version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 283
start: 9 10 116 9 49 9
data:
$ID,542
$MISSION,14
$DIVE,283
$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,200
$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,-41820.348
$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
$GPS1,100916,094103,-4304.351,829.641,44,1.0,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.4
$GPS2,100916,094823,-4304.361,829.686,19,1.0,19,-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,200.7,2937,-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,13,begin dive
$GC,15,-0.57,-97.3,139,1962,1876,1798,0.0,0.0,0,69,0.00,0.00,-47.83,0.000,16390,0.000,0.000,139,1962,3081,3140,3023,0,0,0,0,0,0,28.83,28.83,26.29
$GC,72,-0.57,-97.3,139,1962,3144,3020,3.5,-5.1,8,86,8.65,2.30,0.00,0.000,2308,0.216,0.053,2371,3370,3082,3149,3016,0,0,0,0,0,0,25.06,25.70,28.83
$GC,269,-0.57,-97.3,1424,3368,3138,3003,36.4,-13.6,46,277,0.00,2.28,0.00,0.000,1030,0.000,0.052,2371,1952,3085,3163,3007,0,0,0,0,0,0,28.83,25.67,28.83
$GC,402,-0.57,-97.3,2371,1952,3164,3007,55.1,-14.0,71,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1952,3085,3164,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.57,-97.3,1488,1951,3144,3003,99.5,-13.9,132,720,0.00,2.30,0.00,0.000,260,0.000,0.058,2361,3372,3086,3165,3008,0,0,0,0,0,0,28.83,25.73,28.83
$GC,771,-0.57,-97.3,2361,3372,3165,3007,107.2,-13.7,138,780,0.00,2.30,0.00,0.000,1030,0.000,0.050,2361,1959,3085,3164,3007,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1079,-0.57,-97.3,2361,1959,3165,3007,153.7,-15.3,169,1087,0.00,2.28,0.00,0.000,260,0.000,0.057,2351,3377,3086,3165,3007,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1171,-0.57,-97.3,2351,3376,3165,3007,167.4,-14.3,178,1182,0.15,2.25,0.00,0.000,3078,0.168,0.050,2387,1955,3086,3165,3007,0,0,0,0,0,0,25.51,25.82,28.83
$GC,1481,-0.57,-97.3,2387,1955,3166,3007,207.2,-12.0,209,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1783,-0.57,-97.3,2387,1955,3167,3007,240.9,-11.4,239,1791,0.00,2.22,0.00,0.000,260,0.000,0.057,2379,3361,3086,3166,3007,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1854,-0.57,-97.3,2379,3361,3166,3007,249.3,-11.3,246,1865,0.00,2.22,0.00,0.000,1030,0.000,0.050,2378,1953,3087,3167,3007,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2165,-0.57,-97.3,2378,1953,3167,3007,290.9,-13.7,277,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1953,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2467,-0.57,-97.3,2378,1954,3167,3007,331.2,-12.9,307,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1953,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2775,-0.57,-97.3,2379,1953,3166,3007,370.1,-12.4,338,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1953,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-0.57,-97.3,2378,1953,3167,3007,408.1,-11.8,366,3091,0.00,2.28,0.00,0.000,516,0.000,0.065,2379,549,3087,3168,3007,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3117,-0.57,-97.3,2378,548,3167,3007,410.5,-11.7,367,3124,0.00,2.22,0.00,0.000,1030,0.000,0.050,2369,1957,3087,3167,3007,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3425,-0.57,-97.3,2369,1957,3167,3007,447.4,-11.7,383,3431,0.00,2.25,0.00,0.000,260,0.000,0.058,2358,3372,3087,3167,3007,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3537,-0.57,-97.3,2358,3372,3167,3007,459.0,-11.6,388,3545,0.12,2.25,0.00,0.000,3078,0.168,0.050,2387,1952,3087,3167,3007,0,0,0,0,0,0,25.64,25.89,28.83
$GC,3844,-0.57,-97.3,2387,1952,3167,3007,493.2,-10.9,404,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1952,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.57,-97.3,2387,1952,3167,3007,525.0,-10.3,419,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1952,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4444,-0.57,-97.3,2387,1952,3167,3006,555.2,-10.1,434,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1952,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.57,-97.3,2387,1952,3167,3006,585.4,-10.0,449,4750,0.00,2.30,0.00,0.000,260,0.000,0.060,2378,3378,3086,3167,3006,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4807,-0.57,-97.3,2378,3378,3167,3005,591.3,-9.8,452,4811,0.00,2.28,0.00,0.000,1030,0.000,0.052,2379,1949,3086,3167,3006,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5119,-0.57,-97.3,2378,1948,3167,3005,623.8,-10.3,468,5125,0.00,2.30,0.00,0.000,260,0.000,0.060,2368,3378,3086,3167,3005,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5159,-0.57,-97.3,2368,3378,3166,3005,628.0,-10.4,470,5165,0.00,2.28,0.00,0.000,1030,0.000,0.052,2368,1949,3086,3167,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5479,-0.57,-97.3,2368,1949,3167,3005,662.4,-10.3,486,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1949,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,-0.57,-97.3,2368,1949,3167,3004,693.6,-10.9,501,5785,0.00,2.30,0.00,0.000,260,0.000,0.060,2358,3371,3085,3167,3004,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5839,-0.57,-97.3,2357,3371,3167,3004,700.2,-11.0,504,5845,0.12,2.25,0.00,0.000,3078,0.170,0.051,2387,1954,3085,3167,3003,0,0,0,0,0,0,25.60,25.84,28.83
