version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 277
start: 9 9 116 1 12 40
data:
$ID,542
$MISSION,14
$DIVE,277
$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,-41682.762
$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,24
$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
$GPS1,090916,005605,-4302.251,830.034,38,0.8,38,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.5
$GPS2,090916,011158,-4302.063,830.002,15,1.5,15,-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,202.2,7161,-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,14,begin dive
$GC,16,-0.55,-97.3,138,1957,577,578,0.0,0.0,0,121,0.00,0.00,-100.30,0.000,16390,0.000,0.000,138,1957,3085,3145,3025,0,0,0,0,0,0,28.83,28.83,26.36
$GC,124,-0.55,-97.3,138,1957,3148,3021,3.7,-5.9,16,137,8.65,0.00,0.00,0.000,2822,0.217,0.000,2389,1957,3085,3155,3016,0,0,0,0,0,0,25.23,28.83,28.83
$GC,180,-0.55,-97.3,1456,1955,3145,3001,17.0,-15.6,26,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,230,-0.55,-97.3,1440,1955,3146,3001,24.1,-13.2,35,237,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3087,3169,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,359,-0.55,-97.3,1440,1956,3146,3000,38.7,-10.0,60,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3087,3170,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,489,-0.55,-97.3,2389,1957,3170,3005,54.0,-12.9,85,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3087,3170,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,802,-0.55,-97.3,2389,1957,3170,3005,96.6,-13.8,146,809,0.00,2.28,0.00,0.000,260,0.000,0.057,2380,3374,3087,3170,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,880,-0.55,-97.3,2379,3373,3170,3005,107.3,-13.8,155,887,0.00,2.30,0.00,0.000,1030,0.000,0.049,2380,1954,3087,3170,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1188,-0.55,-97.3,2379,1954,3171,3004,149.7,-13.2,186,1192,0.00,2.25,0.00,0.000,260,0.000,0.056,2370,3368,3087,3170,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1256,-0.55,-97.3,2370,3368,3171,3005,158.9,-13.6,192,1260,0.00,2.25,0.00,0.000,1030,0.000,0.049,2370,1943,3088,3171,3005,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1561,-0.55,-97.3,2370,1942,3171,3005,202.5,-13.9,222,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1943,3088,3171,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-0.55,-97.3,2369,1943,3171,3005,241.1,-13.8,252,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1943,3088,3171,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.55,-97.3,2370,1943,3171,3004,282.0,-13.1,282,2174,0.00,2.25,0.00,0.000,260,0.000,0.056,2359,3367,3087,3171,3004,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2217,-0.55,-97.3,2359,3366,3171,3005,289.2,-13.3,287,2227,0.10,2.22,0.00,0.000,3078,0.179,0.049,2388,1954,3087,3171,3004,0,0,0,0,0,0,25.71,25.96,28.83
$GC,2527,-0.55,-97.3,2388,1954,3172,3004,327.3,-12.4,318,2537,0.00,2.25,0.00,0.000,516,0.000,0.062,2388,549,3088,3172,3004,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2590,-0.55,-97.3,2388,549,3172,3004,335.5,-12.9,324,2594,0.00,2.20,0.00,0.000,1030,0.000,0.048,2379,1957,3088,3171,3005,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2895,-0.55,-97.3,2379,1957,3172,3005,373.2,-11.6,354,2899,0.00,2.22,0.00,0.000,260,0.000,0.056,2368,3369,3088,3172,3005,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2983,-0.55,-97.3,2369,3369,3172,3005,383.3,-11.4,362,2987,0.00,2.22,0.00,0.000,1030,0.000,0.048,2368,1950,3088,3172,3005,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3299,-0.55,-97.3,2368,1949,3172,3004,423.7,-13.3,384,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1949,3088,3172,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.55,-97.3,2368,1949,3172,3004,463.2,-13.1,399,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1949,3088,3172,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.55,-97.3,2368,1949,3172,3004,500.9,-12.4,414,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1949,3088,3172,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.55,-97.3,2368,1949,3172,3004,538.6,-12.4,429,4202,0.00,2.28,0.00,0.000,260,0.000,0.057,2358,3370,3087,3172,3003,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4267,-0.55,-97.3,2358,3370,3171,3003,545.7,-12.6,432,4275,0.15,2.25,0.00,0.000,3078,0.166,0.050,2395,1948,3087,3171,3003,0,0,0,0,0,0,25.63,25.94,28.83
$GC,4574,-0.55,-97.3,2395,1948,3172,3002,580.6,-10.7,448,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1948,3087,3172,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-0.55,-97.3,2395,1948,3172,3002,610.5,-9.5,463,4880,0.00,2.28,0.00,0.000,260,0.000,0.059,2386,3369,3087,3172,3002,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4914,-0.55,-97.3,2386,3370,3172,3002,614.3,-9.4,465,4920,0.00,2.25,0.00,0.000,1030,0.000,0.052,2386,1951,3087,3172,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5234,-0.55,-97.3,2386,1951,3172,3001,646.2,-10.1,481,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1951,3086,3172,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5534,-0.55,-97.3,2386,1951,3172,3000,675.8,-10.0,496,5538,0.00,2.28,0.00,0.000,260,0.000,0.060,2376,3368,3085,3172,2999,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5584,-0.55,-97.3,2376,3368,3172,2999,679.5,-10.0,498,5591,0.00,2.25,0.00,0.000,1030,0.000,0.052,2376,1953,3085,3172,2999,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5890,-0.55,-97.3,2376,1952,3172,2998,712.9,-9.9,514,5896,0.00,2.28,0.00,0.000,260,0.000,0.060,2366,3368,3084,3172,2997,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5938,-0.55,-97.3,2366,3368,3172,2997,717.1,-10.3,516,5943,0.00,2.25,0.00,0.000,1030,0.000,0.053,2366,1954,3084,3172,2997,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6246,-0.55,-97.3,2366,1954,3172,2996,751.0,-10.8,531,6248,0.12,0.00,0.00,0.000,2054,0.184,0.000,2395,1953,3084,3172,2996,0,0,0,0,0,0,26.08,28.83,28.83
