version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 387
start: 10 2 116 15 52 6
data:
$ID,542
$MISSION,14
$DIVE,387
$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,-41953.047
$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,23
$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
$GPS1,021016,154256,-4253.286,829.283,54,0.9,54,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.0
$GPS2,021016,155120,-4253.270,829.457,21,0.8,23,-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,185.6,1654,-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,-97.3,149,1951,1891,1811,0.0,0.0,0,64,0.00,0.00,-46.12,0.000,16386,0.000,0.000,149,1952,3054,3105,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.57,-97.3,149,1951,3106,3004,3.4,-6.6,7,82,8.85,2.33,-0.60,0.000,19204,0.225,0.067,2385,543,3082,3148,3017,0,0,0,0,0,0,24.96,25.69,26.08
$GC,377,-0.57,-97.3,1472,543,3135,3008,51.5,-13.7,67,383,0.00,2.22,0.00,0.000,1030,0.000,0.048,2377,1956,3085,3158,3012,0,0,0,0,0,0,28.83,25.83,28.83
$GC,689,-0.57,-97.3,1472,1955,3136,3007,91.4,-13.3,128,697,0.00,2.28,0.00,0.000,260,0.000,0.055,2366,3368,3085,3159,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,767,-0.57,-97.3,2366,3368,3159,3011,101.1,-13.0,142,776,0.00,2.25,0.00,0.000,1030,0.000,0.048,2366,1965,3085,3159,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1075,-0.57,-97.3,2366,1965,3160,3012,142.8,-13.1,173,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3085,3160,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.57,-97.3,2366,1965,3160,3011,180.6,-11.9,203,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3085,3160,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.57,-97.3,2366,1965,3160,3012,218.0,-11.4,234,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3085,3160,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.57,-97.3,2366,1965,3161,3011,253.8,-11.8,265,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3086,3161,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,-0.57,-97.3,2366,1965,3161,3011,292.5,-12.3,296,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3086,3161,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.57,-97.3,2366,1965,3162,3012,328.3,-10.5,327,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3086,3162,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-0.57,-97.3,2366,1965,3162,3011,361.1,-10.7,358,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3236,-0.57,-97.3,2366,1965,3162,3011,395.3,-11.6,389,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1965,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,-0.57,-97.3,2366,1965,3162,3011,431.6,-12.4,406,3541,0.00,2.28,0.00,0.000,516,0.000,0.061,2366,545,3087,3162,3012,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3574,-0.57,-97.3,2366,546,3163,3012,436.8,-12.7,408,3581,0.12,2.20,0.00,0.000,3078,0.175,0.047,2385,1958,3086,3162,3011,0,0,0,0,0,0,25.68,25.98,28.83
$GC,3895,-0.57,-97.3,2385,1959,3163,3011,473.2,-11.3,424,3901,0.00,2.22,0.00,0.000,260,0.000,0.055,2376,3369,3086,3162,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3982,-0.57,-97.3,2376,3370,3162,3012,482.4,-11.5,428,3986,0.00,2.25,0.00,0.000,1030,0.000,0.048,2377,1946,3086,3162,3011,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4289,-0.57,-97.3,2376,1946,3162,3011,521.2,-12.7,443,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1945,3086,3162,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4590,-0.57,-97.3,2376,1946,3162,3011,557.1,-11.3,458,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1946,3086,3162,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.57,-97.3,2376,1945,3162,3010,589.1,-10.5,473,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1946,3086,3162,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5189,-0.57,-97.3,2376,1946,3162,3009,620.3,-10.1,488,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1946,3085,3162,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5490,-0.57,-97.3,2376,1945,3162,3007,650.2,-10.2,503,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1946,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,-0.57,-97.3,2376,1946,3162,3006,681.2,-10.3,518,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1946,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,-0.57,-97.3,2376,1945,3162,3005,710.6,-9.3,533,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1946,3084,3162,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,-0.57,-97.3,2376,1945,3162,3005,738.5,-9.5,548,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1945,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6690,-0.57,-97.3,2376,1946,3162,3005,766.7,-9.2,563,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1946,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6990,-0.57,-97.3,2376,1946,3162,3004,795.1,-9.5,578,6996,0.00,2.33,0.00,0.000,260,0.000,0.058,2366,3372,3083,3162,3005,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7042,-0.57,-97.3,2366,3373,3162,3004,799.0,-9.5,580,7049,0.00,2.28,0.00,0.000,1030,0.000,0.052,2366,1949,3083,3162,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7349,-0.57,-97.3,2366,1948,3162,3003,832.7,-10.9,596,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1948,3083,3162,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7650,-0.57,-97.3,2366,1948,3162,3003,865.3,-11.0,611,7656,0.00,2.30,0.00,0.000,260,0.000,0.058,2356,3370,3082,3162,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7702,-0.57,-97.3,2356,3370,3162,3003,869.6,-10.9,613,7710,0.12,2.25,0.00,0.000,3078,0.168,0.052,2386,1955,3082,3162,3003,0,0,0,0,0,0,25.57,25.81,28.83
