version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 166
start: 8 16 116 15 1 59
data:
$ID,542
$MISSION,14
$DIVE,166
$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,-41398.113
$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,24
$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
$GPS1,160816,145503,-4301.819,833.863,36,1.0,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.3
$GPS2,160816,150116,-4301.810,833.966,22,1.3,22,-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,229.5,9327,-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,-97.3,170,1943,1808,1692,0.0,0.0,0,70,0.00,0.00,-52.65,0.000,16390,0.000,0.000,169,1944,3098,3173,3023,0,0,0,0,0,0,28.83,28.83,26.23
$GC,73,-0.58,-97.3,169,1944,3174,3023,3.1,-3.8,8,88,8.62,2.35,0.00,0.000,2308,0.229,0.056,2377,3374,3100,3179,3022,0,0,0,0,0,0,25.37,25.79,28.83
$GC,276,-0.58,-97.3,1424,3373,3159,3013,35.1,-13.3,47,283,0.00,2.30,0.00,0.000,1030,0.000,0.055,2377,1947,3101,3185,3018,0,0,0,0,0,0,28.83,25.89,28.83
$GC,405,-0.58,-97.3,2377,1947,3186,3018,53.9,-13.3,72,413,0.00,2.33,0.00,0.000,260,0.000,0.062,2367,3359,3101,3186,3017,0,0,0,0,0,0,28.83,25.93,28.83
$GC,445,-0.58,-97.3,2367,3359,3185,3018,59.9,-15.9,79,451,0.00,2.25,0.00,0.000,1030,0.000,0.054,2367,1949,3102,3186,3018,0,0,0,0,0,0,28.83,25.96,28.83
$GC,756,-0.58,-97.3,2367,1949,3186,3018,104.8,-14.2,137,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1949,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.58,-97.3,2367,1949,3187,3018,147.4,-14.4,167,1065,0.00,2.28,0.00,0.000,260,0.000,0.061,2357,3366,3102,3187,3018,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1110,-0.58,-97.3,2357,3366,3187,3018,154.9,-14.5,172,1118,0.00,2.28,0.00,0.000,1030,0.000,0.054,2357,1958,3102,3187,3018,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1418,-0.58,-97.3,2357,1958,3187,3018,201.7,-15.2,203,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1958,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.58,-97.3,2357,1958,3187,3018,246.3,-15.5,233,1728,0.00,2.25,0.00,0.000,516,0.000,0.067,2357,547,3102,3187,3018,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1791,-0.58,-97.3,2357,547,3187,3018,257.9,-15.7,240,1796,0.15,2.20,0.00,0.000,3078,0.182,0.054,2383,1955,3102,3187,3018,0,0,0,0,0,0,25.95,26.21,28.83
$GC,2097,-0.58,-97.3,2383,1956,3188,3018,297.2,-13.1,270,2106,0.00,2.22,0.00,0.000,260,0.000,0.061,2374,3368,3102,3187,3018,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2270,-0.58,-97.3,2374,3367,3188,3018,319.7,-12.6,287,2279,0.00,2.22,0.00,0.000,1030,0.000,0.054,2374,1949,3103,3188,3018,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2580,-0.58,-97.3,2374,1949,3189,3018,360.1,-13.0,318,2589,0.00,2.25,0.00,0.000,260,0.000,0.061,2364,3366,3103,3189,3018,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2632,-0.58,-97.3,2364,3366,3189,3018,367.1,-13.6,323,2641,0.00,2.22,0.00,0.000,1030,0.000,0.054,2364,1948,3103,3188,3018,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2952,-0.58,-97.3,2364,1949,3189,3018,410.8,-13.4,351,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3252,-0.58,-97.3,2364,1948,3189,3018,450.5,-13.3,366,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.58,-97.3,2364,1948,3189,3017,490.2,-13.2,381,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.58,-97.3,2364,1948,3189,3017,527.9,-12.1,396,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.58,-97.3,2364,1948,3189,3017,565.4,-12.4,411,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1948,3103,3189,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4451,-0.58,-97.3,2364,1948,3189,3017,603.3,-12.9,426,4457,0.00,2.28,0.00,0.000,260,0.000,0.064,2354,3366,3102,3189,3016,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4494,-0.58,-97.3,2354,3366,3189,3016,608.5,-13.0,428,4499,0.12,2.25,0.00,0.000,3078,0.180,0.057,2382,1953,3102,3189,3016,0,0,0,0,0,0,26.08,26.28,28.83
$GC,4811,-0.58,-97.3,2382,1952,3189,3016,647.5,-12.3,444,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5111,-0.58,-97.3,2382,1952,3189,3016,683.7,-11.9,459,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,-0.58,-97.3,2382,1952,3189,3015,717.9,-11.0,474,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-0.58,-97.3,2382,1952,3189,3014,748.3,-9.6,489,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3101,3189,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-0.58,-97.3,2382,1952,3190,3013,775.4,-8.9,504,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3101,3189,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.58,-97.3,2382,1953,3189,3012,803.3,-9.7,519,6317,0.00,2.30,0.00,0.000,516,0.000,0.073,2383,540,3100,3189,3012,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6345,-0.58,-97.3,2383,540,3189,3012,805.4,-9.9,520,6351,0.00,2.25,0.00,0.000,1030,0.000,0.060,2374,1957,3100,3189,3012,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6651,-0.58,-97.3,2374,1957,3189,3011,838.0,-10.2,536,6655,0.00,2.28,0.00,0.000,260,0.000,0.068,2363,3368,3100,3189,3011,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6790,-0.58,-97.3,2363,3368,3189,3010,852.1,-10.5,543,6795,0.00,2.22,0.00,0.000,1030,0.000,0.060,2363,1956,3099,3189,3010,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7107,-0.58,-97.3,2363,1955,3190,3009,887.4,-11.3,559,7111,0.00,2.28,0.00,0.000,516,0.000,0.074,2363,543,3099,3189,3009,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7146,-0.58,-97.3,2363,543,3189,3009,891.7,-11.7,561,7151,0.12,2.25,0.00,0.000,3078,0.189,0.060,2381,1962,3099,3189,3009,0,0,0,0,0,0,26.03,26.25,28.83
