version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 527
start: 11 2 116 20 42 45
data:
$ID,542
$MISSION,14
$DIVE,527
$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,-42258.566
$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,36
$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
$GPS1,021116,203257,-4303.261,830.390,67,0.9,71,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.2
$GPS2,021116,204200,-4303.241,830.612,19,0.9,20,-25.1
$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,220.2,5049,-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,-97.3,169,1968,1901,1816,0.0,0.0,0,69,0.00,0.00,-47.95,0.000,16390,0.000,0.000,169,1967,3081,3153,3010,0,0,0,0,0,0,28.83,28.83,26.42
$GC,72,-0.55,-97.3,169,1967,3153,3010,3.4,-5.6,8,87,8.60,2.25,0.00,0.000,2820,0.213,0.044,2375,3366,3083,3157,3010,0,0,0,0,0,0,24.84,25.77,28.83
$GC,271,-0.55,-97.3,1440,3365,3140,3005,33.5,-9.7,46,279,0.00,2.25,0.00,0.000,1030,0.000,0.043,2375,1941,3086,3163,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,405,-0.55,-97.3,2375,1940,3164,3010,48.8,-12.1,71,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1940,3086,3164,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-0.55,-97.3,1480,1939,3144,3005,87.2,-12.0,132,724,0.00,2.25,0.00,0.000,260,0.000,0.050,2365,3360,3087,3165,3009,0,0,0,0,0,0,28.83,25.86,28.83
$GC,792,-0.55,-97.3,2365,3359,3165,3010,96.2,-11.1,146,800,0.12,2.20,0.00,0.000,3078,0.158,0.042,2396,1947,3087,3165,3009,0,0,0,0,0,0,25.67,25.91,28.83
$GC,1108,-0.55,-97.3,2395,1947,3165,3009,128.4,-9.7,180,1118,0.00,2.22,0.00,0.000,260,0.000,0.050,2387,3360,3087,3165,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1153,-0.55,-97.3,1552,3358,3147,3006,132.6,-10.0,184,1161,0.00,2.25,0.00,0.000,1030,0.000,0.042,2387,1949,3088,3166,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1462,-0.55,-97.3,2387,1948,3166,3009,164.9,-10.9,215,1471,0.00,2.20,0.00,0.000,260,0.000,0.050,2377,3356,3087,3166,3009,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1528,-0.55,-97.3,2377,3356,3166,3010,172.0,-11.3,221,1535,0.00,2.20,0.00,0.000,1030,0.000,0.042,2377,1945,3087,3166,3009,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1834,-0.55,-97.3,2377,1945,3166,3009,209.3,-11.6,252,1844,0.00,2.25,0.00,0.000,260,0.000,0.050,2367,3363,3087,3165,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1888,-0.55,-97.3,2367,3363,3166,3010,215.4,-11.8,257,1896,0.00,2.17,0.00,0.000,1030,0.000,0.042,2367,1954,3088,3166,3010,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2197,-0.55,-97.3,2366,1954,3166,3010,253.7,-12.1,288,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1954,3088,3166,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,-0.55,-97.3,2367,1954,3166,3009,287.6,-11.3,318,2509,0.00,2.28,0.00,0.000,516,0.000,0.056,2367,536,3088,3166,3010,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2532,-0.55,-97.3,2367,536,3167,3009,291.8,-12.0,321,2541,0.10,2.17,0.00,0.000,3078,0.141,0.042,2389,1951,3088,3167,3009,0,0,0,0,0,0,25.68,25.98,28.83
