version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 286
start: 9 11 116 0 54 3
data:
$ID,542
$MISSION,14
$DIVE,286
$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,-41824.117
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,110916,004656,-4303.391,829.541,48,1.0,48,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.4
$GPS2,110916,005320,-4303.378,829.443,19,1.3,19,-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,45.6,17255,-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,-97.3,151,1948,1921,1794,0.0,0.0,0,66,0.00,0.00,-46.90,0.000,16390,0.000,0.000,149,1948,3082,3142,3023,0,0,0,0,0,0,28.83,28.83,26.38
$GC,69,-0.55,-97.3,149,1948,3143,3023,3.4,-4.9,8,84,8.68,2.33,0.00,0.000,2564,0.219,0.052,2393,525,3083,3150,3016,0,0,0,0,0,0,25.09,25.74,28.83
$GC,172,-0.55,-97.3,1448,524,3137,3007,22.7,-12.9,27,179,0.00,2.30,0.00,0.000,1030,0.000,0.051,2384,1967,3086,3161,3011,0,0,0,0,0,0,28.83,25.69,28.83
$GC,302,-0.55,-97.3,1432,1965,3140,3005,39.6,-13.0,52,309,0.00,2.25,0.00,0.000,260,0.000,0.058,2374,3366,3086,3164,3009,0,0,0,0,0,0,28.83,25.65,28.83
$GC,346,-0.55,-97.3,2374,3366,3164,3009,45.4,-12.7,60,353,0.00,2.28,0.00,0.000,1030,0.000,0.049,2374,1940,3086,3164,3009,0,0,0,0,0,0,28.83,25.72,28.83
$GC,659,-0.55,-97.3,2374,1940,3164,3009,87.6,-13.3,121,666,0.00,2.30,0.00,0.000,260,0.000,0.057,2364,3372,3087,3165,3009,0,0,0,0,0,0,28.83,25.71,28.83
$GC,713,-0.55,-97.3,2363,3372,3165,3009,94.8,-12.8,131,721,0.12,2.25,0.00,0.000,3078,0.171,0.049,2393,1949,3087,3165,3009,0,0,0,0,0,0,25.53,25.77,28.83
$GC,1028,-0.55,-97.3,2392,1949,3166,3009,131.0,-11.5,166,1032,0.00,2.28,0.00,0.000,260,0.000,0.057,2384,3368,3087,3166,3009,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1067,-0.55,-97.3,2383,3368,3166,3009,135.2,-11.3,169,1074,0.00,2.30,0.00,0.000,1030,0.000,0.049,2384,1951,3087,3166,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1375,-0.55,-97.3,2384,1951,3166,3009,175.5,-13.2,200,1379,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3372,3087,3166,3009,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1393,-0.55,-97.3,2373,3372,3166,3009,177.7,-13.3,201,1401,0.00,2.30,0.00,0.000,1030,0.000,0.049,2373,1946,3087,3166,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1701,-0.55,-97.3,2373,1945,3166,3009,219.0,-13.4,232,1711,0.00,2.28,0.00,0.000,260,0.000,0.057,2363,3369,3088,3167,3009,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1722,-0.55,-97.3,2363,3369,3167,3009,221.9,-13.4,234,1734,0.12,2.22,0.00,0.000,3078,0.168,0.049,2392,1952,3088,3167,3009,0,0,0,0,0,0,25.62,25.87,28.83
$GC,2033,-0.55,-97.3,2392,1952,3167,3009,258.7,-11.6,265,2042,0.00,2.25,0.00,0.000,260,0.000,0.057,2383,3364,3088,3167,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2056,-0.55,-97.3,2383,3364,3167,3009,261.1,-11.6,267,2064,0.00,2.20,0.00,0.000,1030,0.000,0.049,2384,1957,3088,3167,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2364,-0.55,-97.3,2384,1957,3168,3009,298.6,-12.3,298,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2666,-0.55,-97.3,2384,1957,3167,3009,334.5,-11.5,328,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-0.55,-97.3,2383,1956,3168,3009,368.6,-11.4,358,2977,0.00,2.22,0.00,0.000,260,0.000,0.058,2373,3363,3088,3168,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3082,-0.55,-97.3,2373,3363,3168,3009,381.3,-10.8,369,3090,0.00,2.22,0.00,0.000,1030,0.000,0.050,2373,1951,3088,3168,3009,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3391,-0.55,-97.3,2373,1951,3167,3009,417.2,-11.8,393,3397,0.00,2.28,0.00,0.000,516,0.000,0.063,2373,546,3088,3168,3009,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3419,-0.55,-97.3,2373,546,3167,3009,419.7,-11.9,394,3424,0.12,2.20,0.00,0.000,3078,0.177,0.050,2392,1950,3088,3168,3009,0,0,0,0,0,0,25.63,25.94,28.83
