version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 409
start: 10 7 116 9 50 31
data:
$ID,542
$MISSION,14
$DIVE,409
$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,-41980.766
$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,25
$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
$GPS1,071016,094251,-4252.749,828.774,76,0.8,76,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.8
$GPS2,071016,094946,-4252.737,828.761,17,0.9,18,-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,159.0,2986,-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,-97.3,142,1959,1853,1746,0.0,0.0,0,70,0.00,0.00,-49.35,0.000,16390,0.000,0.000,139,1959,3085,3141,3029,0,0,0,0,0,0,28.83,28.83,26.41
$GC,73,-0.57,-97.3,138,1958,3142,3028,3.7,-6.3,8,88,8.75,2.30,0.00,0.000,2308,0.214,0.048,2374,3371,3085,3149,3021,0,0,0,0,0,0,24.79,25.72,28.83
$GC,258,-0.57,-97.3,1424,3370,3135,3011,34.3,-11.9,43,266,0.00,2.25,0.00,0.000,1030,0.000,0.047,2374,1956,3088,3160,3016,0,0,0,0,0,0,28.83,25.74,28.83
$GC,391,-0.57,-97.3,2374,1955,3161,3016,50.8,-12.6,68,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1955,3087,3160,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-0.57,-97.3,2374,1955,3161,3016,88.3,-12.2,129,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1956,3088,3161,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.57,-97.3,2374,1955,3162,3016,128.3,-12.6,169,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1955,3089,3162,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.57,-97.3,2374,1956,3162,3016,165.9,-12.8,199,1329,0.00,2.25,0.00,0.000,516,0.000,0.059,2374,545,3089,3163,3016,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1354,-0.57,-97.3,1552,545,3143,3012,170.4,-13.3,202,1363,0.00,2.25,0.00,0.000,1030,0.000,0.046,2364,1957,3088,3162,3015,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1663,-0.57,-97.3,2363,1957,3162,3016,213.7,-14.1,233,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1957,3089,3163,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-0.57,-97.3,2364,1957,3163,3016,253.3,-13.0,263,1973,0.00,2.20,0.00,0.000,260,0.000,0.054,2353,3367,3089,3163,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2039,-0.57,-97.3,1508,3366,3144,3012,262.8,-12.5,270,2048,0.00,2.28,0.00,0.000,1030,0.000,0.047,2353,1945,3089,3163,3016,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2348,-0.57,-97.3,2353,1945,3163,3016,302.9,-13.2,301,2357,0.12,2.22,0.00,0.000,2564,0.180,0.058,2388,550,3089,3163,3016,0,0,0,0,0,0,25.98,25.79,28.83
$GC,2384,-0.57,-97.3,2388,550,3163,3016,307.2,-12.6,304,2391,0.00,2.22,0.00,0.000,1030,0.000,0.047,2381,1952,3090,3164,3016,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2691,-0.57,-97.3,2380,1952,3164,3016,342.6,-11.5,335,2700,0.00,2.22,0.00,0.000,260,0.000,0.054,2370,3371,3090,3164,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2763,-0.57,-97.3,2370,3371,3163,3016,350.8,-11.1,342,2774,0.00,2.22,0.00,0.000,1030,0.000,0.047,2370,1951,3090,3164,3016,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3074,-0.57,-97.3,2369,1951,3164,3016,387.5,-11.2,373,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1951,3089,3163,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3373,-0.57,-97.3,2369,1951,3164,3016,422.3,-11.7,394,3379,0.00,2.28,0.00,0.000,516,0.000,0.060,2370,536,3089,3163,3016,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3426,-0.57,-97.3,2369,536,3164,3016,427.1,-11.9,396,3432,0.00,2.22,0.00,0.000,1030,0.000,0.046,2359,1961,3089,3163,3016,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3733,-0.57,-97.3,2359,1961,3163,3016,466.0,-12.6,412,3738,0.00,2.22,0.00,0.000,260,0.000,0.054,2349,3378,3090,3164,3016,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3794,-0.57,-97.3,2348,3378,3164,3015,473.6,-12.6,415,3800,0.10,2.25,0.00,0.000,3078,0.146,0.047,2380,1945,3090,3164,3016,0,0,0,0,0,0,25.62,25.91,28.83
$GC,4113,-0.57,-97.3,2380,1944,3164,3015,507.6,-10.2,431,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1944,3089,3164,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.57,-97.3,2380,1944,3164,3016,538.3,-10.1,446,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1944,3089,3163,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.57,-97.3,2380,1944,3164,3016,569.8,-11.0,461,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1944,3090,3164,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.57,-97.3,2380,1944,3164,3016,603.9,-11.6,476,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1944,3089,3164,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-0.57,-97.3,2380,1944,3164,3015,638.5,-11.4,491,5319,0.00,2.30,0.00,0.000,260,0.000,0.055,2372,3376,3089,3164,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5353,-0.57,-97.3,2372,3376,3164,3014,643.0,-11.4,493,5358,0.00,2.28,0.00,0.000,1030,0.000,0.048,2372,1955,3089,3164,3014,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5673,-0.57,-97.3,2372,1955,3164,3013,679.3,-11.0,509,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1955,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.57,-97.3,2372,1955,3165,3012,711.3,-10.7,524,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1956,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