version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 476
start: 10 22 116 5 56 19
data:
$ID,542
$MISSION,14
$DIVE,476
$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,-42193.73
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,221016,054804,-4253.048,830.576,51,1.1,51,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.2
$GPS2,221016,055534,-4253.051,830.700,18,1.2,18,-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,217.3,2113,-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,-97.3,161,1965,1898,1803,0.0,0.0,0,69,0.00,0.00,-47.55,0.000,16390,0.000,0.000,161,1966,3081,3135,3028,0,0,0,0,0,0,28.83,28.83,26.41
$GC,73,-0.57,-97.3,161,1966,3136,3027,3.5,-5.7,8,87,8.62,2.28,0.00,0.000,2308,0.215,0.047,2376,3368,3082,3145,3019,0,0,0,0,0,0,24.85,25.77,28.83
$GC,261,-0.57,-97.3,1424,3367,3132,3008,30.6,-9.8,44,269,0.00,2.25,0.00,0.000,1030,0.000,0.044,2376,1947,3084,3157,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,394,-0.57,-97.3,2376,1947,3158,3012,44.4,-11.3,69,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1947,3084,3157,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,706,-0.57,-97.3,2375,1947,3158,3012,81.5,-12.1,130,714,0.00,2.25,0.00,0.000,260,0.000,0.052,2365,3363,3085,3158,3012,0,0,0,0,0,0,28.83,25.87,28.83
$GC,788,-0.57,-97.3,2365,3362,3158,3012,91.1,-11.8,145,795,0.00,2.22,0.00,0.000,1030,0.000,0.044,2365,1946,3085,3158,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1106,-0.57,-97.3,2365,1946,3159,3012,130.8,-12.5,183,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1946,3085,3159,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-0.57,-97.3,2365,1946,3159,3012,171.5,-13.8,214,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1946,3086,3160,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.57,-97.3,2365,1946,3160,3012,214.6,-13.8,245,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1946,3086,3160,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.57,-97.3,2365,1946,3161,3012,255.7,-12.7,276,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1946,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-0.57,-97.3,2365,1946,3161,3012,293.1,-11.9,307,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1945,3086,3160,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,-0.57,-97.3,2365,1946,3161,3012,328.3,-11.3,338,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1946,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2954,-0.57,-97.3,2365,1946,3161,3012,362.6,-11.5,368,2964,0.00,2.28,0.00,0.000,516,0.000,0.056,2365,536,3086,3161,3012,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2988,-0.57,-97.3,2365,535,3161,3012,366.7,-12.1,371,2997,0.08,2.17,0.00,0.000,3078,0.145,0.046,2380,1951,3086,3161,3012,0,0,0,0,0,0,25.72,26.01,28.83
$GC,3296,-0.57,-97.3,2380,1951,3161,3012,398.2,-10.0,402,3306,0.00,2.22,0.00,0.000,260,0.000,0.053,2371,3370,3086,3161,3012,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3387,-0.57,-97.3,2370,3370,3161,3012,406.5,-10.1,407,3391,0.00,2.22,0.00,0.000,1030,0.000,0.044,2371,1949,3086,3161,3012,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3695,-0.57,-97.3,2371,1948,3161,3012,439.8,-10.5,422,3700,0.00,2.28,0.00,0.000,260,0.000,0.052,2361,3374,3086,3161,3012,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3755,-0.57,-97.3,2361,3374,3161,3012,446.1,-10.3,425,3761,0.00,2.22,0.00,0.000,1030,0.000,0.044,2361,1956,3086,3161,3012,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4075,-0.57,-97.3,2361,1955,3161,3012,480.4,-11.2,441,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1956,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4375,-0.57,-97.3,2361,1955,3161,3012,514.5,-11.5,456,4380,0.00,2.25,0.00,0.000,516,0.000,0.057,2361,544,3086,3160,3012,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4444,-0.57,-97.3,2361,544,3161,3012,521.8,-11.9,459,4454,0.15,2.20,0.00,0.000,3078,0.161,0.046,2389,1955,3086,3161,3012,0,0,0,0,0,0,25.64,25.98,28.83
$GC,4756,-0.57,-97.3,2389,1955,3161,3011,553.0,-9.7,475,4761,0.00,2.22,0.00,0.000,260,0.000,0.054,2380,3374,3086,3161,3011,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4855,-0.57,-97.3,2380,3374,3161,3010,563.0,-10.0,480,4861,0.00,2.22,0.00,0.000,1030,0.000,0.044,2380,1955,3086,3161,3011,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5176,-0.57,-97.3,2380,1955,3161,3010,596.8,-10.6,496,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3085,3161,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-0.57,-97.3,2380,1955,3161,3009,628.1,-10.2,511,5481,0.00,2.28,0.00,0.000,516,0.000,0.059,2380,541,3085,3161,3009,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5509,-0.57,-97.3,2380,541,3161,3009,630.3,-10.4,512,5515,0.00,2.22,0.00,0.000,1030,0.000,0.048,2370,1963,3085,3161,3009,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5816,-0.57,-97.3,2370,1963,3161,3007,665.6,-10.9,528,5822,0.00,2.25,0.00,0.000,260,0.000,0.054,2359,3375,3084,3161,3007,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5905,-0.57,-97.3,2359,3375,3160,3007,674.4,-11.0,532,5915,0.00,2.25,0.00,0.000,1030,0.000,0.045,2359,1947,3084,3161,3007,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6216,-0.57,-97.3,2359,1947,3161,3006,710.4,-11.1,548,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1947,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-0.57,-97.3,2359,1947,3161,3005,743.3,-11.0,563,6521,0.00,2.28,0.00,0.000,516,0.000,0.060,2359,545,3083,3161,3005,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6563,-0.57,-97.3,2359,544,3160,3005,748.1,-11.4,565,6568,0.15,2.22,0.00,0.000,3078,0.162,0.049,2387,1960,3083,3161,3005,0,0,0,0,0,0,25.59,25.93,28.83
