version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 395
start: 10 4 116 8 16 20
data:
$ID,542
$MISSION,14
$DIVE,395
$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,-41963.086
$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,34
$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
$GPS1,041016,080733,-4252.835,829.419,57,0.9,57,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.6
$GPS2,041016,081534,-4252.838,829.507,17,1.0,18,-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,155.7,2377,-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,15,-0.57,-97.3,142,1964,1895,1815,0.0,0.0,0,69,0.00,0.00,-47.92,0.000,16390,0.000,0.000,141,1965,3080,3149,3011,0,0,0,0,0,0,28.83,28.83,26.39
$GC,72,-0.57,-97.3,140,1964,3149,3010,3.4,-5.5,8,86,8.75,2.28,0.00,0.000,2308,0.219,0.049,2371,3361,3081,3152,3010,0,0,0,0,0,0,24.92,25.74,28.83
$GC,396,-0.57,-97.3,2371,3362,3158,3010,51.6,-13.1,71,403,0.00,2.22,0.00,0.000,1030,0.000,0.048,2371,1954,3084,3158,3010,0,0,0,0,0,0,28.83,25.81,28.83
$GC,709,-0.57,-97.3,1456,1951,3135,3006,93.6,-13.3,132,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1953,3084,3158,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.57,-97.3,2371,1953,3159,3010,133.7,-12.6,167,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1953,3084,3159,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.57,-97.3,2371,1953,3159,3010,172.4,-12.8,197,1329,0.00,2.22,0.00,0.000,260,0.000,0.053,2361,3359,3084,3159,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1384,-0.57,-97.3,2361,3359,3159,3010,180.4,-12.4,203,1392,0.00,2.20,0.00,0.000,1030,0.000,0.047,2361,1949,3084,3159,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1692,-0.57,-97.3,2361,1949,3159,3010,221.2,-13.0,234,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1949,3085,3160,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1995,-0.57,-97.3,2361,1949,3160,3010,258.5,-11.5,264,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1949,3085,3160,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.57,-97.3,2361,1949,3160,3010,296.7,-13.3,295,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1949,3085,3160,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-0.57,-97.3,2361,1949,3160,3010,336.7,-12.1,326,2624,0.00,2.25,0.00,0.000,516,0.000,0.059,2361,543,3085,3161,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2669,-0.57,-97.3,2361,543,3161,3010,343.7,-12.9,331,2678,0.10,2.15,0.00,0.000,3078,0.149,0.046,2382,1942,3085,3161,3010,0,0,0,0,0,0,25.67,26.03,28.83
$GC,2976,-0.57,-97.3,2382,1942,3162,3009,377.2,-10.1,362,2987,0.00,2.25,0.00,0.000,260,0.000,0.053,2373,3375,3085,3161,3010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3020,-0.57,-97.3,2373,3375,3161,3010,381.5,-10.3,366,3030,0.00,2.22,0.00,0.000,1030,0.000,0.046,2374,1954,3085,3161,3010,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3340,-0.57,-97.3,2373,1954,3161,3010,420.3,-12.9,390,3346,0.00,2.25,0.00,0.000,516,0.000,0.060,2373,543,3085,3161,3010,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3372,-0.57,-97.3,2373,543,3161,3010,423.1,-13.1,391,3379,0.00,2.20,0.00,0.000,1030,0.000,0.047,2364,1960,3085,3161,3010,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3680,-0.57,-97.3,2363,1960,3161,3010,465.7,-13.7,407,3686,0.00,2.22,0.00,0.000,260,0.000,0.054,2352,3368,3085,3161,3010,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3772,-0.57,-97.3,2352,3368,3161,3010,476.7,-13.7,411,3780,0.12,2.22,0.00,0.000,3078,0.167,0.047,2382,1947,3085,3161,3010,0,0,0,0,0,0,25.69,25.94,28.83
$GC,4080,-0.57,-97.3,2382,1947,3161,3010,511.8,-9.8,427,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1947,3085,3161,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.57,-97.3,2382,1947,3161,3010,543.8,-11.2,442,4385,0.00,2.25,0.00,0.000,516,0.000,0.061,2383,549,3085,3161,3009,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4422,-0.57,-97.3,2382,548,3161,3010,548.6,-11.5,444,4426,0.00,2.20,0.00,0.000,1030,0.000,0.048,2374,1957,3085,3161,3010,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4735,-0.57,-97.3,2374,1958,3161,3010,585.1,-11.7,460,4740,0.00,2.22,0.00,0.000,260,0.000,0.055,2363,3368,3085,3161,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4796,-0.57,-97.3,2363,3368,3161,3010,592.1,-11.6,463,4801,0.00,2.20,0.00,0.000,1030,0.000,0.048,2364,1958,3085,3161,3010,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5115,-0.57,-97.3,2363,1958,3161,3009,629.4,-11.3,479,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1958,3085,3161,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5414,-0.57,-97.3,2363,1958,3161,3007,660.3,-10.5,494,5420,0.00,2.30,0.00,0.000,516,0.000,0.063,2364,540,3084,3161,3007,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5457,-0.57,-97.3,2363,540,3161,3007,664.8,-10.9,496,5462,0.12,2.25,0.00,0.000,3078,0.175,0.049,2382,1963,3084,3162,3007,0,0,0,0,0,0,25.65,25.94,28.83
