version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 250
start: 9 3 116 3 2 6
data:
$ID,542
$MISSION,14
$DIVE,250
$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,353
$T_MISSION,395
$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,510.95157
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41506.109
$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,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,030916,024334,-4256.559,829.767,42,1.0,42,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-56.5
$GPS2,030916,030122,-4256.438,829.944,23,1.2,23,-25.0
$SPEED_LIMITS,0.259,0.269
$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,34.8,4386,-17.1,-9.443,-20.00,2451
$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,-0.57,-97.3,168,1961,571,573,0.0,0.0,0,122,0.00,0.00,-100.85,0.000,16390,0.000,0.000,168,1961,3083,3142,3025,0,0,0,0,0,0,28.83,28.83,26.29
$GC,125,-0.57,-97.3,167,1961,3143,3025,3.4,-4.3,16,140,8.93,2.35,0.00,0.000,2564,0.236,0.056,2387,531,3083,3151,3016,0,0,0,0,0,0,25.18,25.71,28.83
$GC,242,-0.57,-97.3,1456,530,3143,3002,27.5,-14.4,38,251,0.00,2.30,0.00,0.000,1030,0.000,0.053,2378,1964,3086,3168,3005,0,0,0,0,0,0,28.83,25.72,28.83
$GC,377,-0.57,-97.3,2378,1965,3168,3004,44.3,-13.1,63,384,0.00,2.25,0.00,0.000,260,0.000,0.057,2368,3371,3086,3169,3004,0,0,0,0,0,0,28.83,25.72,28.83
$GC,411,-0.57,-97.3,2368,3371,3168,3004,49.4,-14.4,69,418,0.00,2.28,0.00,0.000,1030,0.000,0.050,2368,1940,3086,3169,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,722,-0.57,-97.3,2368,1940,3169,3004,93.1,-14.8,130,730,0.00,2.30,0.00,0.000,260,0.000,0.057,2358,3371,3086,3169,3004,0,0,0,0,0,0,28.83,25.79,28.83
$GC,772,-0.57,-97.3,2358,3371,3169,3003,100.6,-14.9,139,779,0.12,2.25,0.00,0.000,3078,0.174,0.050,2386,1956,3086,3169,3004,0,0,0,0,0,0,25.60,25.85,28.83
$GC,1077,-0.57,-97.3,2386,1955,3169,3004,141.8,-13.7,170,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1378,-0.57,-97.3,2386,1955,3169,3004,182.5,-13.6,200,1387,0.00,2.25,0.00,0.000,260,0.000,0.057,2378,3374,3086,3169,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1440,-0.57,-97.3,2378,3373,3169,3004,191.1,-13.5,206,1444,0.00,2.25,0.00,0.000,1030,0.000,0.050,2378,1949,3086,3169,3004,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1745,-0.57,-97.3,2378,1948,3169,3004,232.3,-13.3,236,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1948,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-0.57,-97.3,2378,1948,3170,3004,270.0,-11.6,266,2057,0.00,2.28,0.00,0.000,260,0.000,0.057,2368,3372,3086,3169,3004,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2071,-0.57,-97.3,1544,3371,3150,3000,272.6,-11.4,268,2079,0.00,2.28,0.00,0.000,1030,0.000,0.050,2368,1961,3086,3169,3004,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2380,-0.57,-97.3,2368,1961,3169,3004,307.4,-10.7,299,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1961,3086,3169,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.57,-97.3,2367,1961,3169,3004,342.5,-12.6,329,2689,0.00,2.28,0.00,0.000,516,0.000,0.063,2368,544,3086,3169,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2735,-0.57,-97.3,2368,544,3169,3003,349.8,-14.2,334,2743,0.00,2.28,0.00,0.000,1030,0.000,0.050,2358,1963,3086,3169,3004,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3043,-0.57,-97.3,2357,1963,3169,3004,392.3,-14.2,365,3052,0.12,2.22,0.00,0.000,2308,0.190,0.057,2382,3365,3086,3169,3003,0,0,0,0,0,0,25.99,25.93,28.83
