version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 176
start: 8 18 116 14 31 59
data:
$ID,542
$MISSION,14
$DIVE,176
$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,-41410.66
$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,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
$GPS1,180816,141027,-4257.546,830.067,177,2.2,197,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.5
$GPS2,180816,143114,-4257.461,830.285,188,2.0,188,-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,13.7,6292,-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,14,begin dive
$GC,15,-0.60,-97.3,141,1959,2115,2000,0.0,0.0,0,58,0.00,0.00,-39.75,0.000,16390,0.000,0.000,139,1959,3097,3174,3020,0,0,0,0,0,0,28.83,28.83,26.32
$GC,61,-0.60,-97.3,139,1959,3176,3021,3.0,-4.8,6,76,8.82,2.28,0.00,0.000,2564,0.233,0.057,2382,540,3100,3180,3021,0,0,0,0,0,0,25.39,25.82,28.83
$GC,123,-0.60,-97.3,1472,540,3159,3015,18.4,-16.7,17,131,0.00,2.25,0.00,0.000,1030,0.000,0.054,2374,1955,3101,3183,3020,0,0,0,0,0,0,28.83,25.86,28.83
$GC,175,-0.60,-97.3,1424,1954,3159,3015,25.0,-14.3,26,183,0.00,2.28,0.00,0.000,260,0.000,0.062,2363,3373,3101,3184,3019,0,0,0,0,0,0,28.83,25.84,28.83
$GC,205,-0.60,-97.3,1440,3372,3161,3015,30.1,-16.7,31,212,0.00,2.28,0.00,0.000,1030,0.000,0.054,2363,1949,3101,3184,3019,0,0,0,0,0,0,28.83,25.87,28.83
$GC,334,-0.60,-97.3,2363,1948,3184,3019,50.4,-14.9,56,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1948,3101,3184,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,644,-0.60,-97.3,2363,1948,3185,3019,100.0,-15.3,117,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1948,3102,3185,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-0.60,-97.3,2363,1948,3185,3019,144.4,-14.5,148,959,0.00,2.28,0.00,0.000,260,0.000,0.060,2353,3376,3102,3185,3019,0,0,0,0,0,0,28.83,26.05,28.83
$GC,994,-0.60,-97.3,2353,3376,3185,3019,150.7,-14.8,152,1002,0.00,2.30,0.00,0.000,1030,0.000,0.053,2353,1949,3102,3185,3019,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1303,-0.60,-97.3,2353,1950,3186,3019,196.0,-14.6,183,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1949,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.60,-97.3,2353,1949,3186,3019,239.6,-14.5,213,1612,0.00,2.22,0.00,0.000,260,0.000,0.060,2343,3362,3102,3186,3019,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1625,-0.60,-97.3,2343,3362,3186,3019,242.8,-14.2,215,1634,0.15,2.22,0.00,0.000,3078,0.178,0.052,2379,1944,3103,3187,3019,0,0,0,0,0,0,25.89,26.16,28.83
$GC,1934,-0.60,-97.3,2379,1944,3186,3019,280.6,-11.3,246,1944,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3372,3102,3186,3019,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1956,-0.60,-97.3,2371,3372,3186,3019,283.2,-11.8,248,1960,0.00,2.22,0.00,0.000,1030,0.000,0.052,2370,1954,3102,3186,3019,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2261,-0.60,-97.3,2370,1953,3186,3019,322.4,-13.5,278,2271,0.00,2.25,0.00,0.000,516,0.000,0.064,2371,541,3103,3187,3019,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2313,-0.60,-97.3,2370,541,3186,3019,329.7,-14.3,283,2322,0.00,2.22,0.00,0.000,1030,0.000,0.054,2360,1956,3102,3186,3019,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2623,-0.60,-97.3,2360,1956,3186,3019,375.5,-14.9,314,2633,0.00,2.25,0.00,0.000,516,0.000,0.064,2360,543,3102,3186,3019,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2645,-0.60,-97.3,2360,543,3186,3019,378.9,-15.2,316,2650,0.12,2.22,0.00,0.000,3078,0.191,0.054,2378,1957,3102,3186,3019,0,0,0,0,0,0,25.96,26.22,28.83