$GC,6159,-0.57,-97.3,2387,1954,3167,3002,730.9,-9.5,520,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1954,3085,3167,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,-0.57,-97.3,2387,1954,3167,3002,759.2,-9.7,535,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1954,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6759,-0.57,-97.3,2386,1953,3167,3002,787.4,-9.3,550,6765,0.00,2.30,0.00,0.000,260,0.000,0.061,2378,3371,3084,3167,3002,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6832,-0.57,-97.3,2378,3371,3167,3002,793.1,-9.4,553,6839,0.00,2.28,0.00,0.000,1030,0.000,0.054,2378,1953,3084,3167,3001,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7140,-0.57,-97.3,2378,1952,3167,3001,824.8,-9.9,569,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1953,3084,3167,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7439,-0.57,-97.3,2378,1953,3167,3000,855.4,-10.0,584,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1953,3083,3167,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,-0.57,-97.3,2378,1953,3167,2999,886.1,-10.4,599,7746,0.00,2.30,0.00,0.000,260,0.000,0.062,2368,3368,3083,3167,2999,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7799,-0.57,-97.3,2368,3368,3167,2999,892.6,-10.7,602,7803,0.00,2.28,0.00,0.000,1030,0.000,0.054,2368,1947,3083,3167,2999,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8115,-0.57,-97.3,2368,1947,3166,2998,926.0,-10.2,618,8121,0.00,2.33,0.00,0.000,260,0.000,0.062,2358,3378,3082,3167,2998,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8179,-0.57,-97.3,2358,3378,3167,2997,932.3,-10.3,621,8184,0.12,2.30,0.00,0.000,3078,0.171,0.054,2386,1947,3082,3167,2997,0,0,0,0,0,0,25.53,25.77,28.83
$GC,8491,-0.57,-97.3,2386,1946,3167,2996,960.0,-8.8,637,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1946,3081,3167,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8792,-0.57,-97.3,2386,1946,3167,2996,987.8,-9.3,652,8798,0.00,2.30,0.00,0.000,260,0.000,0.063,2377,3368,3081,3167,2996,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8864,-0.57,-97.3,2377,3368,3167,2996,993.4,-9.3,655,8871,0.00,2.28,0.00,0.000,1030,0.000,0.054,2377,1950,3081,3167,2996,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,8930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8930,begin apogee
$GC,8935,-0.14,0.0,2377,1881,3167,2996,1000.7,-9.2,659,9031,0.50,0.00,89.80,1.766,10246,0.147,0.000,2526,1881,2683,2772,2594,0,0,0,0,0,0,25.27,28.83,23.12
$STATE,9032,end apogee,CONTROL_FINISHED_OK
$STATE,9032,begin climb
$GC,9035,0.57,97.3,2525,1880,2772,2594,1003.9,0.0,664,9134,0.68,0.00,94.97,1.701,10758,0.093,0.000,2751,1880,2286,2363,2210,0,0,0,0,0,0,24.45,28.83,22.23
$GC,9452,0.58,105.4,2751,1880,2355,2199,971.1,9.1,685,9464,0.00,2.40,7.60,1.525,8452,0.000,0.063,2751,3304,2253,2332,2174,0,0,0,0,0,0,28.83,25.18,23.77
$GC,9546,0.58,105.4,2751,3304,2331,2174,961.6,10.0,689,9551,0.00,2.35,0.00,0.000,1030,0.000,0.058,2761,1890,2252,2331,2174,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9863,0.58,105.4,2761,1889,2331,2172,930.4,10.2,705,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1889,2251,2331,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10163,0.58,105.4,2761,1889,2331,2169,899.8,10.0,720,10168,0.00,2.33,0.00,0.000,260,0.000,0.064,2761,3305,2250,2331,2169,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10231,0.58,105.4,2761,3306,2330,2169,893.2,10.9,723,10235,0.00,2.33,0.00,0.000,1030,0.000,0.058,2771,1884,2249,2330,2169,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10538,0.58,105.4,2771,1883,2330,2169,860.9,10.2,738,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1883,2249,2330,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10838,0.58,105.4,2771,1883,2330,2168,831.9,9.6,753,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1883,2249,2330,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11138,0.58,111.2,2771,1883,2330,2167,803.5,9.2,768,11150,0.00,2.35,6.32,1.454,8452,0.000,0.064,2771,3294,2229,2310,2149,0,0,0,0,0,0,28.83,25.96,24.45
$GC,11218,0.58,111.2,2771,3294,2310,2149,795.4,10.0,772,11224,0.00,2.30,0.00,0.000,1030,0.000,0.059,2782,1879,2229,2310,2149,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11538,0.58,111.2,2781,1879,2310,2149,761.7,10.6,788,11543,0.00,2.33,0.00,0.000,260,0.000,0.063,2782,3306,2229,2310,2148,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,18888,end climb,SURFACE_DEPTH_REACHED
$STATE,18889,begin surface coast
$FINISH,0.2,1.026682
$STATE,18911,end surface coast,CONTROL_FINISHED_OK
$STATE,18911,begin surface
$SM_CCo,18927,17.23,0.217,0,0,1865,200.16
$SM_GC,3.16,6.93,2.20,17.23,0.044,0.050,0.217,168,1956,1865,-7.42,0.68,200.16,0,0,0,0,0,0,26.09,25.84,25.60
$IRIDIUM_FIX,-4250.85,826.16,070709,171706
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.71
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,22.2,41.786
$10V_AH,10.0,28.712
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.825,141.975,237.225,17.225,0.000,25.764,40.613,244.758,0.000,0.000,20.909,3679.865,11906.975,443.075,3127.977,241.618,0.000,1767.100,0.000,2614.962,0.000,1.009,0.000
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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,353140
$DATA_FILE_SIZE,93916,1423
$CAP_FILE_SIZE,176653,0
$CFSIZE,259252224,236806144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,322.2,1
$GPS,100916,150633,-4305.312,828.570,61,0.9,62,-25.0