version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 430
start: 10 12 116 1 8 31
data:
$ID,542
$MISSION,14
$DIVE,430
$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,-42007.23
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,121016,005936,-4305.648,830.141,41,1.0,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.6
$GPS2,121016,010746,-4305.583,830.236,19,1.1,19,-25.1
$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,22.1,21325,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,138,1965,1899,1811,0.0,0.0,0,65,0.00,0.00,-46.17,0.000,16390,0.000,0.000,138,1965,3080,3132,3029,0,0,0,0,0,0,28.83,28.83,26.40
$GC,68,-0.55,-97.3,138,1964,3140,3026,3.6,-6.8,7,83,8.85,2.30,0.00,0.000,2564,0.217,0.050,2395,533,3084,3148,3021,0,0,0,0,0,0,24.79,25.70,28.83
$GC,218,-0.55,-97.3,1440,533,3135,3010,29.3,-11.9,35,225,0.00,2.25,0.00,0.000,1030,0.000,0.047,2387,1963,3087,3159,3015,0,0,0,0,0,0,28.83,25.77,28.83
$GC,350,-0.55,-97.3,2387,1963,3161,3013,43.2,-11.6,60,358,0.00,2.25,0.00,0.000,260,0.000,0.052,2376,3388,3087,3161,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,395,-0.55,-97.3,2376,3388,3161,3013,48.4,-10.4,68,402,0.00,2.30,0.00,0.000,1030,0.000,0.045,2376,1956,3087,3161,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,709,-0.55,-97.3,2376,1956,3161,3013,82.1,-10.5,129,716,0.00,2.28,0.00,0.000,516,0.000,0.058,2376,531,3087,3162,3013,0,0,0,0,0,0,28.83,25.75,28.83
$GC,734,-0.55,-97.3,2376,532,3161,3013,85.1,-10.9,133,742,0.00,2.22,0.00,0.000,1030,0.000,0.046,2366,1966,3087,3161,3013,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1050,-0.55,-97.3,2366,1966,3162,3013,121.3,-12.0,177,1059,0.00,2.20,0.00,0.000,260,0.000,0.052,2356,3373,3087,3162,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1154,-0.55,-97.3,2355,3373,3162,3013,134.3,-12.7,187,1162,0.15,2.22,0.00,0.000,3078,0.161,0.044,2393,1948,3087,3162,3013,0,0,0,0,0,0,25.63,25.94,28.83
$GC,1463,-0.55,-97.3,2393,1948,3163,3013,168.9,-11.0,218,1472,0.00,2.25,0.00,0.000,516,0.000,0.058,2393,535,3087,3162,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1569,-0.55,-97.3,2393,535,3162,3013,180.0,-10.2,228,1576,0.00,2.25,0.00,0.000,1030,0.000,0.045,2385,1977,3088,3163,3013,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1876,-0.55,-97.3,2385,1977,3163,3013,212.2,-10.5,259,1884,0.00,2.17,0.00,0.000,260,0.000,0.052,2374,3371,3088,3163,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2009,-0.55,-97.3,2374,3372,3163,3013,226.2,-10.7,272,2019,0.00,2.20,0.00,0.000,1030,0.000,0.045,2374,1948,3088,3163,3013,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2318,-0.55,-97.3,2374,1948,3164,3013,262.1,-11.4,303,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1948,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,-0.55,-97.3,2374,1948,3164,3013,296.7,-11.7,333,2629,0.00,2.22,0.00,0.000,260,0.000,0.052,2364,3368,3088,3164,3013,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2644,-0.55,-97.3,2364,3369,3164,3013,299.5,-11.6,335,2652,0.12,2.22,0.00,0.000,3078,0.165,0.044,2394,1947,3088,3164,3013,0,0,0,0,0,0,25.70,25.97,28.83
