version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 357
start: 9 26 116 3 56 12
data:
$ID,542
$MISSION,14
$DIVE,357
$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,-41915.164
$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,30
$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
$GPS1,260916,033803,-4306.076,830.489,101,1.0,101,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.7
$GPS2,260916,035527,-4306.018,830.649,18,0.8,20,-25.1
$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,30.0,22145,-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,-97.3,136,1963,1890,1807,0.0,0.0,0,70,0.00,0.00,-49.67,0.000,16390,0.000,0.000,137,1963,3083,3146,3020,0,0,0,0,0,0,28.83,28.83,26.29
$GC,73,-0.55,-97.3,136,1963,3146,3020,3.4,-6.2,8,89,8.82,2.30,0.00,0.000,2564,0.219,0.046,2398,536,3084,3151,3017,0,0,0,0,0,0,24.83,25.66,28.83
$GC,218,-0.55,-97.3,1440,536,3137,3008,34.0,-15.9,35,225,0.00,2.25,0.00,0.000,1030,0.000,0.050,2389,1949,3087,3161,3013,0,0,0,0,0,0,28.83,25.66,28.83
$GC,350,-0.55,-97.3,2389,1950,3162,3012,49.3,-10.8,60,357,0.00,2.28,0.00,0.000,260,0.000,0.056,2379,3371,3087,3162,3012,0,0,0,0,0,0,28.83,25.65,28.83
$GC,380,-0.55,-97.3,2378,3371,3162,3012,52.6,-10.0,65,387,0.00,2.25,0.00,0.000,1030,0.000,0.047,2379,1952,3087,3162,3012,0,0,0,0,0,0,28.83,25.71,28.83
$GC,691,-0.55,-97.3,1472,1950,3140,3008,90.6,-12.8,126,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1952,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-0.55,-97.3,2378,1952,3163,3012,131.2,-12.9,164,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1952,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.55,-97.3,2378,1952,3164,3012,170.2,-13.2,194,1315,0.00,2.25,0.00,0.000,260,0.000,0.055,2368,3371,3087,3163,3012,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1348,-0.55,-97.3,2368,3370,3164,3012,176.0,-13.4,198,1358,0.00,2.22,0.00,0.000,1030,0.000,0.047,2368,1952,3088,3164,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1658,-0.55,-97.3,2368,1953,3164,3011,219.2,-14.3,229,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1952,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-0.55,-97.3,2368,1952,3165,3012,260.4,-13.4,259,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1952,3088,3165,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.55,-97.3,2368,1952,3165,3012,298.0,-10.8,290,2278,0.00,2.28,0.00,0.000,260,0.000,0.055,2358,3371,3088,3165,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2311,-0.55,-97.3,2358,3371,3165,3012,302.8,-11.4,294,2321,0.15,2.22,0.00,0.000,3078,0.164,0.047,2395,1953,3088,3165,3012,0,0,0,0,0,0,25.56,25.89,28.83
$GC,2621,-0.55,-97.3,2395,1952,3165,3012,336.8,-10.6,325,2632,0.00,2.28,0.00,0.000,516,0.000,0.061,2396,541,3088,3165,3012,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2647,-0.55,-97.3,2396,541,3165,3012,339.3,-10.7,327,2654,0.00,2.28,0.00,0.000,1030,0.000,0.048,2387,1962,3088,3165,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2955,-0.55,-97.3,2387,1963,3165,3012,373.1,-11.1,358,2965,0.00,2.22,0.00,0.000,260,0.000,0.055,2376,3371,3088,3165,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3048,-0.55,-97.3,2376,3370,3165,3012,383.6,-11.2,367,3057,0.00,2.22,0.00,0.000,1030,0.000,0.047,2377,1954,3088,3165,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3368,-0.55,-97.3,2376,1955,3165,3012,422.5,-12.4,390,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3089,3166,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