$GC,2950,-0.60,-97.3,2378,1957,3186,3019,418.9,-12.9,339,2954,0.00,2.25,0.00,0.000,260,0.000,0.062,2369,3373,3103,3187,3019,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3006,-0.60,-97.3,2369,3373,3186,3019,425.9,-12.4,342,3012,0.00,2.22,0.00,0.000,1030,0.000,0.053,2369,1950,3102,3186,3019,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3326,-0.60,-97.3,2369,1949,3186,3019,467.5,-13.0,358,3332,0.00,2.25,0.00,0.000,260,0.000,0.061,2359,3366,3102,3186,3019,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3341,-0.60,-97.3,2359,3366,3186,3019,467.5,-13.0,358,3347,0.00,2.22,0.00,0.000,1030,0.000,0.052,2359,1943,3102,3186,3019,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3646,-0.60,-97.3,2359,1943,3186,3019,509.8,-13.0,374,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1943,3102,3186,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3946,-0.60,-97.3,2359,1943,3186,3019,548.7,-13.1,389,3950,0.00,2.25,0.00,0.000,516,0.000,0.068,2359,542,3103,3187,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3965,-0.60,-97.3,1536,543,3167,3015,550.8,-13.1,390,3970,0.12,2.22,0.00,0.000,3078,0.194,0.055,2376,1956,3102,3186,3018,0,0,0,0,0,0,25.99,26.25,28.83
$GC,4277,-0.60,-97.3,2376,1956,3186,3017,588.6,-11.7,406,4283,0.00,2.25,0.00,0.000,260,0.000,0.063,2368,3368,3101,3186,3017,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4367,-0.60,-97.3,2368,3368,3186,3017,598.0,-11.8,410,4371,0.00,2.22,0.00,0.000,1030,0.000,0.055,2368,1954,3101,3186,3017,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4672,-0.60,-97.3,2367,1954,3186,3016,636.5,-12.4,425,4676,0.00,2.28,0.00,0.000,516,0.000,0.069,2368,539,3101,3186,3017,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4696,-0.60,-97.3,2367,539,3186,3017,638.6,-12.4,426,4700,0.00,2.25,0.00,0.000,1030,0.000,0.057,2358,1960,3101,3186,3017,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5009,-0.60,-97.3,2357,1960,3186,3016,680.4,-12.9,442,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1960,3101,3186,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.60,-97.3,2357,1960,3186,3016,717.5,-11.8,457,5312,0.00,2.25,0.00,0.000,260,0.000,0.066,2347,3370,3101,3186,3016,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5366,-0.60,-97.3,2346,3371,3186,3015,724.1,-11.9,460,5372,0.10,2.22,0.00,0.000,3078,0.166,0.057,2376,1949,3101,3186,3016,0,0,0,0,0,0,25.98,26.22,28.83
$GC,5684,-0.60,-97.3,2376,1949,3186,3015,757.6,-10.4,476,5690,0.00,2.28,0.00,0.000,516,0.000,0.071,2377,540,3100,3186,3015,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5707,-0.60,-97.3,2376,541,3186,3015,759.7,-10.5,477,5712,0.00,2.30,0.00,0.000,1030,0.000,0.058,2368,1960,3100,3186,3015,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6024,-0.60,-97.3,2368,1961,3186,3014,796.0,-11.9,493,6030,0.00,2.28,0.00,0.000,260,0.000,0.067,2358,3377,3100,3186,3014,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6064,-0.60,-97.3,2358,3378,3186,3013,801.0,-12.2,495,6068,0.00,2.25,0.00,0.000,1030,0.000,0.057,2358,1955,3099,3186,3013,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6380,-0.60,-97.3,2357,1955,3186,3012,842.6,-13.3,511,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1955,3099,3186,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,-0.60,-97.3,2357,1955,3186,3012,880.7,-12.4,526,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1955,3098,3186,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,-0.60,-97.3,2357,1955,3186,3011,917.7,-12.2,541,6984,0.00,2.30,0.00,0.000,516,0.000,0.073,2358,542,3098,3186,3011,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7004,-0.60,-97.3,2357,542,3186,3011,919.7,-12.3,542,7009,0.12,2.25,0.00,0.000,3078,0.198,0.060,2375,1960,3098,3186,3011,0,0,0,0,0,0,25.96,26.22,28.83
