version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 193
start: 8 22 116 0 50 34
data:
$ID,542
$MISSION,14
$DIVE,193
$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,-41432.082
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,220816,003800,-4302.601,832.242,819,0.9,820,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.8
$GPS2,220816,004951,-4302.524,832.470,27,0.9,27,-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,232.6,7138,-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,-97.3,138,1953,2118,2035,0.0,0.0,0,57,0.00,0.00,-38.22,0.000,16390,0.000,0.000,138,1953,3097,3176,3019,0,0,0,0,0,0,28.83,28.83,26.29
$GC,59,-0.58,-97.3,138,1952,3176,3020,3.5,-5.9,6,74,8.80,2.33,0.00,0.000,2308,0.230,0.051,2369,3384,3100,3181,3020,0,0,0,0,0,0,25.32,25.79,28.83
$GC,187,-0.58,-97.3,1424,3383,3159,3015,28.5,-15.3,30,194,0.00,2.30,0.00,0.000,1030,0.000,0.051,2369,1953,3101,3184,3019,0,0,0,0,0,0,28.83,25.84,28.83
$GC,321,-0.58,-97.3,2369,1953,3184,3019,47.8,-14.3,55,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1952,3101,3184,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,637,-0.58,-97.3,1488,1951,3163,3015,94.3,-13.8,116,645,0.00,2.33,0.00,0.000,260,0.000,0.059,2359,3373,3101,3184,3019,0,0,0,0,0,0,28.83,25.96,28.83
$GC,677,-0.58,-97.3,2358,3373,3185,3019,100.0,-14.2,123,684,0.00,2.28,0.00,0.000,1030,0.000,0.053,2359,1944,3102,3185,3019,0,0,0,0,0,0,28.83,25.98,28.83
$GC,982,-0.58,-97.3,2358,1944,3185,3019,145.7,-15.7,154,987,0.00,2.30,0.00,0.000,260,0.000,0.059,2349,3380,3102,3185,3019,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1020,-0.58,-97.3,2348,3380,3185,3019,151.4,-15.6,157,1029,0.12,2.28,0.00,0.000,3078,0.183,0.053,2381,1952,3102,3185,3019,0,0,0,0,0,0,25.78,26.05,28.83
$GC,1330,-0.58,-97.3,2381,1952,3186,3019,194.7,-14.1,188,1340,0.00,2.25,0.00,0.000,260,0.000,0.058,2372,3370,3102,3186,3019,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1404,-0.58,-97.3,2372,3371,3186,3019,205.0,-13.6,195,1412,0.00,2.25,0.00,0.000,1030,0.000,0.052,2372,1946,3102,3186,3019,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1713,-0.58,-97.3,2372,1945,3186,3019,250.1,-13.8,226,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1946,3103,3187,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2013,-0.58,-97.3,2372,1945,3186,3019,292.4,-14.3,256,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1946,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-0.58,-97.3,2372,1946,3186,3019,335.1,-13.5,286,2325,0.00,2.25,0.00,0.000,260,0.000,0.060,2362,3370,3102,3186,3019,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2490,-0.58,-97.3,2362,3370,3186,3019,357.9,-12.6,303,2499,0.00,2.22,0.00,0.000,1030,0.000,0.052,2362,1955,3102,3186,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2800,-0.58,-97.3,2362,1955,3186,3019,397.6,-12.9,334,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1955,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.58,-97.3,2362,1955,3186,3019,435.1,-12.3,350,3104,0.00,2.25,0.00,0.000,260,0.000,0.060,2352,3380,3102,3186,3019,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3176,-0.58,-97.3,2352,3380,3186,3019,444.3,-12.1,354,3183,0.12,2.25,0.00,0.000,3078,0.177,0.053,2381,1950,3103,3186,3020,0,0,0,0,0,0,25.96,26.19,28.83
$GC,3496,-0.58,-97.3,2380,1950,3186,3019,479.7,-11.3,370,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1950,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3796,-0.58,-97.3,2380,1950,3186,3019,514.1,-11.3,385,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1950,3102,3186,3019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.58,-97.3,2380,1949,3186,3019,546.7,-10.7,400,4100,0.00,2.28,0.00,0.000,260,0.000,0.061,2372,3376,3102,3186,3019,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4135,-0.58,-97.3,2372,3376,3186,3019,550.5,-10.8,402,4139,0.00,2.25,0.00,0.000,1030,0.000,0.054,2372,1950,3102,3186,3019,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4452,-0.58,-97.3,2372,1949,3186,3018,585.9,-11.2,418,4458,0.00,2.28,0.00,0.000,260,0.000,0.062,2362,3376,3102,3186,3018,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4520,-0.58,-97.3,2362,3376,3186,3017,592.8,-11.4,421,4524,0.00,2.25,0.00,0.000,1030,0.000,0.054,2362,1954,3101,3186,3017,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4832,-0.58,-97.3,2362,1954,3186,3017,631.1,-12.3,437,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1954,3101,3186,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-0.58,-97.3,2362,1953,3186,3016,668.8,-12.6,452,5136,0.00,2.28,0.00,0.000,260,0.000,0.063,2352,3378,3100,3186,3015,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5201,-0.58,-97.3,2351,3378,3186,3016,676.0,-12.8,455,5208,0.12,2.25,0.00,0.000,3078,0.180,0.056,2380,1955,3100,3185,3016,0,0,0,0,0,0,25.96,26.19,28.83
