version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 89
start: 7 31 116 23 35 46
data:
$ID,542
$MISSION,14
$DIVE,89
$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,-40077.121
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,310716,232449,-4304.672,829.813,75,3.8,96,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.1
$GPS2,310716,233502,-4304.649,829.837,20,3.8,40,-25.0
$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,195.1,2383,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.60,-97.3,149,1986,2066,1965,0.0,0.0,0,61,0.00,0.00,-42.65,0.000,16390,0.000,0.000,148,1986,3097,3182,3012,0,0,0,0,0,0,28.83,28.83,26.35
$GC,64,-0.60,-97.3,147,1986,3182,3013,3.0,-4.7,7,80,8.80,2.30,0.00,0.000,2308,0.245,0.060,2362,3396,3100,3187,3013,0,0,0,0,0,0,25.75,25.98,28.83
$GC,232,-0.60,-97.3,1424,3394,3168,3009,31.2,-13.4,39,239,0.00,2.28,0.00,0.000,1030,0.000,0.057,2361,1974,3102,3191,3013,0,0,0,0,0,0,28.83,26.05,28.83
$GC,364,-0.60,-97.3,2362,1974,3192,3013,50.1,-14.0,64,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1974,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,682,-0.60,-97.3,2362,1974,3193,3013,97.1,-14.0,125,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1974,3103,3193,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.60,-97.3,2362,1974,3193,3013,142.8,-14.8,158,999,0.00,2.28,0.00,0.000,260,0.000,0.065,2352,3394,3103,3194,3013,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1040,-0.60,-97.3,2352,3394,3193,3013,149.3,-14.2,162,1045,0.00,2.28,0.00,0.000,1030,0.000,0.057,2352,1971,3103,3193,3013,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1346,-0.60,-97.3,2352,1970,3194,3013,192.3,-14.2,192,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1970,3103,3194,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1646,-0.60,-97.3,2352,1970,3195,3013,235.7,-14.1,222,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1970,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1946,-0.60,-97.3,2352,1970,3195,3013,278.2,-15.1,252,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1970,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.60,-97.3,2351,1970,3195,3013,321.7,-13.9,282,2250,0.00,2.28,0.00,0.000,260,0.000,0.066,2342,3398,3104,3195,3013,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2312,-0.60,-97.3,2342,3398,3195,3013,330.8,-13.8,288,2322,0.15,2.25,0.00,0.000,3078,0.191,0.057,2377,1968,3104,3195,3013,0,0,0,0,0,0,26.25,26.39,28.83
$GC,2621,-0.60,-97.3,2377,1967,3196,3013,369.3,-12.8,319,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1968,3104,3196,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,-0.60,-97.3,2377,1967,3196,3013,405.0,-11.4,347,2926,0.00,2.25,0.00,0.000,516,0.000,0.072,2383,568,3104,3196,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2958,-0.60,-97.3,2383,568,3196,3013,409.3,-11.7,349,2964,0.00,2.22,0.00,0.000,1030,0.000,0.058,2375,1985,3104,3196,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3278,-0.60,-97.3,2374,1985,3196,3013,446.2,-11.3,365,3283,0.00,2.22,0.00,0.000,260,0.000,0.067,2364,3392,3104,3196,3013,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3330,-0.60,-97.3,2363,3393,3196,3013,450.8,-11.3,367,3338,0.00,2.28,0.00,0.000,1030,0.000,0.057,2364,1979,3104,3196,3013,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3637,-0.60,-97.3,2363,1977,3196,3013,488.9,-12.2,383,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1977,3105,3197,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.60,-97.3,2364,1978,3195,3013,525.4,-12.1,398,3941,0.00,2.25,0.00,0.000,260,0.000,0.068,2354,3392,3104,3196,3013,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3973,-0.60,-97.3,2354,3392,3196,3013,529.7,-11.9,400,3977,0.00,2.22,0.00,0.000,1030,0.000,0.059,2354,1978,3104,3196,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4289,-0.60,-97.3,2353,1977,3196,3013,570.2,-13.2,416,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1977,3104,3196,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.60,-97.3,2354,1977,3196,3013,609.2,-13.0,431,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1977,3105,3197,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.60,-97.3,2354,1977,3196,3013,646.5,-12.0,446,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1977,3104,3196,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5189,-0.60,-97.3,2353,1977,3196,3013,683.1,-12.5,461,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1977,3104,3196,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5489,-0.60,-97.3,2354,1977,3196,3013,721.6,-12.8,476,5493,0.00,2.28,0.00,0.000,516,0.000,0.076,2354,570,3104,3196,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5513,-0.60,-97.3,2353,571,3196,3012,723.7,-12.8,477,5518,0.15,2.22,0.00,0.000,3078,0.203,0.063,2378,1981,3104,3196,3013,0,0,0,0,0,0,26.31,26.46,28.83
