version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 519
start: 10 31 116 23 43 55
data:
$ID,542
$MISSION,14
$DIVE,519
$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,-42248.32
$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,26
$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
$GPS1,311016,233521,-4253.878,830.048,115,0.8,115,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.3
$GPS2,311016,234310,-4253.850,830.065,18,1.1,18,-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,224.3,22372,-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,-97.3,150,1957,1904,1809,0.0,0.0,0,67,0.00,0.00,-46.60,0.000,16390,0.000,0.000,150,1957,3080,3131,3030,0,0,0,0,0,0,28.83,28.83,26.44
$GC,71,-0.55,-97.3,150,1957,3138,3029,3.8,-7.3,8,85,8.77,2.30,0.00,0.000,2564,0.217,0.046,2398,537,3085,3148,3022,0,0,0,0,0,0,24.80,25.75,28.83
$GC,260,-0.55,-97.3,1472,537,3135,3012,29.0,-9.9,44,267,0.00,2.25,0.00,0.000,1030,0.000,0.044,2390,1977,3086,3157,3016,0,0,0,0,0,0,28.83,25.88,28.83
$GC,394,-0.55,-97.3,2389,1977,3159,3015,43.3,-10.9,69,401,0.00,2.17,0.00,0.000,260,0.000,0.050,2379,3370,3087,3159,3015,0,0,0,0,0,0,28.83,25.84,28.83
$GC,433,-0.55,-97.3,1488,3369,3138,3011,48.0,-11.2,76,440,0.00,2.25,0.00,0.000,1030,0.000,0.042,2379,1956,3087,3159,3015,0,0,0,0,0,0,28.83,25.90,28.83
$GC,750,-0.55,-97.3,2379,1955,3160,3015,85.5,-11.7,137,756,0.00,2.25,0.00,0.000,516,0.000,0.054,2379,537,3087,3160,3015,0,0,0,0,0,0,28.83,25.80,28.83
$GC,845,-0.55,-97.3,2379,537,3160,3015,98.3,-13.2,155,852,0.00,2.20,0.00,0.000,1030,0.000,0.043,2369,1961,3087,3160,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1161,-0.55,-97.3,2369,1961,3161,3015,140.0,-13.1,187,1170,0.00,2.17,0.00,0.000,260,0.000,0.050,2359,3366,3087,3160,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1244,-0.55,-97.3,2358,3366,3160,3015,150.8,-12.8,195,1253,0.10,2.17,0.00,0.000,3078,0.142,0.042,2390,1955,3088,3161,3015,0,0,0,0,0,0,25.65,25.97,28.83
$GC,1553,-0.55,-97.3,2390,1955,3162,3015,186.2,-10.8,226,1564,0.00,2.25,0.00,0.000,516,0.000,0.055,2390,544,3088,3161,3015,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1587,-0.55,-97.3,2390,544,3162,3015,190.0,-11.3,229,1596,0.00,2.20,0.00,0.000,1030,0.000,0.042,2382,1962,3088,3162,3015,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1896,-0.55,-97.3,2381,1962,3162,3015,225.8,-11.8,260,1906,0.00,2.20,0.00,0.000,260,0.000,0.050,2371,3370,3088,3162,3015,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1971,-0.55,-97.3,2371,3370,3162,3015,234.5,-12.0,267,1979,0.00,2.17,0.00,0.000,1030,0.000,0.041,2371,1958,3088,3162,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2279,-0.55,-97.3,2371,1958,3162,3015,271.5,-11.6,298,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1959,3089,3163,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,-0.55,-97.3,2371,1959,3162,3015,305.2,-11.1,328,2590,0.00,2.25,0.00,0.000,516,0.000,0.055,2371,540,3088,3162,3015,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2605,-0.55,-97.3,2371,540,3162,3015,308.0,-11.3,330,2615,0.10,2.22,0.00,0.000,3078,0.142,0.043,2392,1946,3088,3162,3015,0,0,0,0,0,0,25.66,26.00,28.83
$GC,2915,-0.55,-97.3,2392,1946,3162,3015,339.7,-9.9,361,2923,0.00,2.20,0.00,0.000,260,0.000,0.050,2383,3369,3088,3162,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2997,-0.55,-97.3,2383,3369,3162,3015,348.0,-9.8,369,3006,0.00,2.20,0.00,0.000,1030,0.000,0.041,2383,1951,3088,3162,3015,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3307,-0.55,-97.3,2383,1950,3163,3015,379.0,-9.7,400,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1950,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-0.55,-97.3,2382,1950,3162,3016,408.9,-10.4,426,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1950,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.55,-97.3,2383,1950,3162,3014,439.1,-9.6,441,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1951,3088,3162,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4208,-0.55,-97.3,2382,1950,3162,3015,465.8,-8.6,456,4213,0.00,2.25,0.00,0.000,516,0.000,0.056,2383,546,3088,3162,3015,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4237,-0.55,-97.3,2383,545,3162,3015,467.5,-8.6,457,4245,0.00,2.20,0.00,0.000,1030,0.000,0.043,2373,1966,3088,3162,3015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4547,-0.55,-97.3,2373,1967,3162,3014,496.0,-8.7,473,4551,0.00,2.22,0.00,0.000,260,0.000,0.050,2362,3379,3088,3162,3014,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4598,-0.55,-97.3,2362,3379,3162,3013,499.7,-9.0,475,4607,0.12,2.22,0.00,0.000,3078,0.158,0.042,2392,1953,3088,3162,3014,0,0,0,0,0,0,25.70,25.96,28.83
