version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 323
start: 9 18 116 21 33 44
data:
$ID,542
$MISSION,14
$DIVE,323
$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,-41871.148
$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,27
$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
$GPS1,180916,212533,-4306.529,831.007,99,0.9,100,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.4
$GPS2,180916,213258,-4306.537,831.020,16,1.9,16,-25.1
$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,335.0,1779,-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,-97.3,138,1963,1877,1808,0.0,0.0,0,69,0.00,0.00,-47.90,0.000,16390,0.000,0.000,138,1963,3083,3145,3021,0,0,0,0,0,0,28.83,28.83,26.32
$GC,71,-0.57,-97.3,138,1963,3146,3020,3.7,-6.4,8,86,8.98,2.35,0.00,0.000,2564,0.230,0.052,2392,533,3083,3151,3016,0,0,0,0,0,0,24.99,25.69,28.83
$GC,123,-0.57,-97.3,1472,533,3137,3007,17.4,-17.8,17,131,0.00,2.28,0.00,0.000,1030,0.000,0.050,2384,1959,3086,3163,3010,0,0,0,0,0,0,28.83,25.70,28.83
$GC,174,-0.57,-97.3,1472,1957,3142,3005,24.5,-13.1,26,182,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3371,3086,3164,3009,0,0,0,0,0,0,28.83,25.63,28.83
$GC,209,-0.57,-97.3,1456,3369,3142,3004,29.3,-13.9,32,216,0.00,2.28,0.00,0.000,1030,0.000,0.050,2373,1950,3086,3164,3009,0,0,0,0,0,0,28.83,25.67,28.83
$GC,341,-0.57,-97.3,2373,1949,3165,3008,47.3,-13.8,57,348,0.00,2.28,0.00,0.000,516,0.000,0.061,2373,550,3086,3165,3008,0,0,0,0,0,0,28.83,25.62,28.83
$GC,369,-0.57,-97.3,2373,550,3165,3008,51.5,-14.3,62,377,0.00,2.22,0.00,0.000,1030,0.000,0.050,2362,1957,3086,3165,3008,0,0,0,0,0,0,28.83,25.75,28.83
$GC,683,-0.57,-97.3,2362,1957,3165,3008,94.4,-13.1,123,689,0.00,2.25,0.00,0.000,260,0.000,0.057,2352,3368,3086,3165,3008,0,0,0,0,0,0,28.83,25.75,28.83
$GC,777,-0.57,-97.3,2352,3368,3165,3008,106.8,-12.8,136,788,0.12,2.22,0.00,0.000,3078,0.177,0.049,2381,1957,3086,3165,3008,0,0,0,0,0,0,25.51,25.81,28.83
$GC,1088,-0.57,-97.3,2381,1956,3166,3008,144.5,-12.6,167,1097,0.00,2.25,0.00,0.000,516,0.000,0.061,2382,550,3087,3166,3008,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1122,-0.57,-97.3,2382,549,3167,3008,148.7,-12.9,170,1130,0.00,2.25,0.00,0.000,1030,0.000,0.049,2374,1952,3087,3166,3008,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1430,-0.57,-97.3,2373,1952,3166,3008,189.0,-13.2,201,1438,0.00,2.25,0.00,0.000,260,0.000,0.057,2363,3371,3087,3166,3008,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1544,-0.57,-97.3,2362,3371,3166,3008,203.6,-13.0,212,1553,0.00,2.20,0.00,0.000,1030,0.000,0.048,2363,1957,3087,3166,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1854,-0.57,-97.3,2362,1957,3167,3008,245.9,-13.7,243,1862,0.00,2.28,0.00,0.000,516,0.000,0.062,2363,543,3087,3167,3008,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1896,-0.57,-97.3,2362,542,3167,3008,251.8,-14.2,247,1905,0.12,2.22,0.00,0.000,3078,0.186,0.050,2381,1964,3087,3167,3008,0,0,0,0,0,0,25.57,25.90,28.83
$GC,2206,-0.57,-97.3,2381,1964,3167,3008,289.9,-12.4,278,2215,0.00,2.20,0.00,0.000,260,0.000,0.057,2372,3367,3087,3167,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2281,-0.57,-97.3,2372,3367,3167,3008,298.6,-11.6,285,2288,0.00,2.22,0.00,0.000,1030,0.000,0.048,2372,1951,3087,3167,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2588,-0.57,-97.3,2372,1951,3167,3009,336.6,-11.9,316,2598,0.00,2.25,0.00,0.000,260,0.000,0.056,2361,3365,3087,3167,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2651,-0.57,-97.3,2362,3365,3167,3009,344.3,-12.4,322,2661,0.00,2.22,0.00,0.000,1030,0.000,0.048,2362,1951,3087,3167,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2961,-0.57,-97.3,2361,1950,3167,3008,384.5,-12.9,353,2970,0.00,2.28,0.00,0.000,260,0.000,0.056,2352,3376,3087,3167,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3006,-0.57,-97.3,2351,3376,3167,3008,389.8,-12.7,357,3014,0.12,2.25,0.00,0.000,3078,0.172,0.047,2381,1953,3088,3167,3009,0,0,0,0,0,0,25.62,25.91,28.83
