version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 405
start: 10 6 116 13 0 3
data:
$ID,542
$MISSION,14
$DIVE,405
$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,-41975.641
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,061016,125058,-4254.742,829.759,103,1.0,103,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.1
$GPS2,061016,125919,-4254.715,829.695,18,1.5,19,-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,65.2,1264,-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,14,begin dive
$GC,16,-0.57,-97.3,166,1968,1864,1779,0.0,0.0,0,69,0.00,0.00,-48.35,0.000,16390,0.000,0.000,166,1969,3083,3145,3021,0,0,0,0,0,0,28.83,28.83,26.35
$GC,72,-0.57,-97.3,166,1969,3144,3021,3.6,-6.3,8,87,8.73,2.35,0.00,0.000,2564,0.223,0.052,2390,540,3083,3149,3018,0,0,0,0,0,0,24.95,25.69,28.83
$GC,95,-0.57,-97.3,2390,540,3155,3016,11.0,-26.1,11,102,0.00,2.25,0.00,0.000,1030,0.000,0.047,2382,1960,3085,3157,3014,0,0,0,0,0,0,28.83,25.75,28.83
$GC,145,-0.57,-97.3,1440,1959,3137,3008,19.7,-14.8,20,152,0.00,2.25,0.00,0.000,260,0.000,0.055,2371,3373,3086,3160,3012,0,0,0,0,0,0,28.83,25.67,28.83
$GC,649,-0.57,-97.3,2371,3373,3161,3012,83.4,-11.8,119,656,0.00,2.25,0.00,0.000,1030,0.000,0.048,2371,1954,3086,3161,3012,0,0,0,0,0,0,28.83,25.85,28.83
$GC,965,-0.57,-97.3,2371,1954,3162,3012,123.0,-12.4,163,973,0.00,2.25,0.00,0.000,260,0.000,0.054,2361,3375,3087,3162,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1050,-0.57,-97.3,2361,3376,3162,3012,133.1,-11.9,171,1057,0.00,2.25,0.00,0.000,1030,0.000,0.047,2361,1949,3087,3162,3012,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1357,-0.57,-97.3,2361,1950,3162,3012,172.9,-13.1,202,1367,0.00,2.28,0.00,0.000,260,0.000,0.053,2351,3380,3087,3162,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1403,-0.57,-97.3,2351,3380,3162,3012,178.4,-12.9,206,1412,0.10,2.30,0.00,0.000,3078,0.148,0.047,2382,1947,3087,3162,3012,0,0,0,0,0,0,25.60,25.91,28.83
$GC,1712,-0.57,-97.3,2382,1947,3163,3012,214.1,-11.6,237,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1947,3087,3163,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2023,-0.57,-97.3,2382,1947,3163,3012,249.1,-11.6,268,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1947,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-0.57,-97.3,2381,1947,3163,3012,284.3,-10.9,299,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1947,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-0.57,-97.3,2382,1947,3163,3012,320.0,-11.4,330,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1947,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2941,-0.57,-97.3,2381,1947,3163,3012,352.6,-10.6,360,2950,0.00,2.25,0.00,0.000,516,0.000,0.060,2382,543,3088,3164,3012,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2984,-0.57,-97.3,2381,543,3163,3012,357.6,-11.7,364,2993,0.00,2.20,0.00,0.000,1030,0.000,0.046,2374,1958,3088,3164,3012,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3295,-0.57,-97.3,2373,1959,3163,3012,391.3,-10.0,395,3303,0.00,2.20,0.00,0.000,260,0.000,0.054,2363,3369,3087,3163,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3439,-0.57,-97.3,2363,3369,3163,3011,405.4,-9.6,407,3445,0.00,2.20,0.00,0.000,1030,0.000,0.047,2363,1959,3087,3163,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3757,-0.57,-97.3,2363,1958,3164,3012,440.7,-11.2,423,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1958,3088,3164,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-0.57,-97.3,2363,1958,3163,3012,475.6,-11.6,438,4063,0.00,2.25,0.00,0.000,260,0.000,0.054,2353,3370,3087,3163,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4097,-0.57,-97.3,2353,3370,3164,3012,480.3,-11.8,440,4104,0.12,2.25,0.00,0.000,3078,0.165,0.047,2382,1943,3087,3163,3012,0,0,0,0,0,0,25.67,25.92,28.83
$GC,4417,-0.57,-97.3,2382,1943,3163,3012,511.8,-9.7,456,4423,0.00,2.25,0.00,0.000,516,0.000,0.062,2382,546,3087,3163,3012,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4457,-0.57,-97.3,2382,546,3163,3011,516.0,-10.0,458,4463,0.00,2.20,0.00,0.000,1030,0.000,0.047,2374,1955,3087,3163,3012,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4777,-0.57,-97.3,2374,1956,3164,3012,549.8,-10.7,474,4783,0.00,2.25,0.00,0.000,260,0.000,0.055,2363,3380,3087,3163,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4887,-0.57,-97.3,2363,3380,3163,3011,560.5,-10.6,479,4891,0.00,2.25,0.00,0.000,1030,0.000,0.048,2363,1957,3087,3163,3011,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5193,-0.57,-97.3,2363,1956,3163,3011,597.5,-11.8,494,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1957,3087,3163,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5493,-0.57,-97.3,2363,1956,3163,3010,632.0,-11.2,509,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1957,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,-0.57,-97.3,2363,1957,3163,3009,664.6,-10.7,524,5799,0.00,2.30,0.00,0.000,260,0.000,0.055,2353,3371,3086,3163,3009,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5821,-0.57,-97.3,2353,3371,3163,3009,666.8,-10.7,525,5826,0.12,2.25,0.00,0.000,3078,0.166,0.049,2383,1954,3085,3163,3008,0,0,0,0,0,0,25.63,25.89,28.83