$GC,4909,-0.55,-97.3,2392,1953,3162,3013,526.2,-8.3,491,4915,0.00,2.25,0.00,0.000,516,0.000,0.057,2392,544,3088,3162,3014,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4957,-0.55,-97.3,2392,544,3162,3014,529.7,-8.6,493,4961,0.00,2.20,0.00,0.000,1030,0.000,0.044,2384,1963,3087,3162,3013,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5264,-0.55,-97.3,2384,1963,3162,3013,557.7,-9.1,508,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1963,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.55,-97.3,2384,1963,3162,3012,585.0,-9.1,523,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1963,3087,3162,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5864,-0.55,-97.3,2384,1964,3163,3010,612.8,-9.3,538,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6163,-0.55,-97.3,2383,1964,3163,3010,642.2,-10.1,553,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,-0.55,-97.3,2384,1964,3163,3010,673.2,-10.6,568,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3086,3163,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6764,-0.55,-97.3,2384,1964,3163,3009,704.1,-10.1,583,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3086,3163,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7064,-0.55,-97.3,2384,1964,3163,3008,732.7,-9.3,598,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3085,3163,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7364,-0.55,-97.3,2384,1964,3163,3007,760.0,-9.3,613,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1964,3084,3162,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7664,-0.55,-97.3,2384,1964,3163,3006,787.9,-9.4,628,7669,0.00,2.22,0.00,0.000,260,0.000,0.053,2374,3366,3085,3163,3007,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7697,-0.55,-97.3,2373,3366,3163,3006,789.8,-9.4,629,7704,0.00,2.22,0.00,0.000,1030,0.000,0.044,2373,1958,3085,3163,3007,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8004,-0.55,-97.3,2373,1958,3163,3006,822.2,-10.2,645,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1958,3084,3163,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8303,-0.55,-97.3,2373,1958,3163,3005,853.0,-10.0,660,8309,0.00,2.30,0.00,0.000,516,0.000,0.060,2373,544,3084,3163,3005,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8367,-0.55,-97.3,1536,544,3143,3001,859.1,-10.2,663,8372,0.12,2.22,0.00,0.000,3078,0.165,0.047,2393,1963,3084,3163,3006,0,0,0,0,0,0,25.61,25.89,28.83
$GC,8683,-0.55,-97.3,2393,1964,3162,3005,884.2,-7.5,679,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1964,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8980,-0.55,-97.3,2393,1964,3163,3005,906.3,-7.3,694,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1964,3084,3163,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,-0.55,-97.3,2392,1964,3163,3004,928.8,-7.5,709,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1964,3083,3163,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9580,-0.55,-97.3,2393,1964,3162,3004,951.9,-7.9,724,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1964,3083,3163,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9881,-0.55,-97.3,2393,1965,3163,3003,975.5,-8.0,739,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1965,3083,3163,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10180,-0.55,-97.3,2393,1964,3163,3003,999.7,-7.9,754,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1964,3083,3163,3003,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10199,begin apogee
$GC,10205,-0.14,0.0,2393,1868,3163,3003,1001.3,-7.9,755,10303,0.43,0.00,94.38,1.838,10246,0.133,0.000,2525,1867,2683,2757,2609,0,0,0,0,0,0,25.42,28.83,22.11
$STATE,10304,end apogee,CONTROL_FINISHED_OK
$STATE,10304,begin climb
$GC,10307,0.55,97.3,2525,1868,2757,2609,1004.6,0.0,760,10415,0.68,2.55,99.55,1.738,10756,0.082,0.064,2759,487,2286,2356,2216,0,0,0,0,0,0,24.11,23.20,21.41
$GC,10468,0.65,197.6,2759,487,2349,2215,998.9,5.6,767,10580,0.00,2.38,105.65,1.715,9222,0.000,0.047,2760,1887,1877,1949,1806,0,0,0,0,0,0,28.83,24.22,21.39
$GC,10898,0.65,197.6,2759,1887,1942,1794,950.0,11.9,789,10904,0.00,2.28,0.00,0.000,260,0.000,0.055,2760,3300,1868,1943,1794,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10961,0.65,197.6,2759,3300,1941,1793,942.9,11.8,792,10966,0.00,2.28,0.00,0.000,1030,0.000,0.052,2769,1894,1866,1940,1793,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11273,0.65,197.6,2769,1894,1940,1792,905.4,12.1,808,11279,0.00,2.33,0.00,0.000,516,0.000,0.067,2780,477,1866,1940,1792,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11306,0.65,197.6,2780,477,1939,1792,903.0,12.1,809,11314,0.00,2.22,0.00,0.000,1030,0.000,0.047,2780,1893,1865,1939,1792,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11614,0.65,197.6,2780,1893,1939,1790,864.1,11.9,825,11620,0.00,2.25,0.00,0.000,260,0.000,0.056,2780,3316,1865,1939,1791,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,18888,end climb,SURFACE_DEPTH_REACHED
$STATE,18888,begin surface coast
$FINISH,0.1,1.026614
$STATE,18915,end surface coast,CONTROL_FINISHED_OK
$STATE,18916,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,61.45
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.60
$XPDR_PINGS,0
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$10V_AH,9.7,53.745
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353124
$DATA_FILE_SIZE,96843,1457
$CAP_FILE_SIZE,173715,0
$CFSIZE,259252224,217079808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087, 17.2,1
$GPS,011116,050133,-4255.271,829.383,30,0.8,30,-25.0