version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 157
start: 8 14 116 13 17 4
data:
$ID,542
$MISSION,14
$DIVE,157
$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,-40185.227
$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,20
$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
$GPS1,140816,130951,-4255.426,830.063,112,0.8,112,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.8
$GPS2,140816,131621,-4255.386,830.073,20,0.7,23,-25.0
$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,196.2,19528,-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,-97.3,154,1963,1956,1863,0.0,0.0,0,63,0.00,0.00,-45.12,0.000,16390,0.000,0.000,154,1963,3097,3178,3017,0,0,0,0,0,0,28.83,28.83,26.32
$GC,66,-0.58,-97.3,154,1963,3178,3017,3.6,-6.6,7,80,8.80,2.33,0.00,0.000,2308,0.238,0.063,2369,3367,3099,3182,3017,0,0,0,0,0,0,25.53,25.85,28.83
$GC,188,-0.58,-97.3,1424,3366,3161,3012,25.1,-12.7,30,195,0.00,2.28,0.00,0.000,1030,0.000,0.054,2369,1953,3101,3185,3017,0,0,0,0,0,0,28.83,25.94,28.83
$GC,317,-0.58,-97.3,2369,1952,3186,3017,43.1,-17.8,55,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,626,-0.58,-97.3,2369,1952,3186,3017,84.8,-13.6,116,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.58,-97.3,2369,1952,3187,3017,127.9,-13.7,157,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.58,-97.3,2369,1952,3187,3017,170.7,-14.8,187,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,-0.58,-97.3,2369,1952,3187,3017,213.2,-14.4,217,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1952,3102,3187,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1836,-0.58,-97.3,2369,1952,3188,3017,255.5,-14.6,247,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-0.58,-97.3,2369,1952,3188,3017,296.9,-13.4,277,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.58,-97.3,2368,1952,3188,3017,335.2,-12.7,307,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3102,3188,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-0.58,-97.3,2369,1952,3189,3017,371.1,-12.1,337,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-0.58,-97.3,2369,1952,3190,3017,411.5,-13.7,364,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-0.58,-97.3,2369,1953,3190,3017,450.7,-13.0,379,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3646,-0.58,-97.3,2369,1952,3190,3017,488.2,-12.4,394,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1952,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.58,-97.3,2368,1952,3190,3017,524.1,-12.0,409,3949,0.00,2.28,0.00,0.000,516,0.000,0.070,2369,542,3103,3190,3017,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3984,-0.58,-97.3,2369,542,3190,3017,528.7,-12.4,411,3988,0.00,2.22,0.00,0.000,1030,0.000,0.057,2359,1954,3103,3190,3017,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4301,-0.58,-97.3,2358,1954,3190,3017,569.5,-12.8,427,4305,0.00,2.25,0.00,0.000,260,0.000,0.064,2348,3373,3103,3190,3017,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4345,-0.58,-97.3,2348,3373,3190,3017,574.2,-12.9,429,4350,0.15,2.25,0.00,0.000,3078,0.182,0.056,2384,1949,3103,3190,3017,0,0,0,0,0,0,26.09,26.32,28.83
$GC,4657,-0.58,-97.3,2384,1949,3190,3017,611.2,-11.3,445,4663,0.00,2.28,0.00,0.000,516,0.000,0.071,2385,536,3103,3190,3017,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4690,-0.58,-97.3,2384,536,3190,3017,613.5,-11.4,446,4697,0.00,2.25,0.00,0.000,1030,0.000,0.057,2376,1966,3103,3190,3017,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4997,-0.58,-97.3,2376,1965,3190,3017,650.3,-11.3,462,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1965,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5297,-0.58,-97.3,2376,1965,3190,3017,684.4,-11.4,477,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1965,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,-0.58,-97.3,2376,1965,3190,3016,717.7,-11.0,492,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1965,3103,3190,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5897,-0.58,-97.3,2376,1965,3190,3016,750.6,-10.9,507,5901,0.00,2.22,0.00,0.000,260,0.000,0.067,2365,3363,3103,3190,3016,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5936,-0.58,-97.3,2365,3363,3190,3016,754.5,-10.9,509,5940,0.00,2.22,0.00,0.000,1030,0.000,0.058,2365,1958,3103,3190,3016,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6248,-0.58,-97.3,2365,1957,3189,3016,788.9,-10.8,525,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1957,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-0.58,-97.3,2365,1957,3190,3016,820.5,-10.5,540,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1957,3103,3190,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6848,-0.58,-97.3,2365,1957,3190,3015,851.5,-10.5,555,6854,0.00,2.25,0.00,0.000,260,0.000,0.067,2355,3363,3102,3190,3015,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6888,-0.58,-97.3,2355,3364,3190,3014,855.8,-10.6,557,6893,0.12,2.25,0.00,0.000,3078,0.184,0.060,2384,1942,3102,3190,3014,0,0,0,0,0,0,26.11,26.29,28.83