$GC,3725,-0.55,-97.3,2392,1950,3167,3009,452.5,-10.3,409,3730,0.00,2.25,0.00,0.000,260,0.000,0.058,2383,3369,3088,3168,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3784,-0.55,-97.3,1536,3368,3148,3005,458.3,-10.3,412,3789,0.00,2.28,0.00,0.000,1030,0.000,0.050,2383,1958,3088,3168,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4102,-0.55,-97.3,2383,1957,3168,3009,494.7,-11.4,428,4107,0.00,2.30,0.00,0.000,516,0.000,0.063,2383,545,3088,3168,3009,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4142,-0.55,-97.3,2383,544,3168,3009,499.5,-11.7,430,4146,0.00,2.25,0.00,0.000,1030,0.000,0.051,2373,1964,3088,3167,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4458,-0.55,-97.3,2373,1965,3168,3009,537.8,-12.5,446,4464,0.00,2.25,0.00,0.000,260,0.000,0.058,2362,3374,3088,3168,3009,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4491,-0.55,-97.3,2362,3374,3167,3009,540.3,-12.6,447,4498,0.12,2.25,0.00,0.000,3078,0.168,0.050,2392,1953,3087,3167,3008,0,0,0,0,0,0,25.63,25.87,28.83
$GC,4798,-0.55,-97.3,2391,1952,3168,3008,576.1,-10.9,463,4804,0.00,2.28,0.00,0.000,260,0.000,0.059,2382,3368,3088,3168,3008,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4846,-0.55,-97.3,2382,3369,3167,3007,580.5,-10.9,465,4850,0.00,2.25,0.00,0.000,1030,0.000,0.050,2382,1950,3087,3168,3006,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5153,-0.55,-97.3,2382,1949,3167,3007,615.2,-11.2,480,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.55,-97.3,2382,1950,3167,3006,649.3,-11.3,495,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5753,-0.55,-97.3,2382,1950,3168,3005,682.9,-11.1,510,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.55,-97.3,2382,1950,3167,3005,713.8,-9.8,525,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1950,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6353,-0.55,-97.3,2382,1950,3168,3004,742.3,-9.6,540,6359,0.00,2.30,0.00,0.000,260,0.000,0.060,2372,3371,3085,3167,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6386,-0.55,-97.3,2372,3371,3168,3004,744.1,-9.6,541,6393,0.00,2.28,0.00,0.000,1030,0.000,0.053,2372,1950,3086,3168,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6693,-0.55,-97.3,2372,1950,3167,3003,774.7,-9.6,557,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1950,3085,3168,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6993,-0.55,-97.3,2372,1950,3168,3002,804.1,-10.0,572,6999,0.00,2.30,0.00,0.000,260,0.000,0.061,2362,3371,3085,3168,3002,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7026,-0.55,-97.3,2362,3370,3167,3002,806.1,-10.0,573,7033,0.12,2.28,0.00,0.000,3078,0.168,0.054,2391,1952,3085,3168,3002,0,0,0,0,0,0,25.58,25.81,28.83
