version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 305
start: 9 15 116 0 37 31
data:
$ID,542
$MISSION,14
$DIVE,305
$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,-41848.07
$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,32
$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
$GPS1,150916,003004,-4255.243,829.536,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.1
$GPS2,150916,003647,-4255.274,829.535,15,0.8,16,-25.0
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,NORTH
$TGT_LATLONG,-4254.070,830.000
$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,67.0,2317,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-97.3,138,1968,1898,1801,0.0,0.0,0,68,0.00,0.00,-48.17,0.000,16390,0.000,0.000,138,1968,3082,3142,3022,0,0,0,0,0,0,28.83,28.83,26.29
$GC,70,-0.57,-97.3,138,1968,3144,3021,3.0,-4.1,8,85,8.90,2.35,0.00,0.000,2564,0.228,0.053,2389,533,3083,3151,3016,0,0,0,0,0,0,25.09,25.70,28.83
$GC,234,-0.57,-97.3,1440,533,3138,3007,28.9,-12.0,39,242,0.00,2.25,0.00,0.000,1030,0.000,0.050,2381,1949,3087,3163,3011,0,0,0,0,0,0,28.83,25.74,28.83
$GC,365,-0.57,-97.3,2380,1949,3164,3010,45.0,-12.2,64,372,0.00,2.30,0.00,0.000,260,0.000,0.057,2370,3361,3087,3164,3010,0,0,0,0,0,0,28.83,25.72,28.83
$GC,419,-0.57,-97.3,2370,3361,3165,3009,52.1,-12.8,74,426,0.00,2.22,0.00,0.000,1030,0.000,0.048,2370,1951,3087,3165,3009,0,0,0,0,0,0,28.83,25.77,28.83
$GC,732,-0.57,-97.3,2370,1951,3165,3009,94.1,-13.5,135,739,0.00,2.28,0.00,0.000,260,0.000,0.057,2360,3371,3087,3165,3009,0,0,0,0,0,0,28.83,25.79,28.83
$GC,778,-0.57,-97.3,1556,3370,3147,3006,100.1,-13.4,143,786,0.00,2.30,0.00,0.000,1030,0.000,0.048,2360,1951,3087,3165,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1086,-0.57,-97.3,2359,1951,3165,3009,142.8,-13.8,174,1096,0.00,2.28,0.00,0.000,260,0.000,0.056,2349,3374,3087,3166,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1108,-0.57,-97.3,2349,3374,3166,3009,145.8,-13.4,176,1119,0.15,2.25,0.00,0.000,3078,0.171,0.048,2386,1945,3087,3165,3009,0,0,0,0,0,0,25.54,25.88,28.83
$GC,1420,-0.57,-97.3,2386,1945,3167,3009,180.9,-10.6,207,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1945,3087,3166,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1721,-0.57,-97.3,2385,1945,3166,3009,214.5,-11.8,237,1729,0.00,2.25,0.00,0.000,260,0.000,0.057,2377,3371,3088,3167,3009,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1772,-0.57,-97.3,2377,3371,3167,3009,220.9,-11.7,242,1783,0.00,2.22,0.00,0.000,1030,0.000,0.048,2377,1955,3087,3166,3009,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2082,-0.57,-97.3,2377,1955,3167,3009,259.0,-12.8,273,2091,0.00,2.25,0.00,0.000,260,0.000,0.056,2367,3375,3088,3167,3009,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2127,-0.57,-97.3,2367,3375,3167,3009,264.4,-12.8,277,2134,0.00,2.25,0.00,0.000,1030,0.000,0.047,2367,1948,3088,3167,3009,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2434,-0.57,-97.3,2367,1948,3167,3009,306.5,-13.6,308,2444,0.00,2.25,0.00,0.000,260,0.000,0.055,2357,3365,3088,3167,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2469,-0.57,-97.3,2357,3365,3167,3009,311.0,-13.7,311,2477,0.08,2.28,0.00,0.000,3078,0.153,0.047,2381,1949,3088,3167,3009,0,0,0,0,0,0,25.67,25.92,28.83