$GC,3095,-0.57,-97.3,2382,3365,3169,3004,399.1,-12.6,370,3106,0.00,2.22,0.00,0.000,1030,0.000,0.050,2382,1951,3086,3169,3004,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3405,-0.57,-97.3,2382,1951,3169,3004,437.2,-12.1,386,3411,0.00,2.28,0.00,0.000,516,0.000,0.064,2383,546,3086,3169,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3428,-0.57,-97.3,1568,545,3150,3000,439.7,-12.3,387,3432,0.00,2.20,0.00,0.000,1030,0.000,0.050,2373,1953,3086,3169,3003,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3745,-0.57,-97.3,2372,1953,3169,3004,478.7,-11.9,403,3751,0.00,2.25,0.00,0.000,260,0.000,0.059,2362,3369,3086,3169,3004,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3845,-0.57,-97.3,2361,3369,3169,3003,490.7,-11.9,408,3849,0.00,2.22,0.00,0.000,1030,0.000,0.051,2362,1953,3085,3169,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4162,-0.57,-97.3,2361,1952,3169,3002,530.1,-12.7,424,4167,0.00,2.28,0.00,0.000,516,0.000,0.065,2362,546,3085,3169,3002,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4224,-0.57,-97.3,2361,546,3169,3002,538.2,-13.5,427,4230,0.10,2.20,0.00,0.000,3078,0.157,0.052,2382,1956,3085,3169,3002,0,0,0,0,0,0,25.66,25.99,28.83
$GC,4543,-0.57,-97.3,2382,1956,3169,3002,574.4,-11.3,443,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1956,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4842,-0.57,-97.3,2381,1956,3169,3001,608.3,-11.5,458,4846,0.00,2.25,0.00,0.000,260,0.000,0.060,2373,3368,3085,3169,3001,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4899,-0.57,-97.3,2373,3368,3169,3001,614.6,-11.4,461,4905,0.00,2.22,0.00,0.000,1030,0.000,0.053,2373,1950,3085,3169,3001,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5218,-0.57,-97.3,2372,1949,3169,3000,652.7,-11.9,477,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1950,3084,3169,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5518,-0.57,-97.3,2373,1949,3169,2999,688.0,-11.5,492,5524,0.00,2.30,0.00,0.000,516,0.000,0.067,2373,535,3084,3169,2999,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5546,-0.57,-97.3,2373,535,3169,2999,690.4,-11.6,493,5551,0.00,2.25,0.00,0.000,1030,0.000,0.054,2363,1957,3084,3169,2999,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5853,-0.57,-97.3,2363,1957,3169,2996,727.7,-11.9,508,5857,0.00,2.28,0.00,0.000,260,0.000,0.062,2351,3376,3083,3170,2996,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5872,-0.57,-97.3,2352,3377,3169,2996,729.5,-11.7,509,5877,0.15,2.28,0.00,0.000,3078,0.171,0.054,2388,1943,3082,3169,2996,0,0,0,0,0,0,25.63,25.94,28.83
$GC,6184,-0.57,-97.3,2389,1944,3169,2996,760.7,-9.7,525,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1944,3083,3170,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,-0.57,-97.3,2388,1944,3169,2995,789.0,-9.2,540,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1944,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6785,-0.57,-97.3,2388,1944,3169,2994,817.2,-9.3,555,6790,0.00,2.30,0.00,0.000,516,0.000,0.070,2388,539,3082,3169,2995,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6824,-0.57,-97.3,2388,539,3169,2994,821.2,-9.7,557,6830,0.00,2.25,0.00,0.000,1030,0.000,0.055,2380,1956,3081,3169,2994,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7144,-0.57,-97.3,2380,1956,3170,2993,851.9,-9.4,573,7150,0.00,2.28,0.00,0.000,260,0.000,0.063,2369,3374,3081,3169,2993,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7193,-0.57,-97.3,2369,3373,3169,2993,855.7,-9.4,575,7197,0.00,2.25,0.00,0.000,1030,0.000,0.054,2369,1955,3081,3169