$GC,7311,-0.60,-97.3,2375,1960,3186,3010,954.3,-10.5,557,7317,0.00,2.25,0.00,0.000,260,0.000,0.068,2366,3366,3098,3186,3010,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7333,-0.60,-97.3,1568,3365,3168,3006,956.4,-10.5,558,7338,0.00,2.30,0.00,0.000,1030,0.000,0.058,2366,1949,3098,3186,3010,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7651,-0.60,-97.3,2366,1949,3186,3010,989.6,-10.0,574,7657,0.00,2.30,0.00,0.000,260,0.000,0.068,2356,3374,3097,3186,3009,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7691,-0.60,-97.3,2356,3374,3186,3009,993.7,-10.1,576,7697,0.00,2.25,0.00,0.000,1030,0.000,0.057,2356,1953,3097,3186,3009,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,7769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7769,begin apogee
$GC,7774,-0.14,0.0,2355,1870,3186,3009,1002.1,-10.5,580,7871,0.57,0.00,88.85,1.742,10246,0.155,0.000,2527,1869,2700,2790,2610,0,0,0,0,0,0,25.86,28.83,23.52
$STATE,7872,end apogee,CONTROL_FINISHED_OK
$STATE,7872,begin climb
$GC,7873,0.60,97.3,2526,1869,2790,2610,1004.7,0.0,585,7972,0.70,0.00,92.80,1.691,10758,0.098,0.000,2759,1869,2303,2377,2229,0,0,0,0,0,0,24.67,28.83,22.70
$GC,8271,0.60,97.3,2759,1869,2369,2219,965.6,11.6,605,8275,0.00,2.40,0.00,0.000,260,0.000,0.068,2759,3293,2294,2369,2219,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8337,0.60,97.3,2759,3293,2367,2219,958.8,12.0,608,8341,0.00,2.35,0.00,0.000,1030,0.000,0.060,2769,1876,2292,2367,2218,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8642,0.60,97.3,2769,1876,2366,2216,922.1,11.2,623,8648,0.00,2.33,0.00,0.000,260,0.000,0.067,2769,3288,2291,2366,2216,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8655,0.60,97.3,2769,3288,2366,2216,922.1,11.2,623,8662,0.00,2.33,0.00,0.000,1030,0.000,0.061,2780,1867,2291,2366,2216,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8963,0.60,97.3,2779,1867,2365,2215,885.2,11.4,639,8969,0.00,2.33,0.00,0.000,260,0.000,0.068,2780,3288,2290,2365,2215,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8995,0.60,97.3,2779,3288,2365,2215,882.8,11.5,640,9002,0.00,2.30,0.00,0.000,1030,0.000,0.062,2790,1873,2290,2365,2215,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9302,0.60,97.3,2789,1872,2365,2215,844.5,12.2,656,9306,0.00,2.33,0.00,0.000,260,0.000,0.068,2790,3297,2290,2365,2215,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9338,0.60,97.3,2789,3297,2364,2215,840.0,12.1,658,9345,0.15,2.30,0.00,0.000,5126,0.214,0.063,2768,1876,2290,2365,2215,0,0,0,0,0,0,25.68,25.97,28.83
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$STATE,16738,end climb,SURFACE_DEPTH_REACHED
$STATE,16738,begin surface coast
$FINISH,-0.0,1.012874
$STATE,16760,end surface coast,CONTROL_FINISHED_OK
$STATE,16760,begin surface
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$TCM_TEMP,18.50
$XPDR_PINGS,0
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$10V_AH,10.1,16.757
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353144
$DATA_FILE_SIZE,86916,1284
$CAP_FILE_SIZE,177608,0
$CFSIZE,259252224,246054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,346.7,1
$GPS,180816,191351,-4255.026,829.404,43,1.2,43,-25.0