$GC,2776,-0.57,-97.3,2380,1950,3167,3009,349.8,-11.3,342,2787,0.00,2.25,0.00,0.000,516,0.000,0.060,2380,547,3088,3168,3009,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2831,-0.57,-97.3,2380,547,3168,3009,356.1,-12.2,347,2839,0.00,2.17,0.00,0.000,1030,0.000,0.048,2372,1951,3088,3168,3009,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3139,-0.57,-97.3,2372,1951,3168,3009,395.2,-12.6,378,3149,0.00,2.25,0.00,0.000,260,0.000,0.056,2361,3373,3088,3167,3009,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3285,-0.57,-97.3,1504,3372,3148,3005,412.4,-12.1,387,3289,0.00,2.22,0.00,0.000,1030,0.000,0.048,2361,1955,3088,3167,3009,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3597,-0.57,-97.3,2361,1954,3168,3010,452.8,-13.0,403,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1954,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,-0.57,-97.3,2361,1954,3168,3009,492.3,-13.4,418,3902,0.00,2.28,0.00,0.000,260,0.000,0.057,2351,3374,3088,3168,3009,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3945,-0.57,-97.3,2351,3374,3168,3009,497.7,-13.4,420,3950,0.15,2.25,0.00,0.000,3078,0.169,0.049,2388,1947,3088,3168,3009,0,0,0,0,0,0,25.58,25.91,28.83
$GC,4252,-0.57,-97.3,2387,1947,3168,3009,534.2,-11.3,435,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1947,3088,3168,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4552,-0.57,-97.3,2388,1947,3168,3008,567.8,-11.1,450,4557,0.00,2.30,0.00,0.000,260,0.000,0.058,2379,3372,3088,3168,3008,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4604,-0.57,-97.3,2379,3372,3168,3007,572.4,-11.2,452,4611,0.00,2.25,0.00,0.000,1030,0.000,0.050,2379,1951,3087,3168,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4911,-0.57,-97.3,2379,1951,3168,3006,609.9,-11.4,468,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1951,3087,3168,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5213,-0.57,-97.3,2379,1950,3167,3005,643.5,-11.2,483,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1950,3087,3168,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.57,-97.3,2379,1950,3167,3005,676.5,-11.1,498,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1950,3086,3168,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5811,-0.57,-97.3,2379,1950,3168,3004,709.0,-10.7,513,5817,0.00,2.30,0.00,0.000,516,0.000,0.066,2379,542,3086,3168,3004,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5840,-0.57,-97.3,2379,542,3168,3004,711.2,-10.7,514,5844,0.00,2.25,0.00,0.000,1030,0.000,0.052,2369,1960,3086,3168,3004,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6146,-0.57,-97.3,2369,1960,3168,3003,746.0,-10.7,529,6152,0.00,2.25,0.00,0.000,260,0.000,0.060,2358,3369,3085,3168,3003,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6214,-0.57,-97.3,2358,3369,3167,3003,752.6,-10.9,532,6218,0.00,2.25,0.00,0.000,1030,0.000,0.052,2358,1953,3085,3168,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6522,-0.57,-97.3,2358,1952,3168,3003,788.5,-11.4,547,6529,0.12,2.28,0.00,0.000,2564,0.184,0.065,2393,553,3085,3168,3002,0,0,0,0,0,0,25.98,25.67,28.83
$GC,6561,-0.57,-97.3,2393,552,3168,3003,792.7,-10.9,549,6565,0.00,2.22,0.00,0.000,1030,0.000,0.054,2385,1954,3085,3168,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6878,-0.57,-97.3,2385,1954,3168,3002,821.8,-8.9,565,6884,0.00,2.28,0.00,0.000,260,0.000,0.061,2374,3377,3085,3168,3002,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6926,-0.57,-97.3,2374,3377,3168,3001,825.4,-8.8,567,6930,0.00,2.25,0.00,0.000,1030,0.000,0.052,2374,1957,3085,3168,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7232,-0.57,-97.3,2373,1957,3168,3002,856.8,-10.2,582,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3084,