3667,-0.55,-97.3,2376,1955,3165,3012,458.3,-11.5,405,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3088,3165,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3968,-0.55,-97.3,2376,1955,3165,3012,493.4,-11.8,420,3974,0.00,2.30,0.00,0.000,516,0.000,0.061,2377,540,3088,3165,3011,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3995,-0.55,-97.3,2376,540,3165,3012,495.9,-12.0,421,4000,0.00,2.22,0.00,0.000,1030,0.000,0.049,2366,1962,3088,3165,3012,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4302,-0.55,-97.3,2366,1962,3165,3011,533.8,-12.0,436,4308,0.00,2.22,0.00,0.000,260,0.000,0.056,2356,3366,3088,3165,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4416,-0.55,-97.3,2355,3366,3165,3011,545.7,-11.8,441,4424,0.15,2.22,0.00,0.000,3078,0.164,0.048,2393,1955,3088,3165,3011,0,0,0,0,0,0,25.54,25.86,28.83
$GC,4722,-0.55,-97.3,2392,1955,3165,3010,578.1,-10.3,457,4728,0.00,2.28,0.00,0.000,516,0.000,0.062,2392,548,3087,3165,3010,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4745,-0.55,-97.3,1576,547,3147,3007,580.3,-10.4,458,4749,0.00,2.25,0.00,0.000,1030,0.000,0.050,2385,1972,3087,3165,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5063,-0.55,-97.3,2384,1973,3165,3009,615.7,-11.0,474,5069,0.00,2.22,0.00,0.000,260,0.000,0.057,2374,3372,3087,3165,3009,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5095,-0.55,-97.3,2373,3372,3165,3009,617.9,-11.0,475,5102,0.00,2.25,0.00,0.000,1030,0.000,0.048,2374,1951,3087,3165,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5403,-0.55,-97.3,2373,1951,3165,3008,653.5,-11.0,491,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1951,3086,3165,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5703,-0.55,-97.3,2373,1951,3165,3007,685.6,-10.6,506,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1951,3085,3164,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.55,-97.3,2373,1951,3165,3006,716.2,-10.0,521,6008,0.00,2.30,0.00,0.000,260,0.000,0.058,2364,3380,3086,3165,3007,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6046,-0.55,-97.3,2363,3380,3165,3006,720.1,-9.9,523,6051,0.12,2.28,0.00,0.000,3078,0.167,0.050,2393,1951,3085,3165,3006,0,0,0,0,0,0,25.57,25.82,28.83
$GC,6360,-0.55,-97.3,2393,1950,3165,3005,748.4,-8.9,539,6365,0.00,2.28,0.00,0.000,516,0.000,0.065,2393,543,3085,3165,3006,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6382,-0.55,-97.3,2393,542,3165,3006,750.3,-9.0,540,6386,0.00,2.25,0.00,0.000,1030,0.000,0.050,2385,1967,3085,3165,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6694,-0.55,-97.3,2384,1968,3165,3005,780.8,-9.9,556,6700,0.00,2.25,0.00,0.000,260,0.000,0.059,2374,3373,3085,3165,3005,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6736,-0.55,-97.3,1552,3371,3146,3001,784.9,-10.1,558,6741,0.00,2.28,0.00,0.000,1030,0.000,0.050,2374,1946,3085,3165,3005,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7050,-0.55,-97.3,2373,1945,3165,3005,819.1,-11.2,574,7055,0.00,2.30,0.00,0.000,260,0.000,0.059,2363,3374,3085,3165,3005,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7069,-0.55,-97.3,2363,3373,3165,3005,821.3,-11.1,575,7075,0.12,2.28,0.00,0.000,3078,0.167,0.050,2393,1948,3085,3165,3005,0,0,0,0,0,0,25.53,25.78,28.83
