version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 88
start: 7 31 116 18 41 21
data:
$ID,542
$MISSION,14
$DIVE,88
$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,-40075.863
$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,22
$R_STBD_OVSHOOT,17
$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
$GPS1,310716,183002,-4306.694,830.048,270,1.1,271,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.3
$GPS2,310716,184036,-4306.704,830.028,36,1.1,37,-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,29.6,1433,-17.1,-10.010,-20.00,2523
$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,-0.60,-97.3,160,1978,2153,2058,0.0,0.0,0,61,0.00,0.00,-38.65,0.000,16390,0.000,0.000,158,1977,3098,3181,3016,0,0,0,0,0,0,28.83,28.83,26.30
$GC,63,-0.60,-97.3,158,1977,3182,3015,3.9,-8.2,7,78,8.80,2.33,0.00,0.000,2564,0.245,0.062,2383,565,3100,3185,3015,0,0,0,0,0,0,25.72,25.93,28.83
$GC,206,-0.60,-97.3,1424,565,3166,3010,30.4,-14.0,34,213,0.00,2.28,0.00,0.000,1030,0.000,0.059,2375,1983,3102,3190,3015,0,0,0,0,0,0,28.83,26.01,28.83
$GC,336,-0.60,-97.3,2374,1983,3190,3014,49.8,-14.8,59,343,0.00,2.28,0.00,0.000,260,0.000,0.066,2363,3399,3102,3190,3015,0,0,0,0,0,0,28.83,26.05,28.83
$GC,390,-0.60,-97.3,1472,3398,3168,3010,57.4,-14.2,69,397,0.00,2.28,0.00,0.000,1030,0.000,0.057,2364,1969,3102,3190,3014,0,0,0,0,0,0,28.83,26.08,28.83
$GC,699,-0.60,-97.3,2364,1968,3191,3015,104.8,-15.1,127,703,0.00,2.30,0.00,0.000,260,0.000,0.065,2354,3399,3102,3190,3015,0,0,0,0,0,0,28.83,26.16,28.83
$GC,728,-0.60,-97.3,1552,3398,3173,3011,108.8,-15.4,129,736,0.00,2.30,0.00,0.000,1030,0.000,0.057,2354,1979,3103,3191,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1035,-0.60,-97.3,2353,1979,3191,3015,157.3,-15.8,160,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1979,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1336,-0.60,-97.3,2353,1979,3192,3015,202.5,-14.8,190,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1979,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,-0.60,-97.3,2353,1979,3193,3014,244.7,-13.9,220,1639,0.00,2.25,0.00,0.000,260,0.000,0.064,2344,3395,3103,3192,3015,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1671,-0.60,-97.3,2343,3395,3193,3015,249.8,-14.0,223,1676,0.15,2.22,0.00,0.000,3078,0.190,0.057,2379,1975,3104,3193,3015,0,0,0,0,0,0,26.19,26.33,28.83
$GC,1976,-0.60,-97.3,2378,1976,3193,3015,286.5,-11.6,253,1980,0.00,2.25,0.00,0.000,260,0.000,0.064,2371,3394,3103,3192,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2052,-0.60,-97.3,2370,3394,3193,3015,295.4,-11.8,260,2056,0.00,2.22,0.00,0.000,1030,0.000,0.057,2371,1975,3104,3194,3015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2357,-0.60,-97.3,2370,1974,3193,3015,334.2,-13.1,290,2366,0.00,2.25,0.00,0.000,260,0.000,0.064,2361,3394,3104,3194,3015,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2417,-0.60,-97.3,2360,3394,3194,3015,342.2,-13.1,296,2422,0.00,2.22,0.00,0.000,1030,0.000,0.056,2361,1974,3104,3193,3015,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2723,-0.60,-97.3,2360,1973,3193,3015,383.3,-13.3,326,2727,0.00,2.25,0.00,0.000,516,0.000,0.071,2361,569,3104,3193,3015,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2748,-0.60,-97.3,2361,568,3193,3015,386.9,-13.6,328,2752,0.00,2.20,0.00,0.000,1030,0.000,0.057,2351,1979,3104,3193,3015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3054,-0.60,-97.3,2351,1978,3194,3015,428.2,-13.7,348,3060,0.00,2.22,0.00,0.000,260,0.000,0.066,2340,3394,3104,3193,3015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3077,-0.60,-97.3,2340,3394,3193,3015,430.9,-13.7,349,3081,0.15,2.25,0.00,0.000,3078,0.189,0.057,2376,1963,3104,3193,3015,0,0,0,0,0,0,26.27,26.41,28.83
$GC,3394,-0.60,-97.3,2375,1963,3194,3015,469.3,-11.8,365,3398,0.00,2.28,0.00,0.000,260,0.000,0.067,2367,3393,3104,3194,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3422,-0.60,-97.3,2367,3393,3194,3015,471.2,-11.8,366,3430,0.00,2.28,0.00,0.000,1030,0.000,0.058,2367,1952,3104,3193,3015,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3730,-0.60,-97.3,2367,1951,3194,3015,510.8,-12.2,382,3736,0.00,2.30,0.00,0.000,260,0.000,0.067,2357,3392,3104,3193,3015,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3753,-0.60,-97.3,2357,3392,3193,3015,513.3,-12.2,383,3757,0.00,2.25,0.00,0.000,1030,0.000,0.058,2357,1968,3104,3193,3015,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4065,-0.60,-97.3,2357,1967,3193,3015,554.4,-13.0,399,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1967,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.60,-97.3,2357,1967,3193,3015,592.5,-12.5,414,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1967,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.60,-97.3,2357,1967,3194,3014,629.3,-12.2,429,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1968,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.60,-97.3,2357,1967,3194,3015,667.1,-12.8,444,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1968,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5265,-0.60,-97.3,2357,1967,3194,3015,705.5,-12.8,459,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1967,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.60,-97.3,2356,1967,3193,3014,743.5,-12.3,474,5571,0.00,2.28,0.00,0.000,260,0.000,0.070,2346,3390,3104,3193,3015,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5652,-0.60,-97.3,2347,3390,3193,3015,753.5,-12.5,478,5657,0.08,2.28,0.00,0.000,3078,0.177,0.060,2377,1980,3104,3193,3015,0,0,0,0,0,0,26.34,26.48,28.83
