version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 153
start: 8 13 116 17 25 3
data:
$ID,542
$MISSION,14
$DIVE,153
$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,150
$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,-40180.199
$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,1955
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$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
$GPS1,130816,171303,-4255.564,829.089,206,1.4,206,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.0
$GPS2,130816,172419,-4255.472,829.101,22,1.4,23,-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,70.2,2868,-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,-97.3,169,1967,2124,2027,0.0,0.0,0,58,0.00,0.00,-39.97,0.000,16390,0.000,0.000,168,1967,3099,3172,3026,0,0,0,0,0,0,28.83,28.83,26.29
$GC,61,-0.60,-97.3,168,1967,3174,3026,2.9,-4.8,6,75,8.62,2.38,0.00,0.000,2820,0.233,0.063,2381,537,3101,3178,3025,0,0,0,0,0,0,25.48,25.82,28.83
$GC,308,-0.60,-97.3,2382,537,3183,3021,46.7,-13.2,54,315,0.00,2.28,0.00,0.000,1030,0.000,0.056,2373,1958,3102,3183,3021,0,0,0,0,0,0,28.83,25.97,28.83
$GC,623,-0.60,-97.3,2373,1958,3184,3020,90.4,-13.4,115,629,0.00,2.25,0.00,0.000,260,0.000,0.063,2363,3369,3102,3183,3021,0,0,0,0,0,0,28.83,26.03,28.83
$GC,718,-0.60,-97.3,2362,3369,3184,3021,103.6,-13.9,131,726,0.00,2.30,0.00,0.000,1030,0.000,0.054,2363,1952,3102,3184,3021,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1027,-0.60,-97.3,2362,1952,3184,3021,148.6,-14.4,162,1036,0.00,2.28,0.00,0.000,260,0.000,0.062,2353,3375,3102,3184,3021,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1068,-0.60,-97.3,2353,3376,3184,3020,154.6,-14.3,166,1078,0.00,2.25,0.00,0.000,1030,0.000,0.053,2352,1949,3102,3184,3020,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1379,-0.60,-97.3,2352,1949,3184,3021,201.3,-14.9,197,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1949,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1680,-0.60,-97.3,2352,1949,3185,3021,245.4,-14.7,227,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1949,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,-0.60,-97.3,2352,1949,3185,3021,287.8,-13.7,257,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1949,3103,3185,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2281,-0.60,-97.3,2352,1949,3186,3021,329.0,-13.5,287,2289,0.00,2.25,0.00,0.000,260,0.000,0.062,2342,3373,3103,3185,3021,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2314,-0.60,-97.3,1552,3372,3167,3017,333.6,-13.6,290,2323,0.08,2.28,0.00,0.000,3078,0.171,0.053,2365,1957,3103,3186,3021,0,0,0,0,0,0,26.06,26.27,28.83
$GC,2622,-0.60,-97.3,2365,1957,3186,3021,371.4,-11.7,321,2631,0.00,2.25,0.00,0.000,516,0.000,0.067,2365,545,3103,3186,3021,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2653,-0.60,-97.3,2365,545,3186,3021,375.3,-12.1,324,2657,0.00,2.22,0.00,0.000,1030,0.000,0.055,2357,1966,3103,3186,3021,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2959,-0.60,-97.3,2357,1967,3187,3021,413.7,-12.7,349,2965,0.00,2.22,0.00,0.000,260,0.000,0.062,2346,3375,3103,3186,3021,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3018,-0.60,-97.3,2346,3375,3186,3021,421.1,-12.4,352,3023,0.12,2.22,0.00,0.000,3078,0.183,0.054,2375,1956,3103,3186,3020,0,0,0,0,0,0,26.08,26.30,28.83
$GC,3335,-0.60,-97.3,2374,1955,3186,3021,458.0,-11.7,368,3341,0.00,2.25,0.00,0.000,516,0.000,0.067,2375,546,3103,3186,3021,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3363,-0.60,-97.3,2375,546,3186,3021,460.6,-12.0,369,3367,0.00,2.22,0.00,0.000,1030,0.000,0.054,2366,1961,3103,3187,3020,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3675,-0.60,-97.3,2366,1962,3186,3021,501.7,-13.0,385,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1962,3103,3186,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.60,-97.3,2366,1962,3186,3020,540.3,-13.0,400,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1963,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.60,-97.3,2366,1962,3187,3020,580.3,-13.3,415,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1962,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-0.60,-97.3,2366,1962,3186,3020,619.0,-12.7,430,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1962,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.60,-97.3,2366,1962,3186,3019,655.3,-11.9,445,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1962,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5175,-0.60,-97.3,2366,1963,3186,3017,690.6,-11.7,460,5179,0.00,2.25,0.00,0.000,260,0.000,0.067,2356,3373,3102,3187,3017,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5233,-0.60,-97.3,2356,3373,3186,3017,697.2,-11.7,463,5238,0.00,2.22,0.00,0.000,1030,0.000,0.058,2356,1954,3102,3187,3017,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5551,-0.60,-97.3,2355,1954,3186,3017,735.2,-11.9,479,5555,0.00,2.28,0.00,0.000,516,0.000,0.071,2356,542,3101,3186,3017,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5575,-0.60,-97.3,2355,542,3186,3017,737.3,-12.2,480,5580,0.10,2.28,0.00,0.000,3078,0.177,0.058,2375,1953,3102,3187,3017,0,0,0,0,0,0,26.06,26.32,28.83
