version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 411
start: 10 7 116 20 46 50
data:
$ID,542
$MISSION,14
$DIVE,411
$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,-41983.277
$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,19
$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
$GPS1,071016,203827,-4254.470,828.402,45,0.9,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.1
$GPS2,071016,204605,-4254.457,828.436,19,1.0,20,-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,123.8,2239,-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,-97.3,163,1958,1888,1813,0.0,0.0,0,67,0.00,0.00,-47.33,0.000,16390,0.000,0.000,164,1957,3082,3146,3019,0,0,0,0,0,0,28.83,28.83,26.37
$GC,70,-0.57,-97.3,163,1957,3146,3019,3.6,-6.3,8,85,8.65,2.33,0.00,0.000,2564,0.220,0.051,2388,537,3083,3149,3018,0,0,0,0,0,0,24.89,25.70,28.83
$GC,93,-0.57,-97.3,2388,537,3156,3016,10.7,-25.0,11,100,0.00,2.25,0.00,0.000,1030,0.000,0.047,2380,1964,3086,3157,3015,0,0,0,0,0,0,28.83,25.75,28.83
$GC,144,-0.57,-97.3,2380,1964,3160,3012,18.6,-13.8,20,151,0.00,2.22,0.00,0.000,260,0.000,0.053,2370,3371,3085,3159,3012,0,0,0,0,0,0,28.83,25.70,28.83
$GC,603,-0.57,-97.3,2369,3370,3161,3012,73.6,-10.8,110,611,0.00,2.25,0.00,0.000,1030,0.000,0.047,2370,1948,3086,3161,3012,0,0,0,0,0,0,28.83,25.85,28.83
$GC,916,-0.57,-97.3,2369,1948,3162,3012,114.2,-12.6,160,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1948,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.57,-97.3,2369,1948,3162,3012,154.7,-12.8,190,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-0.57,-97.3,2370,1948,3163,3012,195.3,-13.1,221,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.57,-97.3,2369,1948,3163,3012,235.0,-12.5,252,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.57,-97.3,2369,1948,3164,3012,272.9,-12.1,283,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.57,-97.3,2369,1948,3164,3012,311.7,-12.6,314,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,-0.57,-97.3,2369,1948,3164,3012,350.5,-13.2,344,2767,0.00,2.25,0.00,0.000,516,0.000,0.060,2369,550,3088,3164,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2803,-0.57,-97.3,2370,550,3164,3012,356.5,-13.7,348,2811,0.00,2.22,0.00,0.000,1030,0.000,0.046,2359,1952,3088,3164,3012,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3112,-0.57,-97.3,2358,1952,3164,3012,398.9,-13.4,379,3120,0.00,2.20,0.00,0.000,260,0.000,0.053,2348,3366,3088,3164,3012,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3205,-0.57,-97.3,2348,3365,3165,3012,409.9,-13.4,384,3213,0.15,2.22,0.00,0.000,3078,0.161,0.047,2387,1948,3088,3164,3012,0,0,0,0,0,0,25.63,25.94,28.83
$GC,3512,-0.57,-97.3,2386,1947,3165,3012,445.6,-10.7,400,3518,0.00,2.28,0.00,0.000,260,0.000,0.053,2378,3373,3088,3164,3012,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3556,-0.57,-97.3,2378,3373,3164,3012,449.9,-10.6,402,3560,0.00,2.22,0.00,0.000,1030,0.000,0.047,2378,1959,3088,3164,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3867,-0.57,-97.3,2378,1958,3165,3012,484.9,-11.0,418,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3165,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.57,-97.3,2378,1958,3164,3012,517.6,-10.8,433,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3165,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.57,-97.3,2378,1958,3164,3012,549.8,-10.8,448,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.57,-97.3,2378,1958,3165,3012,582.0,-10.7,463,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5068,-0.57,-97.3,2378,1958,3165,3012,614.0,-10.7,478,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5367,-0.57,-97.3,2378,1958,3165,3012,646.9,-11.1,493,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5667,-0.57,-97.3,2378,1958,3165,3010,680.2,-10.9,508,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1958,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,-0.57,-97.3,2378,1958,3165,3009,712.6,-10.9,523,5974,0.00,2.30,0.00,0.000,516,0.000,0.064,2378,546,3086,3164,3009,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5990,-0.57,-97.3,2378,546,3165,3009,714.8,-11.0,524,5994,0.00,2.22,0.00,0.000,1030,0.000,0.050,2368,1959,3087,3165,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6307,-0.57,-97.3,2368,1959,3164,3007,750.1,-10.9,540,6313,0.00,2.25,0.00,0.000,260,0.000,0.056,2357,3374,3086,3165,3007,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6348,-0.57,-97.3,2357,3374,3164,3007,754.5,-11.0,542,6355,0.12,2.28,0.00,0.000,3078,0.167,0.050,2387,1946,3086,3165,3007,0,0,0,0,0,0,25.60,25.84,28.83
