version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 390
start: 10 3 116 7 43 20
data:
$ID,542
$MISSION,14
$DIVE,390
$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,-41956.812
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,031016,073533,-4254.785,830.359,73,1.1,73,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.3
$GPS2,031016,074235,-4254.769,830.353,18,1.1,19,-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,16.8,1380,-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,14,begin dive
$GC,16,-0.57,-97.3,173,1966,1878,1811,0.0,0.0,0,70,0.00,0.00,-47.95,0.000,16390,0.000,0.000,173,1965,3081,3140,3022,0,0,0,0,0,0,28.83,28.83,26.39
$GC,73,-0.57,-97.3,172,1965,3141,3021,3.6,-6.5,8,88,8.70,2.35,0.00,0.000,2564,0.220,0.051,2389,532,3083,3148,3018,0,0,0,0,0,0,24.89,25.67,28.83
$GC,161,-0.57,-97.3,1448,532,3132,3011,21.5,-13.2,24,168,0.00,2.25,0.00,0.000,1030,0.000,0.048,2381,1953,3085,3156,3015,0,0,0,0,0,0,28.83,25.72,28.83
$GC,291,-0.57,-97.3,1424,1952,3133,3008,37.7,-12.5,49,298,0.00,2.25,0.00,0.000,260,0.000,0.055,2370,3371,3085,3158,3013,0,0,0,0,0,0,28.83,25.69,28.83
$GC,316,-0.57,-97.3,2370,3371,3158,3013,40.9,-12.6,53,323,0.00,2.25,0.00,0.000,1030,0.000,0.047,2370,1948,3085,3158,3013,0,0,0,0,0,0,28.83,25.73,28.83
$GC,628,-0.57,-97.3,2369,1948,3158,3012,80.9,-13.3,114,636,0.00,2.28,0.00,0.000,260,0.000,0.054,2360,3370,3085,3158,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,685,-0.57,-97.3,2360,3370,3158,3013,88.3,-13.0,124,692,0.00,2.28,0.00,0.000,1030,0.000,0.047,2360,1954,3085,3158,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,996,-0.57,-97.3,2360,1954,3159,3012,130.2,-13.3,163,1004,0.00,2.25,0.00,0.000,516,0.000,0.060,2360,546,3085,3159,3012,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1017,-0.57,-97.3,2360,545,3159,3012,133.2,-13.7,165,1027,0.15,2.20,0.00,0.000,3078,0.171,0.047,2386,1956,3085,3159,3012,0,0,0,0,0,0,25.52,25.91,28.83
$GC,1327,-0.57,-97.3,2386,1956,3160,3013,170.4,-12.4,196,1336,0.00,2.22,0.00,0.000,260,0.000,0.054,2377,3371,3086,3160,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1411,-0.57,-97.3,2377,3371,3160,3013,180.0,-11.4,204,1420,0.00,2.20,0.00,0.000,1030,0.000,0.047,2377,1955,3086,3160,3012,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1722,-0.57,-97.3,2377,1955,3160,3012,217.7,-12.6,235,1730,0.00,2.25,0.00,0.000,516,0.000,0.060,2377,539,3086,3160,3013,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1764,-0.57,-97.3,2377,539,3160,3013,223.2,-12.7,239,1772,0.00,2.22,0.00,0.000,1030,0.000,0.047,2367,1956,3086,3160,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2073,-0.57,-97.3,2367,1956,3161,3012,262.9,-12.8,270,2083,0.00,2.22,0.00,0.000,260,0.000,0.054,2356,3370,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2118,-0.57,-97.3,1536,3369,3142,3009,268.6,-13.1,274,2128,0.08,2.28,0.00,0.000,3078,0.151,0.047,2380,1948,3087,3161,3013,0,0,0,0,0,0,25.63,25.90,28.83
$GC,2426,-0.57,-97.3,2379,1948,3161,3013,309.5,-13.1,305,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1948,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2729,-0.57,-97.3,2380,1949,3161,3013,346.7,-12.3,335,2737,0.00,2.22,0.00,0.000,516,0.000,0.060,2379,552,3087,3161,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2773,-0.57,-97.3,2380,552,3161,3012,352.3,-13.0,339,2779,0.00,2.20,0.00,0.000,1030,0.000,0.047,2371,1960,3087,3162,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3080,-0.57,-97.3,2371,1960,3162,3013,391.1,-12.0,370,3090,0.00,2.22,0.00,0.000,260,0.000,0.054