version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 378
start: 9 30 116 17 3 37
data:
$ID,542
$MISSION,14
$DIVE,378
$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,-41941.738
$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,20
$R_STBD_OVSHOOT,22
$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
$GPS1,300916,165521,-4254.907,830.600,36,0.9,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.2
$GPS2,300916,170252,-4254.918,830.637,15,1.4,16,-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,7.8,1793,-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,-97.3,167,1955,1875,1810,0.0,0.0,0,69,0.00,0.00,-48.03,0.000,16390,0.000,0.000,167,1955,3082,3142,3022,0,0,0,0,0,0,28.83,28.83,26.37
$GC,72,-0.57,-97.3,166,1954,3144,3022,3.4,-5.8,8,86,8.82,2.33,0.00,0.000,2564,0.226,0.050,2388,528,3084,3149,3019,0,0,0,0,0,0,24.91,25.72,28.83
$GC,205,-0.57,-97.3,1440,528,3133,3011,26.3,-13.0,33,212,0.00,2.28,0.00,0.000,1030,0.000,0.048,2380,1966,3086,3158,3015,0,0,0,0,0,0,28.83,25.75,28.83
$GC,337,-0.57,-97.3,2380,1965,3159,3014,43.4,-12.6,58,344,0.00,2.22,0.00,0.000,260,0.000,0.054,2369,3373,3086,3159,3014,0,0,0,0,0,0,28.83,25.73,28.83
$GC,407,-0.57,-97.3,2369,3372,3159,3013,52.4,-12.2,71,414,0.00,2.25,0.00,0.000,1030,0.000,0.046,2369,1946,3086,3159,3013,0,0,0,0,0,0,28.83,25.79,28.83
$GC,720,-0.57,-97.3,2369,1946,3161,3013,92.9,-12.7,132,727,0.00,2.28,0.00,0.000,260,0.000,0.054,2359,3374,3086,3160,3013,0,0,0,0,0,0,28.83,25.82,28.83
$GC,750,-0.57,-97.3,2359,3374,3160,3013,96.8,-12.5,137,756,0.00,2.25,0.00,0.000,1030,0.000,0.046,2359,1944,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1059,-0.57,-97.3,2359,1943,3161,3013,137.8,-13.2,170,1069,0.00,2.28,0.00,0.000,260,0.000,0.053,2349,3377,3087,3161,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1084,-0.57,-97.3,2349,3377,3161,3013,140.8,-13.4,172,1092,0.10,2.28,0.00,0.000,3078,0.152,0.045,2381,1955,3087,3161,3013,0,0,0,0,0,0,25.56,25.90,28.83
$GC,1392,-0.57,-97.3,2380,1954,3162,3013,176.0,-11.7,203,1401,0.00,2.22,0.00,0.000,260,0.000,0.053,2372,3374,3087,3162,3013,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1414,-0.57,-97.3,2372,3374,3161,3013,178.6,-11.8,205,1422,0.00,2.22,0.00,0.000,1030,0.000,0.045,2372,1954,3087,3161,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1723,-0.57,-97.3,2372,1953,3162,3013,216.2,-12.1,236,1732,0.00,2.25,0.00,0.000,516,0.000,0.058,2372,546,3087,3162,3013,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1776,-0.57,-97.3,2372,546,3162,3013,223.0,-13.4,241,1785,0.00,2.20,0.00,0.000,1030,0.000,0.045,2362,1963,3087,3162,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2086,-0.57,-97.3,2362,1963,3162,3013,263.8,-13.7,272,2095,0.00,2.20,0.00,0.000,260,0.000,0.052,2351,3369,3087,3162,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2189,-0.57,-97.3,2351,3370,3162,3013,277.4,-12.8,282,2200,0.12,2.22,0.00,0.000,3078,0.168,0.045,2382,1942,3088,3162,3014,0,0,0,0,0,0,25.66,25.94,28.83
