version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 125
start: 8 8 116 4 31 7
data:
$ID,542
$MISSION,14
$DIVE,125
$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,-40123.152
$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,23
$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
$GPS1,080816,042113,-4300.850,830.998,362,0.9,362,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.9
$GPS2,080816,043023,-4300.855,831.220,49,0.8,50,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$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,219.4,9542,-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,14,-0.58,-97.3,136,1970,2110,2004,0.0,0.0,0,56,0.00,0.00,-39.60,0.000,16390,0.000,0.000,136,1970,3098,3176,3020,0,0,0,0,0,0,28.83,28.83,26.35
$GC,59,-0.58,-97.3,136,1970,3179,3020,3.6,-9.4,6,74,8.75,2.33,0.00,0.000,2820,0.236,0.060,2390,554,3100,3181,3020,0,0,0,0,0,0,25.62,25.92,28.83
$GC,80,-0.58,-97.3,2390,554,3183,3020,11.4,-26.4,9,89,0.00,2.28,0.00,0.000,1030,0.000,0.055,2381,1980,3102,3184,3020,0,0,0,0,0,0,28.83,25.94,28.83
$GC,132,-0.58,-97.3,2381,1981,3186,3020,24.3,-22.4,18,139,0.00,2.33,0.00,0.000,516,0.000,0.071,2381,561,3102,3186,3019,0,0,0,0,0,0,28.83,25.92,28.83
$GC,156,-0.58,-97.3,2381,561,3186,3020,29.5,-21.5,22,164,0.00,2.28,0.00,0.000,1030,0.000,0.058,2371,1976,3102,3186,3019,0,0,0,0,0,0,28.83,25.96,28.83
$GC,285,-0.58,-97.3,1456,1975,3163,3015,49.5,-11.0,47,292,0.00,2.30,0.00,0.000,516,0.000,0.069,2371,559,3103,3186,3020,0,0,0,0,0,0,28.83,25.99,28.83
$GC,711,-0.58,-97.3,2371,559,3187,3020,107.9,-14.5,126,720,0.00,2.25,0.00,0.000,1030,0.000,0.057,2362,1983,3103,3187,3020,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1022,-0.58,-97.3,2361,1984,3187,3020,155.3,-15.5,157,1031,0.00,2.22,0.00,0.000,260,0.000,0.063,2350,3394,3103,3187,3020,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1073,-0.58,-97.3,2350,3394,3187,3020,163.3,-15.5,162,1083,0.12,2.25,0.00,0.000,3078,0.186,0.057,2379,1972,3103,3187,3020,0,0,0,0,0,0,26.04,26.21,28.83
$GC,1383,-0.58,-97.3,2379,1971,3187,3020,205.2,-12.7,193,1387,0.00,2.25,0.00,0.000,260,0.000,0.062,2370,3394,3103,3187,3019,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1412,-0.58,-97.3,2370,3394,3188,3020,208.2,-12.2,195,1419,0.00,2.25,0.00,0.000,1030,0.000,0.056,2370,1973,3103,3187,3020,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1719,-0.58,-97.3,2370,1973,3189,3019,245.3,-12.5,226,1728,0.00,2.25,0.00,0.000,260,0.000,0.063,2360,3394,3104,3188,3020,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1841,-0.58,-97.3,2360,3394,3188,3020,262.2,-14.6,238,1849,0.00,2.22,0.00,0.000,1030,0.000,0.056,2360,1977,3104,3188,3020,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2150,-0.58,-97.3,2360,1977,3188,3019,306.5,-13.5,269,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1977,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2450,-0.58,-97.3,2360,1977,3189,3020,348.6,-14.2,299,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1977,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2750,-0.58,-97.3,2360,1976,3190,3020,389.8,-13.0,329,2754,0.00,2.25,0.00,0.000,260,0.000,0.063,2350,3397,3105,3190,3020,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2806,-0.58,-97.3,2350,3396,3190,3020,397.1,-13.0,334,2816,0.12,2.25,0.00,0.000,3078,0.183,0.055,2379,1966,3105,3190,3020,0,0,0,0,0,0,26.18,26.36,28.83