$GC,5820,-0.60,-97.3,2378,1981,3196,3013,758.8,-11.0,492,5824,0.00,2.28,0.00,0.000,260,0.000,0.072,2369,3392,3104,3196,3013,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5879,-0.60,-97.3,2368,3392,3195,3013,764.8,-10.9,495,5883,0.00,2.25,0.00,0.000,1030,0.000,0.061,2369,1974,3104,3196,3013,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6195,-0.60,-97.3,2369,1973,3196,3013,800.8,-11.0,511,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1973,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6495,-0.60,-97.3,2369,1973,3196,3013,833.0,-10.9,526,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1973,3104,3196,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,-0.60,-97.3,2369,1973,3195,3012,866.3,-11.5,541,6802,0.00,2.28,0.00,0.000,260,0.000,0.073,2359,3391,3104,3195,3013,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6838,-0.60,-97.3,2359,3391,3195,3013,871.1,-11.8,543,6843,0.00,2.25,0.00,0.000,1030,0.000,0.062,2359,1970,3104,3195,3013,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7155,-0.60,-97.3,2359,1970,3195,3013,912.4,-13.0,559,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1970,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,-0.60,-97.3,2359,1970,3195,3013,952.4,-13.4,574,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1970,3104,3195,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7756,-0.60,-97.3,2359,1970,3194,3011,990.7,-12.5,589,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1970,3103,3194,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7835,begin apogee
$GC,7839,-0.14,0.0,2358,1864,3194,3011,1000.2,-11.9,593,7936,0.55,0.00,88.85,1.746,10246,0.163,0.000,2523,1864,2700,2788,2612,0,0,0,0,0,0,26.35,28.83,23.56
$STATE,7936,end apogee,CONTROL_FINISHED_OK
$STATE,7937,begin climb
$GC,7938,0.60,97.3,2523,1863,2788,2612,1004.4,0.0,598,8036,0.75,0.00,93.60,1.720,10246,0.105,0.000,2761,1864,2302,2373,2232,0,0,0,0,0,0,24.68,28.83,23.09
$GC,8336,0.60,97.3,2761,1863,2365,2221,968.0,11.1,618,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1863,2292,2364,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8636,0.60,97.3,2761,1863,2362,2219,935.1,10.8,633,8642,0.00,2.40,0.00,0.000,260,0.000,0.073,2761,3292,2290,2362,2219,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8748,0.60,97.3,2760,3292,2361,2219,923.1,12.1,638,8756,0.00,2.33,0.00,0.000,1030,0.000,0.067,2771,1883,2290,2361,2219,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9056,0.60,97.3,2770,1882,2361,2217,885.2,11.5,654,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1883,2289,2361,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,0.60,97.3,2770,1883,2360,2216,853.5,10.2,669,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1882,2288,2361,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9655,0.60,97.3,2770,1882,2360,2216,822.7,10.3,684,9660,0.00,2.30,0.00,0.000,260,0.000,0.074,2771,3286,2288,2360,2216,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9704,0.60,97.3,2770,3286,2359,2216,818.8,10.6,686,9712,0.00,2.30,0.00,0.000,1030,0.000,0.066,2780,1872,2287,2359,2216,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10011,0.60,97.3,2780,1872,2359,2216,784.9,10.7,702,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1872,2286,2358,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10312,0.60,97.3,2780,1872,2358,2215,752.1,10.8,717,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1872,2286,2358,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10611,0.60,97.3,2780,1872,2358,2215,719.8,10.8,732,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1872,2286,2358,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10911,0.60,97.3,2780,1872,2357,2215,687.3,10.8,747,10915,0.00,2.33,0.00,0.000,260,0.000,0.075,2781,3292,2286,2357,2215,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10960,0.60,97.3,2780,3292,2357,2215,683.2,11.0,749,10967,0.00,2.30,0.00,0.000,1030,0.000,0.068,2791,1868,2285,2357,2214,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11268,0.60,97.3,2790,1867,2357,2215,648.2,10.4,765,11273,0.00,2.33,0.00,0.000,260,0.000,0.074,2791,3288,2286,2357,2215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11300,0.60,97.3,2790,3288,2357,2215,646.1,10.4,766,11308,0.10,2.33,0.00,0.000,5126,0.202,0.066,2773,1873,2286,2357,2215,0,0,0,0,0,0,26.19,26.33,28.83
$GC,11608,0.63,128.1,2773,1873,2357,2215,616.6,8.8,782,11636,0.00,0.00,26.58,1.501,8198,0.000,0.000,2773,1872,2176,2248,2105,0,0,0,0,0,0,28.83,28.83,24.64
$GC,11927,0.63,128.1,2773,1873,2246,2098,583.4,10.4,798,11931,0.00,2.35,0.00,0.000,260,0.000,0.073,2763,3292,2172,2247,2098,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,17107,end climb,SURFACE_DEPTH_REACHED
$STATE,17107,begin surface coast
$FINISH,0.0,1.026648
$STATE,17134,end surface coast,CONTROL_FINISHED_OK
$STATE,17134,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.19
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$XPDR_PINGS,0
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$10V_AH,10.2,8.917
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353312
$DATA_FILE_SIZE,83720,1323
$CAP_FILE_SIZE,160522,0
$CFSIZE,259252224,252522496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.067,327.7,1
$GPS,010816,042806,-4306.108,829.862,300,0.9,300,-25.1