version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 184
start: 8 20 116 4 46 54
data:
$ID,542
$MISSION,14
$DIVE,184
$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,-41420.777
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,200816,043933,-4258.764,830.599,72,1.0,72,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.0
$GPS2,200816,044611,-4258.787,830.676,21,1.2,21,-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,209.5,13261,-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,-97.3,138,1973,1783,1714,0.0,0.0,0,71,0.00,0.00,-52.92,0.000,16390,0.000,0.000,137,1972,3097,3174,3021,0,0,0,0,0,0,28.83,28.83,26.24
$GC,73,-0.58,-97.3,137,1972,3175,3022,3.2,-5.9,8,88,8.75,2.25,0.00,0.000,2308,0.228,0.050,2373,3363,3100,3179,3022,0,0,0,0,0,0,25.32,25.79,28.83
$GC,201,-0.58,-97.3,1424,3362,3158,3016,26.4,-13.7,32,209,0.00,2.28,0.00,0.000,1030,0.000,0.053,2373,1946,3101,3182,3021,0,0,0,0,0,0,28.83,25.84,28.83
$GC,333,-0.58,-97.3,2373,1946,3183,3021,43.9,-12.5,57,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1946,3102,3183,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,643,-0.58,-97.3,2373,1946,3183,3021,92.4,-15.2,118,650,0.00,2.28,0.00,0.000,260,0.000,0.059,2363,3369,3102,3183,3021,0,0,0,0,0,0,28.83,25.98,28.83
$GC,729,-0.58,-97.3,2362,3369,3183,3021,105.0,-15.4,131,737,0.00,2.22,0.00,0.000,1030,0.000,0.052,2363,1952,3102,3183,3021,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1037,-0.58,-97.3,2362,1952,3183,3021,152.2,-15.4,162,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1952,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.58,-97.3,2362,1952,3183,3021,197.1,-14.0,192,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1952,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.58,-97.3,2363,1952,3185,3021,237.6,-13.8,222,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1952,3102,3184,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-0.58,-97.3,2362,1952,3185,3021,280.1,-15.0,252,1947,0.00,2.25,0.00,0.000,260,0.000,0.059,2353,3365,3103,3185,3021,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2034,-0.58,-97.3,2353,3365,3185,3021,294.1,-14.7,261,2041,0.08,2.28,0.00,0.000,3078,0.168,0.052,2383,1954,3103,3185,3021,0,0,0,0,0,0,25.92,26.18,28.83
$GC,2341,-0.58,-97.3,2383,1954,3185,3021,334.7,-12.7,292,2345,0.00,2.22,0.00,0.000,260,0.000,0.059,2375,3360,3103,3185,3021,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2423,-0.58,-97.3,2375,3361,3185,3021,344.1,-12.0,299,2429,0.00,2.22,0.00,0.000,1030,0.000,0.051,2375,1948,3103,3185,3021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2730,-0.58,-97.3,2375,1947,3185,3021,382.2,-11.2,330,2740,0.00,2.22,0.00,0.000,516,0.000,0.066,2375,551,3103,3185,3021,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2772,-0.58,-97.3,2374,551,3184,3021,388.4,-14.8,334,2776,0.00,2.17,0.00,0.000,1030,0.000,0.051,2365,1949,3103,3185,3021,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3087,-0.58,-97.3,2365,1950,3185,3021,430.7,-13.2,354,3093,0.00,2.25,0.00,0.000,516,0.000,0.065,2365,545,3103,3185,3021,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3160,-0.58,-97.3,2365,545,3185,3021,439.0,-13.6,357,3168,0.12,2.20,0.00,0.000,3078,0.189,0.053,2383,1957,3103,3185,3021,0,0,0,0,0,0,25.97,26.22,28.83
$GC,3468,-0.58,-97.3,2383,1957,3185,3021,476.9,-11.9,373,3473,0.00,2.22,0.00,0.000,260,0.000,0.061,2374,3364,3103,3185,3021,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3549,-0.58,-97.3,2374,3365,3185,3021,486.7,-12.3,377,3554,0.00,2.20,0.00,0.000,1030,0.000,0.054,2374,1953,3103,3185,3021,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3867,-0.58,-97.3,2374,1953,3185,3021,529.2,-13.3,393,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1954,3103,3185,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-0.58,-97.3,2374,1953,3185,3021,569.2,-13.2,408,4171,0.00,2.25,0.00,0.000,260,0.000,0.062,2364,3368,3103,3185,3021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4236,-0.58,-97.3,2364,3368,3185,3021,576.6,-13.2,411,4243,0.00,2.22,0.00,0.000,1030,0.000,0.054,2364,1954,3103,3185,3021,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4544,-0.58,-97.3,2364,1954,3185,3020,618.7,-12.9,427,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1954,3102,3185,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4843,-0.58,-97.3,2364,1954,3185,3019,656.8,-12.7,442,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1954,3102,3185,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-0.58,-97.3,2364,1954,3186,3018,694.5,-12.6,457,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1953,3101,3185,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5443,-0.58,-97.3,2364,1954,3185,3017,732.2,-12.4,472,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1954,3101,3185,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.58,-97.3,2364,1954,3185,3016,769.9,-12.4,487,5749,0.00,2.28,0.00,0.000,260,0.000,0.064,2354,3373,3100,3185,3016,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5826,-0.58,-97.3,2354,3373,3185,3016,779.8,-12.4,491,5832,0.08,2.22,0.00,0.000,3078,0.165,0.056,2377,1956,3100,3185,3016,0,0,0,0,0,0,25.99,26.22,28.83
