version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 368
start: 9 28 116 11 51 30
data:
$ID,542
$MISSION,14
$DIVE,368
$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,-41929.184
$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,21
$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
$GPS1,280916,113727,-4259.881,829.702,66,1.0,66,-25.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.2
$GPS2,280916,115046,-4259.847,829.876,27,1.2,28,-25.0
$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,190.8,11268,-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,16,-0.55,-97.3,137,1945,1889,1807,0.0,0.0,0,64,0.00,0.00,-46.15,0.000,16386,0.000,0.000,137,1946,3047,3111,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.55,-97.3,137,1945,3110,2993,3.3,-6.3,7,83,8.85,2.35,-0.73,0.000,18692,0.221,0.063,2376,3379,3083,3149,3017,0,0,0,0,0,0,24.91,25.75,26.12
$GC,213,-0.55,-97.3,2376,3380,3161,3010,25.4,-10.7,34,220,0.00,2.28,0.00,0.000,1030,0.000,0.046,2376,1954,3085,3161,3010,0,0,0,0,0,0,28.83,25.73,28.83
$GC,344,-0.55,-97.3,1424,1952,3138,3006,42.0,-14.8,59,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,655,-0.55,-97.3,2376,1954,3162,3011,84.3,-14.9,120,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.55,-97.3,2376,1954,3163,3010,127.6,-13.0,161,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.55,-97.3,2376,1954,3163,3010,165.7,-12.8,191,1279,0.00,2.25,0.00,0.000,260,0.000,0.054,2365,3370,3086,3163,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1366,-0.55,-97.3,2365,3370,3163,3010,177.1,-11.7,200,1373,0.00,2.25,0.00,0.000,1030,0.000,0.047,2366,1947,3086,3163,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1673,-0.55,-97.3,2365,1946,3164,3010,215.9,-13.1,231,1675,0.12,0.00,0.00,0.000,2054,0.188,0.000,2394,1946,3086,3163,3010,0,0,0,0,0,0,26.00,28.83,28.83
$GC,1973,-0.55,-97.3,2394,1945,3164,3010,249.0,-11.0,261,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.55,-97.3,2394,1946,3165,3010,281.5,-11.3,291,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3087,3165,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.55,-97.3,2394,1945,3164,3010,315.2,-10.8,322,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3087,3165,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.55,-97.3,2394,1946,3164,3010,347.9,-9.8,353,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.55,-97.3,2394,1945,3164,3010,378.7,-10.2,384,3212,0.00,2.25,0.00,0.000,516,0.000,0.060,2394,551,3087,3165,3010,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3237,-0.55,-97.3,2394,551,3165,3010,382.3,-10.6,387,3244,0.00,2.25,0.00,0.000,1030,0.000,0.047,2386,1963,3087,3165,3010,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3545,-0.55,-97.3,2386,1964,3165,3010,416.2,-10.9,411,3551,0.00,2.22,0.00,0.000,260,0.000,0.055,2375,3374,3087,3165,3010,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3593,-0.55,-97.3,2375,3374,3164,3010,420.5,-10.7,413,3597,0.00,2.25,0.00,0.000,1030,0.000,0.047,2375,1948,3087,3164,3010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3900,-0.55,-97.3,2375,1947,3165,3010,454.9,-10.3,428,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1947,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.55,-97.3,2375,1948,3165,3010,483.9,-9.7,443,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4500,-0.55,-97.3,2375,1947,3164,3010,515.5,-10.9,458,4506,0.00,2.28,0.00,0.000,516,0.000,0.061,2375,544,3087,3165,3010,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4548,-0.55,-97.3,2375,544,3164,3010,520.1,-11.2,460,4553,0.12,2.22,0.00,0.000,3078,0.175,0.048,2394,1963,3087,3164,3010,0,0,0,0,0,0,25.63,25.94,28.83
$GC,4855,-0.55,-97.3,2394,1963,3164,3009,551.7,-9.9,475,4860,0.00,2.22,0.00,0.000,260,0.000,0.057,2385,3368,3086,3164,3009,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4928,-0.55,-97.3,2385,3368,3165,3007,557.7,-10.0,478,4935,0.00,2.22,0.00,0.000,1030,0.000,0.048,2385,1960,3086,3165,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5235,-0.55,-97.3,2385,1959,3165,3007,589.9,-10.0,494,5241,0.00,2.30,0.00,0.000,516,0.000,0.063,2385,542,3086,3165,3007,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5268,-0.55,-97.3,2385,542,3164,3007,592.0,-10.1,495,5275,0.00,2.22,0.00,0.000,1030,0.000,0.049,2375,1957,3086,3165,3007,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5575,-0.55,-97.3,2375,1957,3164,3006,626.6,-10.9,511,5581,0.00,2.25,0.00,0.000,260,0.000,0.057,2364,3369,3085,3165,3006,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5643,-0.55,-97.3,2364,3370,3165,3006,633.2,-11.1,514,5648,0.12,2.25,0.00,0.000,3078,0.167,0.050,2393,1949,3085,3164,3006,0,0,0,0,0,0,25.61,25.85,28.83
