version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 561
start: 11 10 116 12 56 20
data:
$ID,542
$MISSION,14
$DIVE,561
$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,-42301.238
$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,21
$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
$GPS1,101116,124808,-4253.273,828.284,40,1.0,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.3
$GPS2,101116,125536,-4253.239,828.339,14,0.8,15,-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,182.3,2729,-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,-97.3,146,1952,1867,1754,0.0,0.0,0,68,0.00,0.00,-48.22,0.000,16390,0.000,0.000,145,1953,3082,3138,3026,0,0,0,0,0,0,28.83,28.83,26.47
$GC,71,-0.55,-97.3,144,1953,3139,3026,3.3,-5.3,8,86,8.88,2.30,0.00,0.000,2308,0.216,0.043,2377,3375,3084,3147,3021,0,0,0,0,0,0,24.57,25.75,28.83
$GC,321,-0.55,-97.3,1432,3373,3134,3011,36.5,-10.5,56,328,0.00,2.25,0.00,0.000,1030,0.000,0.041,2377,1942,3086,3158,3015,0,0,0,0,0,0,28.83,25.85,28.83
$GC,455,-0.55,-97.3,2377,1941,3158,3015,51.7,-11.8,81,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1941,3086,3158,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,768,-0.55,-97.3,2377,1941,3159,3015,87.2,-11.4,142,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1941,3087,3159,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1084,-0.55,-97.3,2377,1941,3159,3015,123.1,-11.3,184,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1941,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.55,-97.3,2377,1941,3160,3015,155.0,-10.4,214,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1941,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-0.55,-97.3,2377,1941,3161,3015,188.7,-10.9,245,1704,0.00,2.20,0.00,0.000,516,0.000,0.053,2377,550,3088,3161,3015,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1727,-0.55,-97.3,2377,550,3161,3015,192.5,-11.0,248,1737,0.00,2.17,0.00,0.000,1030,0.000,0.041,2366,1964,3088,3161,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2040,-0.55,-97.3,2366,1963,3161,3015,227.3,-11.1,279,2048,0.00,2.17,0.00,0.000,260,0.000,0.049,2356,3369,3088,3161,3015,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2102,-0.55,-97.3,2356,3369,3161,3015,234.2,-10.8,285,2111,0.10,2.17,0.00,0.000,3078,0.142,0.041,2388,1954,3088,3161,3015,0,0,0,0,0,0,25.59,25.94,28.83
$GC,2412,-0.55,-97.3,2388,1954,3161,3015,263.5,-9.6,316,2422,0.00,2.22,0.00,0.000,516,0.000,0.054,2388,547,3088,3161,3015,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2475,-0.55,-97.3,2389,547,3161,3015,269.9,-10.2,322,2485,0.00,2.17,0.00,0.000,1030,0.000,0.042,2380,1961,3088,3161,3015,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2786,-0.55,-97.3,2380,1961,3161,3015,301.4,-10.2,353,2794,0.00,2.17,0.00,0.000,260,0.000,0.049,2369,3366,3088,3161,3015,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2829,-0.55,-97.3,2369,3366,3161,3015,305.7,-10.1,357,2837,0.00,2.17,0.00,0.000,1030,0.000,0.040,2369,1947,3088,3161,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3137,-0.55,-97.3,2369,1947,3161,3015,338.8,-10.2,388,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1947,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3440,-0.55,-97.3,2369,1947,3162,3015,369.1,-10.0,418,3451,0.00,2.22,0.00,0.000,516,0.000,0.054,2370,539,3088,3162,3015,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3483,-0.55,-97.3,2369,538,3161,3015,373.9,-10.5,422,3494,0.12,2.17,0.00,0.000,3078,0.169,0.041,2390,1955,3088,3162,3015,0,0,0,0,0,0,25.64,25.96,28.83
$GC,3804,-0.55,-97.3,2389,1955,3162,3015,401.7,-8.5,453,3810,0.00,2.17,0.00,0.000,260,0.000,0.048,2381,3363,3088,3162,3015,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3887,-0.55,-97.3,2381,3363,3162,3015,408.5,-8.5,457,3892,0.00,2.20,0.00,0.000,1030,0.000,0.040,2381,1945,3088,3162,3015,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4200,-0.55,-97.3,2381,1945,3162,3015,436.3,-9.1,473,4203,0.00,2.22,0.00,0.000,516,0.000,0.054,2381,547,3088,3162,3015,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4224,-0.55,-97.3,2381,546,3162,3015,438.4,-9.2,474,4229,0.00,2.17,0.00,0.000,1030,0.000,0.041,2370,1958,3088,3162,3015,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4537,-0.55,-97.3,2371,1958,3162,3015,470.0,-10.3,490,4542,0.00,2.17,0.00,0.000,260,0.000,0.049,2360,3364,3088,3162,3015,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4576,-0.55,-97.3,2360,3363,3162,3015,474.1,-10.3,492,4582,0.12,2.17,0.00,0.000,3078,0.153,0.041,2391,1954,3088,3162,3015,0,0,0,0,0,0,25.67,25.93,28.83