,2361,3374,3087,3162,3013,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3164,-0.57,-97.3,2361,3374,3162,3012,400.8,-11.3,378,3170,0.00,2.22,0.00,0.000,1030,0.000,0.046,2361,1957,3087,3162,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3484,-0.57,-97.3,2361,1956,3162,3012,440.4,-12.3,394,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1957,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3784,-0.57,-97.3,2361,1957,3162,3012,476.0,-11.8,409,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1956,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-0.57,-97.3,2361,1957,3162,3012,512.1,-12.0,424,4090,0.00,2.28,0.00,0.000,260,0.000,0.054,2350,3375,3087,3162,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4112,-0.57,-97.3,2350,3376,3162,3012,514.5,-12.1,425,4117,0.15,2.25,0.00,0.000,3078,0.164,0.047,2387,1947,3087,3162,3012,0,0,0,0,0,0,25.56,25.89,28.83
$GC,4419,-0.57,-97.3,2388,1947,3162,3012,547.1,-10.3,440,4424,0.00,2.28,0.00,0.000,516,0.000,0.062,2388,540,3087,3162,3013,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4459,-0.57,-97.3,2388,540,3162,3012,551.5,-10.6,442,4465,0.00,2.22,0.00,0.000,1030,0.000,0.049,2379,1962,3087,3162,3012,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4779,-0.57,-97.3,2379,1963,3162,3012,586.0,-10.4,458,4784,0.00,2.22,0.00,0.000,260,0.000,0.055,2369,3370,3087,3162,3012,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4827,-0.57,-97.3,2369,3370,3162,3012,590.2,-10.6,460,4831,0.00,2.25,0.00,0.000,1030,0.000,0.049,2369,1945,3087,3162,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5135,-0.57,-97.3,2369,1946,3162,3011,623.9,-10.6,475,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1945,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5434,-0.57,-97.3,2369,1946,3162,3011,656.9,-11.0,490,5439,0.00,2.30,0.00,0.000,260,0.000,0.057,2358,3373,3086,3162,3011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5454,-0.57,-97.3,2358,3374,3162,3010,659.1,-11.0,491,5460,0.00,2.25,0.00,0.000,1030,0.000,0.049,2358,1948,3086,3162,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5775,-0.57,-97.3,2358,1948,3162,3009,697.4,-12.0,507,5781,0.12,2.28,0.00,0.000,2564,0.179,0.063,2397,543,3085,3162,3009,0,0,0,0,0,0,26.00,25.68,28.83
$GC,5802,-0.57,-97.3,2396,543,3162,3009,699.7,-11.9,508,5806,0.00,2.22,0.00,0.000,1030,0.000,0.050,2388,1955,3086,3162,3010,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6110,-0.57,-97.3,2388,1956,3162,3008,730.6,-9.7,523,6115,0.00,2.22,0.00,0.000,260,0.000,0.057,2378,3368,3085,3162,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6197,-0.57,-97.3,2377,3368,3162,3008,738.4,-9.8,527,6201,0.00,2.25,0.00,0.000,1030,0.000,0.050,2377,1948,3085,3162,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6504,-0.57,-97.3,2377,1948,3162,3007,769.7,-9.5,542,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1948,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6804,-0.57,-97.3,2377,1948,3162,3006,798.7,-9.6,557,6810,0.00,2.30,0.00,0.000,260,0.000,0.057,2367,3374,3083,3161,3006,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6832,-0.57,-97.3,2367,3374,3162,3006,800.6,-9.5,558,6836,0.00,2.28,0.00,0.000,1030,0.000,0.050,2367,1947,3084,3162,3006,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7139,-0.57,-97.3,2367,1946,3162,3006,830.8,-9.5,573,7144,0.00,2.30,0.00,0.000,260,0.000,0.058,2357,3369,3084,3162,3006,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7180,-0.57,-97.3,2357,3369,3162,3006,834.6,-9.4,575,7186,0.08,2.22,0.00,0.000,3078,0.151,0.050,2381,1956,3084,3162,3006,0,0,0,0,0,0,25.56,25.82,28.83