$GC,6145,-0.58,-97.3,2377,1955,3185,3016,815.5,-11.0,507,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3100,3185,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,-0.58,-97.3,2377,1955,3185,3016,848.7,-11.0,522,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3100,3185,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.58,-97.3,2377,1955,3185,3015,880.5,-10.3,537,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3100,3185,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,-0.58,-97.3,2377,1955,3185,3014,911.8,-10.5,552,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3099,3185,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7346,-0.58,-97.3,2377,1955,3185,3013,943.3,-10.5,567,7351,0.00,2.25,0.00,0.000,260,0.000,0.067,2369,3361,3099,3186,3013,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7378,-0.58,-97.3,2369,3361,3185,3012,945.3,-10.5,568,7385,0.00,2.25,0.00,0.000,1030,0.000,0.059,2369,1951,3098,3185,3012,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7685,-0.58,-97.3,2369,1951,3185,3012,979.9,-10.7,584,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1951,3098,3185,3012,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7883,begin apogee
$GC,7888,-0.14,0.0,2369,1871,3185,3011,1001.5,-10.7,594,7987,0.52,0.00,89.20,1.750,10246,0.151,0.000,2526,1870,2699,2789,2610,0,0,0,0,0,0,25.84,28.83,23.49
$STATE,7988,end apogee,CONTROL_FINISHED_OK
$STATE,7988,begin climb
$GC,7989,0.58,97.3,2525,1870,2789,2610,1005.3,0.0,599,8087,0.73,0.00,93.55,1.688,10246,0.098,0.000,2760,1870,2303,2377,2229,0,0,0,0,0,0,24.68,28.83,22.68
$GC,8386,0.58,97.3,2759,1870,2369,2219,971.0,10.2,619,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1870,2294,2369,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,0.58,97.3,2759,1870,2368,2216,940.3,10.1,634,8689,0.00,2.35,0.00,0.000,260,0.000,0.069,2760,3287,2292,2368,2216,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8781,0.58,97.3,2759,3287,2366,2217,930.0,10.8,639,8787,0.00,2.30,0.00,0.000,1030,0.000,0.062,2770,1883,2291,2366,2216,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9102,0.58,101.7,2769,1883,2365,2215,897.8,9.8,655,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1883,2290,2366,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9401,0.60,114.6,2769,1883,2365,2215,868.8,9.5,670,9422,0.00,0.00,15.40,1.578,8198,0.000,0.000,2769,1883,2231,2307,2156,0,0,0,0,0,0,28.83,28.83,24.57
$GC,9721,0.60,114.6,2769,1883,2306,2152,835.6,10.7,686,9727,0.00,2.38,0.00,0.000,516,0.000,0.079,2780,460,2229,2306,2153,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9761,0.60,114.6,2780,460,2305,2152,831.2,10.8,688,9765,0.00,2.30,0.00,0.000,1030,0.000,0.061,2780,1879,2228,2305,2152,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10077,0.60,114.6,2780,1880,2305,2151,797.1,10.8,704,10081,0.00,2.30,0.00,0.000,260,0.000,0.068,2781,3296,2228,2305,2151,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10121,0.60,114.6,2780,3296,2302,2151,793.1,11.0,706,10125,0.00,2.33,0.00,0.000,1030,0.000,0.063,2791,1867,2226,2302,2151,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10428,0.60,114.6,2791,1866,2302,2152,757.7,11.2,721,10432,0.00,2.33,0.00,0.000,260,0.000,0.068,2791,3295,2226,2302,2151,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10553,0.60,114.6,2791,3295,2301,2151,744.2,11.7,727,10558,0.15,2.30,0.00,0.000,5126,0.210,0.063,2769,1873,2226,2301,2151,0,0,0,0,0,0,25.73,26.03,28.83
$GC,10861,0.61,128.4,2768,1873,2301,2151,713.8,9.5,742,10880,0.00,0.00,13.40,1.493,8198,0.000,0.000,2769,1873,2175,2252,2099,0,0,0,0,0,0,28.83,28.83,24.77
$GC,11179,0.61,128.4,2769,1873,2251,2096,680.3,10.7,758,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1873,2173,2251,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11479,0.61,128.4,2768,1873,2251,2096,647.5,11.0,773,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1873,2173,2251,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11779,0.61,128.4,2769,1873,2250,2096,615.5,10.3,788,11783,0.00,2.30,0.00,0.000,260,0.000,0.067,2769,3289,2173,2250,2096,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11838,0.61,128.4,1888,3288,2209,2090,609.3,10.9,791,11842,0.00,2.35,0.00,0.000,1030,0.000,0.063,2778,1873,2172,2248,2096,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,16985,end climb,SURFACE_DEPTH_REACHED
$STATE,16985,begin surface coast
$FINISH,1.0,1.026643
$STATE,17001,end surface coast,CONTROL_FINISHED_OK
$STATE,17001,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,59.64
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$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,10.1,17.525
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353164
$DATA_FILE_SIZE,87217,1281
$CAP_FILE_SIZE,154594,0
$CFSIZE,259252224,245473280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,  9.5,1
$GPS,200816,093321,-4259.742,830.780,77,0.8,77,-25.0