version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 289
start: 9 11 116 15 44 31
data:
$ID,542
$MISSION,14
$DIVE,289
$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,-41827.984
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,110916,153703,-4255.812,830.086,69,0.8,70,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.8
$GPS2,110916,154346,-4255.793,830.134,26,0.8,26,-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,36.9,3197,-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,-97.3,138,1967,1892,1806,0.0,0.0,0,67,0.00,0.00,-47.85,0.000,16390,0.000,0.000,139,1967,3084,3142,3027,0,0,0,0,0,0,28.83,28.83,26.35
$GC,70,-0.57,-97.3,138,1967,3144,3026,3.0,-3.4,8,85,8.90,2.35,0.00,0.000,2564,0.227,0.051,2388,533,3085,3151,3019,0,0,0,0,0,0,25.09,25.73,28.83
$GC,183,-0.57,-97.3,1440,533,3138,3009,23.4,-13.5,29,190,0.00,2.25,0.00,0.000,1030,0.000,0.050,2380,1950,3087,3162,3013,0,0,0,0,0,0,28.83,25.70,28.83
$GC,312,-0.57,-97.3,1432,1949,3140,3007,40.8,-13.8,54,319,0.00,2.28,0.00,0.000,260,0.000,0.058,2369,3366,3087,3164,3011,0,0,0,0,0,0,28.83,25.65,28.83
$GC,346,-0.57,-97.3,1488,3365,3143,3007,45.5,-14.0,60,353,0.00,2.30,0.00,0.000,1030,0.000,0.050,2369,1948,3088,3165,3011,0,0,0,0,0,0,28.83,25.72,28.83
$GC,659,-0.57,-97.3,2369,1948,3165,3011,89.9,-14.2,121,665,0.00,2.28,0.00,0.000,260,0.000,0.056,2359,3368,3088,3165,3011,0,0,0,0,0,0,28.83,25.72,28.83
$GC,683,-0.57,-97.3,2359,3368,3165,3011,93.4,-14.2,125,690,0.00,2.25,0.00,0.000,1030,0.000,0.048,2359,1948,3088,3165,3011,0,0,0,0,0,0,28.83,25.78,28.83
$GC,992,-0.57,-97.3,2359,1948,3165,3011,139.4,-14.8,160,1002,0.12,2.28,0.00,0.000,2308,0.191,0.054,2383,3365,3088,3165,3011,0,0,0,0,0,0,25.82,25.77,28.83
$GC,1027,-0.57,-97.3,2382,3365,3165,3011,143.9,-13.9,163,1035,0.00,2.28,0.00,0.000,1030,0.000,0.047,2383,1958,3088,3166,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1335,-0.57,-97.3,2383,1957,3166,3011,183.4,-12.7,194,1346,0.00,2.25,0.00,0.000,260,0.000,0.056,2373,3365,3088,3166,3011,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1370,-0.57,-97.3,2373,3365,3166,3011,187.6,-13.3,197,1377,0.00,2.28,0.00,0.000,1030,0.000,0.048,2373,1954,3088,3166,3011,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1678,-0.57,-97.3,2373,1953,3167,3011,228.1,-12.6,228,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3089,3167,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1979,-0.57,-97.3,2373,1953,3167,3011,265.2,-12.5,258,1989,0.00,2.25,0.00,0.000,516,0.000,0.061,2373,549,3089,3167,3011,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2033,-0.57,-97.3,2373,548,3167,3011,272.3,-13.4,263,2041,0.00,2.17,0.00,0.000,1030,0.000,0.048,2363,1957,3089,3167,3011,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2341,-0.57,-97.3,2363,1957,3167,3011,312.8,-12.8,294,2345,0.00,2.22,0.00,0.000,260,0.000,0.056,2352,3369,3089,3167,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2450,-0.57,-97.3,2353,3369,3167,3011,326.6,-12.6,304,2460,0.12,2.22,0.00,0.000,3078,0.171,0.047,2382,1947,3089,3167,3011,0,0,0,0,0,0,25.63,25.89,28.83