$GC,3314,-0.57,-97.3,2381,1954,3167,3008,420.4,-9.7,378,3320,0.00,2.28,0.00,0.000,516,0.000,0.061,2381,544,3087,3167,3008,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3455,-0.57,-97.3,2381,544,3167,3008,435.0,-10.5,385,3460,0.00,2.20,0.00,0.000,1030,0.000,0.049,2374,1953,3087,3167,3008,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3773,-0.57,-97.3,2373,1954,3167,3008,470.3,-11.5,401,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-0.57,-97.3,2373,1954,3167,3008,504.1,-11.2,416,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.57,-97.3,2373,1954,3167,3008,538.8,-11.6,431,4380,0.00,2.22,0.00,0.000,260,0.000,0.057,2363,3367,3087,3167,3008,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4421,-0.57,-97.3,2362,3367,3168,3008,543.5,-11.6,433,4425,0.00,2.25,0.00,0.000,1030,0.000,0.050,2363,1947,3087,3167,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4729,-0.57,-97.3,2362,1946,3167,3008,581.6,-12.0,448,4734,0.00,2.30,0.00,0.000,260,0.000,0.057,2352,3378,3087,3167,3008,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4828,-0.57,-97.3,2352,3378,3167,3008,593.9,-12.3,453,4835,0.12,2.25,0.00,0.000,3078,0.175,0.050,2381,1952,3087,3167,3008,0,0,0,0,0,0,25.56,25.85,28.83
$GC,5148,-0.57,-97.3,2381,1952,3167,3007,626.5,-9.9,469,5154,0.00,2.30,0.00,0.000,260,0.000,0.057,2373,3376,3087,3168,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5202,-0.57,-97.3,2373,3377,3167,3006,630.6,-9.9,471,5208,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1955,3086,3167,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5509,-0.57,-97.3,2373,1955,3167,3006,663.4,-10.1,487,5514,0.00,2.28,0.00,0.000,260,0.000,0.058,2363,3379,3086,3167,3006,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5562,-0.57,-97.3,2362,3379,3167,3005,667.6,-10.2,489,5568,0.00,2.25,0.00,0.000,1030,0.000,0.050,2363,1957,3086,3167,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5868,-0.57,-97.3,2363,1957,3167,3005,701.0,-10.5,505,5874,0.00,2.28,0.00,0.000,260,0.000,0.058,2353,3372,3086,3167,3005,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5990,-0.57,-97.3,2353,3372,3167,3005,713.4,-10.2,511,5996,0.10,2.25,0.00,0.000,3078,0.155,0.051,2383,1952,3086,3167,3005,0,0,0,0,0,0,25.48,25.81,28.83
$GC,6311,-0.57,-97.3,2383,1951,3167,3005,741.5,-8.8,527,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3086,3167,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6609,-0.57,-97.3,2382,1951,3167,3004,767.0,-8.3,542,6615,0.00,2.30,0.00,0.000,260,0.000,0.060,2374,3377,3085,3167,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6642,-0.57,-97.3,2374,3377,3167,3004,768.7,-8.4,543,6649,0.00,2.28,0.00,0.000,1030,0.000,0.051,2374,1947,3086,3168,3004,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6949,-0.57,-97.3,2374,1947,3167,3004,800.0,-10.2,559,6955,0.00,2.30,0.00,0.000,260,0.000,0.060,2364,3370,3085,3167,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7069,-0.57,-97.3,2364,3370,3167,3004,812.8,-10.7,565,7075,0.00,2.25,0.00,0.000,1030,0.000,0.052,2364,1956,3085,3167,3004,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7389,-0.57,-97.3,2364,1955,3167,3003,849.3,-11.4,581,7394,0.00,2.28,0.00,0.000,260,0.000,0.060,2354,3374,3085,3167,3003,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7502,-0.57,-97.3,2354,3374,3167,3003,860.8,-11.5,586,7510,0.12,2.28,0.00,0.000,3078,0.174,0.053,2383,1946,3085,3167,3003,0,0,0,0,0,0,25.50,25.75,28.83
