version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 304
start: 9 14 116 19 5 35
data:
$ID,542
$MISSION,14
$DIVE,304
$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,-41846.812
$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,25
$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
$GPS1,140916,185804,-4257.482,829.649,74,1.3,75,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.9
$GPS2,140916,190452,-4257.524,829.657,18,1.5,18,-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,56.2,6415,-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,-97.3,138,1948,1901,1814,0.0,0.0,0,67,0.00,0.00,-47.22,0.000,16390,0.000,0.000,138,1948,3083,3146,3020,0,0,0,0,0,0,28.83,28.83,26.36
$GC,70,-0.55,-97.3,138,1948,3147,3020,3.4,-5.4,8,85,8.85,2.30,0.00,0.000,2564,0.224,0.050,2394,536,3084,3153,3016,0,0,0,0,0,0,25.05,25.73,28.83
$GC,210,-0.55,-97.3,1424,536,3140,3006,28.2,-12.8,34,218,0.00,2.28,0.00,0.000,1030,0.000,0.050,2386,1962,3088,3165,3011,0,0,0,0,0,0,28.83,25.70,28.83
$GC,342,-0.55,-97.3,2386,1963,3166,3009,44.5,-12.1,59,349,0.00,2.25,0.00,0.000,260,0.000,0.057,2375,3371,3087,3166,3009,0,0,0,0,0,0,28.83,25.65,28.83
$GC,417,-0.55,-97.3,2375,3370,3166,3009,53.9,-12.2,73,423,0.00,2.25,0.00,0.000,1030,0.000,0.048,2375,1951,3087,3166,3009,0,0,0,0,0,0,28.83,25.72,28.83
$GC,728,-0.55,-97.3,2375,1951,3167,3008,95.6,-13.1,134,735,0.00,2.28,0.00,0.000,260,0.000,0.055,2365,3373,3088,3167,3009,0,0,0,0,0,0,28.83,25.73,28.83
$GC,748,-0.55,-97.3,2365,3373,3167,3009,98.1,-12.8,137,755,0.12,2.25,0.00,0.000,3078,0.171,0.049,2394,1951,3088,3167,3009,0,0,0,0,0,0,25.51,25.77,28.83
$GC,1058,-0.55,-97.3,2394,1951,3168,3009,136.9,-12.3,169,1067,0.00,2.28,0.00,0.000,260,0.000,0.056,2385,3373,3088,3168,3009,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1080,-0.55,-97.3,2385,3373,3168,3008,139.6,-12.2,171,1089,0.00,2.22,0.00,0.000,1030,0.000,0.047,2386,1952,3088,3168,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1389,-0.55,-97.3,2385,1952,3168,3009,178.5,-12.6,202,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.55,-97.3,2385,1952,3169,3009,214.6,-11.8,232,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1952,3088,3169,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-0.55,-97.3,2385,1952,3169,3009,250.3,-12.1,262,2002,0.00,2.25,0.00,0.000,260,0.000,0.055,2375,3372,3089,3169,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2074,-0.55,-97.3,2375,3372,3169,3009,260.6,-12.3,270,2078,0.00,2.22,0.00,0.000,1030,0.000,0.047,2375,1955,3089,3169,3009,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2379,-0.55,-97.3,2375,1954,3169,3008,298.9,-13.1,300,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1954,3089,3169,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.55,-97.3,2375,1954,3169,3009,338.1,-13.1,330,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3089,3169,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-0.55,-97.3,2375,1954,3170,3009,376.5,-12.6,360,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3089,3170,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.55,-97.3,2375,1954,3170,3009,414.4,-12.0,385,3295,0.00,2.28,0.00,0.000,260,0.000,0.057,2365,3372,3089,3170,3009,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3318,-0.55,-97.3,2365,3372,3170,3009,416.8,-11.9,386,3323,0.12,2.25,0.00,0.000,3078,0.167,0.048,2395,1945,3089,3170,3009,0,0,0,0,0,0,25.63,25.89,28.83
