version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 71
start: 7 28 116 11 47 6
data:
$ID,542
$MISSION,14
$DIVE,71
$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,333
$T_MISSION,343
$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,120
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-40053.5
$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,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,280716,114038,-4302.517,838.789,49,0.8,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.0
$GPS2,280716,114623,-4302.506,838.830,20,1.1,20,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$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,255.3,13520,-16.4,-10.010,-19.35,2733
$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,15,-0.58,-97.3,166,1973,2008,1903,0.0,0.0,0,67,0.00,0.00,-44.80,0.000,16390,0.000,0.000,166,1971,3097,3179,3015,0,0,0,0,0,0,28.83,28.83,26.36
$GC,70,-0.58,-97.3,166,1972,3179,3015,3.5,-5.3,8,84,8.62,2.33,0.00,0.000,2308,0.240,0.059,2371,3398,3098,3182,3015,0,0,0,0,0,0,25.81,25.99,28.83
$GC,267,-0.58,-97.3,1440,3398,3162,3010,36.3,-13.7,46,275,0.00,2.28,0.00,0.000,1030,0.000,0.057,2371,1976,3100,3186,3014,0,0,0,0,0,0,28.83,26.08,28.83
$GC,399,-0.58,-97.3,2371,1976,3187,3015,54.9,-14.0,71,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1975,3101,3187,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.58,-97.3,2371,1976,3187,3015,98.2,-14.4,132,716,0.00,2.30,0.00,0.000,260,0.000,0.066,2361,3402,3101,3187,3015,0,0,0,0,0,0,28.83,26.20,28.83
$GC,755,-0.58,-97.3,2361,3402,3187,3015,104.4,-14.4,137,763,0.00,2.30,0.00,0.000,1030,0.000,0.057,2361,1979,3101,3187,3015,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1062,-0.58,-97.3,2361,1978,3188,3014,149.3,-14.7,168,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1978,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.58,-97.3,2361,1978,3188,3015,194.5,-15.4,198,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1978,3101,3188,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.58,-97.3,2361,1978,3188,3015,239.7,-14.0,228,1667,0.00,2.25,0.00,0.000,260,0.000,0.065,2351,3400,3102,3189,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1699,-0.58,-97.3,2351,3401,3189,3015,244.8,-14.0,231,1708,0.12,2.25,0.00,0.000,3078,0.187,0.056,2380,1968,3102,3189,3015,0,0,0,0,0,0,26.24,26.35,28.83
$GC,2008,-0.58,-97.3,2380,1967,3189,3015,284.0,-12.3,262,2012,0.00,2.25,0.00,0.000,260,0.000,0.065,2371,3394,3102,3189,3015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2087,-0.58,-97.3,1568,3393,3171,3011,293.3,-12.2,269,2094,0.00,2.28,0.00,0.000,1030,0.000,0.055,2371,1979,3102,3189,3015,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2394,-0.58,-97.3,2371,1979,3189,3015,332.4,-12.3,300,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1979,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,-0.58,-97.3,2371,1978,3190,3015,371.6,-13.2,330,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1979,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,-0.58,-97.3,2371,1979,3190,3015,410.8,-13.0,356,2998,0.00,2.25,0.00,0.000,260,0.000,0.066,2361,3397,3103,3191,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3023,-0.58,-97.3,2361,3397,3190,3015,412.8,-13.0,357,3030,0.00,2.22,0.00,0.000,1030,0.000,0.056,2361,1977,3103,3191,3015,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3330,-0.58,-97.3,2361,1976,3191,3014,455.3,-13.5,373,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1976,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.58,-97.3,2361,1977,3191,3015,496.2,-13.7,388,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1977,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3931,-0.58,-97.3,2361,1976,3191,3015,537.3,-13.6,403,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1976,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4230,-0.58,-97.3,2361,1976,3191,3015,576.8,-13.2,418,4234,0.00,2.28,0.00,0.000,260,0.000,0.068,2351,3402,3102,3191,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4279,-0.58,-97.3,2351,3402,3190,3015,581.6,-13.3,420,4287,0.12,2.25,0.00,0.000,3078,0.185,0.057,2380,1975,3102,3190,3015,0,0,0,0,0,0,26.37,26.48,28.83
$GC,4586,-0.58,-97.3,2379,1974,3190,3014,618.8,-11.4,436,4590,0.00,2.28,0.00,0.000,260,0.000,0.068,2371,3402,3103,3191,3015,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4615,-0.58,-97.3,2371,3402,3191,3015,620.6,-11.5,437,4622,0.00,2.25,0.00,0.000,1030,0.000,0.057,2371,1972,3102,3190,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4922,-0.58,-97.3,2371,1972,3191,3014,659.4,-12.4,453,4926,0.00,2.28,0.00,0.000,260,0.000,0.069,2361,3397,3102,3190,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4965,-0.58,-97.3,2361,3396,3191,3014,664.0,-12.5,455,4970,0.00,2.28,0.00,0.000,1030,0.000,0.059,2361,1980,3103,3191,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5278,-0.58,-97.3,2361,1980,3191,3014,704.5,-12.6,471,5284,0.00,2.28,0.00,0.000,516,0.000,0.075,2361,566,3102,3190,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5317,-0.58,-97.3,2361,567,3190,3014,709.9,-13.1,473,5322,0.12,2.22,0.00,0.000,3078,0.202,0.062,2379,1981,3102,3190,3014,0,0,0,0,0,0,26.36,26.48,28.83
