version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 271
start: 9 7 116 15 36 43
data:
$ID,542
$MISSION,14
$DIVE,271
$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,-41532.473
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,070916,152502,-4254.396,829.754,37,1.7,41,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-60.6
$GPS2,070916,153559,-4254.319,829.755,14,1.8,14,-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,199.2,21506,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.55,-97.3,138,1952,581,578,0.0,0.0,0,123,0.00,0.00,-101.55,0.000,16390,0.000,0.000,138,1951,3081,3126,3036,0,0,0,0,0,0,28.83,28.83,26.25
$GC,126,-0.55,-97.3,138,1951,3126,3037,3.0,-3.6,16,140,9.05,2.33,0.00,0.000,2308,0.231,0.054,2378,3374,3083,3129,3037,0,0,0,0,0,0,25.04,25.66,28.83
$GC,218,-0.55,-97.3,1440,3373,3136,3008,21.0,-13.7,33,225,0.00,2.28,0.00,0.000,1030,0.000,0.050,2378,1956,3086,3162,3011,0,0,0,0,0,0,28.83,25.63,28.83
$GC,348,-0.55,-97.3,1440,1955,3140,3005,39.7,-14.5,58,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1956,3087,3165,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-0.55,-97.3,2378,1956,3165,3009,58.1,-12.6,83,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1957,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,795,-0.55,-97.3,2378,1956,3165,3009,101.6,-14.1,144,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1956,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.55,-97.3,2379,1957,3166,3009,141.2,-13.3,174,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1957,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1407,-0.55,-97.3,2378,1956,3166,3009,182.2,-13.1,205,1415,0.00,2.25,0.00,0.000,260,0.000,0.056,2368,3372,3087,3166,3009,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1441,-0.55,-97.3,2368,3372,3166,3009,186.5,-12.7,208,1448,0.00,2.30,0.00,0.000,1030,0.000,0.050,2368,1951,3087,3165,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1750,-0.55,-97.3,2368,1951,3166,3009,226.3,-12.2,239,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3087,3166,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,-0.55,-97.3,2368,1951,3166,3009,265.5,-13.7,269,2058,0.00,2.25,0.00,0.000,260,0.000,0.057,2358,3370,3087,3166,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2104,-0.55,-97.3,2358,3370,3167,3009,272.5,-12.9,274,2113,0.10,2.28,0.00,0.000,3078,0.155,0.050,2388,1955,3088,3167,3009,0,0,0,0,0,0,25.56,25.89,28.83
$GC,2412,-0.55,-97.3,2388,1955,3167,3009,308.0,-11.7,305,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1955,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-0.55,-97.3,2388,1955,3167,3009,344.0,-12.0,335,2717,0.00,2.28,0.00,0.000,260,0.000,0.057,2380,3376,3088,3167,3009,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2756,-0.55,-97.3,2379,3376,3167,3009,349.3,-12.5,339,2764,0.00,2.22,0.00,0.000,1030,0.000,0.050,2380,1952,3088,3167,3009,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3065,-0.55,-97.3,2379,1952,3167,3009,387.4,-12.3,370,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1952,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3376,-0.55,-97.3,2380,1953,3167,3008,426.0,-12.3,391,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1952,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.55,-97.3,2379,1952,3167,3008,462.7,-12.3,406,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1953,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.55,-97.3,2379,1952,3167,3008,499.5,-12.2,421,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1952,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.55,-97.3,2379,1952,3167,3006,534.4,-11.9,436,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1952,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4575,-0.55,-97.3,2379,1952,3167,3006,569.6,-11.5,451,4581,0.00,2.28,0.00,0.000,260,0.000,0.059,2370,3371,3086,3167,3006,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4623,-0.55,-97.3,2369,3371,3167,3005,574.2,-11.5,453,4627,0.00,2.25,0.00,0.000,1030,0.000,0.052,2369,1952,3086,3167,3005,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4929,-0.55,-97.3,2369,1952,3167,3005,612.4,-12.5,468,4934,0.00,2.28,0.00,0.000,260,0.000,0.059,2359,3370,3086,3167,3005,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4988,-0.55,-97.3,1536,3369,3148,3001,619.5,-12.6,471,4993,0.10,2.30,0.00,0.000,3078,0.156,0.052,2390,1956,3086,3167,3005,0,0,0,0,0,0,25.56,25.87,28.83
$GC,5306,-0.55,-97.3,2389,1955,3167,3004,655.2,-10.9,487,5312,0.00,2.28,0.00,0.000,260,0.000,0.060,2381,3372,3085,3167,3004,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5368,-0.55,-97.3,1568,3371,3148,3000,661.7,-10.8,490,5372,0.00,2.30,0.00,0.000,1030,0.000,0.052,2381,1958,3085,3167,3003,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5686,-0.55,-97.3,2381,1957,3167,3003,695.8,-10.5,506,5692,0.00,2.28,0.00,0.000,260,0.000,0.060,2371,3371,3085,3167,3003,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5726,-0.55,-97.3,2371,3371,3167,3002,700.1,-10.6,508,5730,0.00,2.25,0.00,0.000,1030,0.000,0.053,2371,1954,3084,3167,3002,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6043,-0.55,-97.3,2370,1954,3167,3002,736.4,-12.0,524,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1954,3084,3167,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,-0.55,-97.3,2371,1954,3167,3001,770.2,-11.4,539,6348,0.00,2.28,0.00,0.000,260,0.000,0.060,2360,3372,3084,3167,3001,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6395,-0.55,-97.3,2360,3372,3167,3001,774.7,-11.3,541,6403,0.12,2.28,0.00,0.000,3078,0.171,0.053,2389,1949,3084,3167,3001,0,0,0,0,0,0,25.59,25.84,28.83