$GC,7809,-0.57,-97.3,2382,1946,3167,3002,893.0,-10.2,602,7815,0.00,2.30,0.00,0.000,260,0.000,0.060,2374,3368,3084,3167,3002,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7877,-0.57,-97.3,2374,3368,3167,3002,898.9,-9.8,605,7881,0.00,2.25,0.00,0.000,1030,0.000,0.052,2374,1959,3084,3166,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8184,-0.57,-97.3,2374,1959,3167,3002,931.3,-10.3,620,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1959,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,-0.57,-97.3,2374,1959,3167,3002,961.8,-10.1,635,8490,0.00,2.30,0.00,0.000,260,0.000,0.062,2364,3378,3084,3167,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8532,-0.57,-97.3,2364,3378,3167,3001,965.8,-10.1,637,8536,0.00,2.30,0.00,0.000,1030,0.000,0.053,2364,1943,3084,3167,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8839,-0.57,-97.3,2364,1943,3167,3001,999.2,-10.5,652,8845,0.00,2.33,0.00,0.000,260,0.000,0.061,2354,3375,3084,3167,3002,0,0,0,0,0,0,28.83,25.64,28.83
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8864,-0.14,0.0,2353,1878,3167,3002,1001.2,-10.4,653,8959,0.57,0.00,90.30,1.755,10246,0.154,0.000,2521,1878,2683,2762,2604,0,0,0,0,0,0,25.04,28.83,22.99
$STATE,8960,end apogee,CONTROL_FINISHED_OK
$STATE,8960,begin climb
$GC,8962,0.57,97.3,2520,1878,2762,2604,1004.9,0.0,658,9066,0.70,2.62,95.47,1.709,10756,0.096,0.070,2759,482,2285,2355,2216,0,0,0,0,0,0,24.37,23.37,22.08
$GC,9100,0.63,157.0,2759,482,2350,2214,997.8,6.9,665,9167,0.00,2.42,60.67,1.675,9222,0.000,0.053,2760,1886,2043,2115,1972,0,0,0,0,0,0,28.83,24.03,22.08
$GC,9480,0.63,157.0,2759,1886,2110,1960,954.1,11.7,684,9486,0.00,2.35,0.00,0.000,260,0.000,0.062,2760,3304,2035,2110,1960,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9513,0.63,157.0,2759,3304,2107,1959,951.7,11.7,685,9520,0.00,2.35,0.00,0.000,1030,0.000,0.057,2770,1887,2033,2108,1959,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9820,0.63,157.0,2770,1887,2107,1958,913.5,11.5,701,9826,0.00,2.35,0.00,0.000,516,0.000,0.073,2781,476,2032,2107,1958,0,0,0,0,0,0,28.83,25.60,28.83
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$STATE,17524,end climb,SURFACE_DEPTH_REACHED
$STATE,17524,begin surface coast
$FINISH,1.5,1.026730
$STATE,17535,end surface coast,CONTROL_FINISHED_OK
$STATE,17536,begin surface
$SM_CCo,17553,15.43,0.227,0,0,1866,200.16
$SM_GC,2.52,6.80,2.42,15.43,0.037,0.047,0.227,171,1969,1866,-7.40,-0.28,200.16,0,0,0,0,0,0,26.15,25.91,25.44
$IRIDIUM_FIX,-4247.91,826.16,160709,050549
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.59
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,22.1,47.548
$10V_AH,10.0,32.794
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.425,196.675,253.225,15.425,0.000,24.880,47.790,241.367,0.000,0.000,17.618,3508.602,10619.383,505.873,3128.256,264.663,0.000,1887.432,0.000,2611.626,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353116
$DATA_FILE_SIZE,90545,1345
$CAP_FILE_SIZE,183550,0
$CFSIZE,259252224,233586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,266.6,1
$GPS,190916,022813,-4305.237,828.872,43,4.9,64,-25.0