version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 563
start: 11 10 116 23 56 43
data:
$ID,542
$MISSION,14
$DIVE,563
$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,-42303.746
$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,39
$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
$GPS1,101116,234752,-4252.475,831.570,38,1.0,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.7
$GPS2,101116,235558,-4252.464,831.527,36,1.1,36,-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,210.8,3624,-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,-97.3,154,1976,1878,1783,0.0,0.0,0,67,0.00,0.00,-47.80,0.000,16390,0.000,0.000,152,1977,3084,3139,3029,0,0,0,0,0,0,28.83,28.83,26.48
$GC,71,-0.55,-97.3,152,1977,3140,3028,3.2,-4.7,8,86,8.80,2.25,0.00,0.000,2308,0.218,0.044,2377,3370,3085,3148,3023,0,0,0,0,0,0,24.78,25.82,28.83
$GC,281,-0.55,-97.3,1440,3369,3134,3011,33.1,-11.2,48,289,0.00,2.25,0.00,0.000,1030,0.000,0.041,2377,1937,3087,3158,3016,0,0,0,0,0,0,28.83,25.86,28.83
$GC,415,-0.55,-97.3,2377,1937,3158,3016,48.3,-11.3,73,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1937,3087,3158,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,727,-0.55,-97.3,2377,1937,3159,3016,82.1,-10.4,134,735,0.00,2.22,0.00,0.000,516,0.000,0.054,2377,537,3087,3159,3016,0,0,0,0,0,0,28.83,25.77,28.83
$GC,769,-0.55,-97.3,2377,537,3159,3016,86.7,-11.2,141,775,0.00,2.17,0.00,0.000,1030,0.000,0.041,2367,1948,3087,3159,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1080,-0.55,-97.3,2367,1948,3160,3016,122.4,-11.9,183,1089,0.00,2.17,0.00,0.000,260,0.000,0.048,2356,3359,3087,3159,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1154,-0.55,-97.3,1536,3358,3140,3012,131.0,-11.6,190,1164,0.10,2.22,0.00,0.000,3078,0.138,0.041,2389,1954,3087,3159,3016,0,0,0,0,0,0,25.61,25.94,28.83
$GC,1463,-0.55,-97.3,2389,1954,3160,3016,162.4,-9.5,221,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1954,3088,3160,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1766,-0.55,-97.3,2388,1954,3161,3016,191.9,-9.9,251,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1954,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.55,-97.3,2388,1954,3161,3016,224.1,-10.8,282,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1954,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-0.55,-97.3,2388,1954,3161,3016,256.2,-10.1,313,2393,0.00,2.22,0.00,0.000,516,0.000,0.054,2389,547,3088,3161,3016,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2458,-0.55,-97.3,2388,547,3161,3016,264.0,-10.1,320,2467,0.00,2.15,0.00,0.000,1030,0.000,0.041,2380,1959,3088,3161,3016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2769,-0.55,-97.3,2380,1959,3161,3016,295.6,-10.3,351,2777,0.00,2.17,0.00,0.000,260,0.000,0.048,2370,3367,3088,3161,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2832,-0.55,-97.3,2369,3367,3161,3016,302.1,-10.1,357,2840,0.00,2.17,0.00,0.000,1030,0.000,0.041,2370,1952,3088,3161,3016,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3140,-0.55,-97.3,2370,1952,3161,3016,334.5,-10.7,388,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1952,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-0.55,-97.3,2369,1952,3161,3016,366.8,-10.6,418,3453,0.00,2.22,0.00,0.000,516,0.000,0.054,2370,543,3088,3161,3016,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3489,-0.55,-97.3,2369,543,3161,3016,371.8,-11.1,422,3497,0.10,2.22,0.00,0.000,3078,0.142,0.041,2391,1959,3089,3162,3016,0,0,0,0,0,0,25.61,25.96,28.83
$GC,3806,-0.55,-97.3,2391,1959,3162,3016,402.2,-9.4,453,3812,0.00,2.17,0.00,0.000,260,0.000,0.048,2382,3364,3088,3161,3016,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3848,-0.55,-97.3,1552,3363,3142,3012,406.0,-9.5,455,3852,0.00,2.20,0.00,0.000,1030,0.000,0.040,2382,1947,3088,3161,3016,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4162,-0.55,-97.3,2382,1946,3161,3016,437.3,-9.8,471,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-0.55,-97.3,2382,1946,3161,3016,466.4,-9.9,486,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1946,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.55,-97.3,2382,1945,3161,3015,496.3,-10.0,501,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1946,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.55,-97.3,2382,1946,3161,3016,527.1,-10.3,516,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1946,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5361,-0.55,-97.3,2382,1946,3161,3015,557.3,-10.0,531,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1946,3088,3161,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-0.55,-97.3,2382,1946,3161,3014,587.2,-9.8,546,5666,0.00,2.28,0.00,0.000,260,0.000,0.050,2372,3364,3087,3161,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5701,-0.55,-97.3,2372,3365,3161,3013,591.1,-9.7,548,5707,0.00,2.20,0.00,0.000,1030,0.000,0.042,2372,1956,3087,3161,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6021,-0.55,-97.3,2372,1956,3161,3013,623.7,-10.2,564,6026,0.00,2.28,0.00,0.000,516,0.000,0.057,2372,543,3087,3161,3013,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6074,-0.55,-97.3,2372,543,3161,3013,627.9,-10.3,566,6083,0.12,2.20,0.00,0.000,3078,0.164,0.043,2392,1963,3087,3161,3013,0,0,0,0,0,0,25.62,25.91,28.83
