version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 438
start: 10 13 116 19 11 12
data:
$ID,542
$MISSION,14
$DIVE,438
$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,-42017.281
$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,27
$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
$GPS1,131016,190303,-4258.294,830.197,28,1.1,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.8
$GPS2,131016,191028,-4258.314,830.187,17,1.1,18,-25.0
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$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,193.5,14107,-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,-97.3,148,1959,1886,1809,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,16386,0.000,0.000,145,1959,3044,3098,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.55,-97.3,144,1958,3097,2993,3.1,-4.5,7,82,8.82,2.35,-0.80,0.000,19204,0.219,0.062,2393,526,3084,3149,3020,0,0,0,0,0,0,24.93,25.74,26.15
$GC,337,-0.55,-97.3,1456,525,3137,3011,39.4,-11.7,59,344,0.00,2.28,0.00,0.000,1030,0.000,0.050,2385,1959,3088,3161,3015,0,0,0,0,0,0,28.83,25.83,28.83
$GC,469,-0.55,-97.3,2385,1959,3162,3013,54.3,-11.4,84,476,0.00,2.25,0.00,0.000,260,0.000,0.056,2374,3370,3087,3162,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,554,-0.55,-97.3,1488,3369,3141,3009,64.1,-10.9,100,561,0.00,2.28,0.00,0.000,1030,0.000,0.046,2374,1955,3087,3162,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,865,-0.55,-97.3,2374,1955,3163,3013,101.8,-12.2,160,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1955,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.55,-97.3,2375,1954,3163,3013,138.7,-12.2,190,1176,0.00,2.25,0.00,0.000,516,0.000,0.058,2374,547,3088,3163,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1202,-0.55,-97.3,2374,547,3163,3013,143.0,-12.9,193,1211,0.12,2.25,0.00,0.000,3078,0.168,0.049,2394,1974,3088,3163,3013,0,0,0,0,0,0,25.67,25.94,28.83
$GC,1510,-0.55,-97.3,2393,1975,3164,3013,176.7,-10.3,224,1519,0.00,2.20,0.00,0.000,260,0.000,0.055,2385,3372,3088,3164,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1564,-0.55,-97.3,2385,3372,3164,3013,181.8,-9.7,229,1572,0.00,2.22,0.00,0.000,1030,0.000,0.045,2385,1955,3088,3164,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1871,-0.55,-97.3,2385,1954,3165,3013,213.1,-10.3,260,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1955,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.55,-97.3,2385,1954,3165,3013,246.1,-10.8,290,2182,0.00,2.25,0.00,0.000,516,0.000,0.058,2385,539,3089,3165,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2226,-0.55,-97.3,2385,539,3165,3013,252.1,-11.7,295,2235,0.00,2.20,0.00,0.000,1030,0.000,0.049,2375,1957,3089,3165,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2535,-0.55,-97.3,2375,1957,3165,3013,287.6,-11.1,326,2545,0.00,2.25,0.00,0.000,260,0.000,0.055,2364,3377,3089,3165,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2609,-0.55,-97.3,2364,3377,3165,3013,295.7,-11.0,333,2619,0.08,2.22,0.00,0.000,3078,0.142,0.045,2389,1955,3088,3165,3012,0,0,0,0,0,0,25.77,25.98,28.83
$GC,2919,-0.55,-97.3,2389,1955,3165,3013,325.2,-9.3,364,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1955,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.55,-97.3,2389,1955,3165,3013,352.2,-8.9,394,3231,0.00,2.25,0.00,0.000,516,0.000,0.058,2389,545,3089,3165,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3294,-0.55,-97.3,2389,545,3165,3013,359.1,-9.1,401,3303,0.00,2.17,0.00,0.000,1030,0.000,0.048,2381,1951,3089,3165,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3603,-0.55,-97.3,2381,1951,3165,3013,389.0,-10.4,432,3612,0.00,2.22,0.00,0.000,260,0.000,0.054,2370,3367,3089,3165,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3697,-0.55,-97.3,2370,3366,3165,3013,398.8,-10.7,441,3706,0.00,2.22,0.00,0.000,1030,0.000,0.046,2370,1947,3089,3165,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4016,-0.55,-97.3,2370,1947,3164,3013,435.1,-11.2,458,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1947,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.55,-97.3,2370,1947,3165,3013,466.9,-10.2,473,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.55,-97.3,2370,1947,3165,3012,498.2,-10.5,488,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-0.55,-97.3,2370,1947,3165,3013,531.1,-11.6,503,4921,0.00,2.28,0.00,0.000,516,0.000,0.059,2370,539,3089,3165,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5003,-0.55,-97.3,2370,539,3165,3013,540.9,-12.3,507,5008,0.12,2.22,0.00,0.000,3078,0.169,0.050,2389,1956,3088,3165,3012,0,0,0,0,0,0,25.68,25.96,28.83
