version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 414
start: 10 8 116 12 25 36
data:
$ID,542
$MISSION,14
$DIVE,414
$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,-41987.043
$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
$GPS1,081016,121622,-4254.799,829.742,46,1.0,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.9
$GPS2,081016,122451,-4254.744,829.797,78,0.9,79,-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,52.7,1279,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,153,1959,1885,1815,0.0,0.0,0,63,0.00,0.00,-44.72,0.000,16386,0.000,0.000,151,1961,3023,3085,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.57,-97.3,151,1961,3085,2966,3.4,-7.5,7,82,8.75,2.35,-1.27,0.000,18948,0.219,0.067,2381,542,3083,3157,3009,0,0,0,0,0,0,24.86,25.72,26.25
$GC,237,-0.57,-97.3,1456,541,3140,3005,31.1,-13.7,39,244,0.00,2.25,0.00,0.000,1030,0.000,0.047,2373,1969,3085,3163,3008,0,0,0,0,0,0,28.83,25.78,28.83
$GC,369,-0.57,-97.3,2373,1969,3163,3008,48.0,-13.1,64,376,0.00,2.25,0.00,0.000,260,0.000,0.054,2363,3365,3085,3163,3008,0,0,0,0,0,0,28.83,25.77,28.83
$GC,419,-0.57,-97.3,2362,3365,3163,3008,54.6,-12.6,73,426,0.00,2.22,0.00,0.000,1030,0.000,0.047,2363,1955,3085,3163,3008,0,0,0,0,0,0,28.83,25.82,28.83
$GC,731,-0.57,-97.3,1472,1953,3142,3004,94.3,-12.2,134,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1955,3086,3164,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-0.57,-97.3,2362,1954,3164,3008,130.7,-12.2,169,1049,0.00,2.25,0.00,0.000,516,0.000,0.060,2363,547,3086,3164,3008,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1062,-0.57,-97.3,2363,547,3164,3008,133.8,-13.4,171,1072,0.12,2.20,0.00,0.000,3078,0.174,0.046,2382,1960,3086,3164,3008,0,0,0,0,0,0,25.65,25.94,28.83
$GC,1373,-0.57,-97.3,2382,1960,3165,3008,170.9,-11.5,202,1382,0.00,2.20,0.00,0.000,260,0.000,0.054,2373,3367,3086,3165,3008,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1435,-0.57,-97.3,2373,3367,3165,3008,178.0,-11.1,208,1444,0.00,2.22,0.00,0.000,1030,0.000,0.047,2373,1953,3086,3165,3008,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1745,-0.57,-97.3,2373,1953,3165,3008,215.2,-12.2,239,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1953,3086,3165,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2047,-0.57,-97.3,2373,1953,3165,3008,250.9,-11.6,269,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1953,3086,3165,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-0.57,-97.3,2373,1953,3166,3008,287.6,-11.9,300,2365,0.00,2.25,0.00,0.000,516,0.000,0.060,2372,550,3087,3166,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2390,-0.57,-97.3,2372,550,3167,3008,291.8,-12.5,303,2398,0.00,2.25,0.00,0.000,1030,0.000,0.047,2363,1959,3086,3165,3008,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2698,-0.57,-97.3,2363,1959,3166,3008,330.0,-12.0,334,2708,0.00,2.22,0.00,0.000,260,0.000,0.053,2353,3376,3086,3165,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2801,-0.57,-97.3,2352,3376,3165,3008,342.3,-12.0,344,2812,0.12,2.25,0.00,0.000,3078,0.164,0.047,2382,1940,3087,3166,3008,0,0,0,0,0,0,25.68,25.93,28.83