$GC,3116,-0.58,-97.3,2379,1966,3190,3020,433.9,-11.9,351,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1966,3105,3190,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.58,-97.3,2379,1966,3190,3020,469.7,-11.9,366,3422,0.00,2.25,0.00,0.000,260,0.000,0.063,2371,3392,3105,3190,3020,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3464,-0.58,-97.3,2371,3393,3190,3020,474.6,-12.1,368,3468,0.00,2.25,0.00,0.000,1030,0.000,0.057,2371,1968,3105,3190,3020,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3776,-0.58,-97.3,2371,1968,3190,3020,515.1,-12.8,384,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1967,3105,3190,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.58,-97.3,2371,1967,3190,3019,552.4,-12.4,399,4080,0.00,2.25,0.00,0.000,516,0.000,0.071,2371,566,3104,3190,3019,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4094,-0.58,-97.3,1568,564,3172,3016,554.4,-12.5,400,4098,0.00,2.28,0.00,0.000,1030,0.000,0.057,2361,1984,3104,3190,3019,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4412,-0.58,-97.3,2361,1984,3190,3019,596.7,-13.2,416,4416,0.00,2.22,0.00,0.000,260,0.000,0.066,2350,3392,3104,3190,3019,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4500,-0.58,-97.3,2350,3392,3190,3018,606.6,-13.0,420,4508,0.12,2.22,0.00,0.000,3078,0.184,0.059,2379,1980,3104,3190,3018,0,0,0,0,0,0,26.21,26.39,28.83
$GC,4808,-0.58,-97.3,2379,1980,3190,3017,644.9,-11.9,436,4812,0.00,2.25,0.00,0.000,260,0.000,0.067,2371,3391,3103,3190,3017,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4846,-0.58,-97.3,1584,3390,3173,3013,649.1,-11.7,438,4851,0.00,2.28,0.00,0.000,1030,0.000,0.059,2371,1985,3103,3189,3017,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5164,-0.58,-97.3,2371,1985,3190,3016,686.8,-11.9,454,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1985,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5464,-0.58,-97.3,2371,1985,3190,3016,721.4,-11.3,469,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1985,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5763,-0.58,-97.3,2370,1985,3190,3016,754.2,-10.9,484,5768,0.00,2.25,0.00,0.000,260,0.000,0.068,2361,3392,3103,3190,3016,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5842,-0.58,-97.3,1552,3391,3172,3012,762.6,-11.1,488,5846,0.00,2.30,0.00,0.000,1030,0.000,0.061,2361,1977,3103,3190,3016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6160,-0.58,-97.3,2360,1977,3190,3015,800.2,-12.1,504,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1977,3102,3190,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6459,-0.58,-97.3,2360,1977,3189,3015,838.2,-12.8,519,6464,0.00,2.28,0.00,0.000,516,0.000,0.076,2361,568,3102,3190,3015,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6498,-0.58,-97.3,1552,568,3172,3011,843.1,-13.1,521,6503,0.10,2.28,0.00,0.000,3078,0.174,0.061,2380,1971,3102,3190,3015,0,0,0,0,0,0,26.19,26.39,28.83
