version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 273
start: 9 8 116 2 5 30
data:
$ID,542
$MISSION,14
$DIVE,273
$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,-41534.98
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,080916,015827,-4258.053,829.652,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-58.6
$GPS2,080916,020447,-4258.115,829.718,16,1.9,16,-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,197.0,14479,-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,-97.3,138,1967,578,581,0.0,0.0,0,120,0.00,0.00,-100.40,0.000,16390,0.000,0.000,138,1967,3080,3149,3012,0,0,0,0,0,0,28.83,28.83,26.28
$GC,123,-0.55,-97.3,138,1967,3151,3012,3.4,-5.0,16,138,8.73,2.30,0.00,0.000,2308,0.219,0.050,2378,3378,3082,3160,3005,0,0,0,0,0,0,25.05,25.70,28.83
$GC,271,-0.55,-97.3,1424,3377,3148,2992,30.1,-16.4,44,279,0.00,2.30,0.00,0.000,1030,0.000,0.050,2379,1951,3084,3172,2996,0,0,0,0,0,0,28.83,25.67,28.83
$GC,403,-0.55,-97.3,2379,1950,3173,2996,50.7,-16.5,69,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3084,3173,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,714,-0.55,-97.3,2379,1951,3173,2996,92.7,-13.3,130,721,0.00,2.28,0.00,0.000,260,0.000,0.056,2369,3368,3084,3173,2996,0,0,0,0,0,0,28.83,25.73,28.83
$GC,768,-0.55,-97.3,1504,3367,3153,2992,99.9,-13.4,140,775,0.00,2.30,0.00,0.000,1030,0.000,0.050,2369,1948,3084,3172,2996,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1075,-0.55,-97.3,2369,1948,3173,2996,142.3,-13.8,171,1083,0.00,2.25,0.00,0.000,260,0.000,0.056,2359,3362,3084,3173,2996,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1146,-0.55,-97.3,2358,3362,3173,2996,152.0,-13.5,178,1157,0.15,2.22,0.00,0.000,3078,0.171,0.049,2395,1951,3085,3174,2996,0,0,0,0,0,0,25.49,25.83,28.83
$GC,1457,-0.55,-97.3,2394,1950,3174,2996,187.4,-11.7,209,1465,0.00,2.28,0.00,0.000,516,0.000,0.062,2395,547,3085,3174,2996,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1490,-0.55,-97.3,2394,547,3174,2996,191.5,-12.3,212,1499,0.00,2.17,0.00,0.000,1030,0.000,0.050,2386,1948,3085,3174,2996,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1800,-0.55,-97.3,2386,1947,3174,2996,228.6,-11.7,243,1808,0.00,2.22,0.00,0.000,260,0.000,0.057,2376,3365,3085,3174,2996,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1923,-0.55,-97.3,2375,3365,3174,2996,243.5,-11.9,255,1932,0.00,2.20,0.00,0.000,1030,0.000,0.049,2376,1956,3085,3174,2996,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2232,-0.55,-97.3,2375,1955,3174,2996,283.3,-12.6,286,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3085,3174,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2533,-0.55,-97.3,2375,1955,3175,2996,321.7,-12.5,316,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1955,3085,3175,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.55,-97.3,2375,1955,3175,2996,357.4,-12.2,346,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1955,3085,3175,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3133,-0.55,-97.3,2375,1955,3175,2996,393.8,-11.9,376,3143,0.00,2.25,0.00,0.000,260,0.000,0.057,2365,3374,3085,3175,2996,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3199,-0.55,-97.3,1536,3372,3156,2992,401.5,-12.3,382,3203,0.00,2.25,0.00,0.000,1030,0.000,0.049,2365,1947,3085,3175,2996,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3516,-0.55,-97.3,2365,1947,3175,2996,440.4,-11.9,398,3518,0.12,0.00,0.00,0.000,2054,0.184,0.000,2394,1946,3085,3175,2996,0,0,0,0,0,0,26.06,28.83,28.83
$GC,3816,-0.55,-97.3,2394,1946,3175,2996,471.7,-10.5,413,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3085,3175,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4116,-0.55,-97.3,2394,1946,3175,2996,502.2,-10.0,428,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3085,3175,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.55,-97.3,2394,1945,3175,2995,533.7,-10.7,443,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1946,3085,3175,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.55,-97.3,2394,1945,3175,2995,565.2,-10.3,458,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1945,3085,3175,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5016,-0.55,-97.3,2394,1946,3175,2994,595.8,-10.1,473,5021,0.00,2.30,0.00,0.000,260,0.000,0.059,2386,3372,3084,3175,2994,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5078,-0.55,-97.3,1568,3372,3157,2990,601.8,-10.0,476,5082,0.00,2.30,0.00,0.000,1030,0.000,0.051,2385,1956,3084,3175,2994,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5396,-0.55,-97.3,2385,1956,3175,2993,634.3,-10.0,492,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3084,3175,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-0.55,-97.3,2385,1955,3175,2992,663.3,-9.7,507,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3083,3175,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.55,-97.3,2385,1956,3175,2991,695.1,-11.3,522,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1956,3083,3176,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.55,-97.3,2386,1955,3175,2990,729.0,-11.0,537,6302,0.00,2.30,0.00,0.000,260,0.000,0.060,2376,3375,3082,3175,2990,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6336,-0.55,-97.3,2375,3375,3175,2990,733.4,-10.9,539,6342,0.00,2.28,0.00,0.000,1030,0.000,0.053,2376,1951,3082,3175,2990,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6657,-0.55,-97.3,2375,1951,3174,2989,768.9,-10.7,555,6662,0.00,2.30,0.00,0.000,260,0.000,0.060,2365,3374,3082,3175,2989,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6736,-0.55,-97.3,2365,3374,3175,2988,777.7,-11.1,559,6743,0.12,2.28,0.00,0.000,3078,0.176,0.053,2393,1951,3081,3175,2988,0,0,0,0,0,0,25.58,25.82,28.83