$GC,3112,-0.57,-97.3,2382,1940,3166,3008,376.0,-10.7,375,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1940,3087,3166,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.57,-97.3,2382,1940,3166,3008,408.9,-11.0,402,3427,0.00,2.25,0.00,0.000,516,0.000,0.060,2382,543,3087,3166,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3454,-0.57,-97.3,2382,543,3166,3008,411.2,-11.0,403,3461,0.00,2.20,0.00,0.000,1030,0.000,0.047,2374,1957,3086,3165,3008,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3761,-0.57,-97.3,2374,1957,3165,3008,449.7,-11.9,419,3767,0.00,2.28,0.00,0.000,516,0.000,0.060,2374,547,3087,3166,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3803,-0.57,-97.3,1544,547,3147,3004,454.6,-12.0,421,3807,0.00,2.20,0.00,0.000,1030,0.000,0.047,2364,1958,3086,3165,3007,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4121,-0.57,-97.3,2364,1957,3166,3008,491.2,-11.0,437,4126,0.00,2.22,0.00,0.000,260,0.000,0.054,2353,3369,3087,3166,3008,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4231,-0.57,-97.3,2353,3369,3165,3008,502.1,-10.9,442,4240,0.12,2.22,0.00,0.000,3078,0.164,0.047,2384,1955,3087,3166,3008,0,0,0,0,0,0,25.67,25.91,28.83
$GC,4541,-0.57,-97.3,2383,1955,3166,3008,533.0,-9.5,458,4547,0.00,2.25,0.00,0.000,260,0.000,0.054,2375,3370,3087,3166,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4589,-0.57,-97.3,2375,3371,3166,3008,536.9,-9.6,460,4594,0.00,2.22,0.00,0.000,1030,0.000,0.047,2375,1958,3087,3166,3008,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4896,-0.57,-97.3,2375,1958,3165,3008,569.6,-10.6,475,4902,0.00,2.25,0.00,0.000,260,0.000,0.054,2365,3369,3087,3166,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4936,-0.57,-97.3,2365,3368,3165,3008,573.9,-10.7,477,4942,0.00,2.22,0.00,0.000,1030,0.000,0.048,2365,1957,3086,3165,3008,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5257,-0.57,-97.3,2365,1956,3166,3007,611.3,-12.1,493,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1956,3086,3166,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5556,-0.57,-97.3,2365,1956,3166,3006,648.1,-12.4,508,5562,0.00,2.25,0.00,0.000,260,0.000,0.055,2355,3369,3086,3166,3006,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5580,-0.57,-97.3,2355,3368,3165,3006,650.5,-12.4,509,5585,0.12,2.25,0.00,0.000,3078,0.166,0.049,2385,1944,3085,3165,3006,0,0,0,0,0,0,25.63,25.88,28.83
$GC,5892,-0.57,-97.3,2385,1943,3166,3006,685.2,-10.6,525,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1944,3086,3166,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6192,-0.57,-97.3,2385,1944,3165,3005,716.9,-10.2,540,6196,0.00,2.30,0.00,0.000,260,0.000,0.056,2376,3373,3085,3166,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6262,-0.57,-97.3,2376,3374,3165,3005,723.3,-10.3,543,6266,0.00,2.25,0.00,0.000,1030,0.000,0.049,2376,1954,3085,3166,3005,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6569,-0.57,-97.3,2376,1954,3166,3005,755.8,-10.1,558,6574,0.00,2.28,0.00,0.000,260,0.000,0.056,2366,3377,3085,3165,3005,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6596,-0.57,-97.3,2366,3377,3165,3005,757.8,-10.0,559,6601,0.00,2.28,0.00,0.000,1030,0.000,0.050,2366,1942,3085,3165,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6904,-0.57,-97.3,2366,1942,3166,3003,791.2,-10.6,574,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1942,3085,3166,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.57,-97.3,2366,1942,3165,3003,822.3,-10.2,589,7209,0.00,2.28,0.00,0.000,516,0.000,0.065,2366,543,3085,3166,3004,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7237,-0.57,-97.3,2366,543,3165,3003,824.4,-10.2,590,7244,0.12,2.22,0.00,0.000,3078,0.174,0.050,2385,1957,3085,3166,3004,0,0,0,0,0,0,25.60,25.89,28.83
