version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 96
start: 8 2 116 8 59 37
data:
$ID,542
$MISSION,14
$DIVE,96
$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,-40085.918
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,020816,085003,-4259.990,829.936,103,0.9,103,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.0
$GPS2,020816,085855,-4259.944,829.921,53,1.1,53,-25.0
$SPEED_LIMITS,0.275,0.285
$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,43.1,10879,-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,-97.3,151,1985,2095,1986,0.0,0.0,0,61,0.00,0.00,-40.62,0.000,16390,0.000,0.000,151,1985,3096,3180,3013,0,0,0,0,0,0,28.83,28.83,26.39
$GC,64,-0.58,-97.3,151,1985,3180,3013,3.8,-7.5,7,78,8.73,2.33,0.00,0.000,2564,0.241,0.061,2388,568,3098,3183,3013,0,0,0,0,0,0,25.76,25.99,28.83
$GC,186,-0.58,-97.3,1440,568,3163,3009,27.1,-13.7,30,193,0.00,2.28,0.00,0.000,1030,0.000,0.059,2380,1987,3100,3187,3013,0,0,0,0,0,0,28.83,26.04,28.83
$GC,317,-0.58,-97.3,2379,1987,3188,3013,46.1,-14.3,55,324,0.00,2.25,0.00,0.000,260,0.000,0.066,2369,3390,3100,3188,3013,0,0,0,0,0,0,28.83,26.08,28.83
$GC,355,-0.58,-97.3,2369,3390,3188,3013,51.6,-13.6,62,362,0.00,2.25,0.00,0.000,1030,0.000,0.057,2369,1970,3100,3188,3013,0,0,0,0,0,0,28.83,26.11,28.83
$GC,664,-0.58,-97.3,1456,1968,3166,3009,97.2,-15.0,123,671,0.00,2.28,0.00,0.000,516,0.000,0.069,2369,564,3100,3189,3012,0,0,0,0,0,0,28.83,26.17,28.83
$GC,690,-0.58,-97.3,2369,564,3189,3012,100.8,-15.2,127,697,0.00,2.28,0.00,0.000,1030,0.000,0.057,2359,1997,3101,3189,3013,0,0,0,0,0,0,28.83,26.19,28.83
$GC,998,-0.58,-97.3,2358,1997,3189,3013,148.4,-15.1,158,1002,0.00,2.22,0.00,0.000,260,0.000,0.064,2348,3392,3101,3190,3013,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1084,-0.58,-97.3,2348,3392,3190,3013,161.0,-14.4,166,1093,0.15,2.22,0.00,0.000,3078,0.187,0.056,2384,1977,3101,3190,3013,0,0,0,0,0,0,26.11,26.27,28.83
$GC,1393,-0.58,-97.3,2383,1977,3189,3013,202.0,-12.4,197,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1977,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.58,-97.3,2383,1976,3191,3013,239.9,-12.2,227,1698,0.00,2.25,0.00,0.000,260,0.000,0.064,2375,3395,3102,3191,3013,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1709,-0.58,-97.3,2375,3395,3191,3013,241.8,-11.9,228,1713,0.00,2.22,0.00,0.000,1030,0.000,0.055,2375,1977,3102,3191,3013,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2015,-0.58,-97.3,2375,1977,3190,3013,279.1,-12.4,258,2023,0.00,2.25,0.00,0.000,260,0.000,0.065,2365,3392,3102,3191,3013,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2047,-0.58,-97.3,1552,3391,3173,3009,282.9,-12.1,261,2056,0.00,2.28,0.00,0.000,1030,0.000,0.055,2365,1975,3102,3191,3013,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2355,-0.58,-97.3,2365,1975,3191,3013,322.0,-12.7,292,2359,0.00,2.25,0.00,0.000,516,0.000,0.069,2365,567,3102,3191,3013,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2383,-0.58,-97.3,1576,567,3174,3009,325.5,-13.5,294,2392,0.08,2.25,0.00,0.000,3078,0.181,0.056,2377,1970,3102,3191,3013,0,0,0,0,0,0,26.23,26.39,28.83
$GC,2691,-0.58,-97.3,2377,1970,3192,3013,362.7,-12.1,325,2695,0.00,2.25,0.00,0.000,260,0.000,0.065,2368,3394,3102,3192,3013,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2720,-0.58,-97.3,2368,3394,3192,3013,365.9,-12.1,327,2727,0.00,2.25,0.00,0.000,1030,0.000,0.056,2368,1961,3102,3192,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3028,-0.58,-97.3,2368,1960,3192,3013,405.9,-13.0,356,3034,0.00,2.25,0.00,0.000,260,0.000,0.066,2358,3388,3102,3192,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3075,-0.58,-97.3,2357,3388,3192,3013,411.3,-13.2,358,3079,0.00,2.22,0.00,0.000,1030,0.000,0.055,2358,1972,3102,3192,3013,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3387,-0.58,-97.3,2358,1972,3192,3013,455.5,-13.9,374,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1971,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.58,-97.3,2357,1972,3192,3013,496.5,-13.5,389,3691,0.00,2.25,0.00,0.000,516,0.000,0.071,2358,570,3102,3192,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3706,-0.58,-97.3,2358,570,3192,3013,498.7,-13.6,390,3710,0.15,2.22,0.00,0.000,3078,0.199,0.058,2383,1982,3102,3192,3013,0,0,0,0,0,0,26.26,26.43,28.83
$GC,4023,-0.58,-97.3,2382,1982,3192,3013,536.5,-11.4,406,4029,0.00,2.25,0.00,0.000,260,0.000,0.067,2373,3397,3102,3192,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4122,-0.58,-97.3,2373,3397,3192,3013,547.9,-11.5,411,4127,0.00,2.22,0.00,0.000,1030,0.000,0.058,2374,1981,3102,3192,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4438,-0.58,-97.3,2373,1981,3192,3013,585.3,-11.7,427,4442,0.00,2.28,0.00,0.000,516,0.000,0.073,2374,566,3102,3192,3013,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4477,-0.58,-97.3,1568,566,3174,3009,589.8,-12.1,429,4481,0.00,2.28,0.00,0.000,1030,0.000,0.060,2364,1981,3102,3192,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4794,-0.58,-97.3,2363,1981,3192,3013,629.3,-12.2,445,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1981,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.58,-97.3,2363,1981,3192,3013,664.8,-11.8,460,5099,0.00,2.25,0.00,0.000,260,0.000,0.070,2353,3393,3102,3192,3013,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5113,-0.58,-97.3,1556,3392,3174,3009,666.8,-12.0,461,5118,0.10,2.28,0.00,0.000,3078,0.171,0.058,2382,1980,3102,3192,3013,0,0,0,0,0,0,26.30,26.45,28.83