$GC,7390,-0.55,-97.3,2392,1948,3165,3005,850.9,-9.3,591,7395,0.00,2.28,0.00,0.000,516,0.000,0.066,2393,550,3084,3165,3004,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7418,-0.55,-97.3,2392,550,3165,3005,852.8,-9.4,592,7422,0.00,2.22,0.00,0.000,1030,0.000,0.052,2384,1954,3084,3165,3004,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7724,-0.55,-97.3,2384,1954,3165,3003,883.3,-9.5,607,7729,0.00,2.25,0.00,0.000,260,0.000,0.060,2374,3366,3084,3165,3004,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7805,-0.55,-97.3,2373,3366,3165,3003,891.0,-9.7,611,7810,0.00,2.25,0.00,0.000,1030,0.000,0.051,2374,1948,3084,3165,3003,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8124,-0.55,-97.3,2373,1948,3165,3003,924.7,-10.4,627,8130,0.00,2.30,0.00,0.000,260,0.000,0.060,2363,3371,3084,3165,3003,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8191,-0.55,-97.3,2363,3371,3165,3003,930.9,-10.2,630,8197,0.12,2.28,0.00,0.000,3078,0.167,0.052,2392,1948,3084,3165,3003,0,0,0,0,0,0,25.50,25.73,28.83
$GC,8499,-0.55,-97.3,2392,1948,3165,3002,960.3,-9.4,645,8505,0.00,2.30,0.00,0.000,260,0.000,0.061,2384,3366,3083,3165,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8519,-0.55,-97.3,2384,3366,3165,3002,962.2,-9.3,646,8525,0.00,2.28,0.00,0.000,1030,0.000,0.052,2384,1948,3084,3165,3003,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8840,-0.55,-97.3,2384,1948,3166,3002,993.1,-9.6,662,8845,0.00,2.28,0.00,0.000,260,0.000,0.060,2374,3358,3083,3165,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8862,-0.55,-97.3,2374,3357,3165,3002,995.0,-9.7,663,8866,0.00,2.25,0.00,0.000,1030,0.000,0.051,2374,1955,3083,3165,3002,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,8912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8912,begin apogee
$GC,8917,-0.14,0.0,2374,1869,3165,3002,1000.5,-9.9,666,9014,0.50,0.00,91.47,1.786,10246,0.142,0.000,2524,1868,2683,2758,2608,0,0,0,0,0,0,25.18,28.83,22.78
$STATE,9015,end apogee,CONTROL_FINISHED_OK
$STATE,9015,begin climb
$GC,9017,0.55,97.3,2524,1868,2758,2608,1004.1,0.0,671,9121,0.68,2.60,96.00,1.722,10756,0.091,0.069,2758,493,2286,2352,2220,0,0,0,0,0,0,24.30,23.34,21.73
$GC,9135,0.66,210.0,2758,493,2350,2220,999.4,5.1,677,9258,0.00,2.45,116.30,1.702,9222,0.000,0.051,2759,1886,1826,1893,1759,0,0,0,0,0,0,28.83,23.77,21.87
$GC,9572,0.66,210.0,2759,1887,1886,1742,944.7,13.4,699,9578,0.00,2.33,0.00,0.000,260,0.000,0.060,2759,3301,1813,1886,1741,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9592,0.66,210.0,2759,3301,1885,1741,942.0,13.5,700,9598,0.00,2.33,0.00,0.000,1030,0.000,0.057,2768,1892,1813,1885,1741,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9912,0.66,210.0,2768,1892,1885,1739,894.5,15.3,716,9918,0.00,2.35,0.00,0.000,516,0.000,0.072,2779,476,1812,1885,1740,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9935,0.66,210.0,1856,476,1851,1735,891.5,15.0,717,9939,0.00,2.28,0.00,0.000,1030,0.000,0.053,2779,1898,1812,1885,1740,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,15868,end climb,SURFACE_DEPTH_REACHED
$STATE,15868,begin surface coast
$FINISH,1.7,1.026693
$STATE,15874,end surface coast,CONTROL_FINISHED_OK
$STATE,15874,begin surface
$SM_CCo,15952,0.00,0.000,0,0,1804,215.62
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$IRIDIUM_FIX,-4250.85,829.51,230709,171700
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.10
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.7,52.614
$10V_AH,9.9,36.301
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353152
$DATA_FILE_SIZE,83647,1225
$CAP_FILE_SIZE,167338,0
$CFSIZE,259252224,230813696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100,278.5,1
$GPS,260916,082433,-4303.820,829.661,115,0.9,115,-25.0