$GC,7333,-0.55,-97.3,2391,1952,3168,3002,835.6,-9.1,589,7339,0.00,2.30,0.00,0.000,260,0.000,0.062,2383,3372,3084,3167,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7396,-0.55,-97.3,1536,3371,3148,2998,841.1,-9.2,592,7401,0.00,2.28,0.00,0.000,1030,0.000,0.054,2382,1950,3085,3168,3002,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7708,-0.55,-97.3,2382,1950,3168,3001,870.0,-9.3,608,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1950,3084,3167,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-0.55,-97.3,2382,1950,3167,3000,898.7,-9.8,623,8014,0.00,2.30,0.00,0.000,260,0.000,0.062,2372,3368,3084,3168,3000,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8036,-0.55,-97.3,2372,3368,3167,3000,900.6,-9.8,624,8040,0.00,2.28,0.00,0.000,1030,0.000,0.054,2372,1949,3084,3168,3000,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8343,-0.55,-97.3,2372,1948,3167,2999,933.6,-10.5,639,8349,0.00,2.30,0.00,0.000,516,0.000,0.069,2372,547,3083,3168,2999,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8366,-0.55,-97.3,1536,547,3148,2995,935.8,-10.7,640,8371,0.08,2.30,0.00,0.000,3078,0.162,0.055,2385,1956,3083,3168,2999,0,0,0,0,0,0,25.54,25.83,28.83
$GC,8683,-0.55,-97.3,2385,1957,3167,2998,967.9,-10.3,656,8688,0.00,2.30,0.00,0.000,260,0.000,0.063,2376,3374,3083,3168,2998,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8783,-0.55,-97.3,2375,3374,3167,2998,978.3,-10.5,661,8789,0.00,2.28,0.00,0.000,1030,0.000,0.054,2376,1952,3082,3167,2998,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,9001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9001,begin apogee
$GC,9006,-0.14,0.0,2376,1868,3167,2998,1001.3,-10.4,672,9103,0.50,0.00,90.20,1.769,10246,0.146,0.000,2524,1868,2683,2769,2597,0,0,0,0,0,0,25.30,28.83,23.09
$STATE,9104,end apogee,CONTROL_FINISHED_OK
$STATE,9104,begin climb
$GC,9106,0.55,97.3,2524,1867,2769,2596,1005.3,0.0,677,9210,0.70,2.55,95.25,1.714,10756,0.093,0.070,2760,489,2285,2362,2209,0,0,0,0,0,0,24.44,23.40,22.21
$GC,9227,0.66,208.0,1824,489,2313,2203,1000.6,5.2,683,9346,0.00,2.45,112.18,1.696,9222,0.000,0.054,2760,1890,1834,1914,1754,0,0,0,0,0,0,28.83,23.89,22.21
$GC,9663,0.66,208.0,2760,1890,1904,1739,945.4,13.5,705,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1890,1822,1905,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9963,0.66,208.0,2760,1890,1903,1737,903.9,13.9,720,9968,0.00,2.38,0.00,0.000,516,0.000,0.075,2771,478,1820,1903,1737,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10032,0.66,208.0,2770,478,1902,1736,894.9,14.8,723,10037,0.00,2.28,0.00,0.000,1030,0.000,0.055,2770,1888,1819,1902,1737,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10338,0.66,208.0,2770,1889,1902,1734,847.8,14.8,738,10344,0.00,2.35,0.00,0.000,516,0.000,0.075,2781,482,1818,1902,1735,0,0,0,0,0,0,28.83,25.66,28.83
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$STATE,15967,end climb,SURFACE_DEPTH_REACHED
$STATE,15967,begin surface coast
$FINISH,0.1,1.004226
$STATE,15988,end surface coast,CONTROL_FINISHED_OK
$STATE,15988,begin surface
$SM_CCo,16064,0.00,0.000,0,0,1812,213.65
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$IRIDIUM_FIX,-4247.91,831.99,080709,090923
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.18
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,22.2,42.232
$10V_AH,10.0,28.999
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.000,169.475,297.625,0.000,0.000,26.569,18.179,210.434,0.000,0.000,21.076,3155.262,9907.401,480.373,2678.907,238.529,0.000,1682.144,0.000,2242.504,0.000,1.010,0.000
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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,353148
$DATA_FILE_SIZE,80274,1218
$CAP_FILE_SIZE,161451,0
$CFSIZE,259252224,236597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.171,301.3,1
$GPS,110916,052303,-4300.659,828.971,41,0.9,42,-25.0