version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 281
start: 9 9 116 23 11 14
data:
$ID,542
$MISSION,14
$DIVE,281
$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,200
$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,-41817.844
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,090916,230329,-4305.612,829.304,47,2.0,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.5
$GPS2,090916,231029,-4305.599,829.263,34,1.7,34,-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,176.2,1170,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,138,1955,1893,1793,0.0,0.0,0,68,0.00,0.00,-47.50,0.000,16390,0.000,0.000,138,1955,3083,3139,3028,0,0,0,0,0,0,28.83,28.83,26.29
$GC,71,-0.57,-97.3,139,1955,3140,3027,3.3,-4.4,8,86,8.75,2.33,0.00,0.000,2308,0.222,0.054,2372,3372,3083,3149,3018,0,0,0,0,0,0,25.09,25.71,28.83
$GC,154,-0.57,-97.3,1440,3371,3138,3006,20.4,-13.4,23,161,0.00,2.28,0.00,0.000,1030,0.000,0.048,2372,1957,3086,3163,3010,0,0,0,0,0,0,28.83,25.70,28.83
$GC,284,-0.57,-97.3,1424,1955,3139,3005,38.7,-13.6,48,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1956,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,414,-0.57,-97.3,2372,1957,3164,3009,55.2,-13.0,73,420,0.00,2.28,0.00,0.000,260,0.000,0.058,2362,3368,3087,3164,3010,0,0,0,0,0,0,28.83,25.70,28.83
$GC,452,-0.57,-97.3,1504,3366,3143,3006,60.2,-12.9,80,459,0.00,2.30,0.00,0.000,1030,0.000,0.051,2362,1952,3087,3164,3010,0,0,0,0,0,0,28.83,25.75,28.83
$GC,766,-0.57,-97.3,2361,1952,3165,3009,103.4,-14.7,139,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1952,3087,3165,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.57,-97.3,2362,1952,3165,3010,144.5,-13.5,169,1076,0.00,2.25,0.00,0.000,260,0.000,0.057,2352,3366,3087,3165,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1119,-0.57,-97.3,2351,3367,3165,3009,152.0,-13.5,174,1130,0.12,2.25,0.00,0.000,3078,0.172,0.050,2382,1945,3087,3165,3010,0,0,0,0,0,0,25.58,25.85,28.83
$GC,1430,-0.57,-97.3,2381,1945,3166,3010,190.8,-13.0,205,1438,0.00,2.28,0.00,0.000,260,0.000,0.057,2373,3369,3088,3166,3010,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1472,-0.57,-97.3,2373,3369,3166,3010,196.5,-13.3,209,1480,0.00,2.25,0.00,0.000,1030,0.000,0.050,2373,1946,3088,3166,3010,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1781,-0.57,-97.3,2373,1945,3166,3010,238.3,-13.7,240,1790,0.00,2.28,0.00,0.000,260,0.000,0.057,2363,3378,3088,3166,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1836,-0.57,-97.3,2363,3378,3166,3010,245.4,-13.7,245,1843,0.00,2.30,0.00,0.000,1030,0.000,0.050,2363,1950,3088,3166,3010,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2143,-0.57,-97.3,2363,1950,3166,3010,287.2,-13.5,276,2153,0.00,2.28,0.00,0.000,260,0.000,0.057,2353,3374,3088,3166,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2188,-0.57,-97.3,1536,3372,3147,3006,293.0,-13.5,280,2197,0.10,2.30,0.00,0.000,3078,0.156,0.050,2383,1951,3088,3166,3010,0,0,0,0,0,0,25.59,25.91,28.83
$GC,2497,-0.57,-97.3,2383,1951,3166,3010,333.1,-13.1,311,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3088,3166,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2797,-0.57,-97.3,2383,1951,3167,3010,370.5,-12.0,341,2806,0.00,2.25,0.00,0.000,260,0.000,0.057,2374,3368,3088,3167,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2862,-0.57,-97.3,2374,3368,3166,3010,378.1,-12.3,347,2869,0.00,2.28,0.00,0.000,1030,0.000,0.049,2374,1958,3088,3167,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3171,-0.57,-97.3,2374,1958,3167,3009,414.2,-11.2,372,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3088,3167,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.57,-97.3,2374,1958,3166,3009,447.3,-11.1,387,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1958,3088,3167,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.57,-97.3,2374,1958,3167,3010,480.7,-11.3,402,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3088,3166,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-0.57,-97.3,2374,1958,3167,3009,513.7,-11.0,417,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3088,3167,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.57,-97.3,2374,1958,3166,3009,544.9,-10.1,432,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3088,3167,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.57,-97.3,2374,1958,3167,3009,575.0,-10.0,447,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3087,3167,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.57,-97.3,2374,1958,3167,3007,605.3,-10.3,462,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-0.57,-97.3,2374,1958,3167,3007,637.1,-10.7,477,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3087,3167,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.57,-97.3,2374,1958,3167,3006,670.1,-11.2,492,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1958,3086,3167,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-0.57,-97.3,2374,1958,3167,3005,703.2,-11.0,507,5876,0.00,2.28,0.00,0.000,260,0.000,0.060,2364,3366,3086,3167,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5943,-0.57,-97.3,2363,3367,3167,3004,710.1,-11.4,510,5950,0.00,2.25,0.00,0.000,1030,0.000,0.053,2364,1956,3086,3167,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6249,-0.57,-97.3,2363,1956,3167,3004,748.3,-11.9,526,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1956,3085,3167,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6549,-0.57,-97.3,2364,1956,3167,3003,783.6,-11.6,541,6555,0.00,2.28,0.00,0.000,260,0.000,0.060,2354,3367,3085,3167,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6613,-0.57,-97.3,2353,3367,3167,3003,790.7,-11.7,544,6618,0.12,2.28,0.00,0.000,3078,0.171,0.054,2382,1954,3085,3167,3003,0,0,0,0,0,0,25.58,25.82,28.83
