version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 441
start: 10 14 116 12 19 32
data:
$ID,542
$MISSION,14
$DIVE,441
$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,-42021.145
$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,28
$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
$GPS1,141016,121128,-4304.148,830.552,40,1.0,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.0
$GPS2,141016,121846,-4304.180,830.568,18,0.9,18,-25.1
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$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,217.2,3332,-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,-97.3,164,1948,1808,1715,0.0,0.0,0,73,0.00,0.00,-52.03,0.000,16390,0.000,0.000,165,1948,3083,3143,3023,0,0,0,0,0,0,28.83,28.83,26.40
$GC,76,-0.57,-97.3,165,1948,3145,3023,3.4,-5.6,9,91,8.62,2.30,0.00,0.000,2308,0.216,0.047,2368,3376,3084,3150,3019,0,0,0,0,0,0,24.98,25.77,28.83
$GC,322,-0.57,-97.3,1424,3374,3136,3009,39.6,-12.3,56,330,0.00,2.25,0.00,0.000,1030,0.000,0.044,2368,1946,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,454,-0.57,-97.3,1424,1944,3138,3009,56.5,-13.0,81,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1946,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-0.57,-97.3,1440,1944,3139,3009,95.4,-12.6,142,771,0.00,2.25,0.00,0.000,260,0.000,0.052,2357,3368,3087,3162,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,839,-0.57,-97.3,2358,3368,3163,3013,104.8,-12.3,153,849,0.12,2.20,0.00,0.000,3078,0.163,0.045,2388,1952,3088,3163,3013,0,0,0,0,0,0,25.70,25.93,28.83
$GC,1150,-0.57,-97.3,2388,1951,3163,3013,138.5,-10.7,184,1159,0.00,2.22,0.00,0.000,516,0.000,0.058,2388,545,3088,3163,3013,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1192,-0.57,-97.3,2388,545,3163,3013,143.4,-11.5,188,1202,0.00,2.17,0.00,0.000,1030,0.000,0.046,2380,1956,3088,3163,3013,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1503,-0.57,-97.3,2380,1956,3164,3013,178.5,-11.2,219,1512,0.00,2.20,0.00,0.000,260,0.000,0.053,2370,3367,3088,3164,3013,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1565,-0.57,-97.3,2369,3368,3164,3013,185.2,-10.8,225,1574,0.00,2.20,0.00,0.000,1030,0.000,0.045,2369,1945,3088,3164,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1875,-0.57,-97.3,2369,1945,3164,3013,220.7,-11.3,256,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1945,3088,3164,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2176,-0.57,-97.3,2370,1945,3165,3013,254.4,-11.3,286,2185,0.00,2.20,0.00,0.000,516,0.000,0.058,2370,549,3089,3165,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2218,-0.57,-97.3,2369,548,3164,3013,259.5,-11.8,290,2227,0.00,2.17,0.00,0.000,1030,0.000,0.046,2359,1956,3089,3165,3013,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2529,-0.57,-97.3,2359,1956,3165,3013,296.0,-11.8,321,2537,0.00,2.17,0.00,0.000,260,0.000,0.052,2348,3362,3089,3165,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2642,-0.57,-97.3,2348,3362,3164,3013,309.5,-11.5,332,2652,0.10,2.15,0.00,0.000,3078,0.138,0.044,2382,1960,3089,3165,3013,0,0,0,0,0,0,25.70,26.01,28.83
$GC,2951,-0.57,-97.3,2382,1960,3165,3013,340.7,-10.1,363,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1959,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3253,-0.57,-97.3,2382,1959,3165,3013,371.9,-11.0,393,3262,0.00,2.22,0.00,0.000,516,0.000,0.059,2382,548,3089,3165,3013,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3286,-0.57,-97.3,1560,548,3147,3010,375.8,-11.7,396,3294,0.00,2.22,0.00,0.000,1030,0.000,0.047,2373,1955,3089,3165,3013,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3596,-0.57,-97.3,2373,1955,3165,3013,411.7,-11.6,422,3601,0.00,2.20,0.00,0.000,260,0.000,0.053,2363,3371,3089,3165,3013,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3702,-0.57,-97.3,2362,3371,3165,3013,423.3,-11.6,427,3706,0.00,2.20,0.00,0.000,1030,0.000,0.044,2363,1951,3089,3165,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4010,-0.57,-97.3,2362,1951,3165,3013,461.6,-12.1,442,4015,0.00,2.25,0.00,0.000,260,0.000,0.053,2353,3377,3089,3165,3013,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4062,-0.57,-97.3,2352,3377,3165,3013,466.4,-11.9,444,4069,0.12,2.22,0.00,0.000,3078,0.158,0.045,2384,1945,3089,3165,3013,0,0,0,0,0,0,25.73,25.96,28.83
$GC,4370,-0.57,-97.3,2383,1945,3165,3013,499.0,-10.0,460,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1945,3089,3165,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.57,-97.3,2383,1945,3165,3012,528.1,-9.5,475,4675,0.00,2.22,0.00,0.000,516,0.000,0.060,2384,550,3089,3165,3013,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4729,-0.57,-97.3,2384,550,3165,3012,534.3,-10.2,478,4735,0.00,2.17,0.00,0.000,1030,0.000,0.047,2376,1955,3088,3165,3012,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5050,-0.57,-97.3,2375,1955,3165,3012,566.9,-10.4,494,5055,0.00,2.20,0.00,0.000,260,0.000,0.054,2365,3366,3088,3165,3012,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5117,-0.57,-97.3,2365,3365,3165,3011,573.2,-10.5,497,5121,0.00,2.20,0.00,0.000,1030,0.000,0.046,2365,1959,3088,3165,3011,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5425,-0.57,-97.3,2364,1958,3164,3011,609.2,-11.7,512,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1958,3088,3165,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5725,-0.57,-97.3,2364,1958,3165,3007,644.9,-11.6,527,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1958,3086,3166,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6024,-0.57,-97.3,2364,1958,3166,3007,678.5,-11.1,542,6030,0.00,2.25,0.00,0.000,260,0.000,0.055,2355,3375,3086,3165,3007,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6072,-0.57,-97.3,2355,3375,3166,3007,683.0,-11.3,544,6077,0.12,2.22,0.00,0.000,3078,0.160,0.047,2386,1954,3086,3165,3007,0,0,0,0,0,0,25.70,25.92,28.83