$GC,2952,-0.55,-97.3,2394,1947,3164,3013,332.7,-10.8,366,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1947,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.55,-97.3,2394,1947,3164,3013,366.0,-10.9,396,3262,0.00,2.22,0.00,0.000,516,0.000,0.059,2394,548,3089,3165,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3287,-0.55,-97.3,2394,548,3164,3013,369.9,-11.5,399,3294,0.00,2.17,0.00,0.000,1030,0.000,0.046,2386,1956,3088,3164,3013,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3595,-0.55,-97.3,2386,1956,3164,3012,404.8,-10.9,428,3601,0.00,2.20,0.00,0.000,260,0.000,0.052,2375,3372,3088,3164,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3614,-0.55,-97.3,2375,3371,3164,3013,407.0,-10.9,429,3620,0.00,2.22,0.00,0.000,1030,0.000,0.045,2375,1950,3088,3164,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3935,-0.55,-97.3,2375,1950,3164,3013,443.8,-11.5,445,3941,0.00,2.25,0.00,0.000,260,0.000,0.052,2365,3374,3088,3164,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3977,-0.55,-97.3,2365,3374,3164,3013,448.4,-11.6,447,3982,0.12,2.22,0.00,0.000,3078,0.162,0.044,2395,1956,3088,3164,3013,0,0,0,0,0,0,25.72,25.98,28.83
$GC,4290,-0.55,-97.3,2395,1955,3164,3013,480.7,-10.4,463,4296,0.00,2.25,0.00,0.000,516,0.000,0.060,2395,544,3088,3164,3013,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4317,-0.55,-97.3,2395,544,3164,3013,482.9,-10.4,464,4322,0.00,2.20,0.00,0.000,1030,0.000,0.046,2387,1961,3088,3164,3012,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4624,-0.55,-97.3,2387,1961,3165,3012,519.0,-11.8,479,4630,0.00,2.20,0.00,0.000,260,0.000,0.052,2376,3369,3088,3164,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4678,-0.55,-97.3,2376,3368,3165,3012,523.8,-11.9,481,4685,0.00,2.22,0.00,0.000,1030,0.000,0.045,2376,1946,3088,3165,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4984,-0.55,-97.3,2376,1945,3164,3012,561.6,-12.1,497,4990,0.00,2.25,0.00,0.000,516,0.000,0.060,2376,545,3088,3164,3012,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5007,-0.55,-97.3,1560,544,3147,3008,564.2,-12.2,498,5011,0.00,2.20,0.00,0.000,1030,0.000,0.047,2366,1959,3088,3164,3012,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5325,-0.55,-97.3,2366,1960,3164,3011,605.2,-12.6,514,5331,0.00,2.20,0.00,0.000,260,0.000,0.054,2355,3373,3087,3164,3011,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5424,-0.55,-97.3,2355,3373,3164,3011,617.6,-12.3,519,5431,0.15,2.22,0.00,0.000,3078,0.159,0.047,2392,1950,3087,3164,3011,0,0,0,0,0,0,25.61,25.91,28.83
$GC,5745,-0.55,-97.3,2392,1950,3164,3010,650.0,-9.9,535,5751,0.00,2.28,0.00,0.000,260,0.000,0.054,2384,3374,3087,3164,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5764,-0.55,-97.3,2384,3375,3164,3010,652.0,-9.9,536,5770,0.00,2.22,0.00,0.000,1030,0.000,0.046,2384,1958,3087,3164,3010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6084,-0.55,-97.3,2384,1958,3164,3009,683.9,-9.7,552,6090,0.00,2.28,0.00,0.000,516,0.000,0.061,2385,545,3086,3164,3009,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6127,-0.55,-97.3,1544,544,3146,3005,688.1,-10.2,554,6132,0.00,2.22,0.00,0.000,1030,0.000,0.048,2374,1963,3086,3164,3009,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6440,-0.55,-97.3,2374,1963,3164,3007,721.2,-10.5,570,6446,0.00,2.22,0.00,0.000,260,0.000,0.055,2364,3373,3085,3164,3007,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6584,-0.55,-97.3,2363,3373,3164,3007,736.3,-10.7,577,6591,0.12,2.22,0.00,0.000,3078,0.164,0.047,2393,1956,3085,3164,3007,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6900,-0.55,-97.3,2393,1955,3164,3006,766.3,-9.3,593,6906,0.00,2.25,0.00,0.000,260,0.000,0.056,2385,3370,3085,3164,3006,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6920,-0.55,-97.3,2385,3370,3164,3006,768.1,-9.3,594,6926