$GC,2761,-0.57,-97.3,2381,1947,3166,3011,361.7,-11.9,335,2769,0.00,2.22,0.00,0.000,516,0.000,0.061,2381,550,3089,3168,3011,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2815,-0.57,-97.3,2381,550,3167,3011,368.2,-12.5,340,2823,0.00,2.25,0.00,0.000,1030,0.000,0.048,2373,1956,3089,3168,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3123,-0.57,-97.3,2373,1956,3168,3011,408.5,-12.7,368,3129,0.00,2.22,0.00,0.000,260,0.000,0.057,2363,3372,3089,3168,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3225,-0.57,-97.3,2362,3372,3168,3011,420.6,-12.0,373,3229,0.00,2.25,0.00,0.000,1030,0.000,0.048,2362,1945,3089,3168,3011,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3543,-0.57,-97.3,2363,1945,3168,3011,461.8,-12.8,389,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1945,3089,3168,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3842,-0.57,-97.3,2362,1945,3168,3011,499.3,-12.6,404,3848,0.00,2.28,0.00,0.000,260,0.000,0.057,2352,3372,3089,3168,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3870,-0.57,-97.3,2352,3372,3168,3011,501.9,-12.7,405,3875,0.12,2.25,0.00,0.000,3078,0.173,0.049,2381,1948,3089,3168,3010,0,0,0,0,0,0,25.61,25.89,28.83
$GC,4177,-0.57,-97.3,2381,1948,3168,3011,539.1,-11.7,420,4183,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3369,3089,3168,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4210,-0.57,-97.3,2372,3369,3168,3011,541.4,-11.6,421,4217,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1947,3089,3168,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4517,-0.57,-97.3,2372,1946,3168,3010,578.8,-11.5,437,4523,0.00,2.30,0.00,0.000,260,0.000,0.057,2362,3378,3089,3168,3010,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4565,-0.57,-97.3,2362,3378,3169,3010,583.3,-11.4,439,4569,0.00,2.28,0.00,0.000,1030,0.000,0.050,2363,1946,3089,3168,3010,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4872,-0.57,-97.3,2362,1945,3168,3009,620.4,-12.0,454,4878,0.00,2.28,0.00,0.000,260,0.000,0.059,2353,3368,3088,3168,3009,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4946,-0.57,-97.3,2352,3368,3168,3009,627.8,-12.2,457,4953,0.12,2.25,0.00,0.000,3078,0.175,0.050,2382,1944,3088,3168,3008,0,0,0,0,0,0,25.59,25.86,28.83
$GC,5252,-0.57,-97.3,2381,1944,3168,3007,663.4,-11.1,473,5258,0.00,2.30,0.00,0.000,260,0.000,0.059,2373,3376,3087,3168,3007,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5285,-0.57,-97.3,2372,3376,3168,3007,665.7,-11.2,474,5293,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1952,3087,3168,3007,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5592,-0.57,-97.3,2373,1952,3168,3006,703.2,-11.8,490,5598,0.00,2.28,0.00,0.000,260,0.000,0.059,2363,3368,3087,3168,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5665,-0.57,-97.3,2363,3368,3168,3005,710.2,-11.7,493,5672,0.00,2.25,0.00,0.000,1030,0.000,0.051,2363,1949,3086,3168,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5972,-0.57,-97.3,2363,1949,3168,3005,748.4,-11.6,509,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1949,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6272,-0.57,-97.3,2363,1949,3168,3004,783.2,-11.8,524,6278,0.00,2.30,0.00,0.000,260,0.000,0.060,2353,3375,3086,3168,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6295,-0.57,-97.3,2352,3375,3168,3003,785.6,-12.0,525,6300,0.12,2.28,0.00,0.000,3078,0.177,0.051,2381,1948,3085,3168,3003,0,0,0,0,0,0,25.56,25.83,28.83