$GC,5634,-0.58,-97.3,2379,1981,3191,3014,745.2,-10.9,489,5638,0.00,2.25,0.00,0.000,260,0.000,0.072,2370,3391,3102,3191,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5692,-0.58,-97.3,2370,3391,3190,3014,751.3,-10.9,492,5697,0.00,2.22,0.00,0.000,1030,0.000,0.060,2370,1973,3102,3190,3015,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6010,-0.58,-97.3,2370,1972,3191,3012,788.7,-11.8,508,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1972,3102,3191,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6311,-0.58,-97.3,2370,1972,3191,3012,824.2,-11.8,523,6316,0.00,2.28,0.00,0.000,260,0.000,0.072,2360,3389,3101,3191,3012,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6350,-0.58,-97.3,2360,3390,3191,3011,828.8,-11.6,525,6354,0.00,2.22,0.00,0.000,1030,0.000,0.060,2360,1977,3100,3190,3011,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6666,-0.58,-97.3,2360,1977,3191,3011,865.7,-11.7,541,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1977,3101,3191,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,-0.58,-97.3,2360,1977,3191,3010,900.6,-11.8,556,6970,0.00,2.28,0.00,0.000,260,0.000,0.073,2350,3393,3100,3191,3010,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7005,-0.58,-97.3,2349,3392,3191,3010,904.8,-11.6,558,7010,0.15,2.28,0.00,0.000,3078,0.184,0.061,2386,1960,3100,3191,3010,0,0,0,0,0,0,26.39,26.49,28.83
$GC,7322,-0.58,-97.3,2386,1959,3190,3008,937.3,-10.0,574,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1959,3099,3190,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7623,-0.58,-97.3,2386,1959,3191,3008,967.1,-9.7,589,7628,0.00,2.30,0.00,0.000,260,0.000,0.074,2378,3388,3098,3190,3007,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7645,-0.58,-97.3,2378,3388,3190,3008,969.0,-9.8,590,7649,0.00,2.25,0.00,0.000,1030,0.000,0.063,2378,1975,3098,3190,3007,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7958,-0.58,-97.3,2378,1975,3190,3007,999.6,-9.5,606,7963,0.00,2.28,0.00,0.000,516,0.000,0.080,2378,569,3098,3190,3007,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,7976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7976,begin apogee
$GC,7982,-0.14,0.0,2368,1875,3190,3007,1001.5,-9.5,607,8078,0.52,0.00,87.90,1.737,10246,0.162,0.000,2525,1875,2699,2786,2612,0,0,0,0,0,0,26.39,28.83,23.56
$STATE,8078,end apogee,CONTROL_FINISHED_OK
$STATE,8079,begin climb
$GC,8080,0.58,97.3,2525,1875,2787,2612,1004.5,0.0,612,8178,0.73,0.00,92.35,1.704,10758,0.102,0.000,2757,1875,2303,2373,2234,0,0,0,0,0,0,24.68,28.83,23.17
$GC,8477,0.58,97.3,2756,1875,2363,2222,967.3,10.6,632,8481,0.00,2.42,0.00,0.000,516,0.000,0.082,2767,462,2292,2363,2222,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8501,0.58,97.3,2767,462,2362,2222,965.6,10.6,633,8505,0.00,2.38,0.00,0.000,1030,0.000,0.066,2767,1881,2292,2362,2222,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8813,0.58,97.3,2767,1882,2361,2220,931.4,10.3,649,8817,0.00,2.33,0.00,0.000,260,0.000,0.073,2767,3287,2290,2361,2220,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8912,0.58,97.3,2767,3288,2360,2220,920.7,11.3,654,8916,0.00,2.38,0.00,0.000,1030,0.000,0.068,2777,1852,2289,2359,2220,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9229,0.58,97.3,2777,1852,2360,2219,887.9,10.1,670,9233,0.00,2.38,0.00,0.000,260,0.000,0.075,2777,3290,2289,2360,2219,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9295,0.58,97.3,2777,3290,2359,2220,882.0,10.2,673,9299,0.00,2.33,0.00,0.000,1030,0.000,0.067,2787,1868,2289,2359,2219,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9600,0.58,97.3,2787,1868,2358,2218,849.3,10.2,688,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1868,2288,2358,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9901,0.58,97.3,2787,1867,2358,2218,818.1,10.5,703,9906,0.00,2.33,0.00,0.000,260,0.000,0.075,2787,3287,2287,2357,2218,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9933,0.58,97.3,2787,3287,2357,2218,815.9,10.7,704,9941,0.15,2.30,0.00,0.000,5126,0.220,0.067,2765,1868,2287,2357,2218,0,0,0,0,0,0,26.06,26.20,28.83
$GC,10240,0.58,100.4,2765,1868,2357,2217,784.1,9.9,720,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1868,2287,2357,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10541,0.58,100.4,2765,1868,2357,2216,752.8,10.8,735,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1868,2286,2357,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10840,0.58,100.4,2765,1868,2357,2215,719.2,11.3,750,10844,0.00,2.33,0.00,0.000,260,0.000,0.076,2761,3294,2286,2357,2216,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,17574,end climb,SURFACE_DEPTH_REACHED
$STATE,17574,begin surface coast
$FINISH,0.2,1.021975
$STATE,17600,end surface coast,CONTROL_FINISHED_OK
$STATE,17600,begin surface
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$HUMID,59.33
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$10V_AH,10.2,7.429
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,86916,1364
$CAP_FILE_SIZE,179054,0
$CFSIZE,259252224,253792256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130, 34.0,1
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