,0.00,2.22,0.00,0.000,1030,0.000,0.047,2385,1956,3085,3164,3006,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7241,-0.55,-97.3,2385,1955,3164,3005,798.7,-9.3,610,7246,0.00,2.22,0.00,0.000,260,0.000,0.056,2375,3371,3084,3164,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7263,-0.55,-97.3,2375,3372,3164,3005,800.5,-9.3,611,7267,0.00,2.22,0.00,0.000,1030,0.000,0.047,2375,1956,3084,3164,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7575,-0.55,-97.3,2374,1956,3164,3004,830.8,-9.6,627,7581,0.00,2.25,0.00,0.000,260,0.000,0.056,2365,3369,3084,3164,3004,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7597,-0.55,-97.3,2365,3369,3164,3003,832.8,-9.6,628,7602,0.12,2.25,0.00,0.000,3078,0.164,0.048,2394,1945,3084,3164,3005,0,0,0,0,0,0,25.62,25.86,28.83
$GC,7910,-0.55,-97.3,2395,1945,3164,3003,861.2,-9.0,644,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3083,3164,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8211,-0.55,-97.3,2394,1945,3164,3003,887.4,-8.6,659,8216,0.00,2.25,0.00,0.000,260,0.000,0.057,2386,3366,3083,3164,3002,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8233,-0.55,-97.3,2386,3366,3164,3003,889.1,-8.7,660,8238,0.00,2.22,0.00,0.000,1030,0.000,0.049,2386,1953,3083,3164,3003,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8546,-0.55,-97.3,2386,1953,3164,3002,917.8,-9.1,676,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8846,-0.55,-97.3,2386,1953,3164,3002,945.3,-9.1,691,8851,0.00,2.25,0.00,0.000,260,0.000,0.057,2376,3366,3083,3164,3002,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8885,-0.55,-97.3,2376,3366,3164,3002,949.1,-9.3,693,8891,0.00,2.22,0.00,0.000,1030,0.000,0.049,2376,1955,3083,3164,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9205,-0.55,-97.3,2376,1955,3164,3002,980.0,-9.6,709,9211,0.00,2.25,0.00,0.000,260,0.000,0.057,2365,3371,3083,3164,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9227,-0.55,-97.3,1552,3370,3146,2998,981.9,-9.5,710,9232,0.12,2.25,0.00,0.000,3078,0.164,0.050,2396,1948,3083,3164,3002,0,0,0,0,0,0,25.58,25.81,28.83
$STATE,9463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9463,begin apogee
$GC,9469,-0.14,0.0,2395,1877,3164,3001,1001.6,-8.0,722,9565,0.43,0.00,92.28,1.764,10246,0.135,0.000,2527,1876,2683,2763,2603,0,0,0,0,0,0,25.41,28.83,22.51
$STATE,9566,end apogee,CONTROL_FINISHED_OK
$STATE,9566,begin climb
$GC,9568,0.55,97.3,2527,1876,2764,2603,1004.8,0.0,727,9674,0.65,2.58,97.55,1.711,10756,0.088,0.067,2753,487,2286,2361,2211,0,0,0,0,0,0,24.24,23.30,21.67
$GC,9695,0.69,234.3,2753,487,2356,2210,1001.3,4.2,733,9847,0.12,2.42,142.45,1.699,11270,0.090,0.050,2803,1886,1727,1802,1652,0,0,0,0,0,0,23.89,23.87,21.65
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$STATE,16279,end climb,SURFACE_DEPTH_REACHED
$STATE,16279,begin surface coast
$FINISH,0.1,1.026691
$STATE,16295,end surface coast,CONTROL_FINISHED_OK
$STATE,16295,begin surface
$SM_CCo,16372,0.00,0.000,0,0,1532,282.34
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$IRIDIUM_FIX,-4244.98,828.64,080809,090903
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.18
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.6,64.051
$10V_AH,9.8,43.988
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353148
$DATA_FILE_SIZE,83814,1265
$CAP_FILE_SIZE,173467,0
$CFSIZE,259252224,224755712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,284.4,1
$GPS,121016,054233,-4303.583,829.620,35,0.9,35,-25.0