version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 470
start: 10 20 116 21 17 24
data:
$ID,542
$MISSION,14
$DIVE,470
$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,-42057.738
$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,26
$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
$GPS1,201016,210603,-4300.083,830.542,38,0.9,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.6
$GPS2,201016,211641,-4300.015,830.686,16,0.9,17,-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,12.6,11050,-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,16,-0.55,-97.3,137,1961,1838,1730,0.0,0.0,0,70,0.00,0.00,-50.95,0.000,16390,0.000,0.000,137,1960,3082,3140,3025,0,0,0,0,0,0,28.83,28.83,26.40
$GC,74,-0.55,-97.3,137,1960,3141,3025,3.2,-5.1,8,88,8.88,2.33,0.00,0.000,2564,0.216,0.047,2393,536,3084,3147,3021,0,0,0,0,0,0,24.60,25.66,28.83
$GC,181,-0.55,-97.3,1440,536,3134,3010,20.7,-10.2,28,188,0.00,2.25,0.00,0.000,1030,0.000,0.046,2385,1963,3086,3159,3014,0,0,0,0,0,0,28.83,25.75,28.83
$GC,311,-0.55,-97.3,1440,1961,3136,3009,35.6,-11.9,53,318,0.00,2.22,0.00,0.000,260,0.000,0.054,2374,3368,3086,3159,3013,0,0,0,0,0,0,28.83,25.72,28.83
$GC,370,-0.55,-97.3,1488,3367,3139,3009,44.4,-15.4,64,377,0.00,2.28,0.00,0.000,1030,0.000,0.044,2374,1948,3086,3160,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,683,-0.55,-97.3,2374,1948,3161,3013,83.5,-12.8,125,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1948,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,992,-0.55,-97.3,2374,1948,3161,3012,123.2,-12.8,168,1002,0.00,2.28,0.00,0.000,260,0.000,0.052,2364,3376,3087,3161,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1077,-0.55,-97.3,2363,3376,3161,3013,133.5,-12.0,176,1087,0.08,2.22,0.00,0.000,3078,0.144,0.044,2388,1956,3087,3161,3013,0,0,0,0,0,0,25.67,25.93,28.83
$GC,1387,-0.55,-97.3,2388,1956,3162,3013,167.2,-10.4,207,1395,0.00,2.25,0.00,0.000,516,0.000,0.057,2388,544,3087,3162,3013,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1418,-0.55,-97.3,2388,544,3162,3013,170.8,-10.9,210,1428,0.00,2.20,0.00,0.000,1030,0.000,0.044,2380,1960,3087,3162,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1728,-0.55,-97.3,2380,1960,3162,3012,204.2,-10.9,241,1737,0.00,2.22,0.00,0.000,260,0.000,0.052,2369,3378,3087,3162,3012,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1852,-0.55,-97.3,2369,3378,3162,3013,217.4,-10.5,253,1861,0.00,2.22,0.00,0.000,1030,0.000,0.044,2369,1954,3087,3162,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2162,-0.55,-97.3,2369,1954,3163,3013,252.4,-11.1,284,2171,0.00,2.28,0.00,0.000,516,0.000,0.057,2369,543,3088,3163,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2208,-0.55,-97.3,2369,543,3163,3013,257.6,-12.1,288,2216,0.08,2.25,0.00,0.000,3078,0.135,0.046,2394,1958,3088,3164,3013,0,0,0,0,0,0,25.59,25.96,28.83
$GC,2516,-0.55,-97.3,2394,1958,3163,3013,288.6,-10.1,319,2524,0.00,2.20,0.00,0.000,260,0.000,0.052,2385,3371,3088,3163,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2608,-0.55,-97.3,2385,3372,3163,3013,298.0,-9.9,328,2619,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1950,3087,3163,3012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2920,-0.55,-97.3,2385,1950,3163,3013,331.1,-11.0,359,2928,0.00,2.22,0.00,0.000,260,0.000,0.052,2376,3363,3088,3163,3013,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2964,-0.55,-97.3,2375,3363,3163,3013,335.7,-11.1,363,2970,0.00,2.22,0.00,0.000,1030,0.000,0.044,2375,1945,3088,3163,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3271,-0.55,-97.3,2375,1944,3163,3012,373.1,-12.5,394,3281,0.00,2.25,0.00,0.000,260,0.000,0.052,2365,3369,3088,3163,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3295,-0.55,-97.3,2365,3369,3163,3013,375.9,-12.3,396,3304,0.00,2.17,0.00,0.000,1030,0.000,0.044,2365,1960,3088,3163,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3606,-0.55,-97.3,2365,1960,3163,3013,414.8,-12.2,421,3612,0.12,2.28,0.00,0.000,2564,0.175,0.057,2404,543,3088,3163,3013,0,0,0,0,0,0,26.01,25.78,28.83