$GC,5311,-0.55,-97.3,2389,1956,3166,3012,573.9,-10.1,522,5317,0.00,2.25,0.00,0.000,260,0.000,0.057,2381,3370,3088,3165,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5391,-0.55,-97.3,2381,3370,3165,3011,581.9,-10.0,526,5397,0.00,2.22,0.00,0.000,1030,0.000,0.047,2381,1952,3088,3165,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5711,-0.55,-97.3,2381,1951,3165,3011,613.4,-9.8,542,5717,0.00,2.28,0.00,0.000,516,0.000,0.060,2381,531,3088,3165,3011,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5750,-0.55,-97.3,2380,531,3165,3011,617.5,-10.1,544,5756,0.00,2.25,0.00,0.000,1030,0.000,0.050,2371,1958,3088,3165,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6070,-0.55,-97.3,2370,1959,3165,3010,651.5,-10.8,560,6076,0.00,2.25,0.00,0.000,260,0.000,0.057,2360,3369,3087,3165,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6111,-0.55,-97.3,2360,3369,3165,3010,655.8,-10.7,562,6117,0.10,2.25,0.00,0.000,3078,0.168,0.047,2389,1946,3087,3165,3009,0,0,0,0,0,0,25.70,25.92,28.83
$GC,6432,-0.55,-97.3,2389,1946,3165,3009,684.9,-8.9,578,6438,0.00,2.28,0.00,0.000,516,0.000,0.062,2390,539,3086,3165,3008,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6479,-0.55,-97.3,2389,539,3166,3009,688.6,-9.2,580,6483,0.00,2.22,0.00,0.000,1030,0.000,0.050,2382,1956,3087,3165,3009,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6786,-0.55,-97.3,2381,1956,3165,3007,718.3,-9.4,595,6791,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3369,3086,3165,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6848,-0.55,-97.3,1552,3368,3146,3003,724.0,-9.6,598,6852,0.00,2.22,0.00,0.000,1030,0.000,0.047,2371,1955,3086,3165,3007,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7166,-0.55,-97.3,2370,1955,3165,3006,757.2,-10.6,614,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,-0.55,-97.3,2370,1954,3165,3006,788.5,-10.2,629,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-0.55,-97.3,2370,1955,3165,3005,819.2,-10.1,644,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.55,-97.3,2370,1954,3165,3005,848.7,-9.8,659,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8366,-0.55,-97.3,2370,1955,3165,3004,875.8,-8.5,674,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8666,-0.55,-97.3,2370,1954,3165,3003,901.1,-8.5,689,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3084,3165,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,-0.55,-97.3,2370,1955,3165,3003,926.7,-8.6,704,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1955,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9266,-0.55,-97.3,2370,1955,3164,3002,952.8,-9.0,719,9271,0.00,2.30,0.00,0.000,260,0.000,0.059,2360,3376,3083,3165,3002,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9314,-0.55,-97.3,2360,3376,3165,3002,956.3,-8.8,721,9319,0.12,2.28,0.00,0.000,3078,0.161,0.049,2391,1952,3083,3165,3002,0,0,0,0,0,0,25.61,25.84,28.83
$GC,9621,-0.55,-97.3,2391,1951,3165,3002,979.7,-7.2,736,9626,0.00,2.30,0.00,0.000,516,0.000,0.065,2391,546,3083,3165,3002,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9649,-0.55,-97.3,2391,545,3165,3002,981.2,-7.3,737,9653,0.00,2.25,0.00,0.000,1030,0.000,0.053,2383,1962,3083,3165,3002,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,9893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9893,begin apogee
$GC,9899,-0.14,0.0,2383,1883,3165,3002,1001.5,-7.9,749,9996,0.45,0.00,92.28,1.762,10246,0.133,0.000,2521,1883,2683,2761,2605,0,0,0,0,0,0,25.40,28.83,22.52
$STATE,9997,end apogee,CONTROL_FINISHED_OK
$STATE,9997,begin climb
$GC,9999,0.55,97.3,2521,1882,2761,2606,1004.1,0.0,754,10101,0.70,0.00,98.00,1.708,10758,0.083,0.000,2752,1883,2286,2357,2216,0,0,0,0,0,0,24.27,28.83,21.66
$GC,10396,0.58,124.8,2752,1883,2351,2206,975.7,8.4,774,10428,0.00,2.42,26.77,1.711,8452,0.000,0.060,2752,3304,2174,2248,2101,0,0,0,0,0,0,28.83,24.90,23.25
$GC,10454,0.59,141.8,2752,3304,2247,2099,970.7,8.8,776,10478,0.00,2.35,18.27,1.633,9222,0.000,0.054,2762,1893,2105,2181,2029,0,0,0,0,0,0,28.83,25.13,23.08
$GC,10792,0.59,141.8,2762,1893,2178,2021,936.3,10.0,793,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1893,2099,2177,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11091,0.59,141.8,2762,1893,2176,2020,905.5,10.1,808,11096,0.00,2.30,0.00,0.000,260,0.000,0.060,2762,3305,2098,2176,2020,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11161,0.59,141.8,2762,3305,2174,2019,898.9,10.8,811,11170,0.00,2.30,0.00,0.000,1030,0.000,0.055,2773,1876,2096,2174,2019,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11471,0.60,146.0,2772,1875,2174,2019,867.4,9.3,827,11480,0.00,2.33,4.05,1.310,8452,0.000,0.058,2772,3300,2085,2165,2006,0,0,0,0,0,0,28.83,25.96,23.84
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$STATE,19850,end climb,SURFACE_DEPTH_REACHED
$STATE,19850,begin surface coast
$FINISH,0.0,1.004626
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19956,0.00,0.000,0,0,1851,203.84
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.75
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.7,65.342
$10V_AH,9.8,44.858
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.925,167.950,283.575,0.000,0.000,24.266,21.329,261.926,0.000,0.000,19.228,3937.117,12364.069,490.556,3293.769,322.310,0.000,1913.301,0.000,2765.353,0.000,1.011,0.000
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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,353176
$DATA_FILE_SIZE,103782,1526
$CAP_FILE_SIZE,192279,0
$CFSIZE,259252224,224047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032, 91.4,1
$GPS,141016,004533,-4300.616,831.469,70,0.8,70,-25.1