version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 267
start: 9 6 116 20 0 13
data:
$ID,542
$MISSION,14
$DIVE,267
$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,-41527.453
$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,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
$GPS1,060916,195002,-4253.314,831.158,41,1.3,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-55.9
$GPS2,060916,195928,-4253.252,831.188,16,1.4,16,-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,222.3,2211,-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,14,begin dive
$GC,16,-0.57,-97.3,137,1958,579,574,0.0,0.0,0,122,0.00,0.00,-100.03,0.000,16390,0.000,0.000,137,1957,3084,3141,3028,0,0,0,0,0,0,28.83,28.83,26.21
$GC,125,-0.57,-97.3,137,1957,3141,3027,3.9,-6.4,16,140,8.85,2.30,0.00,0.000,2308,0.226,0.051,2370,3375,3084,3152,3017,0,0,0,0,0,0,25.10,25.67,28.83
$GC,290,-0.57,-97.3,1416,3374,3143,3001,34.4,-12.3,47,297,0.00,2.28,0.00,0.000,1030,0.000,0.050,2370,1953,3086,3168,3005,0,0,0,0,0,0,28.83,25.67,28.83
$GC,420,-0.57,-97.3,1488,1950,3147,3001,53.5,-14.9,72,427,0.00,2.30,0.00,0.000,260,0.000,0.057,2360,3375,3086,3168,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,464,-0.57,-97.3,1492,3374,3148,3001,60.1,-14.8,80,471,0.00,2.30,0.00,0.000,1030,0.000,0.049,2360,1954,3087,3169,3005,0,0,0,0,0,0,28.83,25.74,28.83
$GC,780,-0.57,-97.3,2360,1953,3169,3005,106.4,-15.4,138,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1952,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.57,-97.3,2360,1952,3169,3005,155.2,-16.6,168,1092,0.00,2.25,0.00,0.000,260,0.000,0.056,2350,3368,3087,3169,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1165,-0.57,-97.3,2350,3368,3169,3005,169.1,-16.1,176,1176,0.15,2.22,0.00,0.000,3078,0.174,0.049,2386,1954,3087,3169,3005,0,0,0,0,0,0,25.53,25.86,28.83
$GC,1477,-0.57,-97.3,2386,1954,3169,3005,211.9,-13.8,207,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1779,-0.57,-97.3,2386,1954,3169,3005,253.5,-13.6,237,1787,0.00,2.25,0.00,0.000,516,0.000,0.062,2386,549,3087,3169,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1841,-0.57,-97.3,2386,549,3170,3005,262.5,-13.9,243,1850,0.00,2.20,0.00,0.000,1030,0.000,0.050,2378,1965,3087,3169,3005,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2150,-0.57,-97.3,2378,1965,3170,3005,304.3,-13.6,274,2154,0.00,2.22,0.00,0.000,260,0.000,0.057,2367,3371,3087,3170,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2273,-0.57,-97.3,2367,3371,3169,3004,321.0,-13.5,285,2279,0.00,2.22,0.00,0.000,1030,0.000,0.049,2367,1955,3086,3169,3004,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2579,-0.57,-97.3,2367,1955,3170,3005,364.2,-14.3,316,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-0.57,-97.3,2367,1955,3170,3005,408.3,-13.8,344,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3189,-0.57,-97.3,2367,1955,3170,3005,447.3,-13.0,359,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3489,-0.57,-97.3,2367,1955,3169,3005,487.0,-13.3,374,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3789,-0.57,-97.3,2367,1955,3170,3004,526.2,-12.8,389,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4089,-0.57,-97.3,2367,1955,3170,3004,562.3,-11.7,404,4095,0.00,2.28,0.00,0.000,516,0.000,0.064,2367,547,3087,3170,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4149,-0.57,-97.3,2367,547,3170,3003,569.5,-12.0,407,4156,0.12,2.22,0.00,0.000,3078,0.181,0.051,2385,1954,3087,3170,3004,0,0,0,0,0,0,25.67,25.96,28.83
$GC,4469,-0.57,-97.3,2385,1954,3170,3003,603.1,-10.5,423,4475,0.00,2.28,0.00,0.000,260,0.000,0.060,2376,3376,3086,3170,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4569,-0.57,-97.3,2376,3376,3170,3002,613.3,-10.2,428,4575,0.00,2.25,0.00,0.000,1030,0.000,0.050,2376,1952,3086,3170,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4889,-0.57,-97.3,2376,1952,3169,3002,648.3,-11.0,444,4894,0.00,2.28,0.00,0.000,260,0.000,0.060,2366,3367,3086,3170,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4952,-0.57,-97.3,1544,3365,3152,2998,654.8,-11.0,447,4956,0.00,2.28,0.00,0.000,1030,0.000,0.052,2365,1958,3086,3170,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5269,-0.57,-97.3,2365,1958,3170,3001,692.6,-11.8,463,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1958,3085,3170,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.57,-97.3,2365,1958,3170,3000,726.4,-10.9,478,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1958,3085,3170,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-0.57,-97.3,2365,1958,3170,2999,758.9,-10.9,493,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1958,3084,3170,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6169,-0.57,-97.3,2365,1958,3170,2997,793.0,-11.4,508,6174,0.00,2.28,0.00,0.000,260,0.000,0.062,2355,3365,3083,3170,2997,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6202,-0.57,-97.3,2355,3365,3170,2996,795.3,-11.4,509,6209,0.12,2.28,0.00,0.000,3078,0.177,0.054,2384,1947,3083,3170,2996,0,0,0,0,0,0,25.62,25.87,28.83
