version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 410
start: 10 7 116 15 12 58
data:
$ID,542
$MISSION,14
$DIVE,410
$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,-41982.023
$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,22
$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
$GPS1,071016,150433,-4253.635,830.633,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.8
$GPS2,071016,151211,-4253.567,830.636,18,0.9,19,-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,233.3,1270,-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,-97.3,164,1963,1861,1772,0.0,0.0,0,64,0.00,0.00,-46.38,0.000,16386,0.000,0.000,165,1964,3019,3076,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.57,-97.3,164,1964,3077,2963,3.2,-6.5,7,82,8.55,0.00,-1.40,0.000,18694,0.213,0.000,2381,1964,3082,3162,3002,0,0,0,0,0,0,24.99,28.83,26.21
$GC,125,-0.57,-97.3,1472,1962,3145,2999,14.9,-15.4,17,132,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1964,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-0.57,-97.3,1440,1962,3144,2998,22.0,-12.9,26,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1964,3084,3166,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,305,-0.57,-97.3,2381,1964,3168,3002,38.3,-12.5,51,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1964,3085,3168,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,434,-0.57,-97.3,2381,1964,3168,3002,54.3,-11.4,76,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1964,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.57,-97.3,1472,1962,3146,2998,91.5,-11.3,137,754,0.00,2.30,0.00,0.000,516,0.000,0.060,2381,544,3085,3168,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,782,-0.57,-97.3,2381,543,3168,3003,95.8,-11.8,143,789,0.00,2.20,0.00,0.000,1030,0.000,0.047,2373,1954,3085,3168,3003,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1092,-0.57,-97.3,2373,1955,3169,3002,133.1,-11.9,177,1101,0.00,2.20,0.00,0.000,260,0.000,0.053,2362,3375,3085,3169,3002,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1177,-0.57,-97.3,2361,3376,3169,3002,143.0,-11.5,185,1185,0.00,2.30,0.00,0.000,1030,0.000,0.047,2362,1947,3085,3168,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1484,-0.57,-97.3,2362,1947,3169,3002,183.1,-13.0,216,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1947,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,-0.57,-97.3,2362,1947,3170,3002,222.8,-13.2,246,1796,0.00,2.25,0.00,0.000,260,0.000,0.053,2353,3374,3085,3169,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1831,-0.57,-97.3,1536,3373,3151,2998,228.5,-13.0,250,1840,0.10,2.28,0.00,0.000,3078,0.144,0.047,2383,1957,3086,3169,3003,0,0,0,0,0,0,25.63,25.94,28.83
$GC,2140,-0.57,-97.3,2383,1956,3169,3002,266.1,-12.1,281,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1956,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,-0.57,-97.3,2384,1956,3170,3002,302.8,-12.2,311,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,-0.57,-97.3,2383,1956,3169,3002,338.6,-11.6,342,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1956,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-0.57,-97.3,2383,1956,3169,3003,372.7,-10.9,373,3070,0.00,2.25,0.00,0.000,516,0.000,0.060,2383,547,3086,3170,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3217,-0.57,-97.3,2383,547,3170,3002,390.7,-11.5,388,3224,0.00,2.22,0.00,0.000,1030,0.000,0.047,2376,1952,3086,3170,3002,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3524,-0.57,-97.3,2375,1952,3170,3002,425.0,-10.9,408,3529,0.00,2.22,0.00,0.000,260,0.000,0.053,2364,3370,3085,3169,3002,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3566,-0.57,-97.3,1536,3369,3151,2998,429.3,-10.9,410,3570,0.00,2.22,0.00,0.000,1030,0.000,0.047,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3885,-0.57,-97.3,2364,1953,3170,3003,464.1,-10.3,426,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4184,-0.57,-97.3,2364,1953,3170,3002,495.6,-10.4,441,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.57,-97.3,2364,1953,3170,3003,526.5,-10.8,456,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.57,-97.3,2364,1953,3170,3002,558.0,-10.8,471,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.57,-97.3,2364,1953,3170,3002,590.6,-11.0,486,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.57,-97.3,2364,1953,3170,3002,623.8,-11.1,501,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,-0.57,-97.3,2364,1953,3170,3002,656.2,-10.6,516,5689,0.00,2.28,0.00,0.000,260,0.000,0.054,2354,3367,3086,3170,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5717,-0.57,-97.3,2354,3367,3170,3002,658.3,-10.5,517,5725,0.12,2.25,0.00,0.000,3078,0.164,0.049,2385,1955,3086,3170,3002,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6025,-0.57,-97.3,2384,1955,3170,3002,686.9,-9.0,533,6030,0.00,2.28,0.00,0.000,516,0.000,0.064,2385,544,3086,3170,3002,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6064,-0.57,-97.3,2384,543,3170,3002