version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 276
start: 9 8 116 19 44 47
data:
$ID,542
$MISSION,14
$DIVE,276
$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,-41681.512
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,080916,193703,-4300.940,829.802,33,0.9,34,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-61.2
$GPS2,080916,194404,-4300.882,829.864,22,1.1,22,-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,196.2,9350,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,137,1963,578,580,0.0,0.0,0,119,0.00,0.00,-100.88,0.000,16390,0.000,0.000,138,1963,3081,3122,3040,0,0,0,0,0,0,28.83,28.83,26.26
$GC,122,-0.55,-97.3,137,1963,3124,3040,2.9,-3.2,16,137,8.57,2.30,0.00,0.000,2308,0.213,0.054,2383,3369,3083,3128,3039,0,0,0,0,0,0,25.13,25.70,28.83
$GC,175,-0.55,-97.3,1488,3368,3134,3012,14.9,-16.3,25,182,0.00,2.28,0.00,0.000,1030,0.000,0.051,2383,1953,3087,3159,3015,0,0,0,0,0,0,28.83,25.67,28.83
$GC,224,-0.55,-97.3,2382,1952,3163,3012,23.4,-18.3,34,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3087,3164,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,356,-0.55,-97.3,2383,1953,3165,3011,47.4,-18.4,59,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1953,3087,3165,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-0.55,-97.3,2382,1953,3166,3010,105.8,-13.9,117,681,0.00,2.25,0.00,0.000,260,0.000,0.057,2373,3364,3087,3165,3010,0,0,0,0,0,0,28.83,25.78,28.83
$GC,724,-0.55,-97.3,2372,3364,3165,3010,112.8,-13.8,122,728,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1952,3088,3166,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1029,-0.55,-97.3,2372,1951,3166,3010,149.9,-11.7,152,1039,0.00,2.28,0.00,0.000,516,0.000,0.060,2373,540,3087,3165,3010,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1075,-0.55,-97.3,2373,540,3166,3010,155.7,-13.8,156,1083,0.10,2.28,0.00,0.000,3078,0.164,0.050,2391,1957,3088,3166,3010,0,0,0,0,0,0,25.54,25.90,28.83
$GC,1384,-0.55,-97.3,2391,1957,3166,3010,192.0,-11.4,187,1392,0.00,2.20,0.00,0.000,260,0.000,0.057,2383,3357,3088,3166,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1446,-0.55,-97.3,2383,3357,3166,3010,199.0,-11.4,193,1454,0.00,2.20,0.00,0.000,1030,0.000,0.048,2383,1952,3088,3166,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1755,-0.55,-97.3,2383,1952,3167,3010,234.0,-11.0,224,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3088,3166,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.55,-97.3,2383,1952,3167,3010,267.1,-11.2,254,2066,0.00,2.22,0.00,0.000,260,0.000,0.056,2373,3360,3088,3167,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2139,-0.55,-97.3,2372,3360,3167,3009,276.5,-11.0,262,2143,0.00,2.22,0.00,0.000,1030,0.000,0.048,2373,1950,3088,3167,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2444,-0.55,-97.3,2373,1949,3167,3010,311.4,-11.4,292,2449,0.00,2.25,0.00,0.000,260,0.000,0.056,2363,3367,3088,3167,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2502,-0.55,-97.3,2362,3367,3167,3009,317.8,-11.2,297,2511,0.12,2.22,0.00,0.000,3078,0.169,0.048,2391,1948,3088,3167,3009,0,0,0,0,0,0,25.70,25.95,28.83
$GC,2811,-0.55,-97.3,2391,1948,3167,3010,349.3,-10.4,328,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3089,3168,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,-0.55,-97.3,2391,1948,3168,3010,380.6,-9.7,358,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1948,3089,3168,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-0.55,-97.3,2391,1948,3168,3010,410.3,-10.0,383,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3089,3168,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3711,-0.55,-97.3,2391,1948,3168,3009,441.0,-10.4,398,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.55,-97.3,2391,1948,3168,3009,471.9,-10.3,413,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4311,-0.55,-97.3,2391,1948,3167,3007,503.5,-10.7,428,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3087,3168,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.55,-97.3,2391,1948,3168,3006,535.3,-10.7,443,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3087,3168,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4911,-0.55,-97.3,2392,1948,3168,3006,567.8,-10.7,458,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3086,3167,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.55,-97.3,2391,1948,3168,3005,598.6,-10.4,473,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.55,-97.3,2391,1948,3168,3004,629.5,-10.6,488,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3086,3168,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5812,-0.55,-97.3,2391,1948,3168,3003,659.8,-9.5,503,5818,0.00,2.28,0.00,0.000,260,0.000,0.059,2383,3364,3085,3167,3003,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5844,-0.55,-97.3,2383,3364,3168,3003,661.7,-9.5,504,5851,0.00,2.25,0.00,0.000,1030,0.000,0.053,2383,1953,3085,3167,3003,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6152,-0.55,-97.3,2383,1953,3168,3002,692.4,-9.3,520,6158,0.00,2.28,0.00,0.000,260,0.000,0.060,2373,3365,3085,3168,3002,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