version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 268
start: 9 7 116 1 22 25
data:
$ID,542
$MISSION,14
$DIVE,268
$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,-41528.707
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,070916,010927,-4253.959,828.938,35,1.1,35,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-54.8
$GPS2,070916,012140,-4253.878,828.955,17,1.1,17,-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,152.3,1462,-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,-97.3,138,1964,580,576,0.0,0.0,0,120,0.00,0.00,-101.28,0.000,16390,0.000,0.000,138,1964,3081,3127,3035,0,0,0,0,0,0,28.83,28.83,26.22
$GC,123,-0.57,-97.3,137,1963,3140,3029,3.1,-5.0,16,138,8.85,2.28,0.00,0.000,2308,0.226,0.047,2374,3371,3084,3152,3016,0,0,0,0,0,0,25.10,25.72,28.83
$GC,278,-0.57,-97.3,1424,3370,3144,3001,28.1,-11.1,45,285,0.00,2.28,0.00,0.000,1030,0.000,0.050,2373,1950,3086,3168,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,408,-0.57,-97.3,2373,1950,3168,3005,45.4,-14.5,70,416,0.00,2.30,0.00,0.000,260,0.000,0.057,2363,3374,3087,3169,3005,0,0,0,0,0,0,28.83,25.70,28.83
$GC,442,-0.57,-97.3,1496,3372,3148,3001,50.8,-15.9,76,450,0.00,2.30,0.00,0.000,1030,0.000,0.049,2363,1955,3087,3169,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,756,-0.57,-97.3,2363,1955,3169,3004,95.7,-15.8,137,763,0.00,2.25,0.00,0.000,260,0.000,0.057,2354,3369,3086,3169,3004,0,0,0,0,0,0,28.83,25.80,28.83
$GC,801,-0.57,-97.3,2354,3369,3169,3004,103.2,-15.7,144,812,0.12,2.25,0.00,0.000,3078,0.179,0.049,2381,1945,3087,3170,3004,0,0,0,0,0,0,25.57,25.84,28.83
$GC,1112,-0.57,-97.3,2381,1945,3169,3004,146.7,-13.8,175,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1945,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-0.57,-97.3,2381,1945,3169,3004,186.4,-12.9,205,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1945,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1724,-0.57,-97.3,2381,1945,3170,3004,225.7,-12.8,236,1733,0.00,2.22,0.00,0.000,260,0.000,0.056,2373,3358,3087,3170,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1769,-0.57,-97.3,2373,3358,3170,3005,231.6,-13.1,240,1776,0.00,2.25,0.00,0.000,1030,0.000,0.048,2373,1954,3087,3170,3005,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2077,-0.57,-97.3,2373,1954,3170,3004,272.3,-13.1,271,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,-0.57,-97.3,2373,1954,3170,3004,309.0,-12.0,301,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.57,-97.3,2373,1954,3170,3005,345.2,-12.2,331,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.57,-97.3,2373,1954,3170,3004,383.7,-12.1,362,2998,0.00,2.25,0.00,0.000,516,0.000,0.062,2373,548,3087,3170,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3021,-0.57,-97.3,2373,549,3170,3004,388.0,-12.6,365,3030,0.00,2.20,0.00,0.000,1030,0.000,0.050,2363,1957,3087,3170,3004,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3341,-0.57,-97.3,2363,1957,3170,3004,429.2,-13.0,386,3347,0.00,2.25,0.00,0.000,260,0.000,0.057,2352,3371,3087,3170,3005,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3383,-0.57,-97.3,2352,3371,3170,3004,434.4,-13.2,388,3388,0.12,2.22,0.00,0.000,3078,0.176,0.049,2382,1952,3087,3170,3004,0,0,0,0,0,0,25.70,25.97,28.83
$GC,3696,-0.57,-97.3,2381,1951,3170,3004,469.9,-10.9,404,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1951,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3996,-0.57,-97.3,2381,1951,3170,3004,502.4,-10.9,419,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1951,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-0.57,-97.3,2382,1951,3170,3003,536.7,-11.6,434,4301,0.00,2.28,0.00,0.000,260,0.000,0.059,2373,3372,3086,3170,3003,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4349,-0.57,-97.3,2373,3373,3170,3003,541.4,-11.8,436,4356,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1948,3087,3171,3003,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4656,-0.57,-97.3,2373,1948,3171,3002,580.7,-12.4,452,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1948,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4956,-0.57,-97.3,2373,1948,3170,3002,618.7,-12.3,467,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1948,3086,3170,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5255,-0.57,-97.3,2373,1948,3170,3001,653.9,-11.6,482,5260,0.00,2.28,0.00,0.000,260,0.000,0.060,2363,3365,3085,3170,3001,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5335,-0.57,-97.3,2363,3365,3170,3001,662.9,-11.7,486,5339,0.00,2.25,0.00,0.000,1030,0.000,0.052,2363,1949,3085,3170,3001,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5648,-0.57,-97.3,2363,1949,3170,3000,701.8,-12.2,502,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1949,3085,3170,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5947,-0.57,-97.3,2363,1949,3170,2999,736.8,-11.6,517,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1949,3084,3170,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6247,-0.57,-97.3,2363,1949,3170,2997,770.9,-11.4,532,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1949,3083,3170,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-0.57,-97.3,2363,1949,3171,2996,805.2,-11.4,547,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1949,3083,3170,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6847,-0.57,-97.3,2363,1949,3170,2995,838.8,-10.7,562,6853,0.00,2.30,0.00,0.000,260,0.000,0.061,2353,3373,3082,3170,2995,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6887,-0.57,-97.3,2353,3373,3170,2995,843.4,-11.1,564,6894,0.12,2.28,0.00,0.000,3078,0.178,0.053,2382,1951,3082,3170,2995,0,0,0,0,0,0,25.62,25.89,28.83