,690.8,-9.3,535,6070,0.00,2.22,0.00,0.000,1030,0.000,0.050,2376,1962,3085,3169,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6384,-0.57,-97.3,2376,1962,3170,3002,722.9,-10.3,551,6390,0.00,2.25,0.00,0.000,260,0.000,0.056,2365,3376,3085,3169,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6467,-0.57,-97.3,2365,3376,3170,3002,731.4,-10.7,555,6471,0.00,2.25,0.00,0.000,1030,0.000,0.049,2365,1956,3085,3169,3002,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6779,-0.57,-97.3,2366,1955,3170,3002,769.0,-12.2,571,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1955,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,-0.57,-97.3,2365,1955,3170,3002,803.9,-11.4,586,7085,0.00,2.28,0.00,0.000,260,0.000,0.057,2355,3368,3085,3169,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7152,-0.57,-97.3,2355,3368,3169,3002,810.7,-11.3,589,7160,0.12,2.25,0.00,0.000,3078,0.164,0.050,2385,1955,3085,3169,3002,0,0,0,0,0,0,25.60,25.84,28.83
$GC,7459,-0.57,-97.3,2385,1954,3170,3002,841.8,-9.5,605,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7759,-0.57,-97.3,2385,1954,3169,3002,868.2,-8.3,620,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8059,-0.57,-97.3,2385,1954,3169,3002,892.6,-8.1,635,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8360,-0.57,-97.3,2385,1954,3169,3002,916.7,-8.3,650,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,-0.57,-97.3,2385,1954,3169,3000,942.9,-9.1,665,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8960,-0.57,-97.3,2385,1954,3169,3000,970.2,-9.3,680,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,-0.57,-97.3,2385,1954,3169,2999,997.4,-9.0,695,9265,0.00,2.30,0.00,0.000,260,0.000,0.058,2377,3367,3084,3169,2999,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,9297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9297,begin apogee
$GC,9304,-0.14,0.0,2377,1887,3169,2998,1000.9,-9.0,697,9400,0.47,0.00,91.72,1.776,10246,0.136,0.000,2521,1886,2682,2759,2606,0,0,0,0,0,0,25.31,28.83,22.57
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9404,0.57,97.3,2521,1886,2759,2606,1004.5,0.0,702,9505,0.73,0.00,97.55,1.726,10758,0.088,0.000,2757,1885,2285,2353,2217,0,0,0,0,0,0,24.26,28.83,21.70
$GC,9799,0.58,110.4,2757,1885,2350,2206,975.4,8.9,722,9819,0.00,2.38,12.77,1.649,8452,0.000,0.057,2757,3299,2231,2301,2162,0,0,0,0,0,0,28.83,25.17,23.38
$GC,9862,0.59,112.5,2757,3299,2301,2162,969.4,9.4,725,9868,0.00,2.35,0.00,0.000,1030,0.000,0.056,2767,1881,2231,2302,2161,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10181,0.59,112.5,2767,1881,2301,2158,938.2,9.5,741,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1881,2229,2300,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10482,0.59,112.5,2767,1881,2300,2158,909.2,9.6,756,10488,0.00,2.30,0.00,0.000,260,0.000,0.058,2767,3302,2229,2300,2158,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10544,0.59,112.5,2767,3303,2300,2158,903.2,9.9,759,10549,0.00,2.30,0.00,0.000,1030,0.000,0.056,2777,1877,2228,2300,2157,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10857,0.59,114.6,2777,1877,2300,2157,873.3,9.4,775,10864,0.00,0.00,4.80,1.397,8198,0.000,0.000,2777,1877,2214,2286,2143,0,0,0,0,0,0,28.83,28.83,23.91
$GC,11157,0.59,116.9,2777,1877,2286,2142,845.3,9.3,790,11163,0.00,2.30,0.00,0.000,260,0.000,0.058,2777,3299,2214,2286,2142,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11216,0.59,116.9,2777,3299,2285,2141,839.4,9.8,793,11222,0.00,2.30,0.00,0.000,1030,0.000,0.057,2788,1884,2213,2285,2141,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11537,0.59,116.9,2788,1884,2286,2140,808.4,9.6,809,11543,0.00,2.30,0.00,0.000,260,0.000,0.058,2788,3302,2213,2285,2141,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11599,0.59,116.9,2788,3301,2285,2140,802.2,10.2,812,11604,0.15,2.30,0.00,0.000,5126,0.192,0.056,2764,1879,2213,2286,2140,0,0,0,0,0,0,25.56,25.92,28.83
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$STATE,19406,end climb,SURFACE_DEPTH_REACHED
$STATE,19406,begin surface coast
$FINISH,0.3,1.026681
$STATE,19422,end surface coast,CONTROL_FINISHED_OK
$STATE,19422,begin surface
$SM_CCo,19439,6.78,0.282,0,0,1865,200.16
$SM_GC,2.49,6.80,2.20,6.78,0.037,0.046,0.282,169,1960,1865,-7.40,0.90,200.16,0,0,0,0,0,0,26.08,25.85,25.32
$IRIDIUM_FIX,-4236.17,824.43,030809,232302
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.78
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.7,60.792
$10V_AH,9.8,41.853
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.525,136.800,260.225,6.775,0.000,24.519,40.055,254.361,0.000,0.000,19.750,3814.082,12152.795,479.271,3162.785,309.538,0.000,1823.791,0.000,2647.565,0.000,1.012,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$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,100362,1488
$CAP_FILE_SIZE,181139,0
$CFSIZE,259252224,226406400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.121,332.2,1
$GPS,071016,203827,-4254.470,828.402,45,0.9,45,-25.0