,2993,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7499,-0.57,-97.3,2369,1954,3170,2991,887.5,-10.2,590,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1954,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7799,-0.57,-97.3,2369,1954,3169,2991,917.4,-9.5,605,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1954,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.57,-97.3,2369,1954,3169,2990,947.7,-10.3,620,8105,0.00,2.30,0.00,0.000,516,0.000,0.070,2369,548,3080,3169,2991,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8142,-0.57,-97.3,2369,547,3169,2991,952.0,-10.5,622,8146,0.00,2.25,0.00,0.000,1030,0.000,0.057,2359,1957,3079,3169,2990,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8459,-0.57,-97.3,2359,1957,3169,2989,986.5,-10.6,638,8465,0.00,2.30,0.00,0.000,260,0.000,0.064,2348,3379,3079,3169,2989,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8480,-0.57,-97.3,2348,3379,3169,2989,988.6,-10.5,639,8486,0.15,2.28,0.00,0.000,3078,0.173,0.055,2384,1952,3079,3169,2989,0,0,0,0,0,0,25.58,25.88,28.83
$STATE,8617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8617,begin apogee
$GC,8622,-0.14,0.0,2384,1869,3169,2989,1001.4,-8.8,646,8720,0.45,0.00,89.62,1.768,10246,0.143,0.000,2521,1868,2683,2786,2581,0,0,0,0,0,0,25.48,28.83,23.22
$STATE,8721,end apogee,CONTROL_FINISHED_OK
$STATE,8721,begin climb
$GC,8723,0.57,97.3,2521,1868,2786,2581,1004.0,0.0,651,8822,0.73,0.00,95.12,1.711,10758,0.093,0.000,2756,1868,2285,2372,2199,0,0,0,0,0,0,24.53,28.83,22.34
$GC,9119,0.57,97.3,2756,1868,2364,2189,968.9,10.3,671,9125,0.00,2.42,0.00,0.000,260,0.000,0.064,2756,3308,2276,2363,2189,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9192,0.57,97.3,2756,3308,2362,2189,962.4,10.7,674,9200,0.00,2.35,0.00,0.000,1030,0.000,0.060,2766,1899,2275,2362,2189,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9499,0.57,97.3,2766,1899,2361,2188,929.8,9.9,690,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1899,2274,2361,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9799,0.57,97.3,2766,1899,2361,2187,900.4,9.8,705,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1899,2274,2361,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10099,0.57,97.3,2766,1899,2360,2186,871.4,9.5,720,10105,0.00,2.30,0.00,0.000,260,0.000,0.066,2766,3303,2273,2361,2186,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10122,0.57,97.3,2766,3303,2360,2186,869.3,9.7,721,10126,0.00,2.35,0.00,0.000,1030,0.000,0.060,2776,1889,2273,2360,2186,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10439,0.57,97.3,2776,1889,2360,2186,835.6,10.7,737,10445,0.00,2.33,0.00,0.000,260,0.000,0.066,2776,3306,2272,2359,2186,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10480,0.57,97.3,2776,3305,2359,2185,831.1,10.9,739,10486,0.00,2.33,0.00,0.000,1030,0.000,0.060,2787,1884,2272,2358,2186,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,18650,end climb,SURFACE_DEPTH_REACHED
$STATE,18650,begin surface coast
$FINISH,0.1,1.026258
$STATE,18671,end surface coast,CONTROL_FINISHED_OK
$STATE,18671,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,57.52
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$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,10.0,25.189
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353180
$DATA_FILE_SIZE,96989,1429
$CAP_FILE_SIZE,190374,0
$CFSIZE,259252224,239464448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,305.1,1
$GPS,030916,081703,-4253.955,829.456,37,1.7,37,-25.0