3,2787,1888,2360,2185,832.2,10.5,758,10668,0.00,2.30,0.00,0.000,260,0.000,0.064,2787,3300,2272,2360,2185,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10775,0.57,97.3,2787,3300,2359,2184,821.1,11.2,763,10782,0.15,2.30,0.00,0.000,5126,0.201,0.060,2764,1886,2272,2359,2185,0,0,0,0,0,0,25.41,25.78,28.83
$GC,11082,0.57,97.3,2763,1886,2359,2185,789.9,9.6,779,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1886,2272,2359,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18325,end climb,SURFACE_DEPTH_REACHED
$STATE,18325,begin surface coast
$FINISH,2.0,1.026683
$STATE,18331,end surface coast,CONTROL_FINISHED_OK
$STATE,18331,begin surface
$SM_CCo,18349,129.10,0.154,0,0,596,510.95
$SM_GC,0.62,7.62,2.42,129.10,0.091,0.052,0.154,172,1955,596,-7.40,-0.71,510.95,0,0,0,0,0,0,26.02,25.77,25.41
$IRIDIUM_FIX,-4239.11,830.68,040709,030355
$TT8_MAMPS,0.021721,0.021721
$HUMID,58.74
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,1
$24V_AH,22.3,39.151
$10V_AH,10.0,26.865
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.675,146.625,258.600,129.100,0.000,128.575,146.380,317.180,0.250,0.000,23.007,3588.812,11702.238,620.091,3471.521,247.351,0.000,1894.166,0.000,2514.041,0.000,1.011,0.000
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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,353156
$DATA_FILE_SIZE,93476,1400
$CAP_FILE_SIZE,178233,0
$CFSIZE,259252224,238174208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,343.1,1
$GPS,060916,195002,-4253.314,831.158,41,1.3,45,-25.0