version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 451
start: 10 16 116 17 35 46
data:
$ID,542
$MISSION,14
$DIVE,451
$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,-42033.781
$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,24
$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
$GPS1,161016,172733,-4254.667,829.095,42,0.9,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.9
$GPS2,161016,173501,-4254.620,829.087,23,0.9,23,-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,96.5,1604,-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,-97.3,163,1962,1881,1813,0.0,0.0,0,69,0.00,0.00,-47.65,0.000,16390,0.000,0.000,163,1962,3081,3139,3024,0,0,0,0,0,0,28.83,28.83,26.42
$GC,72,-0.57,-97.3,163,1962,3142,3025,3.5,-5.3,8,87,8.70,2.33,0.00,0.000,2564,0.220,0.049,2388,541,3084,3148,3020,0,0,0,0,0,0,24.96,25.75,28.83
$GC,257,-0.57,-97.3,2388,541,3158,3015,30.8,-10.6,43,264,0.00,2.25,0.00,0.000,1030,0.000,0.046,2380,1969,3086,3158,3015,0,0,0,0,0,0,28.83,25.84,28.83
$GC,388,-0.57,-97.3,1472,1967,3137,3009,46.4,-12.7,68,396,0.00,2.25,0.00,0.000,260,0.000,0.052,2370,3371,3086,3159,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,422,-0.57,-97.3,2369,3372,3159,3013,50.9,-12.4,74,430,0.00,2.22,0.00,0.000,1030,0.000,0.044,2370,1954,3086,3159,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,736,-0.57,-97.3,2369,1954,3160,3013,91.0,-12.5,135,743,0.00,2.25,0.00,0.000,260,0.000,0.051,2359,3370,3086,3160,3013,0,0,0,0,0,0,28.83,25.87,28.83
$GC,765,-0.57,-97.3,1480,3369,3139,3009,94.9,-13.1,140,772,0.00,2.28,0.00,0.000,1030,0.000,0.044,2359,1948,3086,3160,3012,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1077,-0.57,-97.3,2359,1948,3161,3013,136.4,-13.4,174,1087,0.00,2.22,0.00,0.000,260,0.000,0.050,2349,3364,3087,3161,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1119,-0.57,-97.3,2349,3365,3161,3013,142.2,-13.1,178,1130,0.15,2.20,0.00,0.000,3078,0.155,0.044,2388,1951,3087,3161,3013,0,0,0,0,0,0,25.65,25.95,28.83
$GC,1430,-0.57,-97.3,2388,1951,3162,3013,175.7,-10.1,209,1439,0.00,2.25,0.00,0.000,516,0.000,0.057,2388,542,3087,3162,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1473,-0.57,-97.3,2388,542,3162,3013,180.2,-10.8,213,1481,0.00,2.20,0.00,0.000,1030,0.000,0.045,2379,1963,3087,3162,3013,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1782,-0.57,-97.3,2379,1963,3163,3013,213.5,-10.9,244,1791,0.00,2.20,0.00,0.000,260,0.000,0.051,2369,3368,3087,3162,3013,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1844,-0.57,-97.3,2368,3368,3162,3013,220.2,-10.7,250,1855,0.00,2.20,0.00,0.000,1030,0.000,0.044,2369,1957,3087,3162,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2155,-0.57,-97.3,2368,1956,3163,3013,256.4,-11.6,281,2164,0.00,2.25,0.00,0.000,516,0.000,0.057,2369,544,3088,3163,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2198,-0.57,-97.3,2368,544,3163,3013,261.6,-12.1,285,2206,0.00,2.17,0.00,0.000,1030,0.000,0.044,2359,1955,3087,3163,3012,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2507,-0.57,-97.3,2359,1954,3162,3013,299.8,-12.5,316,2517,0.12,2.22,0.00,0.000,2308,0.180,0.050,2385,3374,3087,3163,3012,0,0,0,0,0,0,26.01,25.92,28.83
$GC,2570,-0.57,-97.3,2385,3374,3163,3013,306.8,-10.7,322,2581,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1950,3088,3163,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2881,-0.57,-97.3,2385,1950,3163,3013,340.5,-10.6,353,2890,0.00,2.25,0.00,0.000,260,0.000,0.052,2375,3370,3088,3163,3013,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2925,-0.57,-97.3,2375,3370,3163,3013,345.0,-10.6,357,2932,0.00,2.22,0.00,0.000,1030,0.000,0.044,2375,1951,3088,3163,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3233,-0.57,-97.3,2375,1950,3163,3012,379.4,-11.4,388,3243,0.00,2.25,0.00,0.000,260,0.000,0.051,2364,3376,3088,3163,3013,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3309,-0.57,-97.3,2364,3376,3163,3013,387.7,-11.3,395,3316,0.00,2.22,0.00,0.000,1030,0.000,0.044,2365,1955,3088,3163,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3617,-0.57,-97.3,2364,1955,3163,3013,424.2,-11.5,416,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1955,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.57,-97.3,2364,1955,3163,3012,459.8,-12.4,431,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1955,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4217,-0.57,-97.3,2364,1955,3163,3013,499.3,-13.1,446,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1955,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,-0.57,-97.3,2364,1954,3162,3013,537.9,-12.6,461,4522,0.00,2.28,0.00,0.000,516,0.000,0.058,2364,537,3088,3163,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4550,-0.57,-97.3,2364,536,3163,3013,540.4,-12.6,462,4558,0.12,2.20,0.00,0.000,3078,0.167,0.045,2385,1955,3087,3162,3012,0,0,0,0,0,0,25.72,26.00,28.83
