version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 498
start: 10 27 116 2 53 46
data:
$ID,542
$MISSION,14
$DIVE,498
$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,-42221.598
$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
$GPS1,271016,024455,-4254.297,830.173,26,3.3,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,271016,025302,-4254.235,830.373,18,1.1,38,-25.0
$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,217.6,21664,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,153,1960,1835,1732,0.0,0.0,0,69,0.00,0.00,-49.47,0.000,16390,0.000,0.000,153,1960,3083,3137,3029,0,0,0,0,0,0,28.83,28.83,26.44
$GC,72,-0.55,-97.3,153,1958,3139,3029,3.7,-6.5,8,87,8.68,2.28,0.00,0.000,2308,0.216,0.046,2378,3369,3084,3148,3020,0,0,0,0,0,0,24.85,25.79,28.83
$GC,274,-0.55,-97.3,1472,3368,3136,3010,36.1,-12.8,46,282,0.00,2.25,0.00,0.000,1030,0.000,0.044,2378,1934,3086,3159,3014,0,0,0,0,0,0,28.83,25.87,28.83
$GC,408,-0.55,-97.3,2378,1933,3160,3014,51.7,-13.0,71,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1933,3086,3159,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,720,-0.55,-97.3,1488,1931,3139,3010,89.1,-12.7,132,727,0.00,2.28,0.00,0.000,260,0.000,0.051,2368,3368,3087,3160,3014,0,0,0,0,0,0,28.83,25.90,28.83
$GC,754,-0.55,-97.3,2368,3369,3160,3014,93.4,-12.2,138,762,0.00,2.20,0.00,0.000,1030,0.000,0.044,2368,1956,3087,3160,3014,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1072,-0.55,-97.3,2368,1956,3161,3014,131.3,-11.8,174,1082,0.00,2.22,0.00,0.000,516,0.000,0.055,2368,546,3087,3161,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1114,-0.55,-97.3,2368,546,3161,3014,136.7,-12.2,178,1125,0.12,2.17,0.00,0.000,3078,0.167,0.044,2389,1956,3087,3161,3014,0,0,0,0,0,0,25.71,26.01,28.83
$GC,1426,-0.55,-97.3,2389,1956,3161,3014,167.8,-9.8,209,1434,0.00,2.17,0.00,0.000,260,0.000,0.050,2380,3364,3087,3161,3014,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1539,-0.55,-97.3,2380,3364,3162,3014,178.8,-9.5,220,1548,0.00,2.17,0.00,0.000,1030,0.000,0.043,2380,1954,3088,3162,3014,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1850,-0.55,-97.3,2380,1954,3162,3014,210.3,-9.7,251,1859,0.00,2.22,0.00,0.000,516,0.000,0.056,2380,539,3088,3162,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1886,-0.55,-97.3,2379,539,3162,3014,213.5,-9.8,254,1894,0.00,2.22,0.00,0.000,1030,0.000,0.044,2370,1952,3088,3162,3014,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2192,-0.55,-97.3,2370,1952,3162,3014,244.7,-10.6,285,2201,0.00,2.20,0.00,0.000,260,0.000,0.050,2359,3373,3088,3162,3014,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2305,-0.55,-97.3,2359,3373,3162,3014,256.9,-10.8,296,2316,0.12,2.22,0.00,0.000,3078,0.161,0.042,2389,1946,3088,3162,3014,0,0,0,0,0,0,25.73,26.00,28.83
$GC,2617,-0.55,-97.3,2390,1946,3163,3014,289.2,-10.6,327,2625,0.00,2.20,0.00,0.000,516,0.000,0.056,2390,545,3088,3163,3014,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2648,-0.55,-97.3,2389,545,3163,3014,292.9,-11.0,330,2659,0.00,2.17,0.00,0.000,1030,0.000,0.044,2381,1957,3088,3163,3014,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2959,-0.55,-97.3,2381,1957,3163,3014,328.4,-10.9,361,2968,0.00,2.17,0.00,0.000,260,0.000,0.050,2371,3363,3088,3162,3014,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3108,-0.55,-97.3,2370,3363,3163,3014,343