$GC,2500,-0.57,-97.3,2382,1942,3163,3013,312.8,-11.2,313,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1942,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2801,-0.57,-97.3,2382,1942,3163,3013,346.7,-11.3,343,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1942,3088,3163,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3110,-0.57,-97.3,2382,1942,3163,3013,380.1,-10.7,374,3120,0.00,2.22,0.00,0.000,516,0.000,0.059,2382,554,3088,3163,3013,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3143,-0.57,-97.3,2382,554,3164,3013,383.9,-11.4,377,3152,0.00,2.17,0.00,0.000,1030,0.000,0.045,2374,1959,3088,3163,3013,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3454,-0.57,-97.3,2374,1959,3164,3013,418.4,-10.8,400,3459,0.00,2.17,0.00,0.000,260,0.000,0.054,2363,3359,3088,3163,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3526,-0.57,-97.3,2363,3359,3163,3013,424.9,-10.9,403,3532,0.00,2.20,0.00,0.000,1030,0.000,0.045,2363,1953,3088,3163,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3833,-0.57,-97.3,2363,1952,3164,3013,460.6,-11.1,419,3838,0.00,2.28,0.00,0.000,516,0.000,0.059,2363,543,3088,3163,3013,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3853,-0.57,-97.3,2363,543,3163,3013,462.9,-11.3,420,3859,0.12,2.20,0.00,0.000,3078,0.174,0.046,2383,1960,3088,3164,3013,0,0,0,0,0,0,25.68,25.99,28.83
$GC,4172,-0.57,-97.3,2382,1960,3164,3014,495.2,-10.2,436,4178,0.00,2.22,0.00,0.000,260,0.000,0.054,2373,3374,3088,3163,3013,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4240,-0.57,-97.3,2373,3374,3163,3013,501.4,-10.3,439,4245,0.00,2.22,0.00,0.000,1030,0.000,0.046,2374,1954,3088,3163,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4548,-0.57,-97.3,2373,1954,3164,3013,536.0,-10.7,454,4553,0.00,2.30,0.00,0.000,516,0.000,0.060,2373,537,3088,3163,3013,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4591,-0.57,-97.3,2373,537,3164,3013,540.5,-10.9,456,4595,0.00,2.22,0.00,0.000,1030,0.000,0.047,2363,1962,3088,3163,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4903,-0.57,-97.3,2363,1963,3163,3013,575.7,-11.3,472,4908,0.00,2.22,0.00,0.000,260,0.000,0.055,2353,3368,3088,3163,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4942,-0.57,-97.3,2353,3368,3163,3012,580.3,-11.3,474,4949,0.12,2.25,0.00,0.000,3078,0.168,0.047,2383,1946,3088,3164,3013,0,0,0,0,0,0,25.64,25.90,28.83
$GC,5262,-0.57,-97.3,2382,1945,3164,3012,613.2,-10.3,490,5268,0.00,2.28,0.00,0.000,516,0.000,0.062,2382,548,3087,3163,3012,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5291,-0.57,-97.3,2382,548,3163,3012,615.4,-10.4,491,5295,0.00,2.20,0.00,0.000,1030,0.000,0.047,2374,1954,3087,3163,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5597,-0.57,-97.3,2374,1955,3163,3011,648.8,-10.4,506,5603,0.00,2.22,0.00,0.000,260,0.000,0.056,2363,3367,3087,3163,3011,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5671,-0.57,-97.3,2363,3367,3163,3010,655.0,-10.3,509,5678,0.00,2.22,0.00,0.000,1030,0.000,0.047,2363,1956,3086,3163,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5977,-0.57,-97.3,2363,1956,3164,3009,690.3,-11.2,525,5983,0.00,2.30,0.00,0.000,516,0.000,0.062,2363,535,3086,3163,3009,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5990,-0.57,-97.3,2363,534,3163,3009,690.3,-11.2,525,5998,0.12,2.22,0.00,0.000,3078,0.174,0.047,2383,1956,3086,3163,3009,0,0,0,0,0,0,25.63,25.92,28.83