$GC,7206,-0.58,-97.3,2384,1943,3190,3013,885.2,-8.7,573,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1942,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,-0.58,-97.3,2384,1942,3190,3013,913.3,-9.7,588,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1942,3101,3190,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7805,-0.58,-97.3,2384,1942,3191,3012,944.3,-10.2,603,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1942,3101,3190,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8106,-0.58,-97.3,2384,1942,3190,3012,973.5,-9.7,618,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1942,3101,3190,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8383,begin apogee
$GC,8388,-0.14,0.0,2384,1863,3189,3011,1000.2,-9.4,632,8479,0.47,0.00,88.45,1.745,10246,0.153,0.000,2527,1863,2699,2787,2612,0,0,0,0,0,0,26.04,28.83,23.56
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8482,0.58,97.3,2527,1863,2787,2612,1002.9,0.0,636,8579,0.70,0.00,93.70,1.697,10246,0.102,0.000,2757,1863,2302,2373,2232,0,0,0,0,0,0,24.61,28.83,22.80
$GC,8867,0.60,115.4,2756,1863,2365,2221,971.4,9.3,656,8889,0.00,2.45,16.80,1.599,8452,0.000,0.069,2757,3282,2229,2301,2158,0,0,0,0,0,0,28.83,24.86,23.91
$GC,8927,0.60,118.5,2757,3282,2300,2157,965.3,9.9,659,8936,0.00,2.38,4.32,1.230,9222,0.000,0.063,2767,1878,2216,2289,2144,0,0,0,0,0,0,28.83,25.10,24.00
$GC,9244,0.60,118.5,2766,1878,2289,2139,931.2,10.9,675,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1878,2214,2289,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9543,0.60,118.5,2766,1878,2288,2138,896.7,11.5,690,9549,0.00,2.33,0.00,0.000,260,0.000,0.069,2767,3291,2213,2288,2138,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9591,0.60,118.5,2767,3290,2286,2138,891.8,11.8,692,9595,0.00,2.33,0.00,0.000,1030,0.000,0.064,2777,1875,2211,2285,2138,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9899,0.60,118.5,2776,1875,2286,2138,853.6,12.0,707,9904,0.00,2.30,0.00,0.000,260,0.000,0.069,2777,3291,2212,2286,2138,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9941,0.60,118.5,2777,3291,2284,2138,848.6,12.3,709,9945,0.00,2.33,0.00,0.000,1030,0.000,0.066,2786,1867,2210,2284,2137,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10258,0.60,118.5,2787,1868,2284,2138,809.4,12.0,725,10264,0.00,2.33,0.00,0.000,260,0.000,0.070,2787,3292,2211,2284,2138,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10306,0.60,118.5,2787,3292,2283,2138,804.4,12.3,727,10310,0.00,2.33,0.00,0.000,1030,0.000,0.064,2797,1864,2210,2283,2138,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10618,0.60,118.5,2797,1863,2283,2137,766.5,11.4,743,10624,0.00,2.33,0.00,0.000,260,0.000,0.069,2797,3291,2210,2283,2137,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10686,0.60,118.5,2798,3292,2282,2137,759.5,11.6,746,10691,0.15,2.30,0.00,0.000,5126,0.207,0.063,2774,1869,2210,2283,2137,0,0,0,0,0,0,25.86,26.11,28.83
$GC,10994,0.62,133.5,2774,1869,2283,2137,728.9,9.4,761,11015,0.00,2.42,14.60,1.504,8452,0.000,0.070,2770,3291,2154,2228,2080,0,0,0,0,0,0,28.83,25.79,24.79
$GC,11057,0.62,133.5,2770,3292,2227,2081,722.3,10.1,764,11061,0.00,2.33,0.00,0.000,1030,0.000,0.063,2779,1874,2153,2226,2081,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11373,0.62,133.5,2778,1874,2226,2078,689.2,10.7,780,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1874,2152,2226,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11673,0.62,133.5,2779,1874,2225,2078,655.5,11.4,795,11679,0.00,2.30,0.00,0.000,260,0.000,0.069,2779,3284,2151,2225,2078,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11741,0.62,133.5,2778,3284,2223,2078,648.1,12.1,798,11745,0.00,2.30,0.00,0.000,1030,0.000,0.065,2789,1867,2150,2223,2078,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12054,0.62,133.5,2789,1868,2223,2078,609.9,11.8,814,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1867,2150,2223,2078,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17448,end climb,SURFACE_DEPTH_REACHED
$STATE,17448,begin surface coast
$FINISH,1.4,1.026659
$STATE,17454,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
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$IRIDIUM_FIX,-4236.17,830.68,100609,212112
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.23
$INTERNAL_PRESSURE,9.39456
$TCM_TEMP,18.60
$XPDR_PINGS,0
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$10V_AH,10.1,14.789
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353184
$DATA_FILE_SIZE,90409,1339
$CAP_FILE_SIZE,158622,0
$CFSIZE,259252224,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.117,333.1,1
$GPS,140816,181203,-4256.430,829.901,134,0.9,134,-25.0