$GC,4858,-0.57,-97.3,2384,1955,3163,3013,575.9,-10.8,478,4863,0.00,2.20,0.00,0.000,260,0.000,0.053,2376,3365,3087,3163,3012,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4900,-0.57,-97.3,2376,3365,3163,3012,580.2,-11.0,480,4905,0.00,2.22,0.00,0.000,1030,0.000,0.045,2375,1948,3087,3163,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5213,-0.57,-97.3,2375,1947,3165,3009,614.5,-11.0,496,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,-0.57,-97.3,2375,1947,3165,3009,646.9,-10.9,511,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.57,-97.3,2375,1947,3165,3008,679.2,-10.6,526,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3086,3165,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6113,-0.57,-97.3,2375,1947,3165,3007,710.1,-10.3,541,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3086,3165,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6413,-0.57,-97.3,2375,1947,3165,3006,740.3,-10.0,556,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1947,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6714,-0.57,-97.3,2375,1947,3165,3006,769.3,-9.4,571,6719,0.00,2.25,0.00,0.000,516,0.000,0.061,2376,551,3085,3165,3006,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6746,-0.57,-97.3,2375,551,3165,3006,771.2,-9.3,572,6752,0.00,2.20,0.00,0.000,1030,0.000,0.048,2365,1955,3085,3165,3006,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7053,-0.57,-97.3,2365,1955,3165,3005,802.4,-9.7,588,7059,0.00,2.22,0.00,0.000,260,0.000,0.055,2355,3374,3085,3165,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7113,-0.57,-97.3,2354,3374,3165,3005,808.3,-9.8,591,7120,0.12,2.25,0.00,0.000,3078,0.162,0.047,2385,1951,3085,3165,3005,0,0,0,0,0,0,25.65,25.89,28.83
$GC,7435,-0.57,-97.3,2385,1951,3165,3005,835.7,-8.7,607,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1951,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7734,-0.57,-97.3,2385,1951,3165,3004,861.6,-8.7,622,7739,0.00,2.28,0.00,0.000,516,0.000,0.063,2386,551,3084,3165,3004,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7761,-0.57,-97.3,2385,551,3165,3004,863.4,-8.8,623,7765,0.00,2.20,0.00,0.000,1030,0.000,0.050,2377,1954,3084,3165,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8069,-0.57,-97.3,2377,1954,3165,3004,891.5,-8.6,638,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1953,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-0.57,-97.3,2377,1954,3165,3004,916.7,-8.4,653,8374,0.00,2.25,0.00,0.000,260,0.000,0.057,2366,3369,3084,3165,3003,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8441,-0.57,-97.3,2366,3369,3165,3003,921.9,-8.6,656,8448,0.00,2.25,0.00,0.000,1030,0.000,0.049,2366,1951,3084,3165,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8749,-0.57,-97.3,2366,1951,3165,3003,950.9,-9.3,672,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1951,3084,3165,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9048,-0.57,-97.3,2366,1951,3165,3002,978.7,-9.2,687,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1951,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9286,begin apogee
$GC,9292,-0.14,0.0,2366,1866,3165,3002,1001.3,-9.7,699,9388,0.52,0.00,92.55,1.816,10246,0.133,0.000,2527,1866,2683,2759,2607,0,0,0,0,0,0,25.34,28.83,22.46
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9391,0.57,97.3,2527,1866,2759,2606,1004.6,0.0,704,9493,0.70,0.00,98.68,1.713,10246,0.081,0.000,2759,1866,2286,2356,2216,0,0,0,0,0,0,24.20,28.83,21.66
$GC,9789,0.61,136.8,2758,1866,2351,2206,978.5,7.8,724,9835,0.00,2.50,38.65,1.720,8452,0.000,0.057,2759,3300,2124,2199,2050,0,0,0,0,0,0,28.83,24.71,23.06
$GC,9871,0.62,149.1,2758,3300,2196,2047,971.4,8.9,728,9890,0.00,2.35,13.55,1.605,9222,0.000,0.052,2769,1890,2074,2149,1999,0,0,0,0,0,0,28.83,25.04,23.03
$GC,10209,0.62,149.1,2768,1890,2146,1992,935.7,10.7,745,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1890,2068,2145,1992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10508,0.62,149.1,2769,1890,2144,1991,902.2,11.2,760,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1890,2067,2144,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10808,0.62,149.1,2769,1890,2143,1990,868.8,11.0,775,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1890,2066,2143,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11108,0.62,149.1,2769,1890,2143,1989,836.2,10.6,790,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1890,2066,2143,1989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11408,0.62,149.1,2768,1890,2142,1989,804.7,10.6,805,11414,0.00,2.28,0.00,0.000,260,0.000,0.057,2769,3302,2065,2142,1988,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,18990,end climb,SURFACE_DEPTH_REACHED
$STATE,18990,begin surface coast
$FINISH,0.2,1.026653
$STATE,19011,end surface coast,CONTROL_FINISHED_OK
$STATE,19011,begin surface
$SM_CCo,19027,11.35,0.293,0,0,1865,200.16
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$TT8_MAMPS,0.020972,0.020972
$HUMID,61.73
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.7,67.409
$10V_AH,9.8,46.269
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.775,140.100,267.200,11.350,0.000,22.686,19.473,258.891,0.000,0.000,23.865,3705.264,11915.169,495.159,3066.860,314.980,0.000,1801.816,0.000,2556.084,0.000,1.010,0.000
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$MEM,353148
$DATA_FILE_SIZE,96987,1456
$CAP_FILE_SIZE,174627,0
$CFSIZE,259252224,222957568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,355.6,1
$GPS,161016,225457,-4252.963,831.947,74,1.0,74,-25.0