$GC,8010,-0.57,-97.3,2385,1955,3162,3002,899.0,-9.3,629,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3082,3162,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.57,-97.3,2385,1955,3162,3002,927.5,-9.5,644,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,-0.57,-97.3,2386,1955,3162,3002,953.7,-8.3,659,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,-0.57,-97.3,2386,1955,3162,3001,977.0,-7.7,674,8916,0.00,2.28,0.00,0.000,260,0.000,0.060,2377,3372,3082,3162,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8973,-0.57,-97.3,2377,3372,3162,3002,981.7,-7.9,677,8977,0.00,2.28,0.00,0.000,1030,0.000,0.053,2378,1955,3082,3162,3002,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9188,-0.14,0.0,2377,1874,3162,3002,1000.0,-8.6,688,9285,0.47,0.00,91.28,1.782,10246,0.139,0.000,2521,1874,2683,2758,2609,0,0,0,0,0,0,25.29,28.83,22.67
$STATE,9286,end apogee,CONTROL_FINISHED_OK
$STATE,9286,begin climb
$GC,9288,0.57,97.3,2521,1874,2758,2609,1003.2,0.0,693,9389,0.73,0.00,97.32,1.723,10758,0.088,0.000,2756,1874,2286,2352,2220,0,0,0,0,0,0,24.29,28.83,21.80
$GC,9686,0.57,100.7,2757,1873,2350,2208,973.1,9.3,713,9692,0.00,2.33,0.00,0.000,260,0.000,0.060,2757,3291,2278,2349,2208,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9772,0.57,100.7,2756,3291,2347,2207,965.2,9.9,717,9777,0.00,2.30,0.00,0.000,1030,0.000,0.056,2767,1887,2277,2347,2208,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10080,0.59,113.7,2766,1887,2347,2206,936.6,8.9,732,10099,0.00,0.00,15.65,1.663,8198,0.000,0.000,2767,1886,2219,2289,2149,0,0,0,0,0,0,28.83,28.83,23.84
$GC,10400,0.59,113.7,2766,1887,2289,2143,904.8,10.1,748,10406,0.00,2.28,0.00,0.000,260,0.000,0.060,2767,3298,2215,2288,2143,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10427,0.59,113.7,2766,3298,2287,2143,902.6,10.3,749,10431,0.00,2.30,0.00,0.000,1030,0.000,0.056,2777,1881,2215,2287,2143,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10735,0.59,113.7,2777,1881,2287,2143,869.9,10.7,764,10741,0.00,2.30,0.00,0.000,260,0.000,0.059,2777,3304,2214,2286,2143,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10782,0.59,113.7,2777,3304,2285,2142,865.2,11.2,766,10786,0.00,2.30,0.00,0.000,1030,0.000,0.057,2787,1881,2214,2285,2143,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11089,0.59,113.7,2787,1880,2285,2143,829.0,11.3,781,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1880,2213,2285,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11390,0.59,113.7,2787,1880,2285,2142,795.9,10.7,796,11396,0.00,2.30,0.00,0.000,260,0.000,0.060,2787,3306,2213,2285,2141,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11451,0.59,113.7,2787,3306,2283,2141,789.4,10.8,799,11457,0.10,2.25,0.00,0.000,5126,0.171,0.056,2769,1892,2212,2284,2141,0,0,0,0,0,0,25.59,25.89,28.83
$GC,11772,0.62,142.2,2769,1892,2283,2141,762.1,8.2,815,11802,0.00,0.00,27.88,1.637,8198,0.000,0.000,2769,1892,2103,2172,2034,0,0,0,0,0,0,28.83,28.83,23.88
$GC,12090,0.62,142.2,2769,1892,2167,2027,731.7,9.8,831,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1892,2097,2167,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12390,0.62,142.2,2769,1892,2166,2026,701.3,10.0,846,12395,0.00,2.28,0.00,0.000,260,0.000,0.060,2769,3299,2096,2166,2026,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12458,0.62,142.2,2769,3299,2165,2026,695.1,10.2,849,12463,0.00,2.28,0.00,0.000,1030,0.000,0.056,2778,1884,2095,2165,2026,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12765,0.62,142.2,2777,1883,2165,2026,663.6,9.7,864,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1883,2095,2165,2026,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,2.5,1.026680
$STATE,19018,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
$SM_CCo,19034,13.48,0.223,0,0,1866,200.16
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$IRIDIUM_FIX,-4236.17,833.59,290709,232333
$TT8_MAMPS,0.020972,0.020972
$HUMID,61.30
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.8,57.228
$10V_AH,9.9,39.450
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.450,95.750,254.775,13.475,0.000,40.906,38.094,287.580,0.000,0.000,24.513,3699.286,12097.497,447.580,3028.629,289.707,0.000,1668.063,0.000,2481.139,0.000,1.010,0.000
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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,353180
$DATA_FILE_SIZE,97157,1451
$CAP_FILE_SIZE,164097,0
$CFSIZE,259252224,228315136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,253.3,1
$GPS,021016,211150,-4255.556,829.699,83,1.6,99,-25.0