version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 445
start: 10 15 116 9 26 36
data:
$ID,542
$MISSION,14
$DIVE,445
$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,-42026.258
$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,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
$GPS1,151016,091621,-4259.941,829.852,40,0.8,40,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.5
$GPS2,151016,092552,-4259.957,829.862,20,0.9,20,-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,23.0,10904,-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,-97.3,168,1960,1910,1795,0.0,0.0,0,65,0.00,0.00,-46.55,0.000,16390,0.000,0.000,168,1960,3081,3131,3032,0,0,0,0,0,0,28.83,28.83,26.41
$GC,68,-0.55,-97.3,168,1960,3132,3031,3.4,-5.7,7,83,8.85,2.28,0.00,0.000,2308,0.219,0.046,2377,3378,3086,3148,3025,0,0,0,0,0,0,24.70,25.71,28.83
$GC,460,-0.55,-97.3,2378,3378,3161,3016,55.1,-11.2,83,466,0.00,2.25,0.00,0.000,1030,0.000,0.044,2377,1948,3088,3161,3016,0,0,0,0,0,0,28.83,25.85,28.83
$GC,775,-0.55,-97.3,2377,1948,3162,3016,92.0,-10.9,144,782,0.00,2.28,0.00,0.000,260,0.000,0.052,2367,3366,3089,3162,3016,0,0,0,0,0,0,28.83,25.84,28.83
$GC,809,-0.55,-97.3,2367,3366,3162,3016,96.3,-11.6,150,816,0.00,2.22,0.00,0.000,1030,0.000,0.044,2367,1956,3089,3162,3016,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1123,-0.55,-97.3,2367,1955,3162,3015,135.7,-12.7,184,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1955,3089,3163,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-0.55,-97.3,2367,1955,3163,3016,174.4,-13.1,214,1434,0.00,2.25,0.00,0.000,516,0.000,0.057,2367,544,3089,3163,3016,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1490,-0.55,-97.3,1512,544,3145,3012,183.4,-14.0,220,1498,0.08,2.22,0.00,0.000,3078,0.149,0.046,2390,1951,3089,3163,3016,0,0,0,0,0,0,25.60,25.95,28.83
$GC,1798,-0.55,-97.3,2390,1951,3164,3016,218.0,-10.9,251,1806,0.00,2.20,0.00,0.000,260,0.000,0.052,2382,3371,3090,3164,3016,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1943,-0.55,-97.3,2381,3371,3164,3016,233.1,-10.5,265,1951,0.00,2.22,0.00,0.000,1030,0.000,0.044,2381,1949,3090,3164,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2249,-0.55,-97.3,2381,1949,3164,3015,268.4,-11.7,296,2259,0.00,2.25,0.00,0.000,516,0.000,0.057,2381,537,3090,3164,3016,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2272,-0.55,-97.3,2381,537,3165,3016,271.2,-12.0,298,2282,0.00,2.17,0.00,0.000,1030,0.000,0.045,2371,1952,3090,3165,3016,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2582,-0.55,-97.3,2371,1953,3165,3015,308.7,-12.4,329,2591,0.00,2.22,0.00,0.000,260,0.000,0.051,2361,3376,3090,3165,3016,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2667,-0.55,-97.3,2360,3376,3165,3016,319.1,-12.6,337,2675,0.12,2.22,0.00,0.000,3078,0.160,0.044,2391,1944,3090,3165,3015,0,0,0,0,0,0,25.71,25.96,28.83
$GC,2974,-0.55,-97.3,2391,1944,3165,3016,353.2,-10.8,368,2983,0.00,2.22,0.00,0.000,516,0.000,0.058,2391,548,3090,3165,3016,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2997,-0.55,-97.3,2391,548,3165,3016,355.7,-11.0,370,3006,0.00,2.15,0.00,0.000,1030,0.000,0.045,2383,1951,3090,3165,3016,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3306,-0.55,-97.3,2383,1951,3165,3015,390.3,-11.1,401,3316,0.00,2.22,0.00,0.000,260,0.000,0.052,2372,3374,3090,3165,3016,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3422,-0.55,-97.3,2372,3374,3165,3016,401.8,-11.1,411,3429,0.00,2.20,0.00,0.000,1030,0.000,0.043,2372,1957,3090,3165,3016,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3729,-0.55,-97.3,2372,1957,3165,3016,437.2,-11.0,427,3735,0.00,2.25,0.00,0.000,516,0.000,0.057,2372,545,3090,3165,3016,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3790,-0.55,-97.3,2372,545,3165,3016,443.9,-11.2,430,3796,0.08,2.17,0.00,0.000,3078,0.148,0.046,2386,1956,3090,3165,3015,0,0,0,0,0,0,25.69,25.98,28.83