$GC,2841,-0.55,-97.3,2388,1951,3167,3010,323.3,-9.9,352,2851,0.00,2.20,0.00,0.000,260,0.000,0.049,2380,3365,3088,3167,3009,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2948,-0.55,-97.3,2380,3365,3167,3010,333.7,-9.9,362,2956,0.00,2.25,0.00,0.000,1030,0.000,0.042,2380,1954,3088,3167,3010,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3255,-0.55,-97.3,2379,1953,3167,3010,363.9,-9.6,393,3264,0.00,2.22,0.00,0.000,516,0.000,0.056,2380,548,3088,3167,3010,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3290,-0.55,-97.3,2379,548,3167,3010,367.1,-9.9,396,3297,0.00,2.20,0.00,0.000,1030,0.000,0.043,2370,1945,3088,3167,3009,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3598,-0.55,-97.3,2369,1946,3166,3009,397.0,-9.6,427,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1946,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3897,-0.55,-97.3,2369,1946,3167,3009,426.3,-9.8,444,3903,0.00,2.22,0.00,0.000,260,0.000,0.050,2359,3369,3088,3167,3009,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3937,-0.55,-97.3,2359,3370,3167,3009,430.2,-9.9,446,3944,0.12,2.22,0.00,0.000,3078,0.157,0.042,2390,1949,3088,3167,3009,0,0,0,0,0,0,25.68,25.94,28.83
$GC,4259,-0.55,-97.3,2389,1949,3166,3009,457.4,-8.4,462,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1949,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-0.55,-97.3,2389,1949,3167,3010,482.5,-8.3,477,4563,0.00,2.25,0.00,0.000,516,0.000,0.057,2390,543,3088,3167,3009,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4590,-0.55,-97.3,2389,543,3166,3009,484.3,-8.5,478,4597,0.00,2.20,0.00,0.000,1030,0.000,0.044,2381,1964,3088,3167,3009,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4897,-0.55,-97.3,2381,1965,3167,3010,513.1,-9.3,494,4903,0.00,2.20,0.00,0.000,260,0.000,0.050,2370,3370,3088,3167,3009,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5006,-0.55,-97.3,2370,3369,3166,3009,522.4,-9.4,499,5010,0.00,2.22,0.00,0.000,1030,0.000,0.043,2371,1951,3087,3166,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5312,-0.55,-97.3,2370,1950,3166,3009,555.4,-11.0,514,5318,0.00,2.28,0.00,0.000,516,0.000,0.057,2370,541,3087,3166,3009,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5361,-0.55,-97.3,2370,541,3167,3009,560.0,-11.2,516,5365,0.12,2.20,0.00,0.000,3078,0.164,0.044,2391,1958,3088,3167,3009,0,0,0,0,0,0,25.65,25.94,28.83
$GC,5668,-0.55,-97.3,2391,1959,3166,3007,590.5,-9.6,531,5674,0.00,2.20,0.00,0.000,260,0.000,0.050,2382,3367,3087,3166,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5747,-0.55,-97.3,2382,3366,3166,3007,598.1,-9.6,535,5753,0.00,2.22,0.00,0.000,1030,0.000,0.044,2381,1951,3086,3166,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6069,-0.55,-97.3,2382,1951,3166,3007,628.3,-9.3,551,6074,0.00,2.28,0.00,0.000,516,0.000,0.059,2382,541,3086,3166,3007,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6107,-0.55,-97.3,2381,540,3165,3007,632.2,-9.5,553,6112,0.00,2.20,0.00,0.000,1030,0.000,0.044,2372,1955,3086,3165,3007,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6428,-0.55,-97.3,2371,1955,3166,3006,662.9,-10.0,569,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3086,3166,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6727,-0.55,-97.3,2372,1955,3166,3005,693.2,-10.0,584,6733,0.00,2.22,0.00,0.000,260,0.000,0.052,2361,3373,3085,3166,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6808,-0.55,-97.3,2361,3373,3166,3005,701.2,-10.0,588,6814,0.10,2.20,0.00,0.000,3078,0.138,0.044,2392,1958,3085,3166,3005,0,0,0,0,0,0,25.58,25.87,28.83