$GC,3624,-0.55,-97.3,2394,1945,3170,3008,449.0,-9.9,401,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1945,3089,3170,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3925,-0.55,-97.3,2394,1945,3170,3009,480.1,-10.6,416,3930,0.00,2.28,0.00,0.000,516,0.000,0.063,2394,544,3089,3170,3008,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3947,-0.55,-97.3,1552,544,3152,3005,482.3,-10.7,417,3952,0.00,2.22,0.00,0.000,1030,0.000,0.050,2386,1960,3089,3170,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4260,-0.55,-97.3,2386,1960,3170,3008,518.4,-11.4,433,4265,0.00,2.25,0.00,0.000,260,0.000,0.057,2375,3375,3089,3170,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4373,-0.55,-97.3,2375,3375,3170,3007,529.5,-11.0,438,4380,0.00,2.25,0.00,0.000,1030,0.000,0.050,2375,1951,3088,3170,3007,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4679,-0.55,-97.3,2376,1951,3170,3006,565.9,-11.3,454,4685,0.00,2.28,0.00,0.000,260,0.000,0.058,2365,3369,3088,3170,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4707,-0.55,-97.3,2365,3369,3170,3006,568.1,-11.1,455,4712,0.12,2.25,0.00,0.000,3078,0.168,0.050,2394,1951,3088,3170,3006,0,0,0,0,0,0,25.60,25.84,28.83
$GC,5015,-0.55,-97.3,2395,1951,3169,3005,598.1,-9.4,470,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1951,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5315,-0.55,-97.3,2394,1951,3170,3005,627.1,-10.1,485,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1951,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,-0.55,-97.3,2394,1950,3170,3004,656.8,-10.2,500,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1951,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5915,-0.55,-97.3,2394,1951,3170,3003,687.2,-10.3,515,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1951,3086,3170,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-0.55,-97.3,2394,1951,3170,3002,718.1,-10.1,530,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1951,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,-0.55,-97.3,2394,1951,3170,3002,749.0,-10.4,545,6521,0.00,2.30,0.00,0.000,260,0.000,0.060,2386,3371,3085,3170,3001,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6534,-0.55,-97.3,2387,3371,3171,3002,751.1,-10.5,546,6539,0.00,2.25,0.00,0.000,1030,0.000,0.051,2386,1956,3086,3170,3002,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6851,-0.55,-97.3,2386,1955,3170,3001,784.3,-10.1,562,6856,0.00,2.30,0.00,0.000,516,0.000,0.067,2386,546,3085,3170,3001,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6880,-0.55,-97.3,2386,546,3170,3001,786.4,-10.2,563,6884,0.00,2.25,0.00,0.000,1030,0.000,0.054,2376,1961,3085,3170,3001,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7186,-0.55,-97.3,2376,1961,3170,3001,818.0,-9.9,578,7192,0.00,2.28,0.00,0.000,260,0.000,0.061,2366,3375,3085,3170,3001,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7245,-0.55,-97.3,2365,3375,3170,3001,824.0,-10.0,581,7252,0.12,2.25,0.00,0.000,3078,0.170,0.052,2394,1957,3085,3170,3001,0,0,0,0,0,0,25.53,25.76,28.83
$GC,7566,-0.55,-97.3,2394,1957,3170,3000,853.3,-9.6,597,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1956,3085,3170,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-0.55,-97.3,2393,1957,3170,2999,882.8,-9.6,612,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1957,3084,3170,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8166,-0.55,-97.3,2394,1956,3170,2998,911.9,-9.6,627,8172,0.00,2.30,0.00,0.000,516,0.000,0.069,2394,547,3084,3170,2998,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8199,-0.55,-97.3,2394,547,3170,2998,914.0,-9.7,628,8205,0.00,2.25,0.00,0.000,1030,0.000,0.055,2386,1956,