version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 341
start: 9 22 116 15 37 1
data:
$ID,542
$MISSION,14
$DIVE,341
$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,-41894.992
$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,26
$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
$GPS1,220916,152833,-4255.424,829.558,23,1.1,23,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.2
$GPS2,220916,153617,-4255.404,829.602,16,1.8,16,-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,63.7,2529,-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,-97.3,156,1961,1741,1626,0.0,0.0,0,70,0.00,0.00,-52.17,0.000,16386,0.000,0.000,151,1961,3020,3079,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.57,-97.3,150,1962,3079,2963,3.0,-4.2,8,89,8.70,2.33,-1.50,0.000,19204,0.219,0.066,2371,3367,3085,3154,3016,0,0,0,0,0,0,24.96,25.71,26.22
$GC,561,-0.57,-97.3,1440,3365,3142,3004,72.1,-12.1,103,568,0.00,2.25,0.00,0.000,1030,0.000,0.048,2371,1947,3087,3166,3009,0,0,0,0,0,0,28.83,25.79,28.83
$GC,872,-0.57,-97.3,2371,1947,3166,3008,114.1,-13.5,154,881,0.00,2.25,0.00,0.000,260,0.000,0.054,2361,3367,3087,3166,3008,0,0,0,0,0,0,28.83,25.82,28.83
$GC,914,-0.57,-97.3,2361,3367,3166,3008,119.8,-13.4,158,923,0.00,2.22,0.00,0.000,1030,0.000,0.047,2361,1951,3088,3167,3009,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1224,-0.57,-97.3,2361,1951,3167,3008,161.7,-13.4,189,1233,0.00,2.25,0.00,0.000,516,0.000,0.059,2361,547,3087,3167,3008,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1248,-0.57,-97.3,2361,547,3167,3009,165.0,-14.3,191,1256,0.10,2.25,0.00,0.000,3078,0.151,0.047,2382,1953,3087,3167,3008,0,0,0,0,0,0,25.58,25.93,28.83
$GC,1557,-0.57,-97.3,2382,1954,3167,3009,204.1,-11.7,222,1566,0.00,2.22,0.00,0.000,260,0.000,0.055,2373,3368,3088,3168,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1609,-0.57,-97.3,2373,3367,3168,3008,210.4,-12.0,227,1618,0.00,2.22,0.00,0.000,1030,0.000,0.046,2373,1945,3088,3168,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1919,-0.57,-97.3,2373,1945,3169,3009,250.0,-12.6,258,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3089,3169,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.57,-97.3,2373,1945,3169,3009,287.5,-12.5,288,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3089,3169,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.57,-97.3,2373,1945,3169,3009,322.6,-11.5,318,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3089,3169,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-0.57,-97.3,2373,1945,3170,3009,357.3,-11.3,348,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3088,3169,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-0.57,-97.3,2373,1945,3169,3008,392.4,-12.0,378,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3088,3169,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,-0.57,-97.3,2373,1945,3169,3008,430.4,-12.3,397,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1945,3088,3169,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3728,-0.57,-97.3,2373,1945,3169,3009,468.1,-12.6,412,3734,0.00,2.28,0.00,0.000,516,0.000,0.060,2373,538,3088,3169,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3762,-0.57,-97.3,2373,537,3169,3008,470.8,-12.7,413,3769,0.00,2.22,0.00,0.000,1030,0.000,0.047,2363,1960,3088,3169,3008,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4068,-0.57,-97.3,2363,1961,3169,3008,514.4,-13.7,429,4074,0.00,2.22,0.00,0.000,260,0.000,0.056,2353,3369,3088,3169,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4091,-0.57,-97.3,1536,3368,3151,3005,517.2,-13.7,430,4096,0.10,2.28,0.00,0.000,3078,0.148,0.047,2383,1955,3088,3169,3008,0,0,0,0,0,0,25.59,25.91,28.83
$GC,4409,-0.57,-97.3,2383,1954,3169,3008,557.0,-12.3,446,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1954,3088,3169,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4708,-0.57,-97.3,2383,1954,3169,3008,591.8,-11.2,461,4714,0.00,2.30,0.00,0.000,516,0.000,0.063,2383,539,3088,3169,3008,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4749,-0.57,-97.3,2383,539,3169,3008,596.6,-11.8,463,4755,0.00,2.22,0.00,0.000,1030,0.000,0.049,2374,1957,3088,3169,3008,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5068,-0.57,-97.3,2375,1957,3169,3006,633.2,-11.0,479,5074,0.00,2.25,0.00,0.000,260,0.000,0.058,2364,3373,3087,3169,3006,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5111,-0.57,-97.3,2364,3373,3169,3005,637.7,-11.2,481,5115,0.00,2.25,0.00,0.000,1030,0.000,0.050,2364,1949,3087,3169,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5424,-0.57,-97.3,2364,1949,3169,3005,673.8,-11.5,497,5430,0.00,2.28,0.00,0.000,516,0.000,0.063,2364,549,3087,3169,3006,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5491,-0.57,-97.3,2364,549,3169,3005,681.0,-11.9,500,5496,0.12,2.22,0.00,0.000,3078,0.176,0.050,2383,1960,3087,3169,3005,0,0,0,0,0,0,25.61,25.91,28.83