$GC,6930,-0.57,-97.3,2382,1954,3167,3002,822.7,-9.5,560,6936,0.00,2.30,0.00,0.000,260,0.000,0.061,2374,3370,3084,3167,3002,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6993,-0.57,-97.3,1552,3370,3147,2998,828.4,-9.5,563,6997,0.00,2.28,0.00,0.000,1030,0.000,0.054,2373,1953,3084,3166,3002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7311,-0.57,-97.3,2373,1952,3167,3002,860.4,-10.2,579,7316,0.00,2.30,0.00,0.000,260,0.000,0.061,2363,3372,3084,3167,3001,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7373,-0.57,-97.3,2363,3372,3167,3001,866.7,-10.4,582,7378,0.00,2.28,0.00,0.000,1030,0.000,0.054,2363,1951,3084,3167,3001,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7686,-0.57,-97.3,2363,1950,3167,3001,901.8,-11.4,598,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1950,3083,3166,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7985,-0.57,-97.3,2363,1950,3167,3000,935.6,-11.0,613,7991,0.00,2.30,0.00,0.000,260,0.000,0.062,2353,3369,3084,3167,3001,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8034,-0.57,-97.3,2353,3369,3167,3000,939.9,-10.9,615,8039,0.12,2.28,0.00,0.000,3078,0.174,0.054,2382,1950,3083,3167,2999,0,0,0,0,0,0,25.53,25.77,28.83
$GC,8340,-0.57,-97.3,2382,1950,3167,2999,970.4,-9.6,630,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3083,3167,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8641,-0.57,-97.3,2382,1949,3167,2998,998.5,-9.2,645,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3082,3167,2998,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8658,begin apogee
$GC,8664,-0.14,0.0,2381,1882,3167,2998,1000.3,-9.0,646,8761,0.47,0.00,89.35,1.763,10246,0.147,0.000,2524,1881,2685,2776,2594,0,0,0,0,0,0,25.28,28.83,23.16
$STATE,8762,end apogee,CONTROL_FINISHED_OK
$STATE,8762,begin climb
$GC,8764,0.57,97.3,2523,1881,2776,2594,1003.7,0.0,651,8863,0.73,0.00,96.03,1.702,10246,0.092,0.000,2758,1881,2286,2364,2208,0,0,0,0,0,0,24.47,28.83,22.26
$GC,9162,0.57,97.3,2758,1881,2357,2197,968.8,10.4,671,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1881,2277,2357,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,0.57,98.1,2758,1881,2356,2196,939.8,9.4,686,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1881,2276,2356,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9760,0.59,111.9,2758,1881,2356,2195,912.7,8.9,701,9781,0.00,2.35,13.38,1.639,8452,0.000,0.063,2758,3302,2225,2306,2145,0,0,0,0,0,0,28.83,25.53,24.25
$GC,9837,0.59,114.2,2758,3302,2305,2145,906.6,9.3,704,9844,0.00,2.33,0.00,0.000,1030,0.000,0.059,2768,1889,2224,2305,2144,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10143,0.59,114.2,2768,1889,2305,2142,874.1,10.4,720,10149,0.00,2.38,0.00,0.000,516,0.000,0.075,2779,472,2223,2305,2142,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10204,0.59,114.2,2779,472,2304,2142,867.4,10.9,723,10210,0.00,2.28,0.00,0.000,1030,0.000,0.057,2779,1884,2223,2304,2142,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10523,0.59,114.2,2779,1884,2303,2142,833.5,10.7,739,10529,0.00,2.30,0.00,0.000,260,0.000,0.064,2779,3304,2221,2302,2141,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10603,0.59,114.2,2779,3304,2301,2140,824.3,11.5,743,10609,0.00,2.30,0.00,0.000,1030,0.000,0.059,2790,1886,2220,2301,2140,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10924,0.59,114.2,2789,1886,2301,2141,786.7,12.1,759,10930,0.00,2.30,0.00,0.000,260,0.000,0.064,2789,3308,2220,2301,2140,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10956,0.59,114.2,2789,3308,2301,2140,784.1,12.3,760,10964,0.15,2.33,0.00,0.000,5126,0.197,0.059,2767,1877,2220,2301,2140,0,0,0,0,0,0,25.45,25.79,28.83
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$STATE,18523,end climb,SURFACE_DEPTH_REACHED
$STATE,18524,begin surface coast
$FINISH,0.2,1.013862
$STATE,18550,end surface coast,CONTROL_FINISHED_OK
$STATE,18551,begin surface
$SM_CCo,18565,17.30,0.196,0,0,1865,200.16
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$IRIDIUM_FIX,-4244.98,828.64,070709,070735
$TT8_MAMPS,0.020972,0.020972
$HUMID,60.71
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.10
$XPDR_PINGS,0
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$10V_AH,10.0,28.500
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.675,114.825,246.825,17.300,0.000,24.442,20.159,234.111,0.000,0.000,35.471,3619.962,11718.035,459.942,2965.541,252.171,0.000,1705.682,0.000,2488.031,0.000,1.010,0.000
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$MEM,353184
$DATA_FILE_SIZE,93806,1409
$CAP_FILE_SIZE,167728,0
$CFSIZE,259252224,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,340.7,1
$GPS,100916,042205,-4306.918,830.451,31,1.6,31,-25.1