version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 169
start: 8 17 116 5 23 17
data:
$ID,542
$MISSION,14
$DIVE,169
$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,-41401.879
$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,22
$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
$GPS1,170816,051513,-4303.822,832.039,169,2.4,189,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.7
$GPS2,170816,052234,-4303.848,832.065,33,1.8,33,-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,233.2,4761,-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,-97.3,156,1959,2099,1970,0.0,0.0,0,61,0.00,0.00,-40.08,0.000,16390,0.000,0.000,156,1959,3100,3175,3025,0,0,0,0,0,0,28.83,28.83,26.35
$GC,64,-0.58,-97.3,156,1959,3176,3025,3.9,-7.4,7,78,8.68,2.33,0.00,0.000,2308,0.230,0.057,2370,3378,3102,3179,3025,0,0,0,0,0,0,25.41,25.85,28.83
$GC,135,-0.58,-97.3,1440,3377,3159,3016,20.0,-13.8,20,142,0.00,2.30,0.00,0.000,1030,0.000,0.054,2370,1951,3102,3184,3020,0,0,0,0,0,0,28.83,25.87,28.83
$GC,264,-0.58,-97.3,1424,1949,3159,3016,39.2,-15.0,45,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1950,3103,3185,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,394,-0.58,-97.3,1472,1949,3162,3016,58.1,-14.6,70,400,0.00,2.30,0.00,0.000,260,0.000,0.061,2360,3380,3102,3185,3020,0,0,0,0,0,0,28.83,25.94,28.83
$GC,437,-0.58,-97.3,2360,3380,3185,3020,64.4,-14.7,78,444,0.00,2.28,0.00,0.000,1030,0.000,0.054,2360,1954,3102,3185,3020,0,0,0,0,0,0,28.83,25.98,28.83
$GC,751,-0.58,-97.3,2360,1954,3185,3020,112.6,-15.0,132,755,0.00,2.28,0.00,0.000,260,0.000,0.060,2350,3376,3102,3185,3020,0,0,0,0,0,0,28.83,26.03,28.83
$GC,797,-0.58,-97.3,2350,3376,3186,3020,119.7,-15.3,136,802,0.12,2.25,0.00,0.000,3078,0.183,0.054,2379,1953,3103,3186,3020,0,0,0,0,0,0,25.83,26.06,28.83
$GC,1103,-0.58,-97.3,2379,1953,3186,3020,162.0,-14.0,166,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1953,3103,3186,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-0.58,-97.3,2379,1952,3186,3020,199.8,-12.2,196,1413,0.00,2.25,0.00,0.000,260,0.000,0.060,2371,3370,3103,3186,3020,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1444,-0.58,-97.3,2371,3370,3187,3020,205.0,-12.5,200,1449,0.00,2.22,0.00,0.000,1030,0.000,0.053,2371,1955,3104,3187,3021,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1750,-0.58,-97.3,2371,1955,3187,3020,244.2,-12.8,230,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.58,-97.3,2371,1955,3188,3020,283.0,-13.2,260,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1955,3103,3187,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.58,-97.3,2371,1955,3188,3020,323.5,-13.2,290,2362,0.00,2.22,0.00,0.000,260,0.000,0.060,2361,3372,3104,3188,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2445,-0.58,-97.3,2361,3372,3188,3020,335.9,-13.2,299,2453,0.00,2.22,0.00,0.000,1030,0.000,0.053,2361,1952,3104,3188,3020,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2754,-0.58,-97.3,2361,1952,3188,3020,378.1,-13.7,330,2764,0.00,2.25,0.00,0.000,516,0.000,0.067,2361,546,3104,3189,3020,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2807,-0.58,-97.3,2361,546,3189,3020,386.0,-15.3,335,2817,0.12,2.22,0.00,0.000,3078,0.192,0.054,2379,1968,3104,3189,3020,0,0,0,0,0,0,25.99,26.25,28.83
$GC,3117,-0.58,-97.3,2379,1969,3189,3020,425.7,-12.7,356,3123,0.00,2.22,0.00,0.000,260,0.000,0.061,2370,3378,3104,3189,3020,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3199,-0.58,-97.3,1552,3376,3171,3017,436.0,-12.9,360,3203,0.00,2.28,0.00,0.000,1030,0.000,0.053,2370,1957,3104,3189,3020,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3516,-0.58,-97.3,2370,1956,3189,3020,478.8,-13.5,376,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1956,3104,3189,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3817,-0.58,-97.3,2369,1956,3189,3020,518.4,-13.2,391,3822,0.00,2.28,0.00,0.000,516,0.000,0.070,2370,547,3104,3189,3020,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3864,-0.58,-97.3,2369,547,3189,3020,524.0,-13.5,393,3868,0.00,2.22,0.00,0.000,1030,0.000,0.056,2360,1963,3104,3188,3020,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4176,-0.58,-97.3,2360,1963,3189,3020,567.9,-13.7,409,4180,0.00,2.25,0.00,0.000,260,0.000,0.063,2349,3372,3104,3189,3020,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4286,-0.58,-97.3,2349,3372,3189,3019,581.1,-13.8,414,4293,0.15,2.22,0.00,0.000,3078,0.177,0.055,2385,1956,3104,3189,3020,0,0,0,0,0,0,25.98,26.25,28.83