$GC,3638,-0.55,-97.3,2404,543,3163,3013,417.2,-12.0,422,3646,0.00,2.20,0.00,0.000,1030,0.000,0.046,2395,1957,3088,3163,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3944,-0.55,-97.3,2395,1958,3163,3012,448.8,-9.6,438,3950,0.00,2.22,0.00,0.000,260,0.000,0.053,2384,3371,3087,3163,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4046,-0.55,-97.3,2384,3372,3163,3012,458.2,-9.4,443,4051,0.00,2.20,0.00,0.000,1030,0.000,0.044,2385,1951,3087,3163,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4365,-0.55,-97.3,2384,1951,3163,3012,489.9,-10.1,459,4371,0.00,2.28,0.00,0.000,516,0.000,0.058,2385,535,3088,3163,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4404,-0.55,-97.3,2384,534,3163,3012,494.2,-10.4,461,4410,0.00,2.22,0.00,0.000,1030,0.000,0.046,2374,1963,3088,3164,3012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4725,-0.55,-97.3,2374,1963,3163,3012,528.7,-10.8,477,4730,0.00,2.22,0.00,0.000,260,0.000,0.053,2364,3376,3087,3163,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4804,-0.55,-97.3,2363,3376,3163,3011,537.4,-10.9,481,4811,0.12,2.22,0.00,0.000,3078,0.161,0.044,2394,1953,3087,3163,3012,0,0,0,0,0,0,25.68,25.94,28.83
$GC,5125,-0.55,-97.3,2394,1953,3163,3012,568.7,-9.8,497,5131,0.00,2.25,0.00,0.000,260,0.000,0.053,2386,3370,3087,3163,3011,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5153,-0.55,-97.3,2385,3370,3163,3011,570.6,-9.7,498,5157,0.00,2.22,0.00,0.000,1030,0.000,0.044,2385,1954,3087,3163,3011,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5460,-0.55,-97.3,2385,1954,3163,3011,602.0,-9.8,513,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3087,3163,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5760,-0.55,-97.3,2385,1954,3164,3010,630.3,-9.6,528,5766,0.00,2.25,0.00,0.000,260,0.000,0.054,2375,3368,3086,3163,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5828,-0.55,-97.3,2375,3369,3163,3009,636.3,-9.8,531,5832,0.00,2.25,0.00,0.000,1030,0.000,0.045,2375,1946,3086,3163,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6135,-0.55,-97.3,2375,1946,3163,3009,668.9,-10.3,546,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1945,3086,3163,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,-0.55,-97.3,2375,1946,3163,3008,700.1,-10.4,561,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1946,3085,3163,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6735,-0.55,-97.3,2375,1946,3163,3007,731.8,-10.5,576,6740,0.00,2.28,0.00,0.000,260,0.000,0.054,2365,3369,3085,3163,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6758,-0.55,-97.3,2365,3368,3163,3007,733.9,-10.6,577,6763,0.12,2.25,0.00,0.000,3078,0.161,0.046,2395,1946,3085,3163,3007,0,0,0,0,0,0,25.64,25.89,28.83
