version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 521
start: 11 1 116 10 43 11
data:
$ID,542
$MISSION,14
$DIVE,521
$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,-42250.832
$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,23
$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
$GPS1,011116,103504,-4257.451,830.328,40,1.0,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.8
$GPS2,011116,104228,-4257.505,830.462,19,1.4,19,-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,222.6,15616,-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,14,begin dive
$GC,16,-0.55,-97.3,148,1966,1759,1661,0.0,0.0,0,64,0.00,0.00,-45.67,0.000,16386,0.000,0.000,148,1965,2868,2928,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.55,-97.3,148,1965,2928,2810,3.0,-6.9,7,90,8.80,2.30,-5.10,0.000,18948,0.214,0.065,2383,533,3081,3161,3002,0,0,0,0,0,0,24.58,25.64,26.35
$GC,350,-0.55,-97.3,1424,533,3141,2998,39.9,-12.0,61,358,0.00,2.25,0.00,0.000,1030,0.000,0.045,2375,1977,3083,3165,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,485,-0.55,-97.3,1408,1976,3141,2998,55.5,-12.6,86,491,0.00,2.17,0.00,0.000,260,0.000,0.050,2364,3368,3083,3165,3002,0,0,0,0,0,0,28.83,25.83,28.83
$GC,642,-0.55,-97.3,2364,3367,3165,3002,75.4,-12.4,116,649,0.08,2.25,0.00,0.000,3078,0.148,0.044,2388,1955,3084,3166,3002,0,0,0,0,0,0,25.64,25.91,28.83
$GC,958,-0.55,-97.3,2388,1954,3166,3002,111.1,-11.1,168,967,0.00,2.25,0.00,0.000,260,0.000,0.050,2380,3371,3084,3167,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1054,-0.55,-97.3,2379,3372,3167,3002,120.9,-10.7,177,1061,0.00,2.22,0.00,0.000,1030,0.000,0.043,2379,1951,3084,3166,3002,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1361,-0.55,-97.3,2380,1951,3168,3002,153.9,-10.9,208,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3085,3168,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.55,-97.3,2380,1951,3168,3002,187.3,-11.0,238,1672,0.00,2.22,0.00,0.000,260,0.000,0.050,2370,3365,3085,3168,3002,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1728,-0.55,-97.3,2370,3365,3168,3002,194.2,-10.9,244,1735,0.00,2.25,0.00,0.000,1030,0.000,0.042,2370,1933,3085,3168,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2036,-0.55,-97.3,2370,1933,3168,3002,228.2,-10.5,275,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1933,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,-0.55,-97.3,2370,1933,3168,3002,259.8,-10.5,305,2347,0.00,2.25,0.00,0.000,260,0.000,0.050,2360,3358,3085,3169,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2390,-0.55,-97.3,2359,3357,3169,3002,265.4,-10.5,310,2400,0.12,2.22,0.00,0.000,3078,0.160,0.042,2390,1946,3085,3169,3002,0,0,0,0,0,0,25.70,25.97,28.83
$GC,2701,-0.55,-97.3,2389,1946,3169,3002,293.3,-9.2,341,2710,0.00,2.22,0.00,0.000,260,0.000,0.049,2382,3364,3085,3168,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2734,-0.55,-97.3,2381,3364,3169,3002,296.4,-9.0,344,2743,0.00,2.20,0.00,0.000,1030,0.000,0.042,2382,1950,3085,3169,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3046,-0.55,-97.3,2381,1950,3169,3002,325.8,-9.4,375,3054,0.00,2.20,0.00,0.000,260,0.000,0.049,2371,3358,3085,3169,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3079,-0.55,-97.3,1536,3356,3150,2998,328.9,-9.4,378,3087,0.00,2.22,0.00,0.000,1030,0.000,0.041,2372,1959,3085,3169,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3387,-0.55,-97.3,2371,1959,3169,3002,361.8,-11.1,409,3397,0.00,2.25,0.00,0.000,516,0.000,0.056,2372,540,3085,3169,3002,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3431,-0.55,-97.3,2371,540,3169,3002,366.9,-12.0,413,3440,0.08,2.15,0.00,0.000,3078,0.148,0.043,2387,1951,3085,3169,3002,0,0,0,0,0,0,25.70,25.99,28.83