$GC,6298,-0.57,-97.3,2383,1956,3164,3008,724.2,-10.6,541,6303,0.00,2.25,0.00,0.000,260,0.000,0.057,2374,3371,3085,3163,3008,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6340,-0.57,-97.3,1568,3370,3145,3004,728.3,-10.5,543,6344,0.00,2.25,0.00,0.000,1030,0.000,0.049,2374,1951,3085,3163,3008,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6658,-0.57,-97.3,2373,1950,3163,3007,762.5,-10.8,559,6664,0.00,2.30,0.00,0.000,516,0.000,0.063,2374,534,3085,3164,3007,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6691,-0.57,-97.3,2374,535,3164,3007,764.7,-10.9,560,6697,0.00,2.25,0.00,0.000,1030,0.000,0.050,2364,1962,3085,3163,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6997,-0.57,-97.3,2363,1962,3163,3007,801.1,-11.6,576,7003,0.00,2.25,0.00,0.000,260,0.000,0.057,2353,3375,3084,3163,3006,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7058,-0.57,-97.3,2353,3375,3163,3006,808.1,-11.7,579,7065,0.12,2.25,0.00,0.000,3078,0.171,0.049,2382,1951,3084,3163,3006,0,0,0,0,0,0,25.58,25.84,28.83
$GC,7378,-0.57,-97.3,2382,1951,3163,3006,840.4,-10.0,595,7384,0.00,2.30,0.00,0.000,516,0.000,0.065,2382,546,3085,3164,3006,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7405,-0.57,-97.3,2382,546,3163,3005,842.5,-10.1,596,7409,0.00,2.22,0.00,0.000,1030,0.000,0.050,2374,1955,3084,3163,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7713,-0.57,-97.3,2373,1955,3164,3005,875.9,-10.5,611,7719,0.00,2.22,0.00,0.000,260,0.000,0.058,2363,3365,3084,3164,3004,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7745,-0.57,-97.3,2363,3365,3164,3005,878.0,-10.6,612,7752,0.00,2.25,0.00,0.000,1030,0.000,0.050,2363,1954,3084,3164,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8052,-0.57,-97.3,2363,1954,3163,3005,913.2,-11.1,628,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1954,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8353,-0.57,-97.3,2363,1954,3163,3004,947.2,-11.4,643,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1954,3083,3163,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8652,-0.57,-97.3,2363,1954,3163,3004,981.4,-11.3,658,8658,0.00,2.28,0.00,0.000,260,0.000,0.059,2353,3369,3083,3163,3004,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8665,-0.57,-97.3,2353,3370,3163,3004,981.4,-11.3,658,8673,0.12,2.28,0.00,0.000,3078,0.171,0.051,2382,1946,3083,3163,3004,0,0,0,0,0,0,25.53,25.78,28.83
$STATE,8850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8850,begin apogee
$GC,8856,-0.14,0.0,2382,1875,3163,3004,1001.0,-9.4,668,8953,0.45,0.00,91.50,1.786,10246,0.137,0.000,2521,1874,2683,2757,2609,0,0,0,0,0,0,25.34,28.83,22.77
$STATE,8954,end apogee,CONTROL_FINISHED_OK
$STATE,8954,begin climb
$GC,8956,0.57,97.3,2521,1874,2757,2609,1004.4,0.0,673,9060,0.70,2.62,96.47,1.724,10756,0.090,0.068,2764,486,2286,2351,2221,0,0,0,0,0,0,24.30,23.34,21.86
$GC,9067,0.69,219.3,2764,486,2350,2220,1000.8,4.3,678,9202,0.00,2.47,126.35,1.717,9222,0.000,0.050,2764,1893,1787,1855,1720,0,0,0,0,0,0,28.83,23.67,21.83
$GC,9515,0.69,219.3,2764,1893,1849,1706,940.3,14.4,701,9521,0.00,2.30,0.00,0.000,260,0.000,0.058,2764,3300,1777,1849,1706,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9548,0.69,219.3,2764,3300,1847,1705,937.3,14.5,702,9556,0.00,2.30,0.00,0.000,1030,0.000,0.056,2774,1899,1776,1848,1704,0,0,0,0,0,0,28.83,25.49,28.83
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$STATE,15822,end climb,SURFACE_DEPTH_REACHED
$STATE,15822,begin surface coast
$FINISH,0.3,1.026671
$STATE,15841,end surface coast,CONTROL_FINISHED_OK
$STATE,15842,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.9,38.489
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353116
$DATA_FILE_SIZE,80478,1220
$CAP_FILE_SIZE,164573,0
$CFSIZE,259252224,229076992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,260.2,1
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