$GC,5430,-0.58,-97.3,2383,1979,3192,3013,701.8,-10.6,477,5434,0.00,2.28,0.00,0.000,516,0.000,0.075,2383,568,3102,3192,3013,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5469,-0.58,-97.3,1568,567,3174,3009,705.9,-11.1,479,5473,0.00,2.28,0.00,0.000,1030,0.000,0.062,2374,1972,3102,3192,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5786,-0.58,-97.3,2374,1973,3192,3013,742.8,-11.8,495,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1973,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6086,-0.58,-97.3,2374,1973,3192,3013,777.7,-11.4,510,6092,0.00,2.28,0.00,0.000,516,0.000,0.076,2375,567,3102,3192,3013,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6129,-0.58,-97.3,1560,567,3174,3009,782.5,-11.6,512,6133,0.00,2.28,0.00,0.000,1030,0.000,0.063,2364,1976,3102,3192,3013,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6446,-0.58,-97.3,2364,1976,3192,3013,818.5,-11.2,528,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1976,3102,3192,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-0.58,-97.3,2364,1976,3191,3013,851.7,-11.1,543,6750,0.00,2.25,0.00,0.000,260,0.000,0.072,2354,3390,3102,3191,3013,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6775,-0.58,-97.3,2353,3390,3191,3013,853.5,-11.2,544,6783,0.12,2.28,0.00,0.000,3078,0.190,0.060,2382,1983,3102,3191,3013,0,0,0,0,0,0,26.31,26.46,28.83
$GC,7082,-0.58,-97.3,2382,1983,3191,3012,886.4,-10.2,560,7086,0.00,2.30,0.00,0.000,516,0.000,0.078,2382,564,3102,3192,3012,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7131,-0.58,-97.3,2382,564,3191,3012,890.3,-10.5,562,7138,0.00,2.25,0.00,0.000,1030,0.000,0.064,2374,1979,3101,3191,3012,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7438,-0.58,-97.3,2373,1979,3191,3011,924.6,-10.9,578,7442,0.00,2.25,0.00,0.000,260,0.000,0.071,2363,3390,3101,3191,3011,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7477,-0.58,-97.3,1568,3388,3173,3006,928.5,-11.1,580,7481,0.00,2.28,0.00,0.000,1030,0.000,0.062,2363,1983,3100,3191,3010,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7794,-0.58,-97.3,2363,1983,3191,3009,966.4,-12.3,596,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1982,3100,3191,3009,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8073,begin apogee
$GC,8077,-0.14,0.0,2363,1862,3191,3007,1000.8,-12.3,610,8168,0.55,0.00,87.62,1.756,10246,0.164,0.000,2526,1862,2700,2788,2612,0,0,0,0,0,0,26.32,28.83,23.59
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8171,0.58,97.3,2525,1862,2787,2612,1005.0,0.0,614,8267,0.70,0.00,92.78,1.720,10246,0.106,0.000,2754,1862,2302,2374,2231,0,0,0,0,0,0,24.61,28.83,23.08
$GC,8555,0.62,131.5,2753,1863,2365,2220,977.4,8.7,634,8594,0.00,0.00,32.80,1.687,8198,0.000,0.000,2754,1862,2163,2239,2088,0,0,0,0,0,0,28.83,28.83,23.64
$GC,8894,0.62,131.5,2753,1862,2233,2079,943.1,10.2,651,8900,0.00,2.40,0.00,0.000,260,0.000,0.073,2754,3289,2156,2233,2079,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8957,0.62,131.5,1888,3288,2190,2073,936.5,10.9,654,8961,0.00,2.38,0.00,0.000,1030,0.000,0.066,2763,1884,2155,2231,2079,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9275,0.62,131.5,2763,1884,2230,2078,901.9,10.8,670,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1884,2154,2230,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,0.62,131.5,2763,1884,2229,2078,869.2,10.7,685,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1884,2153,2229,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9874,0.62,131.5,2763,1884,2229,2077,836.6,11.0,700,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1884,2152,2228,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10174,0.62,131.5,2762,1884,2228,2077,801.5,11.9,715,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1884,2152,2228,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10475,0.62,131.5,2763,1884,2228,2077,765.4,12.2,730,10481,0.00,2.35,0.00,0.000,516,0.000,0.083,2774,463,2152,2228,2077,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10487,0.62,131.5,2774,463,2227,2076,765.4,12.2,730,10494,0.00,2.33,0.00,0.000,1030,0.000,0.066,2774,1870,2152,2227,2077,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,17056,end climb,SURFACE_DEPTH_REACHED
$STATE,17056,begin surface coast
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$STATE,17082,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$CFSIZE,259252224,252002304
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