$GC,6667,-0.57,-97.3,2387,1946,3164,3006,786.1,-9.8,558,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1946,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6968,-0.57,-97.3,2387,1945,3165,3006,815.4,-9.8,573,6974,0.00,2.30,0.00,0.000,260,0.000,0.057,2378,3371,3085,3165,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7035,-0.57,-97.3,2378,3371,3165,3005,821.3,-9.9,576,7040,0.00,2.25,0.00,0.000,1030,0.000,0.050,2379,1959,3084,3164,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7343,-0.57,-97.3,2378,1958,3164,3005,854.2,-10.5,591,7349,0.00,2.28,0.00,0.000,260,0.000,0.057,2368,3369,3085,3165,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7391,-0.57,-97.3,2368,3369,3165,3005,858.3,-10.4,593,7395,0.00,2.25,0.00,0.000,1030,0.000,0.050,2368,1956,3084,3164,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7697,-0.57,-97.3,2368,1956,3165,3005,890.6,-9.8,608,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1956,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.57,-97.3,2368,1956,3165,3004,919.4,-9.6,623,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1956,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,-0.57,-97.3,2369,1955,3164,3004,948.6,-9.8,638,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1956,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8598,-0.57,-97.3,2368,1955,3164,3004,976.0,-8.8,653,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1955,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8876,begin apogee
$GC,8882,-0.14,0.0,2368,1876,3165,3004,1000.7,-8.9,667,8978,0.52,0.00,91.85,1.769,10246,0.141,0.000,2526,1876,2683,2758,2609,0,0,0,0,0,0,25.25,28.83,22.62
$STATE,8979,end apogee,CONTROL_FINISHED_OK
$STATE,8979,begin climb
$GC,8981,0.57,97.3,2526,1876,2758,2609,1003.4,0.0,672,9085,0.68,2.60,96.82,1.711,10756,0.087,0.069,2764,482,2285,2351,2220,0,0,0,0,0,0,24.27,23.32,21.75
$GC,9120,0.63,157.4,2763,482,2350,2215,996.3,6.9,679,9189,0.00,2.40,62.53,1.690,9222,0.000,0.050,2763,1881,2041,2111,1971,0,0,0,0,0,0,28.83,24.03,21.69
$GC,9496,0.63,157.4,2763,1881,2105,1960,953.2,12.0,698,9502,0.00,2.33,0.00,0.000,260,0.000,0.059,2763,3301,2032,2105,1960,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9536,0.63,157.4,2763,3301,2104,1959,948.1,12.3,700,9542,0.00,2.33,0.00,0.000,1030,0.000,0.057,2774,1886,2031,2104,1959,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9856,0.63,157.4,2774,1886,2103,1957,907.2,12.6,716,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1886,2030,2103,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10156,0.63,157.4,2774,1886,2102,1957,870.3,11.9,731,10162,0.00,2.30,0.00,0.000,260,0.000,0.059,2774,3306,2029,2102,1957,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10186,0.63,157.4,2773,3305,2101,1957,867.9,12.0,732,10195,0.00,2.30,0.00,0.000,1030,0.000,0.056,2784,1884,2029,2101,1957,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10496,0.63,157.4,2784,1884,2101,1957,829.6,11.7,748,10502,0.00,2.30,0.00,0.000,260,0.000,0.059,2784,3308,2029,2101,1957,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10536,0.63,157.4,2784,3309,2100,1956,824.8,11.7,750,10542,0.00,2.30,0.00,0.000,1030,0.000,0.057,2795,1883,2028,2100,1957,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10856,0.63,157.4,2795,1882,2100,1956,787.1,12.0,766,10862,0.00,2.30,0.00,0.000,260,0.000,0.058,2795,3309,2028,2099,1957,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10909,0.63,157.4,2795,3309,2098,1956,782.1,12.3,768,10916,0.00,2.30,0.00,0.000,1030,0.000,0.057,2805,1888,2027,2099,1956,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11216,0.63,157.4,2805,1888,2099,1956,741.3,13.0,784,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1888,2027,2099,1956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11516,0.63,157.4,2804,1888,2098,1956,702.1,12.8,799,11522,0.00,2.30,0.00,0.000,260,0.000,0.059,2805,3309,2027,2098,1956,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11569,0.63,157.4,2805,3309,2097,1956,696.8,13.0,801,11576,0.15,2.30,0.00,0.000,5126,0.189,0.056,2781,1885,2026,2097,1955,0,0,0,0,0,0,25.56,25.91,28.83
$GC,11877,0.63,157.4,2781,1885,2097,1955,662.3,10.6,817,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1885,2026,2097,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12176,0.63,157.4,2781,1885,2097,1955,631.4,10.2,832,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1885,2026,2097,1955,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17869,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
$FINISH,0.8,1.026686
$STATE,17880,end surface coast,CONTROL_FINISHED_OK
$STATE,17880,begin surface
$SM_CCo,17958,0.00,0.000,0,0,1609,263.45
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$IRIDIUM_FIX,-4236.17,833.15,040809,040446
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.47
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.7,60.944
$10V_AH,9.9,41.956
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.650,123.975,300.075,0.000,0.000,30.753,24.751,264.292,0.000,0.000,20.720,3526.816,11229.750,446.771,2948.682,272.420,0.000,1688.397,0.000,2429.457,0.000,1.010,0.000
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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,353164
$DATA_FILE_SIZE,93849,1389
$CAP_FILE_SIZE,162686,0
$CFSIZE,259252224,226349056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,  9.9,1
$GPS,081016,014721,-4253.390,831.784,38,0.9,38,-25.0