3084,3170,2998,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8505,-0.55,-97.3,2386,1956,3171,2998,944.7,-9.5,644,8511,0.00,2.30,0.00,0.000,260,0.000,0.063,2375,3378,3084,3170,2998,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8554,-0.55,-97.3,2375,3378,3170,2997,948.6,-9.6,646,8558,0.00,2.28,0.00,0.000,1030,0.000,0.054,2375,1956,3084,3170,2998,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8861,-0.55,-97.3,2375,1956,3170,2997,979.2,-9.7,661,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3083,3170,2997,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9079,begin apogee
$GC,9084,-0.14,0.0,2375,1873,3170,2997,1000.0,-9.4,672,9181,0.50,0.00,90.28,1.765,10246,0.147,0.000,2523,1873,2683,2765,2601,0,0,0,0,0,0,25.20,28.83,23.06
$STATE,9182,end apogee,CONTROL_FINISHED_OK
$STATE,9182,begin climb
$GC,9184,0.55,97.3,2522,1873,2765,2601,1003.0,0.0,677,9284,0.70,0.00,96.30,1.711,10246,0.093,0.000,2749,1873,2286,2358,2215,0,0,0,0,0,0,24.44,28.83,22.18
$GC,9582,0.56,109.8,2748,1872,2350,2204,972.3,9.0,697,9601,0.00,2.42,12.18,1.606,8452,0.000,0.063,2749,3308,2234,2309,2160,0,0,0,0,0,0,28.83,25.06,23.66
$GC,9637,0.57,112.5,2748,3308,2308,2160,968.1,9.3,699,9647,0.00,2.35,4.07,1.243,9222,0.000,0.057,2759,1899,2225,2300,2150,0,0,0,0,0,0,28.83,25.19,23.58
$GC,9965,0.57,112.5,2758,1899,2300,2148,934.5,9.6,716,9971,0.00,2.30,0.00,0.000,260,0.000,0.063,2759,3301,2224,2300,2148,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10007,0.57,112.5,2758,3301,2298,2147,930.2,10.1,718,10011,0.00,2.35,0.00,0.000,1030,0.000,0.058,2769,1874,2222,2298,2147,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10324,0.57,112.5,2769,1874,2298,2146,898.1,9.9,734,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1874,2222,2298,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10624,0.57,112.5,2769,1874,2297,2145,868.6,9.8,749,10630,0.00,2.33,0.00,0.000,260,0.000,0.063,2769,3303,2221,2297,2145,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10677,0.57,112.5,2768,3303,2295,2145,864.4,10.2,751,10684,0.00,2.30,0.00,0.000,1030,0.000,0.059,2779,1882,2221,2296,2146,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10985,0.57,112.5,2779,1882,2295,2145,829.8,10.1,767,10990,0.00,2.30,0.00,0.000,260,0.000,0.063,2779,3301,2220,2295,2145,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11032,0.57,112.5,2779,3301,2295,2145,825.5,10.3,769,11037,0.12,2.30,0.00,0.000,5126,0.196,0.058,2762,1882,2220,2295,2145,0,0,0,0,0,0,25.53,25.82,28.83
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$STATE,19299,end climb,SURFACE_DEPTH_REACHED
$STATE,19299,begin surface coast
$FINISH,0.3,1.026662
$STATE,19322,end surface coast,CONTROL_FINISHED_OK
$STATE,19322,begin surface
$SM_CCo,19397,0.00,0.000,0,0,1866,200.41
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$IRIDIUM_FIX,-4242.04,828.21,120709,030355
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.23
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.2,44.832
$10V_AH,10.0,30.820
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.150,146.275,266.800,0.000,0.000,24.395,44.363,214.387,0.000,0.000,19.751,3762.770,12270.709,460.795,3063.083,260.529,0.000,1759.362,0.000,2576.872,0.000,1.010,0.000
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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,353200
$DATA_FILE_SIZE,97117,1471
$CAP_FILE_SIZE,178399,0
$CFSIZE,259252224,235143168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,286.9,1
$GPS,150916,003004,-4255.243,829.536,37,0.9,37,-25.0