.8,-10.6,375,3115,0.00,2.17,0.00,0.000,1030,0.000,0.042,2371,1954,3088,3162,3014,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3414,-0.55,-97.3,2370,1953,3163,3014,376.4,-10.8,406,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1953,3088,3163,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-0.55,-97.3,2370,1953,3163,3014,410.1,-11.7,432,3720,0.00,2.22,0.00,0.000,516,0.000,0.056,2371,544,3088,3163,3014,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3768,-0.55,-97.3,2370,544,3163,3014,415.0,-12.0,434,3776,0.12,2.17,0.00,0.000,3078,0.164,0.044,2391,1956,3088,3163,3014,0,0,0,0,0,0,25.72,26.01,28.83
$GC,4075,-0.55,-97.3,2390,1956,3163,3014,449.3,-10.7,450,4080,0.00,2.20,0.00,0.000,260,0.000,0.051,2382,3367,3088,3163,3014,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4123,-0.55,-97.3,2382,3367,3163,3014,453.8,-10.8,452,4127,0.00,2.20,0.00,0.000,1030,0.000,0.042,2382,1944,3088,3163,3014,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4431,-0.55,-97.3,2381,1944,3162,3014,490.1,-11.4,467,4436,0.00,2.20,0.00,0.000,516,0.000,0.057,2382,546,3088,3162,3014,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4473,-0.55,-97.3,2381,546,3163,3014,495.0,-11.8,469,4477,0.00,2.17,0.00,0.000,1030,0.000,0.044,2371,1954,3088,3163,3013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4785,-0.55,-97.3,2371,1955,3163,3013,530.6,-11.2,485,4791,0.00,2.20,0.00,0.000,260,0.000,0.051,2361,3370,3088,3163,3013,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4907,-0.55,-97.3,1544,3369,3145,3009,544.1,-11.1,491,4912,0.12,2.20,0.00,0.000,3078,0.159,0.043,2391,1953,3087,3163,3012,0,0,0,0,0,0,25.71,25.96,28.83
$GC,5221,-0.55,-97.3,2391,1953,3163,3012,574.3,-9.4,507,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1953,3087,3163,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5520,-0.55,-97.3,2391,1953,3163,3011,602.2,-9.4,522,5523,0.00,2.25,0.00,0.000,516,0.000,0.059,2391,546,3087,3163,3011,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5554,-0.55,-97.3,2391,545,3163,3011,604.3,-9.6,523,5560,0.00,2.20,0.00,0.000,1030,0.000,0.045,2382,1961,3087,3163,3011,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5862,-0.55,-97.3,2382,1962,3164,3008,636.4,-9.7,539,5867,0.00,2.20,0.00,0.000,260,0.000,0.053,2372,3370,3085,3164,3007,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5949,-0.55,-97.3,2372,3370,3165,3007,644.2,-9.8,543,5953,0.00,2.20,0.00,0.000,1030,0.000,0.044,2372,1957,3085,3164,3007,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6256,-0.55,-97.3,2372,1956,3164,3007,676.4,-10.2,558,6262,0.00,2.25,0.00,0.000,260,0.000,0.053,2362,3375,3085,3164,3007,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6304,-0.55,-97.3,2362,3376,3164,3006,680.6,-10.4,560,6309,0.12,2.22,0.00,0.000,3078,0.158,0.044,2392,1947,3085,3164,3007,0,0,0,0,0,0,25.68,25.94,28.83