$GC,4110,-0.55,-97.3,2386,1957,3165,3016,474.3,-9.3,446,4116,0.00,2.20,0.00,0.000,260,0.000,0.053,2377,3364,3090,3165,3015,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4191,-0.55,-97.3,1536,3363,3146,3012,481.8,-9.3,450,4196,0.00,2.20,0.00,0.000,1030,0.000,0.044,2378,1957,3090,3165,3016,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4505,-0.55,-97.3,2377,1956,3165,3016,513.4,-10.4,466,4510,0.00,2.22,0.00,0.000,260,0.000,0.053,2368,3372,3090,3165,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4552,-0.55,-97.3,2367,3371,3165,3016,517.6,-10.4,468,4556,0.00,2.22,0.00,0.000,1030,0.000,0.045,2368,1948,3090,3165,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4859,-0.55,-97.3,2367,1947,3165,3015,552.9,-11.4,483,4865,0.00,2.25,0.00,0.000,260,0.000,0.053,2358,3367,3090,3165,3015,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4907,-0.55,-97.3,2357,3367,3165,3015,557.5,-11.4,485,4911,0.15,2.22,0.00,0.000,3078,0.156,0.045,2395,1945,3090,3165,3015,0,0,0,0,0,0,25.63,25.93,28.83
$GC,5214,-0.55,-97.3,2395,1944,3164,3015,587.9,-9.4,500,5220,0.00,2.25,0.00,0.000,516,0.000,0.060,2396,545,3090,3165,3015,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5247,-0.55,-97.3,2396,544,3165,3015,589.8,-9.5,501,5254,0.00,2.20,0.00,0.000,1030,0.000,0.047,2387,1955,3090,3165,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5554,-0.55,-97.3,2387,1956,3165,3013,621.3,-9.9,517,5559,0.00,2.22,0.00,0.000,260,0.000,0.054,2376,3369,3089,3165,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5597,-0.55,-97.3,2376,3369,3165,3013,625.2,-9.8,519,5601,0.00,2.22,0.00,0.000,1030,0.000,0.046,2377,1954,3089,3165,3013,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5909,-0.55,-97.3,2376,1954,3165,3011,657.3,-10.2,535,5915,0.00,2.28,0.00,0.000,516,0.000,0.060,2376,543,3088,3165,3012,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5941,-0.55,-97.3,2376,543,3165,3012,659.5,-10.3,536,5948,0.00,2.22,0.00,0.000,1030,0.000,0.048,2366,1960,3088,3165,3012,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6249,-0.55,-97.3,2366,1960,3165,3011,694.4,-10.9,552,6255,0.00,2.22,0.00,0.000,260,0.000,0.054,2356,3370,3088,3165,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6331,-0.55,-97.3,2355,3370,3165,3010,703.1,-10.9,556,6336,0.15,2.22,0.00,0.000,3078,0.157,0.046,2394,1953,3088,3165,3011,0,0,0,0,0,0,25.60,25.90,28.83
$GC,6644,-0.55,-97.3,2394,1953,3165,3010,731.3,-8.7,572,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1953,3087,3165,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,-0.55,-97.3,2394,1953,3165,3009,757.7,-8.8,587,6950,0.00,2.22,0.00,0.000,260,0.000,0.055,2385,3365,3087,3165,3009,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6966,-0.55,-97.3,1552,3364,3146,3004,759.4,-8.8,588,6971,0.00,2.22,0.00,0.000,1030,0.000,0.047,2386,1954,3086,3165,3008,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7280,-0.55,-97.3,2385,1953,3165,3007,788.6,-9.1,604,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1953,3086,3165,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,-0.55,-97.3,2385,1953,3165,3006,814.9,-8.4,619,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1953,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,-0.55,-97.3,2385,1953,3165,3005