6275,-0.57,-97.3,2372,1955,3164,3012,742.6,-10.2,539,6280,0.00,2.25,0.00,0.000,260,0.000,0.056,2362,3371,3087,3164,3011,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6333,-0.57,-97.3,2362,3371,3164,3011,748.9,-10.4,542,6339,0.00,2.25,0.00,0.000,1030,0.000,0.049,2362,1954,3087,3164,3011,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6653,-0.57,-97.3,2362,1954,3164,3011,782.8,-11.0,558,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1954,3087,3164,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6953,-0.57,-97.3,2362,1953,3163,3010,816.0,-11.4,573,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1954,3087,3164,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,-0.57,-97.3,2362,1954,3164,3009,850.1,-11.3,588,7259,0.00,2.30,0.00,0.000,260,0.000,0.057,2352,3377,3086,3164,3009,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7306,-0.57,-97.3,2352,3377,3164,3009,854.5,-11.1,590,7314,0.12,2.28,0.00,0.000,3078,0.164,0.050,2382,1955,3086,3164,3009,0,0,0,0,0,0,25.58,25.83,28.83
$GC,7614,-0.57,-97.3,2382,1955,3164,3008,884.7,-9.0,606,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3086,3164,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7913,-0.57,-97.3,2382,1954,3164,3005,910.4,-8.5,621,7919,0.00,2.28,0.00,0.000,260,0.000,0.057,2374,3369,3085,3165,3005,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7993,-0.57,-97.3,2374,3369,3164,3005,917.1,-8.3,625,7999,0.00,2.25,0.00,0.000,1030,0.000,0.050,2374,1957,3084,3164,3005,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8314,-0.57,-97.3,2373,1957,3164,3005,943.4,-8.4,641,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,-0.57,-97.3,2373,1957,3164,3005,967.3,-8.0,656,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,-0.57,-97.3,2373,1957,3164,3004,992.5,-8.4,671,8920,0.00,2.28,0.00,0.000,260,0.000,0.058,2363,3370,3084,3164,3004,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8987,-0.57,-97.3,2363,3370,3164,3004,997.5,-8.3,674,8994,0.00,2.28,0.00,0.000,1030,0.000,0.051,2364,1951,3084,3164,3004,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,9011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9011,begin apogee
$GC,9016,-0.14,0.0,2363,1867,3164,3004,1000.9,-8.5,676,9113,0.52,0.00,93.05,1.790,10246,0.139,0.000,2522,1866,2682,2758,2607,0,0,0,0,0,0,25.23,28.83,22.46
$STATE,9114,end apogee,CONTROL_FINISHED_OK
$STATE,9115,begin climb
$GC,9117,0.57,97.3,2522,1866,2758,2606,1003.3,0.0,681,9219,0.73,0.00,98.00,1.735,10246,0.087,0.000,2758,1867,2286,2352,2220,0,0,0,0,0,0,24.22,28.83,21.68
$GC,9514,0.61,131.8,2757,1867,2349,2209,974.6,8.0,701,9554,0.00,2.53,33.75,1.727,8452,0.000,0.059,2758,3298,2144,2216,2073,0,0,0,0,0,0,28.83,24.70,23.07
$GC,9617,0.61,131.8,2757,3298,2214,2068,964.8,9.7,706,9623,0.00,2.35,0.00,0.000,1030,0.000,0.056,2768,1890,2141,2214,2068,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9937,0.61,131.8,2767,1890,2211,2064,933.7,9.5,722,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1889,2137,2211,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10237,0.61,131.8,2767,1890,2211,2062,904.3,10.0,737,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1889,2136,2210,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10537,0.61,131.8,2767,1890,2210,2062,873.7,10.7,752,10543,0.00,2.30,0.00,0.000,260,0.000,0.060,2768,3307,2135,2208,2062,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10585,0.61,131.8,2767,3307,2210,2062,869.1,11.0,754,10589,0.00,2.30,0.00,0.000,1030,0.000,0.057,2777,1886,2136,2210,2062,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10893,0.61,131.8,2777,1886,2209,2061,831.1,12.7,769,10898,0.00,2.30,0.00,0.000,260,0.000,0.060,2778,3309,2135,2209,2062,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10920,0.61,131.8,2777,3309,2209,2062,828.5,12.7,770,10924,0.00,2.30,0.00,0.000,1030,0.000,0.057,2788,1885,2135,2209,2062,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11227,0.61,131.8,2788,1885,2208,2061,788.3,12.7,785,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1885,2135,2208,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11528,0.61,131.8,2788,1885,2208,2062,753.8,11.2,800,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1885,2134,2207,2061,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18671,end climb,SURFACE_DEPTH_REACHED
$STATE,18671,begin surface coast
$FINISH,0.6,1.026679
$STATE,18693,end surface coast,CONTROL_FINISHED_OK
$STATE,18693,begin surface
$SM_CCo,18768,0.00,0.000,0,0,1832,208.75
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$IRIDIUM_FIX,-4236.17,827.34,030809,181814
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.82
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.7,60.651
$10V_AH,9.8,41.744
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.600,127.750,271.650,0.000,0.000,24.800,17.280,244.480,0.000,0.000,18.625,3669.488,11759.145,452.743,3011.791,300.652,0.000,1733.803,0.000,2542.706,0.000,1.011,0.000
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$MEM,353152
$DATA_FILE_SIZE,93738,1428
$CAP_FILE_SIZE,171217,0
$CFSIZE,259252224,226508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,336.3,1
$GPS,071016,150433,-4253.635,830.633,39,0.9,39,-25.0