$GC,3739,-0.55,-97.3,2386,1951,3169,3002,397.7,-9.9,444,3749,0.00,2.22,0.00,0.000,260,0.000,0.050,2377,3376,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3895,-0.55,-97.3,2377,3376,3169,3002,412.5,-10.5,453,3902,0.00,2.22,0.00,0.000,1030,0.000,0.041,2377,1952,3085,3169,3002,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4202,-0.55,-97.3,2377,1951,3169,3002,447.8,-11.2,469,4207,0.00,2.25,0.00,0.000,260,0.000,0.049,2367,3375,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4262,-0.55,-97.3,2367,3375,3169,3002,454.5,-11.2,472,4268,0.00,2.22,0.00,0.000,1030,0.000,0.042,2367,1954,3085,3169,3002,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4583,-0.55,-97.3,2367,1953,3169,3002,492.0,-11.6,488,4588,0.00,2.25,0.00,0.000,516,0.000,0.056,2367,543,3085,3168,3002,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4616,-0.55,-97.3,2367,543,3169,3002,494.4,-11.7,489,4623,0.15,2.17,0.00,0.000,3078,0.156,0.043,2395,1955,3085,3169,3002,0,0,0,0,0,0,25.64,25.97,28.83
$GC,4923,-0.55,-97.3,2395,1956,3168,3002,527.5,-10.3,505,4929,0.00,2.20,0.00,0.000,260,0.000,0.050,2386,3369,3085,3169,3002,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5011,-0.55,-97.3,2386,3369,3168,3002,535.9,-10.5,509,5015,0.00,2.22,0.00,0.000,1030,0.000,0.043,2386,1946,3085,3169,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5318,-0.55,-97.3,2386,1946,3169,3002,569.1,-10.2,524,5324,0.00,2.25,0.00,0.000,260,0.000,0.050,2376,3369,3085,3168,3002,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5371,-0.55,-97.3,2376,3369,3169,3002,573.2,-10.2,526,5377,0.00,2.22,0.00,0.000,1030,0.000,0.043,2376,1953,3085,3169,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5679,-0.55,-97.3,2376,1952,3168,3002,606.8,-10.3,542,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1952,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-0.55,-97.3,2376,1951,3169,3002,638.4,-10.7,557,5983,0.00,2.25,0.00,0.000,260,0.000,0.051,2366,3366,3085,3169,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6067,-0.55,-97.3,2365,3366,3169,3001,647.1,-10.9,561,6071,0.00,2.22,0.00,0.000,1030,0.000,0.044,2366,1951,3084,3168,3001,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6373,-0.55,-97.3,2365,1950,3169,3001,681.7,-10.7,576,6375,0.12,0.00,0.00,0.000,2054,0.174,0.000,2395,1950,3084,3168,3001,0,0,0,0,0,0,26.06,28.83,28.83
$GC,6673,-0.55,-97.3,2395,1950,3169,3002,708.7,-8.6,591,6679,0.00,2.25,0.00,0.000,260,0.000,0.051,2386,3365,3085,3168,3002,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6734,-0.55,-97.3,2387,3365,3169,3002,713.8,-8.6,594,6740,0.00,2.22,0.00,0.000,1030,0.000,0.044,2387,1953,3085,3169,3001,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7053,-0.55,-97.3,2387,1953,3169,3001,741.1,-8.3,610,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1953,3085,3169,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.55,-97.3,2387,1953,3169,3001,765.6,-8.1,625,7359,0.00,2.28,0.00,0.000,260,0.000,0.052,2377,3371,3085,3169,3002,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7393,-0.55,-97.3,2377,3372,3168,3001,768.8,-8.0,627,7399,0.00,2.20,0.00,0.000,1030,0.000,0.044,2377,1961,3085,3169,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