version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 547
start: 11 7 116 8 35 59
data:
$ID,542
$MISSION,14
$DIVE,547
$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,-42283.676
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,071116,082703,-4303.591,830.479,93,0.9,93,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.0
$GPS2,071116,083516,-4303.540,830.567,23,1.0,23,-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,208.3,4492,-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,14,begin dive
$GC,16,-0.55,-97.3,153,1961,1787,1691,0.0,0.0,0,63,0.00,0.00,-44.95,0.000,16386,0.000,0.000,151,1961,2936,2997,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.55,-97.3,150,1961,2996,2876,3.1,-5.9,7,88,8.73,2.35,-3.30,0.000,19204,0.215,0.069,2391,550,3083,3168,2999,0,0,0,0,0,0,24.88,25.68,26.34
$GC,279,-0.55,-97.3,1440,549,3148,2995,34.8,-9.2,47,286,0.00,2.22,0.00,0.000,1030,0.000,0.043,2383,1952,3085,3171,2999,0,0,0,0,0,0,28.83,25.88,28.83
$GC,411,-0.55,-97.3,1472,1951,3149,2995,45.3,-10.9,72,418,0.00,2.22,0.00,0.000,260,0.000,0.050,2372,3374,3085,3171,2999,0,0,0,0,0,0,28.83,25.82,28.83
$GC,485,-0.55,-97.3,2372,3374,3171,2999,53.1,-9.0,86,493,0.00,2.22,0.00,0.000,1030,0.000,0.043,2372,1953,3085,3171,2999,0,0,0,0,0,0,28.83,25.88,28.83
$GC,801,-0.55,-97.3,2372,1953,3172,2999,88.1,-11.6,147,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1953,3085,3172,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1115,-0.55,-97.3,2372,1953,3172,3000,127.0,-12.7,188,1124,0.00,2.25,0.00,0.000,516,0.000,0.055,2372,542,3085,3172,2999,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1170,-0.55,-97.3,2372,542,3172,2999,133.9,-13.0,193,1178,0.08,2.22,0.00,0.000,3078,0.151,0.044,2386,1952,3085,3172,2999,0,0,0,0,0,0,25.66,25.96,28.83
$GC,1478,-0.55,-97.3,2386,1953,3173,2999,169.2,-10.8,224,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3086,3173,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1779,-0.55,-97.3,2386,1953,3173,2999,202.7,-11.2,254,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1952,3086,3172,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.55,-97.3,2386,1952,3174,2999,237.1,-11.3,284,2089,0.00,2.17,0.00,0.000,260,0.000,0.050,2378,3360,3086,3173,2999,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2204,-0.55,-97.3,2378,3361,3173,2999,251.1,-10.8,296,2213,0.00,2.20,0.00,0.000,1030,0.000,0.041,2378,1950,3086,3174,2999,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2515,-0.55,-97.3,2377,1950,3174,2999,287.3,-11.9,327,2523,0.00,2.22,0.00,0.000,516,0.000,0.054,2378,549,3086,3174,2999,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2557,-0.55,-97.3,2378,548,3174,2999,292.4,-12.3,331,2566,0.00,2.17,0.00,0.000,1030,0.000,0.043,2368,1957,3086,3174,2999,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2866,-0.55,-97.3,2368,1957,3174,2999,326.7,-10.6,362,2876,0.00,2.20,0.00,0.000,260,0.000,0.049,2358,3366,3086,3174,2999,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2901,-0.55,-97.3,2357,3366,3174,2999,330.2,-11.0,365,2909,0.15,2.20,0.00,0.000,3078,0.153,0.041,2395,1956,3086,3174,2999,0,0,0,0,0,0,25.63,25.94,28.83