$GC,7071,-0.55,-97.3,2395,1946,3163,3006,761.7,-8.6,593,7077,0.00,2.28,0.00,0.000,260,0.000,0.054,2387,3373,3084,3163,3006,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7124,-0.55,-97.3,2387,3373,3163,3006,765.2,-8.7,595,7131,0.00,2.25,0.00,0.000,1030,0.000,0.046,2387,1947,3084,3163,3006,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7432,-0.55,-97.3,2387,1946,3163,3005,794.8,-9.5,611,7437,0.00,2.25,0.00,0.000,260,0.000,0.055,2377,3368,3084,3163,3005,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7474,-0.55,-97.3,2376,3368,3163,3005,798.8,-9.8,613,7478,0.00,2.25,0.00,0.000,1030,0.000,0.047,2376,1951,3084,3163,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7791,-0.55,-97.3,2376,1950,3163,3005,832.6,-10.8,629,7797,0.00,2.28,0.00,0.000,260,0.000,0.054,2366,3380,3084,3163,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7811,-0.55,-97.3,2366,3380,3163,3005,834.7,-10.8,630,7816,0.00,2.28,0.00,0.000,1030,0.000,0.046,2366,1946,3084,3163,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8131,-0.55,-97.3,2366,1946,3163,3005,871.6,-11.6,646,8136,0.00,2.28,0.00,0.000,260,0.000,0.055,2356,3366,3084,3164,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8152,-0.55,-97.3,2356,3366,3163,3005,873.9,-11.5,647,8158,0.10,2.22,0.00,0.000,3078,0.138,0.047,2388,1948,3084,3163,3005,0,0,0,0,0,0,25.56,25.86,28.83
$GC,8472,-0.55,-97.3,2389,1948,3163,3004,906.0,-9.4,663,8477,0.00,2.25,0.00,0.000,260,0.000,0.055,2380,3364,3083,3163,3004,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8484,-0.55,-97.3,2380,3364,3163,3004,906.0,-9.4,663,8491,0.00,2.25,0.00,0.000,1030,0.000,0.047,2380,1947,3083,3163,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8792,-0.55,-97.3,2380,1947,3163,3003,936.9,-9.5,679,8797,0.00,2.25,0.00,0.000,260,0.000,0.056,2370,3365,3083,3163,3003,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8811,-0.55,-97.3,2370,3364,3163,3003,938.8,-9.4,680,8817,0.00,2.22,0.00,0.000,1030,0.000,0.047,2370,1956,3083,3163,3003,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9131,-0.55,-97.3,2370,1955,3163,3003,971.2,-10.7,696,9136,0.00,2.28,0.00,0.000,260,0.000,0.056,2360,3376,3083,3163,3003,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9159,-0.55,-97.3,2360,3376,3163,3003,973.3,-10.6,697,9164,0.12,2.25,0.00,0.000,3078,0.159,0.047,2390,1956,3083,3163,3003,0,0,0,0,0,0,25.60,25.84,28.83
$STATE,9464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9464,begin apogee
$GC,9469,-0.14,0.0,2390,1870,3163,3003,1000.2,-8.4,712,9567,0.43,0.00,94.75,1.850,10246,0.133,0.000,2523,1869,2682,2760,2605,0,0,0,0,0,0,25.42,28.83,21.94
$STATE,9568,end apogee,CONTROL_FINISHED_OK
$STATE,9569,begin climb
$GC,9571,0.55,97.3,2523,1869,2760,2606,1003.3,0.0,717,9678,0.68,2.58,99.53,1.743,10756,0.083,0.065,2756,492,2286,2358,2215,0,0,0,0,0,0,24.06,23.20,21.37
$GC,9708,0.65,193.2,2756,492,2352,2214,997.6,5.7,724,9815,0.00,2.40,101.10,1.730,9222,0.000,0.047,2757,1883,1895,1971,1819,0,0,0,0,0,0,28.83,23.91,21.37
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$STATE,18074,end climb,SURFACE_DEPTH_REACHED
$STATE,18075,begin surface coast
$FINISH,-0.1,1.026732
$STATE,18101,end surface coast,CONTROL_FINISHED_OK
$STATE,18101,begin surface
$SM_CCo,18117,0.85,0.572,0,0,1866,200.16
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$IRIDIUM_FIX,-4239.11,830.68,170809,101022
$TT8_MAMPS,0.020972,0.020972
$HUMID,61.81
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.4,70.641
$10V_AH,9.7,48.291
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.225,221.525,295.375,0.850,0.000,55.924,86.956,272.257,0.000,0.000,18.518,3617.770,10990.289,535.762,3265.593,356.429,0.000,1968.274,0.000,2629.217,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.964,289.906,931.547,428.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,93655,1396
$CAP_FILE_SIZE,192947,0
$CFSIZE,259252224,221347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.066, 55.9,1
$GPS,211016,022113,-4257.549,830.903,51,3.0,71,-25.0