$GC,5799,-0.57,-97.3,2383,1961,3169,3004,712.9,-10.1,515,5804,0.00,2.25,0.00,0.000,260,0.000,0.059,2374,3368,3086,3169,3004,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5878,-0.57,-97.3,2374,3368,3169,3004,721.3,-10.4,519,5884,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1959,3086,3169,3004,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6198,-0.57,-97.3,2374,1959,3169,3003,755.6,-11.0,535,6204,0.00,2.33,0.00,0.000,516,0.000,0.064,2374,542,3086,3169,3003,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6222,-0.57,-97.3,2374,542,3169,3003,757.9,-11.2,536,6226,0.00,2.25,0.00,0.000,1030,0.000,0.051,2364,1963,3086,3169,3003,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6533,-0.57,-97.3,2364,1964,3169,3003,795.2,-11.9,552,6539,0.00,2.25,0.00,0.000,260,0.000,0.059,2353,3374,3086,3169,3003,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6616,-0.57,-97.3,2353,3374,3169,3002,804.7,-11.8,556,6621,0.12,2.25,0.00,0.000,3078,0.170,0.051,2382,1952,3086,3169,3003,0,0,0,0,0,0,25.56,25.81,28.83
$GC,6929,-0.57,-97.3,2382,1952,3169,3002,838.3,-10.4,572,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1952,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7229,-0.57,-97.3,2382,1952,3169,3002,867.9,-9.5,587,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1952,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.57,-97.3,2383,1952,3169,3001,895.8,-9.2,602,7535,0.00,2.28,0.00,0.000,260,0.000,0.060,2374,3372,3085,3169,3001,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7602,-0.57,-97.3,2374,3372,3169,3001,901.4,-9.4,605,7609,0.00,2.25,0.00,0.000,1030,0.000,0.052,2374,1959,3085,3169,3001,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7909,-0.57,-97.3,2374,1959,3169,3001,932.0,-9.5,621,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1959,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8209,-0.57,-97.3,2374,1959,3169,3000,961.0,-9.6,636,8214,0.00,2.30,0.00,0.000,260,0.000,0.061,2364,3376,3084,3169,3000,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8237,-0.57,-97.3,2363,3376,3169,3000,962.8,-9.5,637,8241,0.00,2.28,0.00,0.000,1030,0.000,0.053,2364,1954,3084,3169,3000,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8544,-0.57,-97.3,2364,1954,3169,2999,994.8,-10.3,652,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1953,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8602,begin apogee
$GC,8607,-0.14,0.0,2364,1868,3169,2999,1000.9,-10.2,655,8704,0.52,0.00,90.97,1.781,10246,0.142,0.000,2522,1868,2683,2763,2603,0,0,0,0,0,0,25.20,28.83,22.90
$STATE,8705,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8707,0.57,97.3,2521,1868,2763,2603,1004.4,0.0,660,8811,0.68,2.60,96.60,1.738,10756,0.090,0.069,2757,491,2286,2357,2215,0,0,0,0,0,0,24.36,23.36,22.00
$GC,8828,0.67,197.9,1808,491,2308,2209,999.5,5.2,666,8937,0.00,2.45,102.85,1.708,9222,0.000,0.051,2758,1895,1875,1950,1801,0,0,0,0,0,0,28.83,23.85,21.99
$GC,9239,0.67,197.9,2758,1895,1944,1788,946.9,14.0,686,9245,0.00,2.33,0.00,0.000,260,0.000,0.061,2758,3303,1865,1944,1787,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9267,0.67,197.9,2758,3302,1943,1787,944.0,14.2,687,9272,0.00,2.33,0.00,0.000,1030,0.000,0.058,2768,1895,1864,1942,1786,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9574,0.67,197.9,2768,1895,1943,1785,896.6,15.2,702,9580,0.00,2.38,0.00,0.000,516,0.000,0.072,2778,469,1863,1942,1785,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9607,0.67,197.9,2778,469,1942,1784,893.6,15.2,703,9614,0.00,2.28,0.00,0.000,1030,0.000,0.054,2779,1890,1863,1942,1784,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9914,0.67,197.9,2778,1890,1940,1784,844.7,14.9,719,9920,0.00,2.30,0.00,0.000,260,0.000,0.062,2778,3305,1861,1940,1783,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9974,0.67,197.9,2778,3306,1939,1782,835.7,15.0,722,9980,0.00,2.33,0.00,0.000,1030,0.000,0.058,2789,1875,1860,1939,1782,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10295,0.67,197.9,2789,1875,1939,1782,786.8,14.9,738,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1875,1860,1938,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10594,0.67,197.9,2789,1875,1938,1782,743.1,14.0,753,10600,0.00,2.30,0.00,0.000,260,0.000,0.061,2789,3301,1860,1938,1782,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10634,0.67,197.9,2789,3301,1938,1782,737.4,14.2,755,10639,0.00,2.28,0.00,0.000,1030,0.000,0.058,2799,1886,1860,1938,1782,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10954,0.67,197.9,2799,1886,1938,1782,691.4,14.5,771,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1886,1860,1938,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11254,0.67,197.9,2799,1886,1938,1782,647.7,15.1,786,11260,0.00,2.33,0.00,0.000,516,0.000,0.072,2810,470,1860,1938,1782,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,15811,end climb,SURFACE_DEPTH_REACHED
$STATE,15811,begin surface coast
$FINISH,0.4,1.026673
$STATE,15832,end surface coast,CONTROL_FINISHED_OK
$STATE,15832,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.90
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
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$10V_AH,9.9,34.614
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.675,128.025,290.425,0.000,0.000,23.840,52.588,258.389,0.000,0.000,17.771,3151.338,9826.683,441.381,2722.241,243.876,0.000,1585.951,0.000,2207.129,0.000,1.010,0.000
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$MEM,353152
$DATA_FILE_SIZE,83632,1227
$CAP_FILE_SIZE,150037,0
$CFSIZE,259252224,232153088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,271.9,1
$GPS,220916,200321,-4253.713,829.879,37,0.9,37,-25.0