$GC,6381,-0.55,-97.3,2392,1962,3161,3012,655.8,-8.5,582,6387,0.00,2.20,0.00,0.000,260,0.000,0.050,2383,3365,3086,3161,3012,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6441,-0.55,-97.3,2383,3365,3161,3011,661.1,-8.8,585,6447,0.00,2.25,0.00,0.000,1030,0.000,0.043,2383,1946,3086,3162,3011,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6762,-0.55,-97.3,2383,1946,3161,3011,689.9,-8.9,601,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1946,3086,3161,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,-0.55,-97.3,2383,1946,3161,3009,715.8,-8.4,616,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1946,3085,3161,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-0.55,-97.3,2383,1946,3161,3009,740.9,-8.4,631,7366,0.00,2.28,0.00,0.000,516,0.000,0.058,2383,546,3084,3161,3008,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7392,-0.55,-97.3,2382,545,3161,3009,743.0,-8.5,632,7397,0.00,2.20,0.00,0.000,1030,0.000,0.044,2373,1958,3085,3161,3009,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7700,-0.55,-97.3,2373,1959,3161,3008,772.3,-9.5,647,7705,0.00,2.20,0.00,0.000,260,0.000,0.051,2362,3362,3084,3161,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7802,-0.55,-97.3,1504,3361,3141,3004,781.9,-9.6,652,7807,0.12,2.22,0.00,0.000,3078,0.154,0.044,2393,1950,3084,3161,3008,0,0,0,0,0,0,25.60,25.85,28.83
$GC,8115,-0.55,-97.3,2393,1949,3161,3007,807.0,-7.5,668,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1949,3084,3161,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8417,-0.55,-97.3,2393,1949,3161,3006,829.0,-7.3,683,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1949,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,-0.55,-97.3,2393,1949,3161,3006,850.8,-7.2,698,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1949,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.55,-97.3,2393,1949,3161,3005,873.7,-7.7,713,9021,0.00,2.25,0.00,0.000,516,0.000,0.059,2393,550,3083,3161,3006,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9038,-0.55,-97.3,2392,550,3161,3004,875.3,-7.7,714,9042,0.00,2.20,0.00,0.000,1030,0.000,0.045,2384,1959,3083,3161,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9350,-0.55,-97.3,2384,1960,3161,3005,901.9,-8.5,730,9356,0.00,2.22,0.00,0.000,260,0.000,0.052,2373,3366,3083,3161,3005,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9452,-0.55,-97.3,2374,3367,3161,3005,910.6,-8.7,735,9457,0.00,2.20,0.00,0.000,1030,0.000,0.044,2373,1957,3083,3161,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9771,-0.55,-97.3,2374,1957,3161,3005,939.5,-9.0,751,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3083,3161,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10071,-0.55,-97.3,2373,1957,3161,3004,965.9,-8.8,766,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3082,3161,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10370,-0.55,-97.3,2374,1957,3161,3004,993.3,-9.2,781,10376,0.00,2.30,0.00,0.000,516,0.000,0.060,2374,544,3082,3161,3004,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10398,-0.55,-97.3,2374,544,3161,3004,995.3,-9.3,782,10403,0.12,2.22,0.00,0.000,3078,0.165,0.046,2394,1963,3082,3161,3004,0,0,0,0,0,0,25.53,25.82,28.83
$STATE,10443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10443,begin apogee
$GC,10450,-0.14,0.0,2394,1869,3161,3004,1000.2,-9.2,784,10548,0.43,0.00,94.80,1.845,10246,0.130,0.000,2526,1868,2682,2758,2607,0,0,0,0,0,0,25.39,28.83,21.92
$STATE,10549,end apogee,CONTROL_FINISHED_OK
$STATE,10549,begin climb
$GC,10551,0.55,97.3,2526,1868,2758,2607,1004.1,0.0,789,10661,0.62,2.55,100.22,1.743,10756,0.080,0.063,2749,488,2285,2357,2214,0,0,0,0,0,0,24.09,23.13,21.17
$GC,10724,0.65,201.8,2749,488,2350,2214,998.8,5.4,797,10847,0.12,2.35,109.93,1.751,11270,0.092,0.045,2806,1885,1860,1932,1789,0,0,0,0,0,0,24.34,24.34,21.18
$GC,11145,0.65,201.8,2806,1885,1927,1777,940.9,15.2,818,11150,0.00,2.25,0.00,0.000,260,0.000,0.054,2806,3296,1852,1927,1777,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11232,0.65,201.8,2806,3296,1924,1776,928.5,15.5,822,11237,0.12,2.25,0.00,0.000,5126,0.188,0.050,2790,1896,1850,1924,1776,0,0,0,0,0,0,25.52,25.79,28.83
$GC,11540,0.65,201.8,2789,1896,1925,1774,884.3,14.1,837,11545,0.00,2.30,0.00,0.000,516,0.000,0.064,2799,470,1849,1924,1774,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,19016,end climb,SURFACE_DEPTH_REACHED
$STATE,19016,begin surface coast
$FINISH,0.0,1.013413
$STATE,19043,end surface coast,CONTROL_FINISHED_OK
$STATE,19043,begin surface
$SM_CCo,19121,0.00,0.000,0,0,1754,227.88
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$IRIDIUM_FIX,-4239.11,830.68,070909,070748
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.44
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,9.7,58.681
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,97126,1475
$CAP_FILE_SIZE,186679,0
$CFSIZE,259252224,213221376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159,325.8,1
$GPS,111116,051657,-4253.456,830.030,57,1.0,57,-25.0