$GC,6612,-0.55,-97.3,2392,1947,3164,3006,710.6,-9.3,575,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3085,3164,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,-0.55,-97.3,2392,1947,3164,3005,738.2,-9.0,590,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7211,-0.55,-97.3,2392,1947,3165,3005,766.0,-9.3,605,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1947,3084,3164,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7511,-0.55,-97.3,2392,1947,3164,3005,794.2,-9.4,620,7517,0.00,2.28,0.00,0.000,260,0.000,0.054,2384,3366,3084,3164,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7560,-0.55,-97.3,2384,3366,3164,3004,798.0,-9.4,622,7564,0.00,2.20,0.00,0.000,1030,0.000,0.045,2384,1955,3084,3164,3004,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7866,-0.55,-97.3,2384,1954,3164,3004,828.8,-9.7,637,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1954,3084,3164,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.55,-97.3,2384,1955,3164,3003,856.7,-9.0,652,8172,0.00,2.25,0.00,0.000,260,0.000,0.054,2374,3370,3083,3164,3003,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8239,-0.55,-97.3,2374,3370,3164,3003,862.3,-9.3,655,8246,0.00,2.22,0.00,0.000,1030,0.000,0.046,2374,1950,3083,3164,3003,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8546,-0.55,-97.3,2374,1950,3164,3002,894.0,-9.7,671,8552,0.00,2.28,0.00,0.000,260,0.000,0.054,2364,3374,3083,3164,3003,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8590,-0.55,-97.3,2364,3375,3164,3003,897.9,-9.7,673,8594,0.12,2.22,0.00,0.000,3078,0.157,0.046,2394,1954,3083,3164,3003,0,0,0,0,0,0,25.64,25.88,28.83
$GC,8902,-0.55,-97.3,2394,1954,3164,3002,925.7,-8.9,689,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1954,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9203,-0.55,-97.3,2394,1954,3164,3002,952.5,-8.6,704,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1954,3083,3165,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9503,-0.55,-97.3,2394,1954,3164,3002,976.7,-7.8,719,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1954,3083,3164,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9800,begin apogee
$GC,9807,-0.14,0.0,2394,1866,3165,3001,1000.2,-7.8,734,9903,0.43,0.00,93.70,1.852,10246,0.136,0.000,2525,1866,2682,2760,2605,0,0,0,0,0,0,25.44,28.83,22.19
$STATE,9904,end apogee,CONTROL_FINISHED_OK
$STATE,9904,begin climb
$GC,9907,0.55,97.3,2525,1866,2761,2606,1003.8,0.0,739,10010,0.68,0.00,99.72,1.710,10246,0.082,0.000,2747,1866,2286,2361,2212,0,0,0,0,0,0,24.11,28.83,21.47
$GC,10304,0.62,166.5,2747,1866,2356,2202,982.0,6.8,759,10383,0.00,2.55,67.72,1.717,8452,0.000,0.055,2747,3289,2002,2079,1926,0,0,0,0,0,0,28.83,24.22,22.56
$GC,10416,0.65,196.6,2747,3289,2077,1923,973.7,8.3,764,10453,0.00,2.35,31.95,1.660,9222,0.000,0.051,2757,1900,1880,1957,1804,0,0,0,0,0,0,28.83,24.63,22.25
$GC,10761,0.65,196.6,2757,1900,1951,1794,935.3,10.8,782,10767,0.00,2.33,0.00,0.000,516,0.000,0.068,2768,477,1872,1951,1793,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10824,0.65,196.6,2768,477,1949,1794,928.6,11.2,785,10828,0.00,2.22,0.00,0.000,1030,0.000,0.049,2768,1884,1871,1949,1794,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11136,0.65,196.6,2768,1884,1949,1791,891.5,11.9,801,11142,0.00,2.30,0.00,0.000,260,0.000,0.057,2768,3307,1870,1949,1791,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,18479,end climb,SURFACE_DEPTH_REACHED
$STATE,18479,begin surface coast
$FINISH,0.0,1.026598
$STATE,18500,end surface coast,CONTROL_FINISHED_OK
$STATE,18501,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.7,51.357
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,97254,1434
$CAP_FILE_SIZE,177952,0
$CFSIZE,259252224,218931200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090, 31.6,1
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