$GC,6509,-0.57,-97.3,2384,1947,3170,2996,827.4,-9.9,525,6515,0.00,2.33,0.00,0.000,260,0.000,0.067,2376,3374,3083,3170,2996,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6551,-0.57,-97.3,1568,3372,3152,2992,831.4,-9.9,527,6556,0.00,2.33,0.00,0.000,1030,0.000,0.054,2375,1950,3083,3170,2996,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6870,-0.57,-97.3,2375,1949,3170,2995,864.4,-10.5,543,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1949,3082,3170,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7169,-0.57,-97.3,2375,1950,3170,2995,895.5,-9.9,558,7173,0.00,2.33,0.00,0.000,260,0.000,0.063,2365,3375,3082,3170,2994,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7238,-0.57,-97.3,2365,3375,3170,2994,901.2,-10.1,561,7245,0.00,2.28,0.00,0.000,1030,0.000,0.055,2365,1952,3082,3170,2994,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7545,-0.57,-97.3,2365,1952,3170,2993,932.3,-9.5,577,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1952,3081,3170,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,-0.57,-97.3,2365,1951,3170,2992,960.2,-9.3,592,7851,0.00,2.33,0.00,0.000,260,0.000,0.063,2355,3372,3081,3170,2992,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7889,-0.57,-97.3,2355,3372,3170,2992,964.0,-9.4,594,7894,0.12,2.28,0.00,0.000,3078,0.177,0.055,2383,1950,3081,3170,2992,0,0,0,0,0,0,25.56,25.81,28.83
$GC,8204,-0.57,-97.3,2383,1950,3170,2991,991.0,-8.4,610,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3080,3170,2991,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8319,begin apogee
$GC,8325,-0.14,0.0,2383,1880,3170,2991,1001.3,-8.6,616,8421,0.47,0.00,89.85,1.761,10246,0.151,0.000,2524,1880,2682,2784,2581,0,0,0,0,0,0,25.31,28.83,23.20
$STATE,8422,end apogee,CONTROL_FINISHED_OK
$STATE,8422,begin climb
$GC,8424,0.57,97.3,2524,1880,2784,2581,1004.0,0.0,621,8523,0.73,0.00,94.68,1.698,10758,0.096,0.000,2757,1880,2286,2372,2200,0,0,0,0,0,0,24.49,28.83,22.32
$GC,8821,0.58,106.7,2757,1880,2364,2190,971.7,9.1,641,8832,0.00,0.00,8.62,1.522,8198,0.000,0.000,2757,1880,2248,2337,2159,0,0,0,0,0,0,28.83,28.83,23.81
$GC,9121,0.59,116.0,2757,1880,2336,2157,945.0,9.1,656,9141,0.00,2.45,10.38,1.545,8452,0.000,0.065,2757,3304,2210,2300,2120,0,0,0,0,0,0,28.83,25.41,24.12
$GC,9232,0.59,116.0,2757,3304,2300,2118,934.8,10.0,661,9237,0.00,2.33,0.00,0.000,1030,0.000,0.058,2767,1892,2209,2300,2118,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9539,0.59,116.0,2767,1892,2300,2115,903.6,9.6,676,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1892,2208,2300,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,0.59,116.0,2768,1893,2299,2115,874.3,9.8,691,9845,0.00,2.38,0.00,0.000,516,0.000,0.075,2778,470,2207,2299,2116,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9880,0.59,116.0,2778,470,2299,2115,870.2,10.0,693,9886,0.00,2.25,0.00,0.000,1030,0.000,0.057,2778,1880,2207,2299,2115,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10199,0.59,116.0,2778,1880,2299,2116,835.8,11.0,709,10205,0.00,2.30,0.00,0.000,260,0.000,0.065,2778,3304,2206,2298,2115,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10281,0.59,116.0,1872,3303,2254,2109,826.8,11.3,713,10285,0.00,2.30,0.00,0.000,1030,0.000,0.060,2788,1885,2205,2296,2114,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10599,0.59,116.0,2788,1885,2297,2114,791.3,11.2,729,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1884,2205,2296,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10899,0.59,116.0,2788,1884,2296,2113,757.9,10.7,744,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1884,2204,2295,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11200,0.59,116.0,2788,1884,2296,2113,725.4,11.0,759,11205,0.00,2.33,0.00,0.000,260,0.000,0.064,2788,3314,2204,2296,2113,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11221,0.59,116.0,1888,3312,2254,2107,723.1,11.1,760,11227,0.10,2.35,0.00,0.000,5126,0.184,0.060,2771,1889,2204,2295,2113,0,0,0,0,0,0,25.52,25.86,28.83
$GC,11540,0.60,122.0,2771,1889,2294,2112,692.9,9.2,776,11551,0.00,2.38,6.00,1.337,8708,0.000,0.076,2780,480,2185,2278,2092,0,0,0,0,0,0,28.83,26.05,24.63
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$STATE,18293,end climb,SURFACE_DEPTH_REACHED
$STATE,18293,begin surface coast
$FINISH,-0.0,1.025796
$STATE,18316,end surface coast,CONTROL_FINISHED_OK
$STATE,18316,begin surface
$SM_CCo,18331,149.50,0.149,0,0,597,510.95
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$IRIDIUM_FIX,-4236.17,827.34,040709,040421
$TT8_MAMPS,0.021721,0.021721
$HUMID,57.44
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.50
$XPDR_PINGS,1
$24V_AH,22.3,39.297
$10V_AH,10.1,26.971
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353084
$DATA_FILE_SIZE,93712,1383
$CAP_FILE_SIZE,173150,0
$CFSIZE,259252224,238129152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,322.5,1
$GPS,070916,010927,-4253.959,828.938,35,1.1,35,-25.0