$GC,6128,-0.57,-97.3,2382,1954,3163,3007,698.9,-10.5,540,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,3085,3163,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,-0.57,-97.3,2382,1954,3164,3007,729.6,-10.4,555,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,3084,3163,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6728,-0.57,-97.3,2383,1954,3163,3006,760.1,-10.2,570,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1954,3084,3163,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-0.57,-97.3,2382,1953,3163,3005,790.3,-9.9,585,7034,0.00,2.30,0.00,0.000,260,0.000,0.057,2374,3373,3084,3163,3005,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7061,-0.57,-97.3,2374,3373,3163,3005,792.3,-9.8,586,7068,0.00,2.28,0.00,0.000,1030,0.000,0.050,2375,1948,3084,3163,3005,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7368,-0.57,-97.3,2374,1948,3163,3005,824.1,-9.8,602,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1948,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7668,-0.57,-97.3,2374,1949,3163,3005,853.3,-9.9,617,7674,0.00,2.30,0.00,0.000,260,0.000,0.057,2364,3368,3084,3163,3005,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7728,-0.57,-97.3,2364,3368,3163,3005,859.3,-9.9,620,7733,0.00,2.25,0.00,0.000,1030,0.000,0.051,2364,1957,3084,3163,3005,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8048,-0.57,-97.3,2364,1957,3164,3004,891.5,-9.7,636,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1957,3083,3163,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,-0.57,-97.3,2364,1957,3163,3004,921.2,-9.7,651,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1957,3083,3163,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8648,-0.57,-97.3,2364,1957,3163,3003,950.5,-9.8,666,8653,0.00,2.30,0.00,0.000,260,0.000,0.058,2354,3377,3083,3163,3003,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8716,-0.57,-97.3,2354,3377,3163,3003,956.1,-9.5,669,8721,0.12,2.28,0.00,0.000,3078,0.165,0.051,2384,1954,3083,3164,3003,0,0,0,0,0,0,25.57,25.80,28.83
$GC,9023,-0.57,-97.3,2383,1954,3163,3003,982.6,-8.5,684,9029,0.00,2.30,0.00,0.000,260,0.000,0.058,2375,3368,3083,3164,3003,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9063,-0.57,-97.3,2375,3368,3163,3002,986.1,-8.8,686,9069,0.00,2.28,0.00,0.000,1030,0.000,0.052,2376,1948,3082,3163,3002,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,9221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9221,begin apogee
$GC,9227,-0.14,0.0,2375,1868,3163,3002,1001.3,-9.6,694,9324,0.50,0.00,91.62,1.775,10246,0.138,0.000,2527,1867,2682,2758,2607,0,0,0,0,0,0,25.27,28.83,22.64
$STATE,9324,end apogee,CONTROL_FINISHED_OK
$STATE,9325,begin climb
$GC,9327,0.57,97.3,2527,1867,2758,2607,1004.6,0.0,699,9428,0.68,0.00,97.43,1.707,10758,0.089,0.000,2751,1867,2285,2353,2218,0,0,0,0,0,0,24.27,28.83,21.76
$GC,9725,0.61,133.1,2751,1867,2350,2207,979.0,7.9,719,9765,0.00,2.47,34.62,1.715,8452,0.000,0.059,2751,3302,2140,2212,2068,0,0,0,0,0,0,28.83,24.68,23.11
$GC,9832,0.61,138.9,2751,3302,2210,2063,969.9,9.2,724,9845,0.00,2.35,7.07,1.483,9222,0.000,0.055,2761,1896,2116,2190,2042,0,0,0,0,0,0,28.83,25.14,23.08
$GC,10165,0.61,138.9,2761,1896,2186,2038,934.9,10.4,741,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1897,2112,2186,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10463,0.61,138.9,2761,1896,2185,2036,904.6,10.1,756,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1896,2110,2185,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10764,0.61,140.5,2761,1896,2185,2035,875.3,9.4,771,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1896,2109,2184,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11063,0.61,140.5,2761,1897,2184,2034,846.5,9.6,786,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1897,2108,2183,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11363,0.61,140.5,2761,1896,2183,2034,818.1,9.5,801,11369,0.00,2.28,0.00,0.000,260,0.000,0.059,2761,3305,2108,2183,2034,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11386,0.61,140.5,1840,3303,2141,2028,816.0,9.6,802,11390,0.00,2.30,0.00,0.000,1030,0.000,0.057,2772,1884,2108,2183,2034,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11698,0.61,140.5,2771,1883,2182,2034,783.4,10.2,818,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1883,2108,2182,2034,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19222,end climb,SURFACE_DEPTH_REACHED
$STATE,19223,begin surface coast
$FINISH,0.0,1.026680
$STATE,19245,end surface coast,CONTROL_FINISHED_OK
$STATE,19245,begin surface
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$TCM_TEMP,18.50
$XPDR_PINGS,0
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$10V_AH,9.8,41.323
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$FG_AHR_10Vo,0.000
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$MEM,353164
$DATA_FILE_SIZE,100375,1479
$CAP_FILE_SIZE,176600,0
$CFSIZE,259252224,226832384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196,308.0,1
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