$GC,5965,-0.60,-97.3,2377,1980,3193,3014,792.0,-12.1,494,5971,0.00,2.25,0.00,0.000,260,0.000,0.070,2368,3391,3104,3193,3015,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5997,-0.60,-97.3,2369,3390,3194,3014,794.4,-12.2,495,6005,0.00,2.28,0.00,0.000,1030,0.000,0.061,2369,1981,3103,3193,3014,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6305,-0.60,-97.3,2368,1980,3193,3014,832.6,-11.5,511,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1980,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-0.60,-97.3,2368,1980,3193,3014,867.7,-11.2,526,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1980,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,-0.60,-97.3,2368,1980,3193,3013,900.7,-10.7,541,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1980,3103,3193,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,-0.60,-97.3,2369,1980,3193,3012,931.9,-10.4,556,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1980,3102,3193,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,-0.60,-97.3,2368,1980,3192,3011,963.7,-10.7,571,7509,0.00,2.28,0.00,0.000,260,0.000,0.073,2359,3394,3101,3192,3011,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7513,-0.60,-97.3,2359,3394,3192,3011,963.7,-10.7,571,7521,0.00,2.30,0.00,0.000,1030,0.000,0.061,2359,1974,3101,3192,3011,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7821,-0.60,-97.3,2358,1974,3192,3010,999.8,-11.4,587,7825,0.00,2.28,0.00,0.000,260,0.000,0.073,2348,3390,3101,3192,3010,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,7837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7837,begin apogee
$GC,7843,-0.14,0.0,2348,1876,3192,3010,1001.6,-11.3,588,7937,0.60,0.00,88.43,1.746,10246,0.165,0.000,2527,1876,2700,2787,2613,0,0,0,0,0,0,26.34,28.83,23.58
$STATE,7938,end apogee,CONTROL_FINISHED_OK
$STATE,7938,begin climb
$GC,7940,0.60,97.3,2526,1876,2787,2612,1005.8,0.0,593,8038,0.73,0.00,93.15,1.709,10758,0.106,0.000,2760,1876,2303,2373,2233,0,0,0,0,0,0,24.65,28.83,23.11
$GC,8337,0.60,104.0,2759,1876,2365,2221,972.8,9.7,613,8349,0.00,2.45,6.05,1.413,8452,0.000,0.073,2760,3281,2275,2347,2203,0,0,0,0,0,0,28.83,25.24,24.25
$GC,8397,0.60,104.0,2760,3281,2347,2203,966.6,10.3,616,8401,0.00,2.38,0.00,0.000,1030,0.000,0.067,2770,1871,2275,2347,2203,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8713,0.60,104.0,2769,1870,2346,2199,934.2,10.2,632,8719,0.00,2.38,0.00,0.000,260,0.000,0.073,2770,3293,2273,2346,2200,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8745,0.60,104.0,2769,3293,2344,2199,932.1,10.2,633,8753,0.00,2.40,0.00,0.000,1030,0.000,0.067,2779,1873,2272,2344,2200,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9052,0.60,104.0,2779,1873,2343,2199,899.3,10.2,649,9057,0.00,2.33,0.00,0.000,260,0.000,0.073,2780,3285,2271,2344,2199,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9068,0.60,104.0,2779,3285,2344,2198,897.6,10.3,650,9073,0.00,2.30,0.00,0.000,1030,0.000,0.067,2790,1875,2271,2343,2199,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9384,0.60,104.0,2789,1875,2343,2198,862.3,11.2,666,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1875,2270,2343,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9684,0.60,104.0,2789,1875,2342,2198,827.2,11.8,681,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1874,2269,2342,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,0.60,104.0,2789,1875,2341,2197,791.7,11.5,696,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1875,2269,2341,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,0.60,104.0,2789,1875,2341,2197,757.7,11.7,711,10291,0.00,2.30,0.00,0.000,260,0.000,0.073,2789,3291,2268,2339,2197,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10418,0.60,104.0,2789,3291,2340,2197,742.8,12.4,717,10425,0.12,2.30,0.00,0.000,5126,0.222,0.067,2774,1870,2268,2340,2197,0,0,0,0,0,0,26.11,26.26,28.83
$GC,10724,0.60,104.0,2774,1870,2340,2196,708.5,10.7,733,10728,0.00,2.30,0.00,0.000,260,0.000,0.073,2764,3285,2268,2340,2196,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,16791,end climb,SURFACE_DEPTH_REACHED
$STATE,16791,begin surface coast
$FINISH,1.3,1.026649
$STATE,16802,end surface coast,CONTROL_FINISHED_OK
$STATE,16802,begin surface
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$IRIDIUM_FIX,-4250.85,826.16,280509,070752
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.84
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.30
$XPDR_PINGS,0
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$10V_AH,10.2,8.829
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353284
$DATA_FILE_SIZE,80512,1252
$CAP_FILE_SIZE,167971,0
$CFSIZE,259252224,252592128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,297.4,1
$GPS,310716,232449,-4304.672,829.813,75,3.8,96,-25.0