$GC,7544,-0.57,-97.3,2385,1957,3166,3003,853.7,-8.9,606,7550,0.00,2.25,0.00,0.000,260,0.000,0.057,2376,3370,3084,3165,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7584,-0.57,-97.3,2376,3371,3165,3003,857.4,-9.1,608,7589,0.00,2.25,0.00,0.000,1030,0.000,0.050,2376,1954,3084,3165,3003,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7904,-0.57,-97.3,2376,1954,3165,3002,887.9,-9.7,624,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1954,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.57,-97.3,2376,1953,3165,3002,917.7,-10.1,639,8209,0.00,2.28,0.00,0.000,260,0.000,0.058,2366,3371,3083,3165,3002,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8264,-0.57,-97.3,2366,3371,3165,3002,923.9,-10.3,642,8270,0.00,2.28,0.00,0.000,1030,0.000,0.051,2365,1951,3084,3166,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8585,-0.57,-97.3,2366,1950,3166,3002,958.4,-10.7,658,8590,0.00,2.30,0.00,0.000,516,0.000,0.066,2366,543,3083,3165,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8626,-0.57,-97.3,2366,543,3165,3002,962.8,-10.8,660,8632,0.12,2.25,0.00,0.000,3078,0.174,0.051,2385,1963,3083,3165,3002,0,0,0,0,0,0,25.55,25.84,28.83
$GC,8941,-0.57,-97.3,2385,1963,3166,3002,991.5,-8.8,676,8946,0.00,2.25,0.00,0.000,260,0.000,0.059,2376,3375,3084,3166,3002,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9007,-0.57,-97.3,2376,3376,3165,3001,996.8,-8.9,679,9011,0.00,2.28,0.00,0.000,1030,0.000,0.051,2376,1953,3083,3165,3001,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,9032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9032,begin apogee
$GC,9038,-0.14,0.0,2376,1870,3165,3001,1000.0,-9.0,680,9134,0.50,0.00,91.97,1.775,10246,0.138,0.000,2528,1869,2682,2758,2607,0,0,0,0,0,0,25.28,28.83,22.56
$STATE,9135,end apogee,CONTROL_FINISHED_OK
$STATE,9135,begin climb
$GC,9137,0.57,97.3,2527,1869,2758,2607,1003.7,0.0,685,9239,0.68,0.00,97.78,1.723,10758,0.086,0.000,2756,1869,2286,2352,2221,0,0,0,0,0,0,24.26,28.83,21.70
$GC,9535,0.61,134.3,2755,1869,2349,2210,977.8,7.9,705,9578,0.00,2.53,36.47,1.724,8452,0.000,0.059,2756,3299,2134,2206,2063,0,0,0,0,0,0,28.83,24.67,23.08
$GC,9676,0.61,134.3,2756,3299,2204,2058,964.8,9.9,712,9682,0.00,2.33,0.00,0.000,1030,0.000,0.056,2765,1892,2131,2204,2058,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9995,0.61,134.3,2765,1892,2202,2054,933.8,9.7,728,10001,0.00,2.35,0.00,0.000,516,0.000,0.071,2776,475,2128,2202,2054,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10025,0.61,134.3,2776,474,2201,2054,931.7,9.8,729,10034,0.00,2.28,0.00,0.000,1030,0.000,0.053,2776,1899,2127,2201,2054,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,18816,end climb,SURFACE_DEPTH_REACHED
$STATE,18816,begin surface coast
$FINISH,0.2,1.026678
$STATE,18842,end surface coast,CONTROL_FINISHED_OK
$STATE,18842,begin surface
$SM_CCo,18858,4.45,0.276,0,0,1865,200.16
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$IRIDIUM_FIX,-4236.17,827.34,040809,202017
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.14
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.7,61.397
$10V_AH,9.9,42.282
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.100,172.750,277.225,4.450,0.000,26.674,21.071,262.859,0.000,0.000,80.043,3707.460,11618.513,482.580,3244.517,329.587,0.000,1864.144,0.000,2677.090,0.000,1.010,0.000
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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,353156
$DATA_FILE_SIZE,96809,1430
$CAP_FILE_SIZE,185915,0
$CFSIZE,259252224,226074624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,319.5,1
$GPS,081016,174133,-4251.738,829.770,56,0.9,56,-25.0