version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 11
start: 12 9 115 7 46 36
data:
$ID,542
$MISSION,12
$DIVE,11
$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,334
$T_MISSION,339
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-29663.637
$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,2600
$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,1995
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-177.38863
$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,20
$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
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$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
$GPS1,091215,073733,-4250.004,840.611,40,0.9,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-55.5
$GPS2,091215,074610,-4250.012,840.790,14,1.2,15,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,244.2,34456,-18.2,-9.980,-21.00,2240
$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,15,-0.69,-146.0,136,1985,654,596,0.0,0.0,0,129,0.00,0.00,-111.25,0.000,16390,0.000,0.000,136,1984,3507,3544,3470,0,0,0,0,0,0,28.83,28.83,26.25
$GC,131,-0.69,-146.0,135,1984,3544,3471,4.2,-7.2,14,148,8.52,2.33,0.00,0.000,2308,0.227,0.058,2360,3417,3508,3545,3472,0,0,0,0,0,0,25.72,25.91,28.83
$GC,224,-0.69,-146.0,2359,3417,3548,3472,27.1,-10.9,28,234,0.00,2.30,0.00,0.000,1030,0.000,0.056,2359,1995,3510,3548,3472,0,0,0,0,0,0,28.83,25.96,28.83
$GC,381,-0.69,-146.0,2359,1995,3549,3471,44.9,-12.2,53,388,0.00,2.30,0.00,0.000,516,0.000,0.072,2359,577,3510,3549,3471,0,0,0,0,0,0,28.83,26.03,28.83
$GC,431,-0.69,-146.0,2359,577,3549,3471,51.5,-12.6,61,438,0.00,2.28,0.00,0.000,1030,0.000,0.060,2350,2005,3510,3549,3471,0,0,0,0,0,0,28.83,26.06,28.83
$GC,769,-0.69,-146.0,2349,2005,3550,3471,97.7,-12.9,122,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2005,3510,3550,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.69,-146.0,2349,2004,3551,3472,137.5,-12.9,154,1081,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,579,3511,3551,3472,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1133,-0.69,-146.0,2349,578,3551,3471,144.9,-13.3,159,1138,0.15,2.25,0.00,0.000,3078,0.164,0.060,2379,2005,3511,3551,3471,0,0,0,0,0,0,26.20,26.28,28.83
$GC,1440,-0.69,-146.0,2378,2006,3552,3472,177.9,-10.6,189,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2006,3511,3552,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.69,-146.0,2378,2006,3552,3472,207.7,-9.8,219,1748,0.00,2.28,0.00,0.000,516,0.000,0.070,2379,581,3511,3551,3472,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1803,-0.69,-146.0,2378,581,3552,3471,214.0,-10.0,225,1811,0.00,2.28,0.00,0.000,1030,0.000,0.060,2372,1992,3511,3552,3471,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2111,-0.69,-146.0,2371,1992,3552,3471,247.9,-11.0,256,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1992,3511,3552,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,-0.69,-146.0,2371,1992,3552,3471,278.7,-10.0,286,2415,0.00,2.25,0.00,0.000,516,0.000,0.071,2371,583,3511,3552,3471,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2480,-0.69,-146.0,2371,582,3551,3471,285.5,-9.9,292,2490,0.00,2.22,0.00,0.000,1030,0.000,0.060,2362,2006,3511,3552,3471,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2788,-0.69,-146.0,2361,2006,3551,3471,316.3,-10.4,323,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2006,3511,3551,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3088,-0.69,-146.0,2361,2006,3551,3471,349.0,-11.4,353,3097,0.00,2.28,0.00,0.000,516,0.000,0.071,2362,580,3511,3552,3471,