$GC,6703,-0.55,-97.3,2389,1948,3167,3000,808.6,-10.9,557,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1948,3083,3167,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-0.55,-97.3,2389,1948,3167,2999,841.6,-10.9,572,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1948,3083,3167,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7303,-0.55,-97.3,2389,1948,3167,2997,874.0,-10.6,587,7308,0.00,2.30,0.00,0.000,260,0.000,0.061,2381,3370,3082,3167,2997,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7402,-0.55,-97.3,2381,3371,3167,2996,884.6,-10.6,592,7408,0.00,2.28,0.00,0.000,1030,0.000,0.054,2381,1947,3081,3167,2996,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7722,-0.55,-97.3,2381,1947,3167,2996,919.1,-10.9,608,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1946,3081,3167,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.55,-97.3,2381,1947,3167,2995,951.7,-10.8,623,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1947,3081,3167,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8322,-0.55,-97.3,2381,1947,3167,2995,983.9,-10.7,638,8328,0.00,2.33,0.00,0.000,260,0.000,0.063,2370,3373,3081,3167,2995,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8405,-0.55,-97.3,2370,3374,3167,2994,992.2,-10.5,642,8409,0.00,2.28,0.00,0.000,1030,0.000,0.055,2371,1954,3081,3167,2995,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,8496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8496,begin apogee
$GC,8501,-0.14,0.0,2370,1873,3167,2994,1002.1,-10.4,647,8597,0.52,0.00,89.43,1.769,10246,0.151,0.000,2525,1872,2685,2785,2585,0,0,0,0,0,0,25.31,28.83,23.15
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8599,begin climb
$GC,8600,0.55,97.3,2525,1872,2785,2585,1005.4,0.0,652,8700,0.70,0.00,96.03,1.713,10246,0.096,0.000,2750,1872,2285,2371,2200,0,0,0,0,0,0,24.49,28.83,22.29
$GC,8998,0.55,97.3,2750,1872,2363,2191,973.3,9.6,672,9004,0.00,2.38,0.00,0.000,260,0.000,0.064,2750,3299,2276,2362,2191,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9070,0.55,97.3,2750,3298,2361,2190,967.2,10.1,675,9077,0.00,2.35,0.00,0.000,1030,0.000,0.059,2760,1888,2275,2361,2190,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9378,0.55,97.3,2760,1888,2361,2189,935.5,9.9,691,9384,0.00,2.33,0.00,0.000,260,0.000,0.063,2761,3304,2275,2361,2189,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9430,0.55,97.3,2760,3303,2360,2188,931.3,10.2,693,9437,0.00,2.35,0.00,0.000,1030,0.000,0.060,2771,1878,2274,2360,2188,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9737,0.55,97.3,2770,1878,2360,2188,897.9,10.4,709,9743,0.00,2.35,0.00,0.000,516,0.000,0.075,2781,471,2274,2360,2188,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9766,0.55,97.3,2781,471,2358,2188,895.7,10.6,710,9771,0.12,2.30,0.00,0.000,5126,0.194,0.058,2755,1894,2273,2358,2188,0,0,0,0,0,0,25.42,25.72,28.83
$GC,10072,0.55,97.3,2755,1894,2358,2188,864.5,9.7,725,10078,0.00,2.30,0.00,0.000,260,0.000,0.065,2755,3303,2273,2358,2188,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10155,0.55,97.3,2755,3303,2358,2187,856.1,10.5,729,10159,0.00,2.33,0.00,0.000,1030,0.000,0.060,2764,1880,2272,2358,2187,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10473,0.55,97.3,2763,1880,2358,2187,823.9,9.8,745,10478,0.00,2.33,0.00,0.000,260,0.000,0.064,2764,3298,2272,2357,2187,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10525,0.55,97.3,2764,3298,2357,2186,820.0,9.8,747,10532,0.00,2.30,0.00,0.000,1030,0.000,0.060,2774,1886,2272,2357,2187,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10833,0.56,108.6,2774,1886,2357,2186,790.0,9.0,763,10844,0.00,0.00,9.07,1.522,8198,0.000,0.000,2774,1886,2240,2329,2152,0,0,0,0,0,0,28.83,28.83,24.51
$GC,11132,0.57,116.6,2774,1886,2328,2151,762.0,9.1,778,11147,0.00,2.33,9.23,1.504,8452,0.000,0.063,2774,3305,2208,2299,2118,0,0,0,0,0,0,28.83,25.77,24.44
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$STATE,18723,end climb,SURFACE_DEPTH_REACHED
$STATE,18723,begin surface coast
$FINISH,0.0,1.012067
$STATE,18750,end surface coast,CONTROL_FINISHED_OK
$STATE,18750,begin surface
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$TT8_MAMPS,0.020972,0.020972
$HUMID,57.67
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$TCM_TEMP,18.60
$XPDR_PINGS,0
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$10V_AH,10.0,27.373
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,97045,1443
$CAP_FILE_SIZE,174001,0
$CFSIZE,259252224,237809664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,311.7,1
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