$GC,7208,-0.57,-97.3,2381,1951,3170,2995,874.2,-9.5,580,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1951,3082,3170,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7508,-0.57,-97.3,2381,1951,3170,2994,902.3,-9.9,595,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1951,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7808,-0.57,-97.3,2381,1951,3170,2993,933.6,-10.5,610,7813,0.00,2.30,0.00,0.000,260,0.000,0.063,2373,3370,3081,3170,2992,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7887,-0.57,-97.3,2373,3370,3170,2992,942.1,-10.6,614,7891,0.00,2.25,0.00,0.000,1030,0.000,0.054,2373,1955,3081,3170,2992,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8204,-0.57,-97.3,2373,1954,3170,2991,976.4,-11.0,630,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1954,3080,3170,2991,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8442,begin apogee
$GC,8446,-0.14,0.0,2373,1873,3170,2991,1001.7,-10.5,642,8544,0.50,0.00,89.45,1.756,10246,0.150,0.000,2520,1873,2683,2786,2581,0,0,0,0,0,0,25.29,28.83,23.23
$STATE,8545,end apogee,CONTROL_FINISHED_OK
$STATE,8545,begin climb
$GC,8547,0.57,97.3,2520,1873,2786,2581,1005.6,0.0,647,8650,0.70,2.58,94.35,1.702,10756,0.098,0.071,2761,484,2284,2372,2197,0,0,0,0,0,0,24.52,23.45,22.34
$GC,8677,0.66,190.0,2761,484,2366,2197,1000.4,5.6,653,8777,0.00,2.42,91.95,1.688,9222,0.000,0.054,2761,1880,1908,2006,1810,0,0,0,0,0,0,28.83,24.06,22.33
$GC,9084,0.66,190.0,2760,1880,1996,1797,948.9,13.3,674,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1880,1896,1996,1797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9384,0.66,190.0,2761,1880,1995,1795,909.8,13.0,689,9390,0.00,2.33,0.00,0.000,260,0.000,0.063,2761,3301,1894,1994,1795,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9413,0.66,190.0,2761,3301,1991,1794,907.1,13.1,690,9418,0.00,2.30,0.00,0.000,1030,0.000,0.059,2771,1897,1892,1991,1794,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9719,0.66,190.0,2771,1896,1991,1794,863.7,13.7,705,9725,0.00,2.38,0.00,0.000,516,0.000,0.075,2782,473,1892,1991,1794,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9819,0.66,190.0,2782,473,1990,1794,849.4,14.4,710,9823,0.00,2.28,0.00,0.000,1030,0.000,0.057,2782,1889,1892,1990,1794,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10135,0.66,190.0,2782,1890,1989,1793,801.9,15.3,726,10141,0.00,2.30,0.00,0.000,260,0.000,0.065,2782,3307,1891,1989,1793,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10168,0.66,190.0,2782,3306,1988,1792,798.6,15.5,727,10175,0.00,2.33,0.00,0.000,1030,0.000,0.060,2793,1877,1890,1988,1792,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10476,0.66,190.0,2792,1877,1988,1792,747.1,15.9,743,10481,0.00,2.33,0.00,0.000,516,0.000,0.076,2804,476,1890,1989,1792,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10558,0.66,190.0,1920,476,1954,1787,733.9,16.6,747,10562,0.00,2.33,0.00,0.000,1030,0.000,0.058,2804,1892,1890,1988,1792,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10876,0.66,190.0,2804,1892,1988,1792,680.9,16.1,763,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1893,1890,1988,1792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11175,0.66,190.0,2803,1893,1988,1792,633.1,15.9,778,11181,0.00,2.28,0.00,0.000,260,0.000,0.065,2804,3301,1890,1988,1792,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11243,0.66,190.0,2804,3301,1985,1791,623.0,16.6,781,11247,0.00,2.30,0.00,0.000,1030,0.000,0.060,2814,1881,1888,1986,1791,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11550,0.66,190.0,2814,1881,1986,1791,571.7,15.9,796,11556,0.00,2.33,0.00,0.000,516,0.000,0.075,2825,475,1889,1987,1791,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11579,0.66,190.0,2825,475,1986,1791,568.4,16.1,797,11583,0.15,2.28,0.00,0.000,5126,0.197,0.057,2791,1893,1888,1986,1791,0,0,0,0,0,0,25.53,25.93,28.83
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$STATE,15576,end climb,SURFACE_DEPTH_REACHED
$STATE,15576,begin surface coast
$FINISH,-0.0,1.023568
$STATE,15603,end surface coast,CONTROL_FINISHED_OK
$STATE,15603,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,58.19
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,10.0,27.065
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,80420,1207
$CAP_FILE_SIZE,149929,0
$CFSIZE,259252224,238084096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,341.8,1
$GPS,070916,054621,-4254.483,830.926,41,1.0,42,-25.0