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3153,-0.69,-146.0,1552,580,3545,3469,356.3,-11.6,359,3160,0.00,2.28,0.00,0.000,1030,0.000,0.061,2353,1993,3511,3552,3471,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3460,-0.69,-146.0,2353,1994,3552,3470,392.2,-11.0,390,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1994,3510,3551,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3772,-0.69,-146.0,2353,1993,3551,3470,426.5,-11.3,409,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1993,3511,3552,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.69,-146.0,2353,1994,3552,3469,460.1,-11.3,424,4077,0.00,2.25,0.00,0.000,516,0.000,0.073,2353,585,3510,3551,3469,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4112,-0.69,-146.0,2353,585,3552,3469,464.7,-11.5,426,4118,0.12,2.22,0.00,0.000,3078,0.167,0.063,2375,1999,3510,3552,3469,0,0,0,0,0,0,26.44,26.51,28.83
$GC,4432,-0.69,-146.0,2375,1998,3551,3467,496.0,-10.0,442,4438,0.00,2.25,0.00,0.000,516,0.000,0.073,2375,592,3509,3552,3467,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4471,-0.69,-146.0,2375,591,3551,3467,500.2,-10.3,444,4477,0.00,2.22,0.00,0.000,1030,0.000,0.064,2369,2001,3509,3552,3467,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4791,-0.69,-146.0,2368,2002,3551,3466,532.9,-9.9,460,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2002,3508,3551,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5092,-0.69,-146.0,2369,2002,3552,3465,561.6,-9.5,475,5097,0.00,2.25,0.00,0.000,516,0.000,0.076,2370,589,3508,3552,3465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5144,-0.69,-146.0,2368,589,3551,3465,565.5,-9.5,477,5151,0.00,2.22,0.00,0.000,1030,0.000,0.066,2359,1992,3508,3552,3465,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5453,-0.69,-146.0,2359,1993,3551,3463,596.2,-9.9,493,5458,0.00,2.28,0.00,0.000,516,0.000,0.077,2359,570,3507,3551,3464,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5479,-0.69,-146.0,2359,569,3551,3463,598.3,-10.0,494,5483,0.00,2.28,0.00,0.000,1030,0.000,0.067,2350,1998,3508,3552,3464,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5791,-0.69,-146.0,2349,1998,3551,3463,634.1,-11.6,510,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1998,3507,3551,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6092,-0.69,-146.0,2349,1998,3551,3462,669.5,-11.8,525,6098,0.00,2.28,0.00,0.000,516,0.000,0.078,2350,587,3507,3552,3462,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6140,-0.69,-146.0,2349,586,3551,3462,674.5,-12.0,527,6145,0.15,2.25,0.00,0.000,3078,0.164,0.067,2379,2005,3506,3551,3462,0,0,0,0,0,0,26.47,26.53,28.83
$GC,6453,-0.69,-146.0,2379,2005,3551,3461,703.7,-8.9,543,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2005,3506,3552,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6754,-0.69,-146.0,2379,2005,3551,3460,730.1,-8.7,558,6759,0.00,2.30,0.00,0.000,516,0.000,0.078,2380,582,3506,3552,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6801,-0.69,-146.0,2380,582,3552,3460,733.8,-8.9,560,6805,0.00,2.28,0.00,0.000,1030,0.000,0.069,2372,2002,3505,3551,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7113,-0.69,-146.0,2372,2003,3551,3460,762.8,-9.1,576,7118,0.00,2.30,0.00,0.000,516,0.000,0.080,2372,581,3506,3552,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7146,-0.69,-146.0,2372,580,3551,3460,764.7,-9.2,577,7155,0.00,2.28,0.00,0.000,1030,0.000,0.069,2363,1996,3505,3551,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7455,-0.69,-146.0,2363,1996,3551,3459,795.8,-9.8,593,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1996,3505,3551,