$GC,3209,-0.55,-97.3,2395,1956,3174,2999,356.8,-8.6,396,3219,0.00,2.28,0.00,0.000,516,0.000,0.055,2396,539,3087,3174,3000,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3294,-0.55,-97.3,2395,539,3174,2999,364.6,-9.3,404,3303,0.00,2.15,0.00,0.000,1030,0.000,0.043,2387,1947,3086,3174,2999,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3604,-0.55,-97.3,2387,1947,3174,2999,394.2,-9.8,435,3612,0.00,2.20,0.00,0.000,260,0.000,0.050,2376,3361,3086,3174,2999,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3668,-0.55,-97.3,2376,3361,3174,2999,400.3,-9.7,441,3672,0.00,2.20,0.00,0.000,1030,0.000,0.041,2377,1952,3086,3174,2999,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3981,-0.55,-97.3,2376,1952,3174,2999,433.2,-10.6,457,3986,0.00,2.25,0.00,0.000,516,0.000,0.055,2376,541,3086,3174,2999,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4013,-0.55,-97.3,2376,541,3174,2999,435.3,-10.6,458,4021,0.00,2.20,0.00,0.000,1030,0.000,0.043,2366,1961,3086,3174,2999,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4321,-0.55,-97.3,2366,1961,3174,2999,469.5,-10.4,474,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1961,3086,3174,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.55,-97.3,2366,1961,3174,2999,500.7,-10.4,489,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1961,3086,3173,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.55,-97.3,2366,1961,3174,2999,530.9,-10.1,504,4926,0.00,2.22,0.00,0.000,260,0.000,0.050,2356,3376,3086,3174,2999,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4984,-0.55,-97.3,1504,3375,3155,2995,537.0,-10.1,507,4988,0.15,2.22,0.00,0.000,3078,0.154,0.042,2393,1956,3086,3174,2999,0,0,0,0,0,0,25.60,25.92,28.83
$GC,5297,-0.55,-97.3,2393,1956,3174,2999,563.2,-8.1,523,5303,0.00,2.30,0.00,0.000,516,0.000,0.057,2394,545,3086,3174,2999,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5356,-0.55,-97.3,2393,544,3174,2999,568.3,-8.5,526,5362,0.00,2.20,0.00,0.000,1030,0.000,0.044,2385,1958,3086,3174,2999,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5677,-0.55,-97.3,2384,1959,3174,2998,595.6,-8.6,542,5683,0.00,2.20,0.00,0.000,260,0.000,0.051,2375,3365,3086,3174,2999,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5749,-0.55,-97.3,2374,3365,3174,2999,600.9,-8.8,545,5756,0.00,2.22,0.00,0.000,1030,0.000,0.043,2375,1947,3086,3174,2999,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6057,-0.55,-97.3,2374,1946,3174,2996,630.9,-9.6,561,6062,0.00,2.25,0.00,0.000,516,0.000,0.057,2374,548,3085,3174,2996,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6109,-0.55,-97.3,2374,548,3174,2996,635.0,-9.9,563,6116,0.12,2.20,0.00,0.000,3078,0.161,0.044,2395,1960,3085,3174,2996,0,0,0,0,0,0,25.63,25.90,28.83
$GC,6418,-0.55,-97.3,2394,1960,3174,2996,663.8,-9.2,579,6423,0.00,2.20,0.00,0.000,260,0.000,0.051,2386,3363,3085,3174,2996,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6469,-0.55,-97.3,2385,3363,3174,2996,667.6,-9.5,581,6476,0.00,2.22,0.00,0.000,1030,0.000,0.043,2386,1948,3085,3174,2996,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6776,-0.55,-97.3,2385,1948,3174,2996,700.3,-10.0,597,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1947,3085,3174,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7077,-0.55,-97.3,2386,1948,3174,2996,728.9,-9.3,612,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1948,3085,3174,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.55,-97.3,2386,1948,3174,2996,754.7,-8.3,627,7382,0.00,2.28,0.00,0.000,516,0.000,0.060,2386,541,3085,3174,2996,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7399,-0.55,-97.3,1536,541,3155,2992,756.4,-8.4,628,7403,0.00,2.22,0.00,0.000,1030,0.000,0.046,2376,1958,3085,3174,2996,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7712,-0.55,-97.3,2376,1958,3174,2996,784.8,-9.0,644,7718,0.00,2.22,0.00,0.000,260,0.000,0.053,2365,3372,3085,3174,2996,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7784,-0.55,-97.3,2365,3372,3174,2996,790.4,-9.3,647,7792,0.12,2.22,0.00,0.000,3078,0.156,0.044,2395,1956,3085,3174,2996,0,0,0,0,0,0,25.62,25.86,28.83
