version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 278
start: 9 9 116 7 3 0
data:
$ID,542
$MISSION,14
$DIVE,278
$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,-41814.074
$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,21
$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
$GPS1,090916,065758,-4303.048,830.020,15,1.2,15,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.6
$GPS2,090916,070218,-4303.025,830.078,16,1.0,17,-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,194.9,5381,-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,16,-0.55,-97.3,179,1966,579,580,0.0,0.0,0,115,0.00,0.00,-96.75,0.000,16386,0.000,0.000,169,1967,2998,3047,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.55,-97.3,169,1967,3047,2950,3.2,-5.5,15,140,8.57,2.33,-1.95,0.000,18692,0.217,0.070,2383,3371,3083,3159,3008,0,0,0,0,0,0,25.15,25.80,26.30
$GC,268,-0.55,-97.3,1428,3370,3143,2998,26.3,-12.1,43,276,0.00,2.28,0.00,0.000,1030,0.000,0.048,2383,1949,3084,3168,3001,0,0,0,0,0,0,28.83,25.77,28.83
$GC,398,-0.55,-97.3,2383,1948,3169,3002,42.6,-13.2,68,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.55,-97.3,2383,1948,3169,3002,80.8,-11.7,129,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1948,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-0.55,-97.3,2383,1948,3169,3002,118.2,-12.0,176,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1324,-0.55,-97.3,2383,1948,3169,3002,153.0,-11.8,206,1334,0.00,2.25,0.00,0.000,260,0.000,0.055,2373,3366,3085,3169,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1357,-0.55,-97.3,2373,3367,3169,3002,156.9,-11.8,209,1366,0.00,2.22,0.00,0.000,1030,0.000,0.049,2373,1953,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1666,-0.55,-97.3,2373,1953,3169,3001,196.9,-13.5,240,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1953,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-0.55,-97.3,2372,1953,3168,3002,237.4,-12.9,270,1977,0.00,2.25,0.00,0.000,260,0.000,0.055,2363,3375,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2060,-0.55,-97.3,2363,3375,3169,3001,249.7,-13.3,279,2069,0.12,2.22,0.00,0.000,3078,0.167,0.049,2392,1955,3085,3169,3002,0,0,0,0,0,0,25.68,25.94,28.83
$GC,2370,-0.55,-97.3,2392,1955,3169,3001,285.6,-10.5,310,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1955,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-0.55,-97.3,2392,1955,3169,3001,315.3,-9.9,340,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1955,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2971,-0.55,-97.3,2391,1955,3169,3001,346.5,-10.9,370,2980,0.00,2.25,0.00,0.000,260,0.000,0.056,2384,3375,3084,3168,3001,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3035,-0.55,-97.3,2383,3375,3169,3001,353.6,-11.2,376,3044,0.00,2.20,0.00,0.000,1030,0.000,0.048,2384,1959,3085,3169,3002,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3343,-0.55,-97.3,2383,1959,3168,3001,388.9,-11.3,407,3352,0.00,2.25,0.00,0.000,260,0.000,0.056,2373,3375,3085,3169,3001,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3388,-0.55,-97.3,2373,3375,3169,3001,393.7,-11.7,411,3395,0.00,2.25,0.00,0.000,1030,0.000,0.049,2373,1948,3085,3169,3001,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3705,-0.55,-97.3,2373,1948,3169,3001,430.6,-11.1,430,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1948,3085,3169,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-0.55,-97.3,2373,1948,3169,3001,465.0,-11.4,445,4010,0.00,2.28,0.00,0.000,260,0.000,0.056,2363,3378,3085,3169,3001,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4092,-0.55,-97.3,2363,3378,3169,3001,474.1,-11.4,449,4097,0.12,2.25,0.00,0.000,3078,0.169,0.049,2392,1949,3085,3169,3001,0,0,0,0,0,0,25.67,25.94,28.83
$GC,4399,-0.55,-97.3,2391,1948,3169,3000,508.1,-10.7,464,4405,0.00,2.28,0.00,0.000,260,0.000,0.057,2383,3375,3084,3169,3000,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4487,-0.55,-97.3,2383,3376,3169,3000,516.7,-10.8,468,4491,0.00,2.25,0.00,0.000,1030,0.000,0.050,2383,1952,3084,3169,3000,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4794,-0.55,-97.3,2383,1952,3169,2999,551.9,-11.0,483,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1952,3084,3169,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5095,-0.55,-97.3,2383,1952,3169,2997,584.2,-11.0,498,5100,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3376,3083,3169,2997,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5134,-0.55,-97.3,2373,3376,3169,2996,588.6,-11.0,500,5140,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1952,3082,3169,2996,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5454,-0.55,-97.3,2373,1952,3169,2996,624.7,-11.4,516,5460,0.00,2.28,0.00,0.000,260,0.000,0.057,2363,3374,3082,3169,2996,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5527,-0.55,-97.3,2363,3373,3169,2995,631.3,-11.1,519,5535,0.12,2.25,0.00,0.000,3078,0.169,0.050,2392,1955,3082,3169,2996,0,0,0,0,0,0,25.64,25.89,28.83