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7754,-0.69,-146.0,2362,1996,3551,3459,825.2,-9.8,608,7759,0.00,2.28,0.00,0.000,516,0.000,0.080,2363,583,3505,3551,3459,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7781,-0.69,-146.0,2363,582,3551,3459,827.2,-10.0,609,7785,0.00,2.25,0.00,0.000,1030,0.000,0.070,2354,1995,3505,3551,3459,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8090,-0.69,-146.0,2353,1995,3552,3458,860.1,-10.6,624,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1995,3504,3551,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.69,-146.0,2353,1995,3551,3457,890.9,-9.8,639,8394,0.00,2.28,0.00,0.000,516,0.000,0.081,2354,584,3504,3551,3457,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8428,-0.69,-146.0,2353,584,3551,3457,895.0,-9.9,641,8435,0.12,2.25,0.00,0.000,3078,0.171,0.070,2375,1995,3504,3551,3457,0,0,0,0,0,0,26.48,26.54,28.83
$GC,8748,-0.69,-146.0,2374,1995,3551,3456,922.6,-9.0,657,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1995,3503,3550,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9048,-0.69,-146.0,2375,1996,3551,3455,949.4,-8.7,672,9054,0.00,2.30,0.00,0.000,516,0.000,0.081,2375,582,3502,3550,3455,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9091,-0.69,-146.0,1552,583,3544,3453,953.1,-8.8,674,9095,0.00,2.33,0.00,0.000,1030,0.000,0.072,2368,1998,3502,3550,3455,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9411,-0.69,-146.0,2368,1998,3550,3455,981.1,-8.8,690,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1998,3502,3550,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9630,begin apogee
$GC,9633,-0.14,0.0,2368,1899,3550,3454,1000.6,-9.0,701,9769,0.57,0.00,128.27,1.786,10246,0.129,0.000,2554,1897,2909,2986,2832,0,0,0,0,0,0,26.51,28.83,23.29
$STATE,9770,end apogee,CONTROL_FINISHED_OK
$STATE,9770,begin climb
$GC,9771,0.69,146.0,2554,1898,2987,2832,1007.4,0.0,708,9913,0.75,2.58,133.50,1.757,10756,0.057,0.083,2836,490,2312,2389,2236,0,0,0,0,0,0,24.53,24.03,23.03
$GC,10158,0.69,146.0,2836,490,2380,2230,967.4,17.2,727,10166,0.00,2.40,0.00,0.000,1030,0.000,0.073,2836,1904,2304,2380,2229,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10465,0.69,146.0,2836,1904,2380,2225,913.7,16.4,743,10470,0.00,2.35,0.00,0.000,260,0.000,0.080,2836,3313,2302,2379,2225,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10494,0.69,146.0,2836,3313,2378,2225,911.0,16.4,744,10502,0.00,2.33,0.00,0.000,1030,0.000,0.070,2845,1904,2301,2378,2225,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10802,0.69,146.0,2845,1904,2378,2223,856.2,17.2,760,10808,0.00,2.33,0.00,0.000,260,0.000,0.078,2845,3313,2300,2378,2223,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10864,0.69,146.0,2844,3313,2377,2223,845.3,18.1,763,10869,0.15,2.33,0.00,0.000,5126,0.246,0.070,2825,1889,2300,2377,2223,0,0,0,0,0,0,25.84,25.98,28.83
$GC,11181,0.69,146.0,2825,1889,2377,2222,793.4,16.2,779,11186,0.00,2.35,0.00,0.000,260,0.000,0.080,2815,3314,2299,2377,2222,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,16685,end climb,SURFACE_DEPTH_REACHED
$STATE,16685,begin surface coast
$FINISH,-0.3,1.002472
$STATE,16723,end surface coast,CONTROL_FINISHED_OK
$STATE,16723,begin surface
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$10V_AH,10.3,5.378
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$FG_AHR_10Vo,0.000
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$MEM,352732
$DATA_FILE_SIZE,80346,1261
$CAP_FILE_SIZE,180342,0
$CFSIZE,259248128,257609728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041, 39.5,1
$GPS,091215,122733,-4251.570,839.429,50,0.8,50,-25.1