$GC,6546,-0.55,-97.3,2395,1952,3172,2995,779.1,-9.4,546,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1952,3084,3172,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.55,-97.3,2395,1952,3172,2995,807.9,-9.8,561,6852,0.00,2.30,0.00,0.000,260,0.000,0.062,2386,3375,3083,3172,2994,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6913,-0.55,-97.3,2386,3375,3172,2994,814.0,-10.0,564,6918,0.00,2.28,0.00,0.000,1030,0.000,0.054,2387,1950,3083,3172,2994,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7221,-0.55,-97.3,2386,1949,3172,2993,846.6,-10.1,579,7227,0.00,2.30,0.00,0.000,260,0.000,0.062,2377,3368,3082,3172,2993,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7289,-0.55,-97.3,2376,3367,3172,2993,852.6,-10.1,582,7293,0.00,2.25,0.00,0.000,1030,0.000,0.054,2377,1954,3082,3172,2992,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7595,-0.55,-97.3,2376,1954,3172,2991,884.8,-10.3,597,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1954,3082,3172,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7896,-0.55,-97.3,2377,1954,3171,2991,916.7,-10.5,612,7902,0.00,2.30,0.00,0.000,260,0.000,0.062,2366,3367,3081,3172,2991,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7935,-0.55,-97.3,2366,3367,3172,2991,920.9,-10.5,614,7939,0.00,2.28,0.00,0.000,1030,0.000,0.055,2366,1954,3081,3172,2991,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8251,-0.55,-97.3,2366,1954,3172,2990,955.9,-10.9,630,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1953,3081,3172,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8552,-0.55,-97.3,2366,1953,3172,2989,989.0,-11.0,645,8558,0.00,2.30,0.00,0.000,260,0.000,0.062,2356,3373,3081,3172,2990,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8594,-0.55,-97.3,1560,3372,3154,2985,993.3,-10.8,647,8599,0.10,2.33,0.00,0.000,3078,0.156,0.054,2386,1956,3080,3172,2989,0,0,0,0,0,0,25.50,25.81,28.83
$STATE,8670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8670,begin apogee
$GC,8676,-0.14,0.0,2386,1875,3171,2989,1001.0,-9.5,651,8772,0.45,0.00,89.72,1.774,10246,0.148,0.000,2521,1875,2683,2785,2581,0,0,0,0,0,0,25.34,28.83,23.19
$STATE,8773,end apogee,CONTROL_FINISHED_OK
$STATE,8773,begin climb
$GC,8775,0.55,97.3,2520,1874,2785,2580,1004.7,0.0,656,8874,0.68,0.00,95.22,1.710,10758,0.096,0.000,2743,1875,2285,2373,2198,0,0,0,0,0,0,24.46,28.83,22.30
$GC,9172,0.60,150.5,2743,1874,2365,2188,977.0,7.4,676,9233,0.00,2.55,50.97,1.706,8452,0.000,0.063,2743,3297,2067,2166,1969,0,0,0,0,0,0,28.83,24.28,23.13
$GC,9263,0.61,154.9,2743,3297,2160,1968,969.2,9.3,680,9276,0.00,2.42,5.18,1.380,9222,0.000,0.058,2754,1891,2050,2149,1952,0,0,0,0,0,0,28.83,24.59,23.25
$GC,9575,0.61,154.9,2753,1891,2144,1946,932.9,11.3,696,9581,0.00,2.40,0.00,0.000,516,0.000,0.076,2764,473,2045,2144,1946,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9623,0.61,154.9,2764,473,2143,1946,928.0,11.8,698,9627,0.00,2.30,0.00,0.000,1030,0.000,0.057,2764,1885,2045,2143,1947,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9930,0.61,154.9,2764,1885,2142,1945,891.0,11.4,713,9936,0.00,2.30,0.00,0.000,260,0.000,0.064,2765,3300,2043,2142,1945,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9963,0.61,154.9,2764,3300,2140,1945,888.5,11.5,714,9971,0.00,2.33,0.00,0.000,1030,0.000,0.061,2775,1877,2042,2140,1945,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10270,0.61,154.9,2775,1878,2140,1945,850.4,11.9,730,10276,0.00,2.33,0.00,0.000,516,0.000,0.076,2786,478,2042,2140,1944,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10303,0.61,154.9,2786,478,2140,1945,847.9,12.0,731,10310,0.00,2.28,0.00,0.000,1030,0.000,0.057,2786,1887,2042,2140,1945,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10611,0.61,154.9,2786,1888,2139,1944,807.6,12.7,747,10616,0.00,2.30,0.00,0.000,260,0.000,0.065,2786,3306,2041,2139,1944,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,17510,end climb,SURFACE_DEPTH_REACHED
$STATE,17510,begin surface coast
$FINISH,0.1,1.026687
$STATE,17542,end surface coast,CONTROL_FINISHED_OK
$STATE,17542,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,57.36
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$TCM_TEMP,18.70
$XPDR_PINGS,0
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$10V_AH,10.0,28.049
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353148
$DATA_FILE_SIZE,90541,1360
$CAP_FILE_SIZE,172660,0
$CFSIZE,259252224,237293568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,333.9,1
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