$GC,7058,-0.55,-97.3,2393,1951,3175,2987,808.0,-9.3,575,7063,0.00,2.28,0.00,0.000,260,0.000,0.061,2385,3370,3081,3175,2987,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7116,-0.55,-97.3,2385,3370,3175,2987,813.9,-9.8,578,7120,0.00,2.25,0.00,0.000,1030,0.000,0.052,2385,1955,3081,3175,2987,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7432,-0.55,-97.3,2385,1955,3175,2986,845.0,-9.5,594,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1955,3080,3175,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7732,-0.55,-97.3,2385,1955,3175,2985,874.2,-9.5,609,7738,0.00,2.28,0.00,0.000,260,0.000,0.062,2375,3365,3080,3175,2985,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7800,-0.55,-97.3,2375,3365,3175,2985,879.9,-9.6,612,7804,0.00,2.28,0.00,0.000,1030,0.000,0.054,2375,1948,3080,3175,2985,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8108,-0.55,-97.3,2375,1947,3175,2985,911.5,-9.3,627,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1947,3079,3175,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8407,-0.55,-97.3,2374,1947,3175,2984,940.4,-9.7,642,8412,0.00,2.33,0.00,0.000,260,0.000,0.063,2365,3373,3079,3175,2984,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8440,-0.55,-97.3,2365,3372,3175,2984,942.3,-9.4,643,8447,0.12,2.28,0.00,0.000,3078,0.172,0.054,2393,1951,3079,3175,2984,0,0,0,0,0,0,25.56,25.79,28.83
$GC,8748,-0.55,-97.3,2393,1951,3175,2983,969.5,-8.8,659,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1951,3079,3175,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9047,-0.55,-97.3,2393,1951,3175,2983,996.5,-9.1,674,9053,0.00,2.30,0.00,0.000,260,0.000,0.063,2385,3364,3079,3175,2983,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,9085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9085,begin apogee
$GC,9092,-0.14,0.0,2384,1882,3175,2983,1000.2,-9.1,676,9187,0.47,0.00,89.35,1.768,10246,0.145,0.000,2526,1881,2682,2784,2581,0,0,0,0,0,0,25.37,28.83,23.18
$STATE,9188,end apogee,CONTROL_FINISHED_OK
$STATE,9188,begin climb
$GC,9190,0.55,97.3,2526,1881,2784,2582,1004.2,0.0,681,9295,0.65,2.67,95.05,1.707,10756,0.096,0.072,2752,477,2285,2368,2203,0,0,0,0,0,0,24.48,23.44,22.30
$GC,9368,0.58,123.3,2752,477,2355,2202,994.4,8.4,690,9400,0.00,2.40,25.83,1.666,9222,0.000,0.055,2752,1882,2181,2267,2095,0,0,0,0,0,0,28.83,24.37,22.75
$GC,9709,0.58,123.3,2752,1882,2263,2083,960.3,10.5,707,9714,0.00,2.33,0.00,0.000,260,0.000,0.063,2751,3295,2173,2263,2083,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9789,0.58,123.3,2751,3295,2262,2083,951.2,11.4,711,9794,0.00,2.33,0.00,0.000,1030,0.000,0.059,2762,1887,2172,2262,2082,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10108,0.58,123.3,2761,1887,2262,2082,915.9,10.5,727,10114,0.00,2.38,0.00,0.000,516,0.000,0.075,2772,466,2171,2262,2081,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10188,0.58,123.3,2773,466,2259,2081,907.0,11.1,731,10194,0.00,2.30,0.00,0.000,1030,0.000,0.057,2772,1888,2170,2259,2081,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10508,0.58,123.3,2772,1888,2259,2081,874.6,10.0,747,10514,0.00,2.30,0.00,0.000,260,0.000,0.065,2773,3304,2169,2258,2081,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10576,0.58,123.3,2773,3304,2258,2080,868.1,10.6,750,10580,0.00,2.33,0.00,0.000,1030,0.000,0.060,2783,1876,2168,2257,2080,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10883,0.58,123.3,2783,1876,2258,2080,834.3,10.9,765,10889,0.00,2.33,0.00,0.000,260,0.000,0.063,2783,3304,2168,2257,2080,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10911,0.58,123.3,2783,3304,2257,2079,831.9,11.1,766,10916,0.15,2.33,0.00,0.000,5126,0.202,0.059,2761,1875,2168,2258,2079,0,0,0,0,0,0,25.41,25.77,28.83
$GC,11218,0.58,123.3,2760,1875,2257,2079,801.1,9.6,781,11223,0.00,2.33,0.00,0.000,260,0.000,0.065,2761,3303,2168,2258,2079,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,18388,end climb,SURFACE_DEPTH_REACHED
$STATE,18388,begin surface coast
$FINISH,-0.0,1.026678
$STATE,18410,end surface coast,CONTROL_FINISHED_OK
$STATE,18410,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,59.01
$INTERNAL_PRESSURE,9.2676
$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,10.1,27.582
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,93885,1383
$CAP_FILE_SIZE,171029,0
$CFSIZE,259252224,237654016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,338.9,1
$GPS,080916,071603,-4259.690,829.676,35,1.3,35,-25.0