$GC,7129,-0.55,-97.3,2392,1958,3166,3005,728.2,-8.1,604,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1958,3085,3166,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7428,-0.55,-97.3,2392,1958,3166,3004,751.9,-7.9,619,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1958,3085,3166,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7728,-0.55,-97.3,2392,1958,3166,3003,776.2,-7.8,634,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1958,3084,3166,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8027,-0.55,-97.3,2392,1958,3166,3003,799.7,-8.0,649,8033,0.00,2.33,0.00,0.000,516,0.000,0.060,2393,546,3084,3166,3003,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8081,-0.55,-97.3,2392,546,3166,3003,803.2,-8.4,651,8087,0.00,2.20,0.00,0.000,1030,0.000,0.046,2384,1955,3084,3166,3003,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8388,-0.55,-97.3,2384,1956,3166,3003,831.5,-9.0,667,8393,0.00,2.22,0.00,0.000,260,0.000,0.053,2373,3368,3084,3166,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8495,-0.55,-97.3,2373,3369,3166,3003,840.5,-9.2,672,8499,0.00,2.25,0.00,0.000,1030,0.000,0.046,2373,1946,3084,3166,3003,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8803,-0.55,-97.3,2373,1946,3166,3003,870.9,-9.7,687,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1946,3084,3166,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9102,-0.55,-97.3,2373,1946,3166,3002,900.9,-10.0,702,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1946,3084,3166,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9403,-0.55,-97.3,2373,1946,3166,3002,931.2,-10.3,717,9408,0.00,2.28,0.00,0.000,516,0.000,0.061,2373,544,3084,3166,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9435,-0.55,-97.3,2373,544,3166,3002,933.4,-10.4,718,9443,0.12,2.22,0.00,0.000,3078,0.164,0.047,2393,1962,3084,3166,3002,0,0,0,0,0,0,25.58,25.84,28.83
$GC,9742,-0.55,-97.3,2393,1962,3166,3002,961.1,-7.9,734,9748,0.00,2.22,0.00,0.000,260,0.000,0.054,2384,3365,3084,3166,3002,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9791,-0.55,-97.3,2384,3365,3166,3002,964.3,-7.9,736,9795,0.00,2.25,0.00,0.000,1030,0.000,0.047,2385,1949,3083,3166,3001,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10098,-0.55,-97.3,2384,1948,3166,3002,989.4,-7.8,751,10103,0.00,2.28,0.00,0.000,516,0.000,0.062,2384,544,3083,3166,3001,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10137,-0.55,-97.3,2384,544,3166,3001,992.7,-7.8,753,10143,0.00,2.22,0.00,0.000,1030,0.000,0.048,2374,1961,3083,3166,3001,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,10235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10235,begin apogee
$GC,10241,-0.14,0.0,2374,1865,3166,3001,1000.6,-7.9,758,10338,0.50,0.00,94.35,1.851,10246,0.138,0.000,2525,1865,2683,2760,2606,0,0,0,0,0,0,25.27,28.83,22.01
$STATE,10339,end apogee,CONTROL_FINISHED_OK
$STATE,10339,begin climb
$GC,10342,0.55,97.3,2524,1865,2759,2607,1003.0,0.0,763,10449,0.65,2.60,99.88,1.736,10756,0.082,0.064,2755,489,2286,2357,2215,0,0,0,0,0,0,24.06,23.17,21.29
$GC,10492,0.63,176.0,2755,489,2350,2214,996.8,6.4,770,10582,0.00,2.40,83.45,1.714,9222,0.000,0.047,2755,1894,1964,2038,1890,0,0,0,0,0,0,28.83,24.07,21.32
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$STATE,19479,end climb,SURFACE_DEPTH_REACHED
$STATE,19479,begin surface coast
$FINISH,1.6,1.026611
$STATE,19491,end surface coast,CONTROL_FINISHED_OK
$STATE,19491,begin surface
$SM_CCo,19569,0.00,0.000,0,0,1545,279.15
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$TT8_MAMPS,0.021721,0.021721
$HUMID,61.49
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,18.50
$XPDR_PINGS,0
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$10V_AH,9.7,54.659
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,100373,1487
$CAP_FILE_SIZE,195962,0
$CFSIZE,259252224,216354816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 23.4,1
$GPS,031116,021003,-4303.696,830.839,32,0.9,32,-25.1