$GC,5508,-0.58,-97.3,2380,1955,3186,3016,712.1,-11.0,471,5514,0.00,2.25,0.00,0.000,260,0.000,0.063,2372,3372,3101,3187,3015,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5568,-0.58,-97.3,2372,3372,3186,3015,719.3,-11.9,474,5572,0.00,2.25,0.00,0.000,1030,0.000,0.056,2372,1948,3100,3186,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5884,-0.58,-97.3,2372,1947,3186,3015,757.6,-12.0,490,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1948,3100,3186,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.58,-97.3,2372,1948,3186,3013,792.9,-11.8,505,6190,0.00,2.30,0.00,0.000,260,0.000,0.065,2361,3380,3099,3186,3013,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6247,-0.58,-97.3,2361,3380,3186,3013,799.8,-11.6,508,6251,0.00,2.28,0.00,0.000,1030,0.000,0.057,2361,1948,3099,3186,3013,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6564,-0.58,-97.3,2361,1947,3186,3013,836.5,-11.2,524,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1946,3099,3186,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.58,-97.3,2361,1947,3186,3012,869.6,-11.0,539,6870,0.00,2.30,0.00,0.000,260,0.000,0.065,2351,3379,3099,3186,3012,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6927,-0.58,-97.3,2351,3379,3186,3012,876.5,-11.4,542,6932,0.12,2.28,0.00,0.000,3078,0.181,0.057,2380,1947,3099,3186,3012,0,0,0,0,0,0,25.93,26.15,28.83
$GC,7239,-0.58,-97.3,2379,1947,3186,3011,910.0,-10.7,558,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1947,3098,3186,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7539,-0.58,-97.3,2379,1947,3186,3010,942.5,-10.9,573,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1947,3098,3186,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-0.58,-97.3,2379,1947,3186,3010,974.1,-10.5,588,7845,0.00,2.30,0.00,0.000,260,0.000,0.067,2371,3373,3097,3186,3009,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7872,-0.58,-97.3,2371,3373,3186,3010,976.2,-10.5,589,7879,0.00,2.28,0.00,0.000,1030,0.000,0.059,2371,1946,3098,3186,3010,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,8098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8098,begin apogee
$GC,8103,-0.14,0.0,2371,1865,3186,3010,1001.4,-10.4,601,8200,0.52,0.00,88.78,1.741,10246,0.154,0.000,2527,1865,2699,2787,2612,0,0,0,0,0,0,25.75,28.83,23.49
$STATE,8200,end apogee,CONTROL_FINISHED_OK
$STATE,8201,begin climb
$GC,8202,0.58,97.3,2526,1865,2787,2612,1005.0,0.0,606,8303,0.73,2.58,93.43,1.687,10756,0.096,0.076,2770,474,2303,2374,2232,0,0,0,0,0,0,24.65,23.61,22.63
$GC,8338,0.64,151.1,1904,474,2327,2225,997.2,8.0,613,8398,0.00,2.47,54.53,1.650,9222,0.000,0.059,2771,1896,2084,2156,2012,0,0,0,0,0,0,28.83,24.23,22.54
$GC,8715,0.64,151.1,2770,1896,2147,2000,947.5,13.3,632,8719,0.00,2.33,0.00,0.000,260,0.000,0.067,2771,3290,2073,2148,1999,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8774,0.64,151.1,2770,3290,2145,1999,939.7,13.8,635,8779,0.00,2.35,0.00,0.000,1030,0.000,0.063,2781,1879,2072,2145,1999,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9086,0.64,151.1,2781,1879,2146,1997,896.5,13.7,651,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1879,2071,2145,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,0.64,151.1,2781,1879,2145,1996,855.5,13.7,666,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1879,2070,2144,1996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9687,0.64,151.1,2781,1879,2144,1995,813.3,14.1,681,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1879,2069,2144,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,0.64,151.1,2781,1879,2143,1994,773.3,13.0,696,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1879,2069,2143,1995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,0.64,151.1,2781,1879,2143,1995,735.8,12.1,711,10290,0.00,2.33,0.00,0.000,260,0.000,0.068,2781,3297,2068,2143,1994,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10331,0.64,151.1,2781,3296,2141,1995,731.2,12.2,713,10335,0.00,2.33,0.00,0.000,1030,0.000,0.064,2792,1871,2067,2141,1994,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10637,0.64,151.1,2792,1871,2141,1994,691.7,12.7,728,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1871,2067,2141,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10937,0.64,151.1,2792,1871,2141,1994,651.9,13.4,743,10943,0.00,2.33,0.00,0.000,260,0.000,0.067,2792,3298,2067,2141,1994,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10990,0.64,151.1,2792,3298,2140,1994,646.3,13.7,745,10997,0.00,2.33,0.00,0.000,1030,0.000,0.064,2803,1873,2067,2140,1994,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11298,0.64,151.1,2802,1873,2140,1994,601.7,13.9,761,11303,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3290,2067,2140,1994,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11340,0.64,151.1,2802,3289,2139,1994,595.8,14.3,763,11345,0.12,2.30,0.00,0.000,5126,0.205,0.063,2787,1870,2066,2139,1994,0,0,0,0,0,0,25.83,26.08,28.83
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$STATE,16254,end climb,SURFACE_DEPTH_REACHED
$STATE,16254,begin surface coast
$FINISH,-0.0,1.001669
$STATE,16270,end surface coast,CONTROL_FINISHED_OK
$STATE,16271,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,59.80
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,22.5,28.343
$10V_AH,10.1,18.412
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.725,110.375,271.000,0.000,0.000,105.633,63.141,285.608,0.000,0.000,28.527,3204.425,10399.542,399.620,2886.375,178.679,0.000,1527.776,0.000,2235.447,0.000,1.010,0.000
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$MEM,353132
$DATA_FILE_SIZE,83530,1246
$CAP_FILE_SIZE,151255,0
$CFSIZE,259252224,244789248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.176, 24.7,1
$GPS,220816,052403,-4302.872,831.920,30,0.9,30,-25.1