$GC,4898,-0.55,-97.3,2390,1954,3162,3015,501.5,-8.2,508,4903,0.00,2.22,0.00,0.000,516,0.000,0.054,2391,551,3088,3162,3015,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4930,-0.55,-97.3,2391,551,3162,3015,503.3,-8.3,509,4937,0.00,2.17,0.00,0.000,1030,0.000,0.042,2383,1959,3088,3162,3015,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5237,-0.55,-97.3,2382,1960,3162,3014,532.3,-9.1,525,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1960,3088,3162,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,-0.55,-97.3,2382,1960,3161,3013,560.8,-9.9,540,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1960,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5838,-0.55,-97.3,2382,1960,3161,3012,589.0,-9.1,555,5843,0.00,2.17,0.00,0.000,260,0.000,0.050,2372,3358,3086,3161,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5879,-0.55,-97.3,1536,3357,3142,3008,592.7,-9.2,557,5883,0.00,2.20,0.00,0.000,1030,0.000,0.041,2372,1949,3087,3162,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6192,-0.55,-97.3,2372,1950,3162,3011,623.0,-9.6,573,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1950,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6492,-0.55,-97.3,2372,1950,3161,3011,651.3,-9.4,588,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1950,3086,3161,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.55,-97.3,2372,1950,3161,3009,681.1,-10.1,603,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1950,3085,3162,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.55,-97.3,2372,1950,3161,3008,712.4,-10.5,618,7097,0.00,2.25,0.00,0.000,516,0.000,0.057,2372,544,3084,3161,3008,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7154,-0.55,-97.3,1536,544,3142,3004,719.0,-10.9,621,7158,0.12,2.20,0.00,0.000,3078,0.168,0.044,2392,1959,3085,3162,3008,0,0,0,0,0,0,25.60,25.90,28.83
$GC,7467,-0.55,-97.3,2392,1959,3162,3007,746.7,-8.7,637,7473,0.00,2.20,0.00,0.000,260,0.000,0.051,2383,3365,3084,3162,3007,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7546,-0.55,-97.3,2383,3364,3162,3007,753.7,-8.7,641,7552,0.00,2.22,0.00,0.000,1030,0.000,0.043,2383,1948,3084,3162,3007,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7867,-0.55,-97.3,2383,1948,3162,3006,781.5,-8.5,657,7873,0.00,2.25,0.00,0.000,516,0.000,0.058,2383,540,3084,3162,3006,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7909,-0.55,-97.3,1536,540,3142,3002,785.1,-8.8,659,7913,0.00,2.22,0.00,0.000,1030,0.000,0.046,2373,1962,3083,3161,3006,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8222,-0.55,-97.3,2373,1962,3161,3005,811.7,-8.2,675,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1962,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8522,-0.55,-97.3,2373,1962,3162,3005,836.7,-8.5,690,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1962,3083,3161,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8822,-0.55,-97.3,2372,1962,3162,3005,863.1,-8.9,705,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1962,3083,3162,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,-0.55,-97.3,2373,1962,3162,3004,890.3,-9.0,720,9127,0.00,2.22,0.00,0.000,260,0.000,0.052,2362,3368,3082,3161,3004,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9192,-0.55,-97.3,2361,3368,3161,3005,895.8,-9.2,723,9201,0.10,2.20,0.00,0.000,3078,0.139,0.044,2393,1961,3083,3162,3004,0,0,0,0,0,0,25.52,25.84,28.83
$GC,9502,-0.55,-97.3,2393,1961,3162,3004,919.7,-7.2,739,9507,0.00,2.28,0.00,0.000,516,0.000,0.060,2394,550,3082,3161,3004,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9555,-0.55,-97.3,2393,550,3162,3004,922.7,-7.4,741,9562,0.00,2.20,0.00,0.000,1030,0.000,0.047,2385,1955,3083,3162,3004,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9862,-0.55,-97.3,2385,1955,3161,3003,946.7,-7.6,757,9867,0.00,2.25,0.00,0.000,260,0.000,0.054,2374,3373,3082,3161,3003,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9915,-0.55,-97.3,2374,3373,3161,3003,949.8,-7.7,759,9922,0.00,2.25,0.00,0.000,1030,0.000,0.045,2374,1952,3082,3161,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10222,-0.55,-97.3,2374,1952,3161,3003,974.8,-7.9,775,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1952,3082,3161,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10522,-0.55,-97.3,2374,1952,3161,3002,999.5,-8.6,790,10527,0.00,2.28,0.00,0.000,516,0.000,0.060,2374,546,3081,3161,3002,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,10539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10548,-0.14,0.0,2364,1889,3161,3002,1001.3,-8.7,791,10646,0.52,0.00,94.65,1.847,10246,0.142,0.000,2522,1889,2682,2758,2607,0,0,0,0,0,0,25.15,28.83,21.89
$STATE,10647,end apogee,CONTROL_FINISHED_OK
$STATE,10647,begin climb
$GC,10649,0.55,97.3,2521,1889,2758,2607,1005.2,0.0,796,10762,0.70,2.65,100.30,1.746,10756,0.085,0.062,2759,488,2285,2357,2214,0,0,0,0,0,0,24.08,23.13,21.15
$GC,10788,0.68,223.1,2759,488,2352,2214,1001.6,4.6,803,10931,0.08,2.38,133.62,1.726,11270,0.067,0.046,2800,1879,1774,1845,1704,0,0,0,0,0,0,23.89,23.92,21.13
$GC,11250,0.68,223.1,2800,1879,1841,1689,937.2,15.0,826,11256,0.00,2.28,0.00,0.000,260,0.000,0.053,2800,3306,1764,1841,1688,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,18784,end climb,SURFACE_DEPTH_REACHED
$STATE,18784,begin surface coast
$FINISH,0.1,1.016316
$STATE,18812,end surface coast,CONTROL_FINISHED_OK
$STATE,18812,begin surface
$SM_CCo,18888,0.00,0.000,0,0,1756,227.14
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$IRIDIUM_FIX,-4242.04,605.47,060909,202000
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.60
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.1,86.755
$10V_AH,9.7,58.455
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353156
$DATA_FILE_SIZE,96919,1451
$CAP_FILE_SIZE,179293,0
$CFSIZE,259252224,213401600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,333.8,1
$GPS,101116,181221,-4254.467,829.076,36,1.2,36,-25.0