$GC,8093,-0.55,-97.3,2395,1956,3174,2996,816.8,-8.4,663,8098,0.00,2.28,0.00,0.000,516,0.000,0.060,2395,547,3085,3174,2996,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8140,-0.55,-97.3,2395,547,3173,2996,820.3,-8.6,665,8144,0.00,2.20,0.00,0.000,1030,0.000,0.047,2387,1956,3085,3174,2996,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8447,-0.55,-97.3,2387,1957,3174,2995,847.8,-8.7,680,8453,0.00,2.22,0.00,0.000,260,0.000,0.054,2376,3369,3084,3174,2995,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8548,-0.55,-97.3,2376,3369,3173,2995,856.9,-9.3,685,8553,0.00,2.20,0.00,0.000,1030,0.000,0.044,2376,1956,3084,3174,2995,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8866,-0.55,-97.3,2376,1955,3174,2995,887.5,-9.6,701,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3084,3173,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9167,-0.55,-97.3,2376,1955,3174,2994,914.4,-8.6,716,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3084,3174,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9467,-0.55,-97.3,2376,1955,3174,2994,939.5,-7.9,731,9472,0.00,2.28,0.00,0.000,516,0.000,0.060,2376,538,3084,3174,2994,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9520,-0.55,-97.3,2376,538,3174,2994,942.9,-8.3,733,9527,0.00,2.22,0.00,0.000,1030,0.000,0.047,2366,1955,3084,3174,2994,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9826,-0.55,-97.3,2365,1956,3174,2994,970.3,-8.7,749,9832,0.00,2.25,0.00,0.000,260,0.000,0.054,2355,3373,3084,3174,2994,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9869,-0.55,-97.3,1536,3372,3154,2990,973.9,-8.8,751,9874,0.15,2.25,0.00,0.000,3078,0.152,0.045,2393,1948,3084,3174,2994,0,0,0,0,0,0,25.51,25.82,28.83
$GC,10184,-0.55,-97.3,2392,1948,3173,2994,996.4,-6.8,767,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1948,3083,3173,2994,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10239,begin apogee
$GC,10245,-0.14,0.0,2393,1874,3173,2994,1000.6,-6.9,770,10342,0.43,0.00,94.07,1.862,10246,0.131,0.000,2525,1873,2683,2764,2602,0,0,0,0,0,0,25.41,28.83,21.95
$STATE,10343,end apogee,CONTROL_FINISHED_OK
$STATE,10344,begin climb
$GC,10346,0.55,97.3,2525,1873,2764,2602,1003.6,0.0,775,10454,0.65,2.58,100.05,1.743,10756,0.081,0.063,2756,489,2286,2358,2214,0,0,0,0,0,0,24.08,23.13,21.25
$GC,10486,0.67,214.7,1832,489,2310,2207,999.5,4.9,782,10617,0.00,2.40,124.38,1.725,9222,0.000,0.047,2756,1886,1806,1881,1732,0,0,0,0,0,0,28.83,23.92,21.20
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$STATE,18728,end climb,SURFACE_DEPTH_REACHED
$STATE,18728,begin surface coast
$FINISH,-0.2,1.026603
$STATE,18749,end surface coast,CONTROL_FINISHED_OK
$STATE,18750,begin surface
$SM_CCo,18826,0.00,0.000,0,0,1447,303.19
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$IRIDIUM_FIX,-4244.98,831.55,030909,161602
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.65
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.2,84.231
$10V_AH,9.7,56.880
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353164
$DATA_FILE_SIZE,97070,1437
$CAP_FILE_SIZE,184729,0
$CFSIZE,259252224,214618112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217,355.2,1
$GPS,071116,135102,-4303.761,830.272,37,1.1,41,-25.1