version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 254
start: 9 4 116 0 30 31
data:
$ID,542
$MISSION,14
$DIVE,254
$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,-41511.133
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,040916,002333,-4257.130,829.951,22,1.0,22,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-58.0
$GPS2,040916,002948,-4257.111,830.003,15,0.9,16,-25.0
$SPEED_LIMITS,0.259,0.269
$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,200.0,16332,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,166,1950,575,580,0.0,0.0,0,121,0.00,0.00,-99.97,0.000,16390,0.000,0.000,165,1949,3081,3144,3019,0,0,0,0,0,0,28.83,28.83,26.25
$GC,124,-0.55,-97.3,165,1949,3144,3019,3.7,-5.7,16,139,8.73,2.35,0.00,0.000,2820,0.227,0.054,2377,3383,3083,3152,3014,0,0,0,0,0,0,25.19,25.72,28.83
$GC,440,-0.55,-97.3,2377,3383,3167,3002,50.4,-11.6,77,447,0.00,2.30,0.00,0.000,1030,0.000,0.051,2377,1941,3085,3168,3002,0,0,0,0,0,0,28.83,25.75,28.83
$GC,752,-0.55,-97.3,2377,1941,3168,3002,92.4,-13.6,138,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1941,3085,3168,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-0.55,-97.3,2377,1941,3168,3002,134.8,-14.5,174,1065,0.00,2.33,0.00,0.000,260,0.000,0.058,2368,3378,3085,3168,3002,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1108,-0.55,-97.3,2366,3378,3168,3003,141.8,-14.9,178,1119,0.00,2.25,0.00,0.000,1030,0.000,0.050,2367,1952,3085,3168,3003,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1419,-0.55,-97.3,2367,1952,3168,3002,187.4,-14.1,209,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1952,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1721,-0.55,-97.3,2367,1952,3169,3003,228.6,-13.6,239,1729,0.00,2.25,0.00,0.000,260,0.000,0.057,2357,3373,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1816,-0.55,-97.3,2357,3373,3169,3003,240.9,-12.6,248,1824,0.10,2.28,0.00,0.000,3078,0.150,0.049,2388,1957,3085,3169,3002,0,0,0,0,0,0,25.65,25.94,28.83
$GC,2124,-0.55,-97.3,2388,1957,3169,3002,276.2,-11.2,279,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1956,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.55,-97.3,2388,1956,3170,3003,310.0,-11.2,309,2433,0.00,2.22,0.00,0.000,260,0.000,0.057,2380,3366,3086,3170,3003,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2489,-0.55,-97.3,2380,3367,3169,3003,317.2,-11.5,315,2496,0.00,2.28,0.00,0.000,1030,0.000,0.050,2379,1953,3086,3169,3003,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2796,-0.55,-97.3,2380,1952,3169,3003,353.7,-11.3,346,2800,0.00,2.25,0.00,0.000,260,0.000,0.057,2370,3368,3086,3169,3003,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2834,-0.55,-97.3,2370,3368,3169,3002,357.8,-11.2,349,2843,0.00,2.22,0.00,0.000,1030,0.000,0.050,2370,1949,3086,3169,3003,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3143,-0.55,-97.3,2370,1949,3169,3003,394.1,-11.9,380,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1950,3086,3169,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,-0.55,-97.3,2369,1949,3170,3002,431.2,-12.0,398,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-0.55,-97.3,2369,1950,3169,3002,466.1,-11.7,413,3757,0.00,2.28,0.00,0.000,260,0.000,0.058,2359,3376,3085,3169,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3842,-0.55,-97.3,2359,3376,3169,3002,474.9,-11.6,417,3850,0.12,2.22,0.00,0.000,3078,0.170,0.050,2389,1956,3085,3169,3002,0,0,0,0,0,0,25.72,25.96,28.83
$GC,4150,-0.55,-97.3,2389,1955,3169,3002,507.2,-9.9,433,4155,0.00,2.25,0.00,0.000,260,0.000,0.058,2381,3369,3085,3169,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4271,-0.55,-97.3,2380,3369,3169,3002,519.9,-10.5,439,4276,0.00,2.20,0.00,0.000,1030,0.000,0.051,2381,1958,3085,3169,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4590,-0.55,-97.3,2380,1958,3169,3001,556.5,-11.7,455,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1958,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.55,-97.3,2380,1958,3169,3001,592.4,-12.1,470,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1958,3084,3168,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5189,-0.55,-97.3,2380,1958,3169,3000,627.7,-11.7,485,5195,0.00,2.28,0.00,0.000,260,0.000,0.060,2370,3376,3084,3169,2999,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5277,-0.55,-97.3,2370,3376,3170,2999,637.1,-11.8,489,5281,0.00,2.25,0.00,0.000,1030,0.000,0.052,2370,1954,3084,3170,2999,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5589,-0.55,-97.3,2370,1954,3169,2997,676.4,-12.4,505,5593,0.00,2.28,0.00,0.000,260,0.000,0.060,2360,3372,3083,3169,2997,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5645,-0.55,-97.3,2360,3372,3169,2997,683.4,-12.5,508,5652,0.12,2.25,0.00,0.000,3078,0.173,0.053,2389,1948,3083,3169,2997,0,0,0,0,0,0,25.69,25.93,28.83