$GC,6380,-0.57,-97.3,2385,1954,3165,3006,714.0,-9.9,559,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3086,3166,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6679,-0.57,-97.3,2385,1954,3166,3005,743.4,-9.7,574,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3085,3165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,-0.57,-97.3,2385,1954,3165,3005,772.7,-9.8,589,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3085,3165,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,-0.57,-97.3,2385,1954,3165,3005,801.7,-9.7,604,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1954,3084,3165,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,-0.57,-97.3,2385,1954,3165,3004,829.4,-8.9,619,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3085,3166,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,-0.57,-97.3,2385,1954,3165,3003,855.5,-8.7,634,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3084,3165,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8179,-0.57,-97.3,2385,1954,3165,3003,880.3,-8.0,649,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3084,3166,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,-0.57,-97.3,2385,1954,3165,3002,903.7,-7.7,664,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1954,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,-0.57,-97.3,2386,1954,3165,3002,926.9,-7.9,679,8785,0.00,2.30,0.00,0.000,516,0.000,0.065,2386,542,3083,3165,3002,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8819,-0.57,-97.3,2385,542,3166,3002,930.5,-8.5,681,8825,0.00,2.22,0.00,0.000,1030,0.000,0.052,2377,1955,3084,3166,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9140,-0.57,-97.3,2377,1955,3166,3001,959.2,-9.2,697,9145,0.00,2.22,0.00,0.000,260,0.000,0.057,2366,3369,3083,3165,3002,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9201,-0.57,-97.3,1552,3368,3147,2998,964.9,-9.5,700,9206,0.00,2.28,0.00,0.000,1030,0.000,0.050,2366,1957,3083,3165,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9520,-0.57,-97.3,2366,1957,3166,3001,996.6,-9.9,716,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1957,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9557,begin apogee
$GC,9562,-0.14,0.0,2366,1873,3165,3002,1000.5,-9.9,718,9659,0.52,0.00,92.43,1.782,10246,0.133,0.000,2528,1873,2683,2761,2605,0,0,0,0,0,0,25.34,28.83,22.50
$STATE,9660,end apogee,CONTROL_FINISHED_OK
$STATE,9660,begin climb
$GC,9662,0.57,97.3,2527,1873,2761,2605,1004.2,0.0,723,9767,0.70,2.58,97.47,1.720,10756,0.080,0.067,2770,480,2286,2358,2214,0,0,0,0,0,0,24.25,23.30,21.68
$GC,9797,0.67,194.5,2770,480,2354,2213,999.3,5.4,730,9905,0.00,2.45,101.57,1.706,9222,0.000,0.050,2770,1895,1890,1963,1817,0,0,0,0,0,0,28.83,23.96,21.61
$GC,10212,0.67,194.5,2770,1896,1959,1802,952.2,12.2,751,10218,0.00,2.28,0.00,0.000,260,0.000,0.058,2770,3298,1880,1959,1801,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10276,0.67,194.5,2769,3299,1957,1801,944.7,12.3,754,10280,0.00,2.28,0.00,0.000,1030,0.000,0.054,2780,1891,1879,1957,1801,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10587,0.67,194.5,2780,1891,1957,1799,904.1,13.1,770,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1891,1878,1957,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10888,0.67,194.5,2780,1891,1957,1799,865.3,12.5,785,10894,0.00,2.30,0.00,0.000,516,0.000,0.070,2791,474,1878,1957,1799,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10935,0.67,194.5,2791,474,1955,1799,860.0,12.9,787,10939,0.00,2.22,0.00,0.000,1030,0.000,0.053,2791,1888,1877,1955,1799,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11243,0.67,194.5,2791,1888,1954,1798,818.9,13.1,802,11249,0.00,2.22,0.00,0.000,260,0.000,0.060,2791,3302,1876,1954,1798,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11342,0.67,194.5,2791,3302,1952,1797,805.7,13.1,807,11348,0.00,2.25,0.00,0.000,1030,0.000,0.055,2802,1887,1874,1952,1797,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,17568,end climb,SURFACE_DEPTH_REACHED
$STATE,17568,begin surface coast
$FINISH,-0.1,1.026602
$STATE,17589,end surface coast,CONTROL_FINISHED_OK
$STATE,17590,begin surface
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$IRIDIUM_FIX,-4244.98,828.64,100809,191922
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.49
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,21.6,65.806
$10V_AH,9.7,45.187
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353152
$DATA_FILE_SIZE,90126,1355
$CAP_FILE_SIZE,165951,0
$CFSIZE,259252224,223830016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031, 36.0,1
$GPS,141016,171428,-4306.176,830.205,52,1.2,52,-25.1