$GC,5770,-0.57,-97.3,2382,1963,3161,3006,695.6,-9.6,512,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1963,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,-0.57,-97.3,2382,1963,3161,3005,723.6,-9.0,527,6076,0.00,2.22,0.00,0.000,260,0.000,0.057,2374,3369,3083,3161,3005,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6158,-0.57,-97.3,2373,3369,3161,3005,730.7,-8.8,531,6162,0.00,2.25,0.00,0.000,1030,0.000,0.050,2374,1951,3083,3161,3005,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6465,-0.57,-97.3,2373,1951,3161,3005,758.5,-8.9,546,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1951,3083,3161,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6764,-0.57,-97.3,2373,1951,3161,3004,786.4,-9.9,561,6771,0.00,2.30,0.00,0.000,260,0.000,0.057,2363,3376,3082,3161,3004,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6818,-0.57,-97.3,2363,3375,3161,3004,790.6,-10.2,563,6824,0.00,2.25,0.00,0.000,1030,0.000,0.050,2362,1955,3082,3161,3004,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7125,-0.57,-97.3,2363,1954,3161,3003,824.7,-10.5,579,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1954,3082,3161,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,-0.57,-97.3,2363,1955,3161,3002,855.5,-10.5,594,7431,0.00,2.28,0.00,0.000,260,0.000,0.057,2353,3370,3082,3161,3003,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7484,-0.57,-97.3,2353,3370,3161,3003,861.9,-10.7,597,7491,0.12,2.25,0.00,0.000,3078,0.167,0.050,2383,1955,3082,3161,3003,0,0,0,0,0,0,25.60,25.84,28.83
$GC,7806,-0.57,-97.3,2382,1955,3161,3002,891.7,-9.4,613,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1955,3081,3161,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8105,-0.57,-97.3,2382,1955,3161,3002,920.7,-9.7,628,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1955,3081,3161,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,-0.57,-97.3,2383,1955,3161,3001,950.4,-10.1,643,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1955,3081,3161,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8705,-0.57,-97.3,2382,1955,3161,3001,980.5,-9.9,658,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1955,3081,3162,3001,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8903,begin apogee
$GC,8908,-0.14,0.0,2383,1870,3161,3001,1000.3,-9.7,668,9005,0.45,0.00,91.00,1.769,10246,0.139,0.000,2521,1870,2683,2758,2608,0,0,0,0,0,0,25.36,28.83,22.68
$STATE,9006,end apogee,CONTROL_FINISHED_OK
$STATE,9006,begin climb
$GC,9008,0.57,97.3,2520,1870,2758,2608,1004.4,0.0,673,9112,0.70,2.60,96.47,1.712,10756,0.090,0.069,2762,496,2285,2352,2219,0,0,0,0,0,0,24.31,23.32,21.79
$GC,9139,0.69,213.8,2761,496,2350,2216,1000.4,4.6,679,9267,0.00,2.40,120.25,1.693,9222,0.000,0.051,2762,1887,1811,1880,1742,0,0,0,0,0,0,28.83,23.96,21.75
$GC,9567,0.69,213.8,2761,1886,1872,1729,949.0,12.9,701,9572,0.00,2.33,0.00,0.000,260,0.000,0.058,2761,3306,1800,1872,1729,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9607,0.69,213.8,2761,3305,1871,1728,943.6,13.0,703,9613,0.00,2.30,0.00,0.000,1030,0.000,0.057,2772,1901,1800,1871,1729,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9927,0.69,213.8,2772,1900,1871,1726,897.9,14.5,719,9933,0.00,2.38,0.00,0.000,516,0.000,0.073,2782,467,1798,1871,1726,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10007,0.69,213.8,2782,467,1871,1726,886.3,14.5,723,10013,0.00,2.28,0.00,0.000,1030,0.000,0.053,2782,1907,1798,1871,1726,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10327,0.69,213.8,2782,1908,1870,1725,842.1,13.1,739,10333,0.00,2.22,0.00,0.000,260,0.000,0.059,2782,3300,1798,1871,1725,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10390,0.69,213.8,2782,3300,1869,1724,834.2,13.2,742,10394,0.00,2.28,0.00,0.000,1030,0.000,0.057,2793,1886,1796,1868,1724,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10701,0.69,213.8,2793,1885,1869,1724,791.9,13.7,758,10707,0.00,2.35,0.00,0.000,516,0.000,0.073,2804,470,1797,1869,1725,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10734,0.69,213.8,2804,470,1870,1724,789.0,13.9,759,10742,0.00,2.25,0.00,0.000,1030,0.000,0.054,2804,1889,1796,1869,1724,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11042,0.69,213.8,2804,1889,1867,1724,739.5,15.5,775,11048,0.00,2.25,0.00,0.000,260,0.000,0.060,2804,3300,1795,1867,1723,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11101,0.69,213.8,2804,3300,1866,1723,730.1,15.7,778,11107,0.00,2.28,0.00,0.000,1030,0.000,0.057,2814,1880,1794,1866,1723,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11422,0.69,213.8,2814,1880,1866,1722,678.8,15.5,794,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1880,1794,1866,1722,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16348,end climb,SURFACE_DEPTH_REACHED
$STATE,16348,begin surface coast
$FINISH,0.9,1.026657
$STATE,16370,end surface coast,CONTROL_FINISHED_OK
$STATE,16370,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,61.57
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.30
$XPDR_PINGS,0
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$10V_AH,9.9,40.259
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353168
$DATA_FILE_SIZE,83704,1256
$CAP_FILE_SIZE,150443,0
$CFSIZE,259252224,227692544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,357.1,1
$GPS,041016,125139,-4253.926,831.832,39,0.9,39,-25.0