$GC,5887,-0.60,-97.3,2375,1954,3186,3016,774.0,-11.7,496,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1954,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,-0.60,-97.3,2375,1954,3186,3016,809.0,-11.7,511,6191,0.00,2.28,0.00,0.000,260,0.000,0.068,2366,3374,3101,3187,3016,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6236,-0.60,-97.3,2365,3373,3186,3016,813.1,-11.5,513,6243,0.00,2.25,0.00,0.000,1030,0.000,0.058,2365,1954,3101,3186,3016,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6543,-0.60,-97.3,2365,1954,3186,3015,852.2,-12.1,529,6547,0.00,2.28,0.00,0.000,260,0.000,0.068,2356,3369,3100,3186,3015,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6572,-0.60,-97.3,2355,3369,3186,3015,854.1,-12.0,530,6579,0.00,2.25,0.00,0.000,1030,0.000,0.059,2356,1951,3100,3186,3015,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6879,-0.60,-97.3,2355,1951,3186,3015,895.1,-12.7,546,6885,0.00,2.28,0.00,0.000,516,0.000,0.073,2356,544,3101,3187,3015,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6908,-0.60,-97.3,2356,544,3186,3015,897.7,-12.8,547,6913,0.12,2.25,0.00,0.000,3078,0.199,0.060,2373,1964,3100,3186,3015,0,0,0,0,0,0,26.06,26.32,28.83
$GC,7214,-0.60,-97.3,2373,1965,3187,3014,933.2,-10.9,562,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1964,3100,3186,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,-0.60,-97.3,2373,1964,3187,3013,965.2,-10.6,577,7518,0.00,2.25,0.00,0.000,260,0.000,0.068,2364,3369,3099,3186,3013,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7598,-0.60,-97.3,2364,3369,3187,3013,973.5,-10.8,581,7602,0.00,2.25,0.00,0.000,1030,0.000,0.060,2364,1955,3099,3186,3013,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,7849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7854,-0.14,0.0,2364,1860,3186,3013,1002.1,-11.0,594,7950,0.55,0.00,88.80,1.750,10246,0.161,0.000,2526,1860,2700,2787,2613,0,0,0,0,0,0,26.01,28.83,23.56
$STATE,7951,end apogee,CONTROL_FINISHED_OK
$STATE,7951,begin climb
$GC,7953,0.60,97.3,2526,1860,2786,2613,1005.8,0.0,599,8051,0.70,0.00,93.15,1.699,10758,0.103,0.000,2757,1860,2303,2374,2232,0,0,0,0,0,0,24.67,28.83,22.82
$GC,8350,0.60,97.3,2757,1860,2365,2221,971.1,10.1,619,8354,0.00,2.40,0.00,0.000,260,0.000,0.070,2758,3285,2293,2365,2221,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8439,0.60,97.3,2757,3285,2364,2220,962.7,11.0,623,8446,0.00,2.35,0.00,0.000,1030,0.000,0.063,2767,1874,2291,2363,2220,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8746,0.60,97.3,2767,1874,2363,2219,927.7,10.9,639,8750,0.00,2.35,0.00,0.000,260,0.000,0.070,2768,3295,2291,2363,2219,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8822,0.60,97.3,2767,3295,2362,2218,919.0,11.5,643,8828,0.00,2.33,0.00,0.000,1030,0.000,0.064,2778,1875,2290,2362,2218,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9142,0.60,97.3,2777,1875,2362,2217,884.4,10.6,659,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1875,2289,2362,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,0.60,97.3,2777,1875,2361,2216,852.6,10.8,674,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1875,2289,2362,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9742,0.60,97.3,2777,1874,2361,2216,821.6,10.1,689,9746,0.00,2.33,0.00,0.000,260,0.000,0.070,2778,3293,2288,2361,2216,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9771,0.60,97.3,2777,3293,2360,2216,819.9,10.2,690,9778,0.00,2.33,0.00,0.000,1030,0.000,0.064,2788,1866,2288,2361,2215,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10079,0.60,97.3,2788,1866,2360,2216,785.8,10.6,706,10085,0.00,2.33,0.00,0.000,260,0.000,0.070,2788,3286,2288,2360,2216,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10160,0.60,97.3,1920,3285,2320,2210,776.8,11.3,710,10166,0.10,2.33,0.00,0.000,5126,0.191,0.063,2771,1881,2287,2359,2216,0,0,0,0,0,0,25.89,26.14,28.83
$GC,10480,0.63,121.4,2771,1881,2359,2215,746.4,9.0,726,10506,0.00,2.40,20.45,1.550,8452,0.000,0.070,2768,3289,2204,2277,2132,0,0,0,0,0,0,28.83,25.63,24.65
$GC,10526,0.65,142.8,2768,3290,2277,2132,742.8,9.1,728,10559,0.00,2.35,22.35,1.554,9222,0.000,0.064,2777,1870,2116,2188,2045,0,0,0,0,0,0,28.83,25.66,24.15
$GC,10859,0.65,142.8,2777,1870,2181,2035,704.5,11.6,745,10865,0.00,2.35,0.00,0.000,260,0.000,0.069,2777,3291,2108,2181,2035,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10886,0.65,142.8,2777,3290,2179,2035,702.1,11.8,746,10890,0.00,2.35,0.00,0.000,1030,0.000,0.065,2788,1869,2107,2179,2035,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,16784,end climb,SURFACE_DEPTH_REACHED
$STATE,16784,begin surface coast
$FINISH,-0.0,1.026564
$STATE,16810,end surface coast,CONTROL_FINISHED_OK
$STATE,16811,begin surface
$SM_CCo,16885,0.00,0.000,0,0,2073,153.80
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$TT8_MAMPS,0.020972,0.020972
$HUMID,59.25
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.8,22.629
$10V_AH,10.2,14.390
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,87057,1312
$CAP_FILE_SIZE,165616,0
$CFSIZE,259252224,247816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131,343.6,1
$GPS,130816,220913,-4252.851,830.423,132,0.9,132,-25.0