,840.1,-8.7,634,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8180,-0.55,-97.3,2385,1953,3165,3005,866.4,-8.8,649,8185,0.00,2.30,0.00,0.000,516,0.000,0.063,2386,537,3085,3165,3005,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8212,-0.55,-97.3,2385,537,3165,3005,868.3,-8.9,650,8219,0.00,2.25,0.00,0.000,1030,0.000,0.050,2376,1963,3085,3165,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8520,-0.55,-97.3,2375,1963,3165,3005,897.4,-8.9,666,8526,0.00,2.22,0.00,0.000,260,0.000,0.057,2364,3370,3085,3165,3005,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8601,-0.55,-97.3,1536,3369,3147,3001,904.7,-9.1,670,8606,0.12,2.25,0.00,0.000,3078,0.161,0.047,2395,1954,3085,3165,3005,0,0,0,0,0,0,25.61,25.84,28.83
$GC,8915,-0.55,-97.3,2395,1954,3165,3005,928.9,-7.7,686,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1954,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9215,-0.55,-97.3,2395,1954,3165,3004,952.5,-8.1,701,9220,0.00,2.30,0.00,0.000,516,0.000,0.063,2395,543,3084,3165,3004,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9247,-0.55,-97.3,2395,542,3165,3004,954.2,-8.2,702,9254,0.00,2.25,0.00,0.000,1030,0.000,0.050,2387,1966,3084,3165,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9555,-0.55,-97.3,2386,1967,3165,3003,982.4,-8.8,718,9560,0.00,2.22,0.00,0.000,260,0.000,0.058,2376,3373,3084,3165,3003,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9662,-0.55,-97.3,2376,3373,3165,3003,991.5,-9.1,723,9666,0.00,2.25,0.00,0.000,1030,0.000,0.049,2376,1956,3084,3165,3003,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,9747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9747,begin apogee
$GC,9752,-0.14,0.0,2376,1872,3165,3003,1000.2,-9.2,727,9850,0.47,0.00,93.95,1.796,10246,0.133,0.000,2522,1872,2682,2760,2605,0,0,0,0,0,0,25.35,28.83,22.29
$STATE,9851,end apogee,CONTROL_FINISHED_OK
$STATE,9851,begin climb
$GC,9853,0.55,97.3,2522,1871,2760,2605,1003.8,0.0,732,9961,0.68,2.65,98.10,1.727,10756,0.086,0.067,2756,483,2286,2360,2212,0,0,0,0,0,0,24.16,23.27,21.54
$GC,9973,0.69,235.5,2756,482,2356,2212,1000.3,4.1,738,10135,0.12,2.45,146.82,1.693,11270,0.090,0.050,2805,1887,1721,1793,1650,0,0,0,0,1,0,23.75,23.72,21.55
$GC,10453,0.69,235.5,2806,1887,1788,1633,925.9,16.9,762,10459,0.00,2.30,0.00,0.000,260,0.000,0.057,2806,3300,1710,1788,1633,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10521,0.69,235.5,2805,3300,1784,1632,915.7,17.1,765,10526,0.00,2.28,0.00,0.000,1030,0.000,0.054,2817,1898,1708,1785,1632,0,0,0,0,0,0,28.83,25.64,28.83
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$STATE,16674,end climb,SURFACE_DEPTH_REACHED
$STATE,16674,begin surface coast
$FINISH,0.4,1.026656
$STATE,16696,end surface coast,CONTROL_FINISHED_OK
$STATE,16696,begin surface
$SM_CCo,16772,0.00,0.000,0,0,1700,240.88
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$IRIDIUM_FIX,-4244.98,831.55,110809,171715
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.22
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.5,66.483
$10V_AH,9.7,45.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.550,184.950,338.875,0.000,0.000,50.684,59.662,251.491,0.000,0.000,21.207,3335.672,10170.708,514.062,3034.824,295.283,0.000,1844.974,0.000,2470.826,0.000,1.010,0.000
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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,353148
$DATA_FILE_SIZE,87065,1282
$CAP_FILE_SIZE,175854,0
$CFSIZE,259252224,223481856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.058,352.9,1
$GPS,151016,140721,-4257.550,829.669,37,0.8,37,-25.0