$GC,5965,-0.55,-97.3,2389,1948,3169,2996,718.9,-11.2,524,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1948,3082,3169,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6266,-0.55,-97.3,2389,1948,3169,2995,752.3,-10.8,539,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1948,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,-0.55,-97.3,2389,1948,3169,2995,783.7,-10.3,554,6571,0.00,2.30,0.00,0.000,260,0.000,0.062,2381,3375,3082,3169,2995,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6628,-0.55,-97.3,2380,3375,3169,2994,790.1,-10.7,557,6633,0.00,2.25,0.00,0.000,1030,0.000,0.053,2381,1959,3081,3169,2994,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6941,-0.55,-97.3,2380,1959,3169,2994,824.0,-10.5,573,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1959,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,-0.55,-97.3,2380,1959,3169,2992,854.0,-9.9,588,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1959,3080,3169,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7541,-0.55,-97.3,2380,1959,3169,2991,884.4,-10.0,603,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1959,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7841,-0.55,-97.3,2380,1959,3169,2991,913.5,-9.4,618,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1959,3080,3170,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-0.55,-97.3,2380,1959,3169,2990,941.8,-9.1,633,8146,0.00,2.30,0.00,0.000,260,0.000,0.064,2370,3365,3079,3169,2990,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8194,-0.55,-97.3,2370,3365,3169,2990,945.6,-9.3,635,8201,0.00,2.25,0.00,0.000,1030,0.000,0.055,2370,1952,3079,3169,2990,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8501,-0.55,-97.3,2370,1952,3169,2989,976.5,-9.5,651,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1952,3079,3169,2990,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8759,begin apogee
$GC,8764,-0.14,0.0,2370,1871,3169,2988,1001.9,-9.7,664,8855,0.50,0.00,87.90,1.749,10246,0.143,0.000,2520,1870,2683,2782,2584,0,0,0,0,0,0,25.41,28.83,23.28
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8858,0.55,97.3,2520,1870,2782,2584,1004.7,0.0,668,8961,0.68,0.00,95.35,1.698,10246,0.093,0.000,2744,1870,2285,2368,2203,0,0,0,0,0,0,24.49,28.83,22.36
$GC,9261,0.59,134.6,2743,1870,2359,2193,975.6,8.0,689,9302,0.00,2.55,35.62,1.678,8452,0.000,0.064,2744,3297,2133,2226,2041,0,0,0,0,0,0,28.83,24.53,23.41
$GC,9333,0.61,157.7,2744,3297,2222,2037,970.0,8.6,692,9365,0.00,2.38,23.30,1.639,9222,0.000,0.058,2754,1898,2040,2136,1944,0,0,0,0,0,0,28.83,24.82,23.26
$GC,9665,0.61,157.7,2753,1898,2128,1934,933.5,10.9,709,9671,0.00,2.42,0.00,0.000,516,0.000,0.076,2765,469,2030,2127,1934,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9698,0.61,157.7,2764,469,2126,1934,931.3,11.0,710,9706,0.00,2.33,0.00,0.000,1030,0.000,0.057,2764,1889,2030,2126,1934,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10005,0.61,157.7,2764,1889,2125,1933,894.6,11.3,726,10009,0.00,2.30,0.00,0.000,260,0.000,0.065,2764,3300,2029,2125,1933,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10044,0.61,157.7,2764,3300,2123,1931,890.3,11.5,728,10048,0.00,2.33,0.00,0.000,1030,0.000,0.062,2775,1878,2027,2123,1931,0,0,0,0,0,0,28.83,25.68,28.83
$GC,10356,0.61,157.7,2775,1877,2123,1931,852.3,12.2,744,10362,0.00,2.33,0.00,0.000,516,0.000,0.076,2786,477,2027,2123,1931,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10399,0.61,157.7,2785,477,2122,1931,847.2,12.5,746,10403,0.00,2.28,0.00,0.000,1030,0.000,0.058,2786,1889,2026,2122,1931,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10711,0.61,157.7,2785,1889,2121,1931,806.8,12.7,762,10717,0.00,2.30,0.00,0.000,260,0.000,0.067,2786,3305,2025,2121,1930,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10744,0.61,157.7,2785,3305,2120,1930,804.1,12.7,763,10751,0.00,2.30,0.00,0.000,1030,0.000,0.061,2796,1887,2025,2120,1930,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11051,0.61,157.7,2796,1886,2120,1930,761.7,13.2,779,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1886,2024,2120,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11351,0.61,157.7,2796,1886,2120,1929,722.6,12.9,794,11357,0.00,2.35,0.00,0.000,516,0.000,0.077,2807,467,2024,2120,1929,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11434,0.61,157.7,2807,467,2120,1930,711.7,13.7,798,11439,0.15,2.30,0.00,0.000,5126,0.194,0.059,2773,1894,2024,2119,1930,0,0,0,0,0,0,25.56,25.92,28.83
$GC,11746,0.61,157.7,2773,1895,2119,1929,675.2,11.3,814,11752,0.00,2.28,0.00,0.000,260,0.000,0.067,2772,3302,2024,2119,1929,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11807,0.61,157.7,2772,3302,2119,1929,668.2,11.5,817,11812,0.00,2.28,0.00,0.000,1030,0.000,0.061,2781,1882,2024,2119,1929,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,17514,end climb,SURFACE_DEPTH_REACHED
$STATE,17515,begin surface coast
$FINISH,-0.0,1.026684
$STATE,17543,end surface coast,CONTROL_FINISHED_OK
$STATE,17543,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,58.11
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$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,10.1,25.605
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353180
$DATA_FILE_SIZE,90446,1367
$CAP_FILE_SIZE,161529,0
$CFSIZE,259252224,239210496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,337.3,1
$GPS,040916,052651,-4258.026,829.395,36,0.9,37,-25.0