$GC,4593,-0.58,-97.3,2385,1956,3189,3019,620.5,-12.4,430,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3104,3189,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.58,-97.3,2385,1956,3189,3017,657.3,-12.4,445,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5192,-0.58,-97.3,2385,1956,3189,3017,693.5,-11.7,460,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3103,3189,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5492,-0.58,-97.3,2385,1956,3189,3016,727.0,-10.9,475,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,-0.58,-97.3,2385,1956,3189,3016,758.2,-10.3,490,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3102,3189,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-0.58,-97.3,2385,1956,3189,3015,790.2,-11.0,505,6096,0.00,2.28,0.00,0.000,260,0.000,0.067,2377,3368,3102,3189,3015,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6137,-0.58,-97.3,2377,3368,3189,3015,794.1,-11.0,507,6141,0.00,2.25,0.00,0.000,1030,0.000,0.059,2377,1958,3102,3189,3015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6444,-0.58,-97.3,2377,1957,3189,3015,829.9,-11.3,522,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1957,3102,3189,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6743,-0.58,-97.3,2377,1957,3189,3013,862.9,-10.8,537,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1957,3101,3189,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7043,-0.58,-97.3,2377,1957,3189,3012,894.2,-10.1,552,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1957,3100,3189,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7343,-0.58,-97.3,2377,1957,3188,3011,924.7,-10.2,567,7347,0.00,2.30,0.00,0.000,516,0.000,0.075,2378,543,3099,3188,3011,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7379,-0.58,-97.3,2377,543,3189,3011,928.6,-10.5,569,7383,0.00,2.25,0.00,0.000,1030,0.000,0.061,2367,1959,3099,3188,3011,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7695,-0.58,-97.3,2367,1959,3188,3011,961.9,-10.6,585,7701,0.00,2.28,0.00,0.000,260,0.000,0.069,2356,3373,3099,3188,3011,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7836,-0.58,-97.3,2356,3373,3188,3010,977.1,-10.8,592,7841,0.00,2.25,0.00,0.000,1030,0.000,0.059,2356,1955,3099,3188,3011,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,8053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8054,begin apogee
$GC,8058,-0.14,0.0,2355,1860,3188,3010,1002.0,-11.4,603,8156,0.57,0.00,89.55,1.758,10246,0.158,0.000,2526,1859,2699,2795,2604,0,0,0,0,0,0,25.86,28.83,23.51
$STATE,8157,end apogee,CONTROL_FINISHED_OK
$STATE,8157,begin climb
$GC,8158,0.58,97.3,2525,1859,2795,2604,1005.7,0.0,608,8256,0.73,0.00,94.00,1.698,10758,0.098,0.000,2759,1859,2302,2378,2227,0,0,0,0,0,0,24.66,28.83,22.71
$GC,8555,0.58,97.3,2759,1859,2370,2215,969.2,11.0,628,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1859,2292,2370,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,0.58,97.3,2759,1859,2368,2214,937.3,10.7,643,8859,0.00,2.38,0.00,0.000,260,0.000,0.070,2759,3286,2291,2368,2214,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9014,0.58,97.3,2759,3285,2367,2214,919.4,11.5,651,9018,0.00,2.30,0.00,0.000,1030,0.000,0.063,2769,1883,2290,2366,2214,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9331,0.58,97.3,2769,1882,2366,2212,884.9,10.6,667,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1882,2289,2366,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9632,0.60,115.6,2769,1883,2366,2212,855.7,9.3,682,9651,0.00,0.00,16.00,1.603,8198,0.000,0.000,2770,1882,2228,2306,2150,0,0,0,0,0,0,28.83,28.83,24.59
$GC,9952,0.60,119.1,2769,1883,2305,2146,824.2,9.9,698,9958,0.00,0.00,4.53,1.242,8198,0.000,0.000,2769,1883,2213,2294,2133,0,0,0,0,0,0,28.83,28.83,24.61
$GC,10251,0.61,127.8,2769,1882,2294,2132,795.4,9.7,713,10263,0.00,0.00,9.68,1.471,8198,0.000,0.000,2770,1882,2179,2260,2098,0,0,0,0,0,0,28.83,28.83,24.63
$GC,10551,0.61,127.8,2769,1882,2259,2095,763.4,11.1,728,10557,0.00,2.30,0.00,0.000,260,0.000,0.070,2769,3286,2177,2259,2095,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10611,0.61,127.8,2769,3286,2258,2095,756.3,11.7,731,10615,0.00,2.33,0.00,0.000,1030,0.000,0.065,2780,1874,2176,2258,2095,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10927,0.61,127.8,2780,1874,2258,2095,720.2,11.1,747,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1874,2176,2258,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11227,0.61,127.8,2780,1874,2258,2094,686.6,11.1,762,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1874,2176,2258,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11527,0.61,127.8,2780,1874,2258,2094,654.8,10.4,777,11531,0.00,2.30,0.00,0.000,260,0.000,0.070,2780,3285,2176,2258,2094,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11583,0.61,127.8,2780,3285,2257,2094,648.6,10.9,780,11589,0.00,2.30,0.00,0.000,1030,0.000,0.064,2791,1869,2175,2257,2094,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,17403,end climb,SURFACE_DEPTH_REACHED
$STATE,17403,begin surface coast
$FINISH,1.0,1.026602
$STATE,17416,end surface coast,CONTROL_FINISHED_OK
$STATE,17417,begin surface
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$HUMID,60.35
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$TCM_TEMP,18.60
$XPDR_PINGS,0
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$10V_AH,10.1,16.092
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353188
$DATA_FILE_SIZE,87173,1322
$CAP_FILE_SIZE,156273,0
$CFSIZE,259252224,246595584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145, 15.3,1
$GPS,170816,101627,-4304.396,831.257,60,0.8,64,-25.1