$GC,5834,-0.55,-97.3,2391,1955,3169,2995,662.5,-9.7,535,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3082,3169,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6135,-0.55,-97.3,2391,1955,3169,2994,691.7,-9.9,550,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3081,3169,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6435,-0.55,-97.3,2391,1955,3169,2992,721.8,-10.0,565,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3081,3169,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.55,-97.3,2391,1955,3169,2991,750.4,-9.4,580,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3080,3169,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.55,-97.3,2391,1955,3169,2990,777.9,-9.3,595,7040,0.00,2.28,0.00,0.000,260,0.000,0.060,2383,3375,3079,3169,2990,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7083,-0.55,-97.3,2383,3375,3169,2990,781.7,-9.5,597,7087,0.00,2.28,0.00,0.000,1030,0.000,0.054,2383,1952,3079,3169,2990,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7389,-0.55,-97.3,2383,1952,3169,2990,813.1,-9.9,612,7395,0.00,2.30,0.00,0.000,260,0.000,0.060,2373,3375,3079,3169,2989,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7489,-0.55,-97.3,2373,3375,3169,2989,823.1,-10.0,617,7495,0.00,2.28,0.00,0.000,1030,0.000,0.053,2373,1949,3079,3169,2989,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7809,-0.55,-97.3,2373,1949,3169,2988,854.9,-9.7,633,7815,0.00,2.30,0.00,0.000,260,0.000,0.061,2363,3371,3078,3169,2987,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7857,-0.55,-97.3,2362,3371,3169,2987,858.9,-9.7,635,7862,0.12,2.28,0.00,0.000,3078,0.171,0.054,2391,1952,3078,3169,2987,0,0,0,0,0,0,25.57,25.81,28.83
$GC,8165,-0.55,-97.3,2391,1952,3169,2986,885.9,-8.3,650,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1952,3077,3169,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8465,-0.55,-97.3,2390,1952,3169,2986,911.1,-8.6,665,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1952,3077,3169,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8765,-0.55,-97.3,2391,1952,3169,2985,936.8,-8.5,680,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1952,3077,3169,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.55,-97.3,2390,1952,3169,2984,962.4,-8.5,695,9070,0.00,2.30,0.00,0.000,260,0.000,0.063,2382,3368,3076,3169,2984,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9108,-0.55,-97.3,2382,3368,3169,2984,965.9,-8.6,697,9112,0.00,2.28,0.00,0.000,1030,0.000,0.055,2382,1951,3076,3169,2984,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9421,-0.55,-97.3,2382,1951,3169,2984,995.3,-9.5,713,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1951,3076,3170,2983,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9478,begin apogee
$GC,9482,-0.14,0.0,2382,1870,3169,2983,1001.0,-9.4,716,9579,0.47,0.00,88.97,1.773,10246,0.148,0.000,2523,1869,2682,2786,2579,0,0,0,0,0,0,25.29,28.83,23.19
$STATE,9580,end apogee,CONTROL_FINISHED_OK
$STATE,9580,begin climb
$GC,9582,0.55,97.3,2522,1869,2787,2579,1004.4,0.0,721,9681,0.70,0.00,95.55,1.715,10246,0.094,0.000,2749,1869,2285,2371,2200,0,0,0,0,0,0,24.51,28.83,22.31
$GC,9981,0.56,107.7,2748,1869,2363,2190,973.8,9.0,741,9993,0.00,0.00,10.05,1.580,8198,0.000,0.000,2749,1869,2243,2331,2155,0,0,0,0,0,0,28.83,28.83,23.80
$GC,10280,0.58,124.3,2748,1869,2330,2150,946.9,8.8,756,10303,0.00,2.45,16.62,1.654,8452,0.000,0.063,2749,3298,2176,2270,2083,0,0,0,0,0,0,28.83,25.25,24.00
$GC,10355,0.58,127.6,2748,3298,2267,2081,941.2,9.3,759,10365,0.00,2.33,4.40,1.314,9222,0.000,0.059,2758,1896,2163,2257,2069,0,0,0,0,0,0,28.83,25.38,23.96
$GC,10683,0.58,127.6,2758,1897,2256,2066,906.9,10.1,776,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1896,2161,2256,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10983,0.58,127.6,2758,1896,2256,2066,875.6,10.5,791,10989,0.00,2.38,0.00,0.000,516,0.000,0.076,2769,471,2161,2256,2066,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11035,0.58,127.6,2769,471,2255,2066,871.2,10.7,793,11042,0.00,2.28,0.00,0.000,1030,0.000,0.057,2769,1887,2160,2255,2066,0,0,0,0,0,0,28.83,25.83,28.83
$GC,11342,0.58,127.6,2769,1887,2254,2066,836.2,10.9,809,11348,0.00,2.28,0.00,0.000,260,0.000,0.063,2770,3303,2159,2254,2065,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11425,0.58,127.6,2769,3304,2252,2064,826.8,11.7,813,11429,0.00,2.30,0.00,0.000,1030,0.000,0.060,2779,1886,2158,2252,2064,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19114,begin surface coast
$FINISH,0.1,1.008015
$STATE,19141,end surface coast,CONTROL_FINISHED_OK
$STATE,19141,begin surface
$SM_CCo,19157,152.82,0.160,0,0,600,510.95
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$IRIDIUM_FIX,-4247.91,828.64,060709,202024
$TT8_MAMPS,0.021721,0.021721
$HUMID,57.75
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.3,41.129
$10V_AH,10.0,28.180
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353092
$DATA_FILE_SIZE,100409,1481
$CAP_FILE_SIZE,203683,0
$CFSIZE,259252224,237203456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054, 22.3,1
$GPS,090916,122603,-4304.744,830.844,36,0.9,37,-25.1