$GC,7458,-0.58,-97.3,2381,1962,3189,3007,923.6,-10.2,577,7462,0.00,2.25,0.00,0.000,260,0.000,0.069,2372,3365,3098,3189,3007,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7557,-0.58,-97.3,1568,3364,3172,3003,933.5,-10.5,582,7561,0.00,2.30,0.00,0.000,1030,0.000,0.060,2372,1952,3098,3189,3007,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7875,-0.58,-97.3,2372,1952,3189,3006,967.7,-10.4,598,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1952,3097,3188,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8174,-0.58,-97.3,2372,1952,3189,3005,998.4,-10.2,613,8178,0.00,2.30,0.00,0.000,516,0.000,0.076,2372,542,3097,3189,3005,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,8189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8189,begin apogee
$GC,8196,-0.14,0.0,2363,1871,3189,3005,1000.1,-10.2,614,8291,0.55,0.00,89.03,1.757,10246,0.160,0.000,2524,1871,2700,2807,2594,0,0,0,0,0,0,25.90,28.83,23.53
$STATE,8292,end apogee,CONTROL_FINISHED_OK
$STATE,8292,begin climb
$GC,8293,0.58,97.3,2524,1871,2806,2594,1003.6,0.0,619,8391,0.73,0.00,93.78,1.696,10758,0.105,0.000,2754,1872,2302,2383,2222,0,0,0,0,0,0,24.63,28.83,22.75
$GC,8691,0.58,97.3,2753,1872,2372,2213,969.5,10.1,639,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1872,2292,2372,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,0.58,99.6,2753,1872,2370,2211,939.9,9.9,654,8997,0.00,2.35,0.00,0.000,260,0.000,0.070,2754,3289,2291,2371,2211,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9058,0.58,99.6,2754,3289,2370,2210,933.6,10.3,657,9062,0.00,2.33,0.00,0.000,1030,0.000,0.063,2764,1872,2290,2370,2210,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9370,0.58,99.6,2764,1872,2370,2209,901.3,10.2,673,9376,0.00,2.33,0.00,0.000,260,0.000,0.070,2764,3289,2290,2370,2210,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9433,0.58,99.6,1872,3287,2328,2203,894.7,10.9,676,9437,0.00,2.33,0.00,0.000,1030,0.000,0.064,2775,1869,2289,2369,2209,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9751,0.58,99.6,2775,1868,2369,2209,860.7,10.6,692,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1868,2288,2368,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10051,0.58,99.6,2774,1868,2367,2209,829.6,10.3,707,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1868,2288,2368,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10351,0.58,104.4,2775,1868,2368,2208,799.6,9.8,722,10362,0.00,2.40,4.85,1.297,8452,0.000,0.071,2775,3289,2274,2354,2194,0,0,0,0,0,0,28.83,26.06,24.86
$GC,10439,0.58,104.4,2775,3289,2354,2194,791.2,10.5,726,10443,0.00,2.30,0.00,0.000,1030,0.000,0.064,2785,1872,2274,2354,2194,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10745,0.59,105.4,2785,1872,2354,2194,758.7,10.0,741,10751,0.00,2.33,0.00,0.000,260,0.000,0.070,2785,3298,2274,2354,2194,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10785,0.59,105.4,2785,3298,2354,2193,754.4,10.3,743,10792,0.12,2.30,0.00,0.000,5126,0.210,0.064,2770,1874,2274,2354,2194,0,0,0,0,0,0,25.83,26.06,28.83
$GC,11106,0.60,117.5,2769,1874,2354,2193,723.8,9.6,759,11127,0.00,2.40,13.95,1.534,8452,0.000,0.072,2761,3292,2219,2301,2138,0,0,0,0,0,0,28.83,25.79,24.77
$GC,11170,0.60,118.8,2761,3292,2301,2137,717.3,10.0,762,11176,0.00,2.33,0.00,0.000,1030,0.000,0.064,2770,1873,2219,2301,2138,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11490,0.60,118.8,2770,1873,2301,2136,683.2,10.5,778,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1873,2218,2301,2136,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17895,end climb,SURFACE_DEPTH_REACHED
$STATE,17895,begin surface coast
$FINISH,1.2,1.026620
$STATE,17901,end surface coast,CONTROL_FINISHED_OK
$STATE,17901,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,59.49
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$TCM_TEMP,18.70
$XPDR_PINGS,0
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$10V_AH,10.1,15.806
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353164
$DATA_FILE_SIZE,90375,1369
$CAP_FILE_SIZE,167208,0
$CFSIZE,259252224,246812672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145, 12.4,1
$GPS,160816,200327,-4302.318,833.220,77,0.9,77,-25.1