7713,-0.55,-97.3,2377,1961,3168,3001,794.9,-8.0,643,7719,0.00,2.30,0.00,0.000,516,0.000,0.060,2377,536,3085,3169,3001,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7757,-0.55,-97.3,2377,536,3168,3001,798.4,-8.4,645,7761,0.00,2.22,0.00,0.000,1030,0.000,0.047,2367,1959,3085,3169,3001,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8069,-0.55,-97.3,2366,1960,3168,3001,827.3,-9.4,661,8074,0.00,2.22,0.00,0.000,260,0.000,0.053,2356,3369,3084,3168,3001,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8171,-0.55,-97.3,2356,3369,3168,3001,837.0,-9.8,666,8176,0.15,2.25,0.00,0.000,3078,0.155,0.045,2393,1945,3084,3168,3001,0,0,0,0,0,0,25.55,25.86,28.83
$GC,8485,-0.55,-97.3,2393,1945,3169,3000,864.7,-8.7,682,8491,0.00,2.25,0.00,0.000,516,0.000,0.061,2394,548,3084,3168,3000,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8532,-0.55,-97.3,2393,548,3168,2999,868.4,-9.1,684,8537,0.00,2.20,0.00,0.000,1030,0.000,0.047,2385,1955,3084,3168,3000,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8839,-0.55,-97.3,2385,1955,3168,2998,898.7,-10.0,699,8845,0.00,2.22,0.00,0.000,260,0.000,0.054,2375,3375,3083,3168,2999,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8919,-0.55,-97.3,2374,3376,3168,2998,907.0,-10.4,703,8924,0.00,2.25,0.00,0.000,1030,0.000,0.044,2375,1951,3083,3168,2998,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9239,-0.55,-97.3,2374,1950,3169,2998,940.7,-10.8,719,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1950,3083,3168,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.55,-97.3,2374,1950,3168,2997,972.5,-10.3,734,9545,0.00,2.30,0.00,0.000,516,0.000,0.061,2374,540,3082,3168,2997,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9579,-0.55,-97.3,2374,540,3169,2997,976.7,-10.2,736,9585,0.12,2.22,0.00,0.000,3078,0.161,0.047,2394,1958,3082,3168,2997,0,0,0,0,0,0,25.60,25.86,28.83
$STATE,9857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9857,begin apogee
$GC,9863,-0.14,0.0,2394,1880,3168,2996,1000.1,-8.1,750,9960,0.43,0.00,94.20,1.856,10246,0.131,0.000,2526,1880,2683,2762,2605,0,0,0,0,0,0,25.44,28.83,21.96
$STATE,9961,end apogee,CONTROL_FINISHED_OK
$STATE,9961,begin climb
$GC,9963,0.55,97.3,2526,1880,2762,2605,1004.0,0.0,755,10071,0.65,2.60,100.43,1.772,10756,0.080,0.065,2755,480,2286,2357,2215,0,0,0,0,0,0,24.06,23.16,21.29
$GC,10209,0.60,150.9,2755,480,2349,2213,993.2,7.4,767,10270,0.00,2.33,54.67,1.777,9222,0.000,0.047,2754,1896,2066,2141,1992,0,0,0,0,0,0,28.83,24.91,21.92
$GC,10578,0.61,158.5,2754,1895,2136,1981,959.4,9.1,786,10591,0.00,2.30,7.53,1.611,8452,0.000,0.054,2754,3306,2035,2113,1957,0,0,0,0,0,0,28.83,25.55,23.37
$GC,10666,0.61,158.5,2755,3306,2112,1957,952.0,9.7,789,10674,0.00,2.28,0.00,0.000,1030,0.000,0.050,2765,1892,2034,2112,1957,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,19826,end climb,SURFACE_DEPTH_REACHED
$STATE,19826,begin surface coast
$FINISH,0.0,1.026595
$STATE,19854,end surface coast,CONTROL_FINISHED_OK
$STATE,19854,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,62.28
$INTERNAL_PRESSURE,9.37503
$TCM_TEMP,18.40
$XPDR_PINGS,0
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$10V_AH,9.7,53.972
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353176
$DATA_FILE_SIZE,103842,1537
$CAP_FILE_SIZE,195231,0
$CFSIZE,259252224,216883200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.167, 41.9,1
$GPS,011116,161651,-4258.374,831.033,52,0.8,52,-25.0