$GC,7500,-0.57,-97.3,2380,1957,3162,3005,862.9,-9.1,591,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1957,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7800,-0.57,-97.3,2380,1957,3162,3005,889.4,-8.7,606,7805,0.00,2.28,0.00,0.000,260,0.000,0.059,2372,3370,3083,3162,3005,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7832,-0.57,-97.3,2372,3370,3162,3005,891.2,-8.7,607,7838,0.00,2.25,0.00,0.000,1030,0.000,0.050,2372,1955,3083,3162,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8139,-0.57,-97.3,2373,1955,3162,3005,920.8,-9.5,623,8145,0.00,2.28,0.00,0.000,260,0.000,0.058,2362,3369,3083,3162,3005,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8154,-0.57,-97.3,2362,3369,3162,3005,920.8,-9.5,623,8160,0.00,2.25,0.00,0.000,1030,0.000,0.051,2362,1955,3083,3162,3005,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8459,-0.57,-97.3,2362,1955,3162,3004,954.3,-10.5,639,8465,0.00,2.28,0.00,0.000,260,0.000,0.060,2352,3368,3083,3162,3004,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8499,-0.57,-97.3,2352,3368,3162,3004,958.5,-10.4,641,8505,0.12,2.25,0.00,0.000,3078,0.170,0.051,2382,1954,3083,3162,3005,0,0,0,0,0,0,25.51,25.76,28.83
$GC,8819,-0.57,-97.3,2382,1954,3162,3003,989.1,-9.7,657,8825,0.00,2.33,0.00,0.000,516,0.000,0.067,2382,537,3082,3162,3003,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8848,-0.57,-97.3,2381,537,3162,3003,991.2,-10.0,658,8852,0.00,2.25,0.00,0.000,1030,0.000,0.053,2374,1955,3082,3162,3003,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,8933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8933,begin apogee
$GC,8939,-0.14,0.0,2373,1882,3162,3003,1001.0,-10.3,662,9035,0.50,0.00,91.78,1.772,10246,0.142,0.000,2523,1882,2683,2757,2609,0,0,0,0,0,0,25.23,28.83,22.65
$STATE,9036,end apogee,CONTROL_FINISHED_OK
$STATE,9036,begin climb
$GC,9038,0.57,97.3,2523,1882,2756,2609,1005.3,0.0,667,9142,0.70,2.60,96.55,1.727,10756,0.090,0.069,2763,478,2286,2352,2220,0,0,0,0,0,0,24.27,23.32,21.77
$GC,9154,0.70,228.9,2763,478,2351,2220,1002.1,3.9,673,9301,0.12,2.47,136.38,1.711,11270,0.090,0.050,2810,1892,1749,1814,1685,0,0,0,0,0,0,23.75,23.72,21.76
$GC,9613,0.70,228.9,2810,1892,1808,1669,929.7,17.3,696,9619,0.00,2.33,0.00,0.000,260,0.000,0.059,2810,3305,1738,1808,1669,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9642,0.70,228.9,2810,3305,1807,1668,926.1,17.4,697,9646,0.00,2.33,0.00,0.000,1030,0.000,0.056,2821,1889,1737,1807,1668,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,15427,end climb,SURFACE_DEPTH_REACHED
$STATE,15427,begin surface coast
$FINISH,0.2,1.026642
$STATE,15443,end surface coast,CONTROL_FINISHED_OK
$STATE,15443,begin surface
$SM_CCo,15519,0.00,0.000,0,0,1729,233.77
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$IRIDIUM_FIX,-4236.17,827.34,300709,151501
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.61
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.8,57.690
$10V_AH,9.9,39.753
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.200,172.700,324.700,0.000,0.000,22.758,20.366,246.294,0.000,0.000,20.087,3070.826,9450.930,500.299,2667.008,262.913,0.000,1701.153,0.000,2200.333,0.000,1.009,0.000
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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,353140
$DATA_FILE_SIZE,80551,1185
$CAP_FILE_SIZE,159988,0
$CFSIZE,259252224,228089856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,264.3,1
$GPS,031016,120304,-4252.935,828.799,30,0.9,30,-25.0