6204,-0.55,-97.3,2373,3365,3168,3002,696.2,-9.4,522,6212,0.00,2.25,0.00,0.000,1030,0.000,0.052,2373,1955,3085,3168,3002,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6511,-0.55,-97.3,2372,1955,3168,3001,727.4,-9.7,538,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3084,3168,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,-0.55,-97.3,2372,1955,3168,3001,757.2,-10.4,553,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3084,3168,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7111,-0.55,-97.3,2372,1955,3168,3000,789.7,-11.2,568,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3083,3167,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7412,-0.55,-97.3,2373,1955,3168,2998,824.0,-11.2,583,7418,0.00,2.30,0.00,0.000,260,0.000,0.062,2362,3374,3083,3168,2998,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7492,-0.55,-97.3,2362,3374,3167,2997,832.9,-11.1,587,7499,0.12,2.28,0.00,0.000,3078,0.170,0.053,2391,1949,3082,3168,2997,0,0,0,0,0,0,25.60,25.84,28.83
$GC,7813,-0.55,-97.3,2391,1948,3168,2996,863.0,-9.4,603,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3082,3168,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.55,-97.3,2391,1948,3168,2995,890.3,-8.9,618,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1948,3081,3167,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,-0.55,-97.3,2391,1948,3167,2995,915.8,-8.5,633,8417,0.00,2.30,0.00,0.000,260,0.000,0.062,2382,3364,3081,3168,2995,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8525,-0.55,-97.3,2382,3364,3168,2995,924.6,-8.8,638,8533,0.00,2.25,0.00,0.000,1030,0.000,0.054,2383,1956,3081,3168,2995,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8832,-0.55,-97.3,2382,1954,3168,2994,953.3,-9.1,654,8837,0.00,2.30,0.00,0.000,260,0.000,0.062,2372,3371,3081,3168,2994,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8865,-0.55,-97.3,2372,3371,3167,2994,955.2,-9.3,655,8871,0.00,2.28,0.00,0.000,1030,0.000,0.054,2372,1952,3081,3168,2994,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9172,-0.55,-97.3,2372,1951,3168,2993,987.5,-10.2,671,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1951,3080,3168,2993,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9314,-0.14,0.0,2372,1869,3167,2993,1001.5,-10.0,678,9412,0.52,0.00,89.78,1.772,10246,0.150,0.000,2526,1868,2683,2782,2584,0,0,0,0,0,0,25.21,28.83,23.17
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9415,0.55,97.3,2526,1868,2782,2584,1004.8,0.0,683,9514,0.65,0.00,94.75,1.712,10758,0.094,0.000,2743,1868,2286,2373,2199,0,0,0,0,0,0,24.49,28.83,22.29
$GC,9812,0.58,126.7,2743,1868,2364,2189,976.3,8.3,703,9842,0.00,0.00,28.45,1.703,8198,0.000,0.000,2743,1868,2165,2259,2072,0,0,0,0,0,0,28.83,28.83,23.48
$GC,10132,0.58,126.7,2743,1868,2256,2062,945.9,9.6,719,10138,0.00,2.38,0.00,0.000,260,0.000,0.063,2743,3303,2159,2256,2062,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10174,0.58,126.7,2744,3304,2253,2062,941.6,10.1,721,10179,0.00,2.33,0.00,0.000,1030,0.000,0.058,2753,1891,2158,2254,2062,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10487,0.58,126.7,2752,1891,2253,2061,906.1,11.3,737,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1891,2157,2253,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10786,0.58,126.7,2753,1891,2253,2060,872.1,11.2,752,10792,0.00,2.35,0.00,0.000,516,0.000,0.076,2764,474,2156,2253,2060,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10820,0.58,126.7,2764,475,2252,2059,869.9,11.2,753,10826,0.00,2.28,0.00,0.000,1030,0.000,0.057,2764,1892,2156,2252,2060,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11127,0.58,126.7,2764,1892,2253,2059,834.2,10.9,769,11132,0.00,2.30,0.00,0.000,260,0.000,0.065,2764,3308,2155,2252,2059,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11174,0.58,126.7,2764,3308,2250,2059,829.5,11.4,771,11178,0.00,2.30,0.00,0.000,1030,0.000,0.060,2775,1886,2154,2250,2059,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11481,0.58,126.7,2774,1885,2250,2059,794.1,11.2,786,11487,0.00,2.30,0.00,0.000,260,0.000,0.063,2774,3301,2153,2249,2058,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,18447,end climb,SURFACE_DEPTH_REACHED
$STATE,18447,begin surface coast
$FINISH,0.2,1.026682
$STATE,18464,end surface coast,CONTROL_FINISHED_OK
$STATE,18464,begin surface
$SM_CCo,18479,123.93,0.158,0,0,597,510.95
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$IRIDIUM_FIX,-4244.98,828.64,060709,030313
$TT8_MAMPS,0.021721,0.021721
$HUMID,58.26
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.3,40.798
$10V_AH,10.1,27.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.250,114.675,300.075,123.925,0.000,24.278,24.300,241.756,0.000,0.000,23.930,3422.409,11962.998,608.708,2819.758,218.651,0.000,1819.768,0.000,2340.836,0.000,1.010,0.000
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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,353164
$DATA_FILE_SIZE,90460,1343
$CAP_FILE_SIZE,163249,0
$CFSIZE,259252224,237408256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,351.5,1
$GPS,090916,005605,-4302.251,830.034,38,0.8,38,-25.0