$GC,5952,-0.55,-97.3,2393,1949,3164,3005,663.3,-9.0,529,5957,0.00,2.25,0.00,0.000,516,0.000,0.064,2394,553,3084,3164,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5998,-0.55,-97.3,2394,553,3164,3005,667.2,-9.2,531,6002,0.00,2.22,0.00,0.000,1030,0.000,0.050,2385,1964,3084,3164,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6306,-0.55,-97.3,2385,1965,3165,3005,696.2,-9.1,546,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1965,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-0.55,-97.3,2385,1965,3165,3004,724.9,-10.1,561,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1965,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6905,-0.55,-97.3,2385,1965,3165,3003,755.7,-10.3,576,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1964,3083,3164,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7206,-0.55,-97.3,2385,1965,3164,3003,785.5,-9.4,591,7211,0.00,2.25,0.00,0.000,260,0.000,0.059,2375,3369,3084,3165,3003,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7287,-0.55,-97.3,1552,3367,3147,2998,793.2,-9.7,595,7292,0.00,2.28,0.00,0.000,1030,0.000,0.050,2375,1962,3083,3164,3003,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7605,-0.55,-97.3,2375,1962,3165,3002,825.4,-10.5,611,7610,0.00,2.33,0.00,0.000,516,0.000,0.065,2375,543,3084,3165,3003,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7685,-0.55,-97.3,2374,543,3165,3002,834.4,-11.2,615,7692,0.12,2.25,0.00,0.000,3078,0.172,0.052,2393,1956,3083,3164,3002,0,0,0,0,0,0,25.57,25.84,28.83
$GC,8006,-0.55,-97.3,2393,1956,3164,3002,864.2,-9.0,631,8012,0.00,2.28,0.00,0.000,260,0.000,0.060,2385,3368,3083,3164,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8048,-0.55,-97.3,1536,3367,3145,2998,867.8,-9.0,633,8052,0.00,2.25,0.00,0.000,1030,0.000,0.051,2385,1956,3083,3164,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8360,-0.55,-97.3,2384,1955,3164,3002,895.7,-9.1,649,8366,0.00,2.33,0.00,0.000,516,0.000,0.067,2384,536,3083,3165,3002,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8422,-0.55,-97.3,1560,535,3146,2998,901.5,-9.6,652,8426,0.00,2.30,0.00,0.000,1030,0.000,0.053,2374,1981,3083,3165,3001,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8741,-0.55,-97.3,2374,1981,3165,3001,931.2,-9.3,668,8746,0.00,2.22,0.00,0.000,260,0.000,0.060,2364,3369,3082,3164,3001,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8820,-0.55,-97.3,2363,3368,3164,3001,939.0,-9.8,672,8826,0.12,2.28,0.00,0.000,3078,0.168,0.051,2393,1946,3082,3164,3001,0,0,0,0,0,0,25.52,25.77,28.83
$GC,9142,-0.55,-97.3,2393,1946,3165,3001,967.8,-9.4,688,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1946,3083,3165,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9440,-0.55,-97.3,2393,1946,3165,3000,995.4,-9.0,703,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1946,3082,3164,3000,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9498,begin apogee
$GC,9504,-0.14,0.0,2392,1877,3164,3000,1000.8,-9.0,706,9600,0.43,0.00,91.05,1.793,10246,0.140,0.000,2522,1877,2683,2761,2606,0,0,0,0,0,0,25.33,28.83,22.77
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9603,0.55,97.3,2522,1876,2761,2606,1004.8,0.0,711,9704,0.70,0.00,97.70,1.716,10246,0.093,0.000,2748,1876,2285,2352,2219,0,0,0,0,0,0,24.29,28.83,21.88
$GC,10001,0.57,118.3,2747,1876,2349,2206,977.7,8.6,731,10027,0.00,2.42,20.70,1.671,8452,0.000,0.061,2747,3300,2199,2270,2129,0,0,0,0,0,0,28.83,24.91,23.34
$GC,10063,0.57,122.2,1824,3298,2226,2122,971.9,9.3,734,10073,0.00,2.35,5.05,1.319,9222,0.000,0.056,2758,1890,2184,2256,2112,0,0,0,0,0,0,28.83,25.15,23.30
$GC,10376,0.57,122.2,2757,1890,2256,2106,940.1,10.2,749,10381,0.00,2.33,0.00,0.000,516,0.000,0.070,2768,481,2181,2256,2106,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10423,0.57,122.2,2768,480,2255,2106,936.0,10.2,751,10427,0.00,2.25,0.00,0.000,1030,0.000,0.054,2769,1888,2181,2255,2107,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10730,0.57,122.2,2768,1888,2255,2106,905.3,9.8,766,10736,0.00,2.28,0.00,0.000,260,0.000,0.061,2768,3302,2179,2254,2105,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10845,0.57,122.2,2768,3302,2252,2105,895.1,10.2,771,10851,0.00,2.30,0.00,0.000,1030,0.000,0.057,2779,1877,2179,2253,2105,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11150,0.57,122.2,2778,1877,2252,2105,862.6,10.3,787,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1877,2178,2252,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11450,0.57,122.2,2779,1877,2251,2105,829.9,10.8,802,11456,0.00,2.30,0.00,0.000,260,0.000,0.060,2779,3301,2178,2252,2105,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,19619,end climb,SURFACE_DEPTH_REACHED
$STATE,19619,begin surface coast
$FINISH,0.0,1.026900
$STATE,19642,end surface coast,CONTROL_FINISHED_OK
$STATE,19642,begin surface
$SM_CCo,19717,0.00,0.000,0,0,1756,227.39
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$IRIDIUM_FIX,-4239.11,827.77,250709,191931
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.35
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.9,54.358
$10V_AH,9.9,37.439
$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,353100
$DATA_FILE_SIZE,100549,1478
$CAP_FILE_SIZE,188329,0
$CFSIZE,259252224,229879808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,284.1,1
$GPS,280916,172233,-4301.872,829.678,111,1.0,112,-25.0