$GC,6873,-0.57,-97.3,2387,1961,3161,3005,777.1,-8.6,580,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1961,3083,3161,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,-0.57,-97.3,2386,1961,3161,3003,802.2,-8.5,595,7177,0.00,2.22,0.00,0.000,260,0.000,0.056,2378,3370,3082,3161,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7224,-0.57,-97.3,2377,3370,3161,3003,805.6,-8.5,597,7231,0.00,2.25,0.00,0.000,1030,0.000,0.047,2378,1953,3082,3161,3003,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7531,-0.57,-97.3,2377,1952,3161,3003,835.5,-9.3,613,7536,0.00,2.30,0.00,0.000,516,0.000,0.061,2378,540,3082,3161,3003,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7571,-0.57,-97.3,2378,540,3161,3003,839.4,-9.6,615,7576,0.00,2.22,0.00,0.000,1030,0.000,0.050,2368,1956,3081,3161,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7891,-0.57,-97.3,2368,1957,3161,3002,870.4,-9.8,631,7897,0.00,2.22,0.00,0.000,260,0.000,0.057,2357,3364,3081,3161,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7983,-0.57,-97.3,2357,3364,3161,3001,878.6,-10.2,635,7990,0.12,2.22,0.00,0.000,3078,0.161,0.047,2387,1954,3081,3161,3001,0,0,0,0,0,0,25.63,25.88,28.83
$GC,8292,-0.57,-97.3,2387,1954,3161,3001,905.3,-7.9,651,8297,0.00,2.30,0.00,0.000,516,0.000,0.062,2388,541,3081,3161,3001,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8324,-0.57,-97.3,2387,540,3161,3001,907.0,-7.9,652,8330,0.00,2.25,0.00,0.000,1030,0.000,0.050,2379,1964,3080,3160,3001,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8631,-0.57,-97.3,2379,1965,3161,3000,935.2,-9.0,668,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1965,3080,3161,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8932,-0.57,-97.3,2379,1964,3161,2999,962.7,-9.0,683,8937,0.00,2.22,0.00,0.000,260,0.000,0.057,2368,3367,3080,3161,2999,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8979,-0.57,-97.3,2368,3367,3161,2999,966.3,-9.0,685,8983,0.00,2.25,0.00,0.000,1030,0.000,0.047,2368,1951,3080,3161,2999,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9287,-0.57,-97.3,2368,1951,3161,2999,994.9,-9.0,700,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1951,3079,3161,2998,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9344,begin apogee
$GC,9349,-0.14,0.0,2368,1867,3161,2998,1000.3,-9.0,703,9446,0.50,0.00,93.00,1.814,10246,0.137,0.000,2521,1867,2683,2765,2602,0,0,0,0,0,0,25.32,28.83,22.26
$STATE,9447,end apogee,CONTROL_FINISHED_OK
$STATE,9447,begin climb
$GC,9449,0.57,97.3,2521,1866,2764,2602,1003.4,0.0,708,9553,0.73,0.00,100.15,1.750,10246,0.083,0.000,2758,1867,2285,2361,2210,0,0,0,0,0,0,24.15,28.83,21.49
$GC,9848,0.59,118.2,2758,1867,2358,2199,974.5,8.6,728,9874,0.00,2.42,20.67,1.717,8452,0.000,0.057,2758,3306,2201,2281,2121,0,0,0,0,0,0,28.83,25.08,23.25
$GC,9945,0.59,118.2,1816,3305,2235,2112,965.3,9.9,733,9949,0.00,2.33,0.00,0.000,1030,0.000,0.052,2768,1890,2198,2279,2117,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10258,0.60,130.9,2768,1889,2279,2113,935.7,8.9,749,10276,0.00,0.00,13.45,1.667,8198,0.000,0.000,2768,1890,2149,2231,2067,0,0,0,0,0,0,28.83,28.83,23.72
$GC,10577,0.60,130.9,2768,1889,2229,2063,905.8,9.8,765,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1890,2146,2229,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10877,0.60,130.9,2768,1890,2228,2062,876.5,10.0,780,10878,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1890,2145,2228,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11177,0.60,130.9,2768,1889,2228,2061,845.4,10.6,795,11183,0.00,2.28,0.00,0.000,260,0.000,0.058,2768,3304,2144,2227,2062,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11250,0.60,130.9,2768,3305,2226,2062,838.3,11.5,798,11257,0.00,2.28,0.00,0.000,1030,0.000,0.053,2778,1886,2144,2226,2062,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,19210,end climb,SURFACE_DEPTH_REACHED
$STATE,19211,begin surface coast
$FINISH,0.1,1.013277
$STATE,19243,end surface coast,CONTROL_FINISHED_OK
$STATE,19243,begin surface
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$10V_AH,9.7,48.964
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$FG_AHR_10Vo,0.000
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$MEM,353100
$DATA_FILE_SIZE,96942,1468
$CAP_FILE_SIZE,180274,0
$CFSIZE,259252224,220831744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,340.1,1
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