$GC,6815,-0.58,-97.3,2380,1972,3190,3013,880.1,-11.2,537,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1972,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,-0.58,-97.3,2380,1972,3190,3013,912.0,-10.3,552,7119,0.00,2.28,0.00,0.000,260,0.000,0.070,2371,3397,3101,3190,3013,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7184,-0.58,-97.3,2370,3397,3190,3013,917.9,-10.6,555,7191,0.00,2.28,0.00,0.000,1030,0.000,0.062,2371,1970,3101,3190,3013,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7491,-0.58,-97.3,2370,1970,3190,3013,951.3,-10.4,571,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1970,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,-0.58,-97.3,2370,1970,3190,3012,981.8,-10.4,586,7798,0.00,2.33,0.00,0.000,260,0.000,0.071,2360,3405,3100,3190,3011,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7839,-0.58,-97.3,2360,3405,3190,3012,986.2,-10.8,588,7843,0.00,2.28,0.00,0.000,1030,0.000,0.062,2360,1976,3100,3190,3011,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,7970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7970,begin apogee
$GC,7974,-0.14,0.0,2360,1868,3191,3011,1001.7,-11.1,595,8066,0.55,0.00,88.30,1.752,10246,0.163,0.000,2523,1868,2700,2789,2611,0,0,0,0,0,0,26.17,28.83,23.60
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8068,0.58,97.3,2522,1868,2789,2611,1004.8,0.0,599,8165,0.70,0.00,92.38,1.711,10758,0.105,0.000,2751,1868,2303,2375,2231,0,0,0,0,0,0,24.61,28.83,23.00
$GC,8451,0.58,97.3,2751,1868,2365,2220,972.7,10.1,619,8456,0.00,2.40,0.00,0.000,260,0.000,0.070,2751,3292,2292,2365,2219,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8488,0.58,97.3,2751,3292,2364,2219,968.8,10.6,621,8492,0.00,2.38,0.00,0.000,1030,0.000,0.067,2762,1876,2291,2364,2219,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8804,0.58,97.3,2761,1875,2364,2216,934.0,11.2,637,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1875,2290,2364,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,0.58,97.3,2761,1875,2362,2215,902.1,10.5,652,9108,0.00,2.35,0.00,0.000,260,0.000,0.072,2762,3297,2289,2363,2215,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9183,0.58,97.3,2761,3296,2362,2215,893.6,11.2,656,9187,0.00,2.35,0.00,0.000,1030,0.000,0.069,2772,1869,2288,2362,2215,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9495,0.58,97.3,2772,1868,2361,2215,858.9,11.0,672,9499,0.00,2.35,0.00,0.000,260,0.000,0.072,2772,3302,2288,2362,2215,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9544,0.58,97.3,2771,3302,2361,2214,854.9,11.0,674,9551,0.00,2.35,0.00,0.000,1030,0.000,0.069,2782,1870,2288,2361,2215,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9851,0.58,97.3,2782,1870,2361,2215,820.5,10.5,690,9857,0.00,2.35,0.00,0.000,516,0.000,0.084,2794,458,2287,2361,2214,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9894,0.58,97.3,2793,457,2360,2215,816.1,10.7,692,9898,0.12,2.30,0.00,0.000,5126,0.202,0.066,2766,1881,2287,2360,2214,0,0,0,0,0,0,25.95,26.15,28.83
$GC,10212,0.60,117.9,2766,1881,2359,2214,786.1,9.2,708,10231,0.00,0.00,17.48,1.563,8198,0.000,0.000,2766,1881,2219,2293,2145,0,0,0,0,0,0,28.83,28.83,24.70
$GC,10531,0.61,124.0,2766,1881,2291,2140,754.8,9.8,724,10543,0.00,2.38,6.82,1.384,8452,0.000,0.071,2766,3286,2194,2269,2119,0,0,0,0,0,0,28.83,25.76,24.70
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$STATE,17494,end climb,SURFACE_DEPTH_REACHED
$STATE,17494,begin surface coast
$FINISH,0.2,1.026633
$STATE,17511,end surface coast,CONTROL_FINISHED_OK
$STATE,17511,begin surface
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$10V_AH,10.2,11.960
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353220
$DATA_FILE_SIZE,87046,1339
$CAP_FILE_SIZE,175410,0
$CFSIZE,259252224,249884672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117, 23.8,1
$GPS,080816,092703,-4301.705,831.252,138,1.1,138,-25.1