3167,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7533,-0.57,-97.3,2374,1956,3168,3001,888.0,-10.4,597,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1956,3084,3167,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7832,-0.57,-97.3,2374,1957,3168,3001,918.5,-10.3,612,7838,0.00,2.30,0.00,0.000,260,0.000,0.062,2364,3375,3083,3167,3000,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7875,-0.57,-97.3,2364,3375,3168,3001,922.6,-10.3,614,7880,0.00,2.28,0.00,0.000,1030,0.000,0.054,2364,1954,3084,3168,3001,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8188,-0.57,-97.3,2364,1954,3168,3000,956.8,-10.7,630,8194,0.00,2.33,0.00,0.000,516,0.000,0.069,2364,538,3084,3168,3000,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8215,-0.57,-97.3,2363,537,3167,3000,959.1,-10.8,631,8220,0.12,2.28,0.00,0.000,3078,0.177,0.054,2382,1962,3084,3168,3000,0,0,0,0,0,0,25.53,25.80,28.83
$GC,8523,-0.57,-97.3,2381,1963,3168,2999,989.3,-9.5,646,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1963,3083,3168,2999,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8641,begin apogee
$GC,8646,-0.14,0.0,2381,1886,3168,2999,1000.8,-9.6,652,8743,0.47,0.00,90.05,1.767,10246,0.145,0.000,2525,1886,2682,2764,2601,0,0,0,0,0,0,25.26,28.83,23.09
$STATE,8744,end apogee,CONTROL_FINISHED_OK
$STATE,8744,begin climb
$GC,8746,0.57,97.3,2524,1886,2764,2601,1004.4,0.0,657,8850,0.70,2.67,95.18,1.711,10756,0.091,0.070,2766,476,2286,2357,2215,0,0,0,0,0,0,24.44,23.40,22.18
$GC,8905,0.59,116.8,2766,476,2349,2214,994.9,8.6,665,8932,0.00,2.40,20.65,1.645,9222,0.000,0.054,2766,1885,2206,2277,2135,0,0,0,0,0,0,28.83,24.24,22.58
$GC,9245,0.59,116.8,2765,1885,2273,2125,956.5,11.6,682,9251,0.00,2.33,0.00,0.000,260,0.000,0.062,2766,3301,2199,2273,2125,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9267,0.59,116.8,2765,3301,2271,2124,954.1,11.6,683,9271,0.00,2.33,0.00,0.000,1030,0.000,0.057,2776,1890,2197,2271,2124,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9579,0.59,116.8,2776,1890,2271,2122,916.2,11.9,699,9585,0.00,2.35,0.00,0.000,516,0.000,0.073,2787,477,2196,2271,2122,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9602,0.59,116.8,2787,476,2270,2122,913.7,12.2,700,9607,0.00,2.30,0.00,0.000,1030,0.000,0.057,2787,1898,2196,2270,2122,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9914,0.59,116.8,2787,1898,2269,2122,874.0,12.5,716,9920,0.00,2.30,0.00,0.000,260,0.000,0.063,2787,3304,2195,2269,2122,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9994,0.59,116.8,2787,3304,2268,2121,863.7,12.9,720,10001,0.12,2.30,0.00,0.000,5126,0.199,0.058,2770,1886,2194,2268,2121,0,0,0,0,0,0,25.46,25.75,28.83
$GC,10314,0.59,116.8,2770,1886,2268,2121,828.2,11.2,736,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1886,2194,2268,2121,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17785,end climb,SURFACE_DEPTH_REACHED
$STATE,17785,begin surface coast
$FINISH,-0.0,1.003452
$STATE,17812,end surface coast,CONTROL_FINISHED_OK
$STATE,17812,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,60.39
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$TCM_TEMP,18.50
$XPDR_PINGS,0
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$10V_AH,10.0,30.921
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353156
$DATA_FILE_SIZE,90628,1344
$CAP_FILE_SIZE,171557,0
$CFSIZE,259252224,235069440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130,281.3,1
$GPS,150916,053603,-4253.439,829.781,38,1.1,39,-25.0