$GC,6608,-0.57,-97.3,2381,1948,3168,3003,819.8,-10.8,541,6613,0.00,2.30,0.00,0.000,260,0.000,0.060,2373,3375,3085,3168,3003,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6727,-0.57,-97.3,2372,3375,3168,3002,833.3,-11.3,547,6734,0.00,2.25,0.00,0.000,1030,0.000,0.052,2373,1955,3085,3168,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7048,-0.57,-97.3,2373,1955,3168,3002,868.9,-11.0,563,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3085,3168,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.57,-97.3,2372,1955,3168,3001,899.8,-9.8,578,7353,0.00,2.28,0.00,0.000,260,0.000,0.061,2363,3372,3084,3168,3001,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7375,-0.57,-97.3,2362,3372,3168,3001,901.7,-9.7,579,7379,0.00,2.25,0.00,0.000,1030,0.000,0.053,2363,1955,3084,3168,3001,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7683,-0.57,-97.3,2362,1954,3168,3001,934.1,-10.7,594,7689,0.00,2.28,0.00,0.000,260,0.000,0.061,2353,3367,3084,3168,3001,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7702,-0.57,-97.3,2352,3367,3168,3001,936.2,-10.8,595,7709,0.12,2.25,0.00,0.000,3078,0.175,0.053,2382,1955,3084,3168,3001,0,0,0,0,0,0,25.54,25.81,28.83
$GC,8023,-0.57,-97.3,2381,1955,3168,3000,967.0,-9.8,611,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1955,3084,3168,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8323,-0.57,-97.3,2381,1955,3168,2999,995.6,-9.4,626,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3083,3168,2999,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8382,begin apogee
$GC,8387,-0.14,0.0,2381,1872,3168,2999,1001.2,-9.4,629,8482,0.47,0.00,90.07,1.760,10246,0.149,0.000,2523,1871,2683,2768,2599,0,0,0,0,0,0,25.29,28.83,23.12
$STATE,8483,end apogee,CONTROL_FINISHED_OK
$STATE,8484,begin climb
$GC,8486,0.57,97.3,2523,1871,2768,2599,1004.6,0.0,634,8585,0.70,0.00,94.80,1.707,10758,0.094,0.000,2755,1871,2286,2361,2211,0,0,0,0,0,0,24.45,28.83,22.24
$GC,8882,0.57,97.3,2755,1871,2353,2202,971.9,9.7,654,8888,0.00,2.40,0.00,0.000,260,0.000,0.063,2756,3302,2277,2353,2202,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8923,0.57,97.3,2755,3303,2351,2202,967.8,10.0,656,8929,0.00,2.35,0.00,0.000,1030,0.000,0.057,2765,1888,2276,2351,2202,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9243,0.57,97.3,2765,1888,2351,2199,935.3,10.4,672,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1888,2275,2351,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9542,0.57,97.3,2765,1888,2350,2198,904.9,10.1,687,9548,0.00,2.33,0.00,0.000,260,0.000,0.063,2766,3307,2274,2350,2198,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9565,0.57,97.3,1864,3305,2309,2192,902.7,10.2,688,9569,0.00,2.38,0.00,0.000,1030,0.000,0.059,2776,1887,2273,2350,2197,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9882,0.57,97.3,2776,1886,2350,2197,868.9,10.4,704,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1886,2273,2350,2197,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17946,end climb,SURFACE_DEPTH_REACHED
$STATE,17946,begin surface coast
$FINISH,0.3,1.026647
$STATE,17973,end surface coast,CONTROL_FINISHED_OK
$STATE,17973,begin surface
$SM_CCo,17988,26.60,0.179,0,0,1865,200.16
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$IRIDIUM_FIX,-4233.25,1108.79,090709,000007
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.15
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,22.2,42.644
$10V_AH,10.0,29.307
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,93935,1380
$CAP_FILE_SIZE,183694,0
$CFSIZE,259252224,236326912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,274.6,1
$GPS,110916,204623,-4253.742,829.557,40,5.0,60,-25.0