version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 73
start: 12 20 115 10 7 37
data:
$ID,542
$MISSION,12
$DIVE,73
$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,340
$T_MISSION,355
$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,230
$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,-29741.404
$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,2570
$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,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$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
$GPS1,201215,100059,-4303.698,836.258,75,2.0,75,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.3
$GPS2,201215,100711,-4303.625,836.409,21,1.4,21,-25.1
$SPEED_LIMITS,0.170,0.259
$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,259.2,16803,-17.9,-9.804,-20.77,2280
$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,-0.68,-146.0,163,2005,1972,1913,0.0,0.0,0,66,0.00,0.00,-48.78,0.000,16386,0.000,0.000,162,2005,3212,3287,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,162,2004,3289,3137,3.0,-6.9,6,86,8.00,0.00,-6.32,0.000,18950,0.214,0.000,2342,2004,3506,3573,3439,0,0,0,0,0,0,25.80,28.83,26.32
$GC,137,-0.68,-146.0,2342,2004,3573,3446,20.3,-17.4,16,147,0.00,2.33,0.00,0.000,516,0.000,0.068,2342,591,3509,3573,3446,0,0,0,0,0,0,28.83,26.02,28.83
$GC,180,-0.68,-146.0,2342,591,3573,3447,27.4,-17.2,22,188,0.00,2.28,0.00,0.000,1030,0.000,0.057,2334,1989,3510,3573,3447,0,0,0,0,0,0,28.83,26.04,28.83
$GC,330,-0.68,-146.0,2333,1990,3573,3448,49.0,-13.2,47,337,0.00,2.28,0.00,0.000,260,0.000,0.066,2323,3410,3510,3573,3448,0,0,0,0,0,0,28.83,26.10,28.83
$GC,357,-0.68,-146.0,2323,3409,3573,3449,53.1,-15.2,51,365,0.00,2.28,0.00,0.000,1030,0.000,0.056,2323,1997,3511,3573,3449,0,0,0,0,0,0,28.83,26.13,28.83
$GC,693,-0.68,-146.0,2322,1997,3573,3449,108.4,-15.7,107,697,0.00,2.28,0.00,0.000,516,0.000,0.069,2323,579,3511,3573,3449,0,0,0,0,0,0,28.83,26.20,28.83
$GC,845,-0.68,-146.0,2322,579,3573,3449,131.7,-15.8,121,854,0.10,2.28,0.00,0.000,3078,0.158,0.057,2344,1990,3511,3573,3449,0,0,0,0,0,0,26.15,26.25,28.83
$GC,1154,-0.68,-146.0,2343,1990,3573,3450,175.9,-13.7,152,1165,0.00,2.25,0.00,0.000,516,0.000,0.067,2344,582,3511,3573,3450,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1221,-0.68,-146.0,2344,582,3573,3450,185.2,-14.0,158,1229,0.00,2.28,0.00,0.000,1030,0.000,0.056,2335,1995,3511,3573,3450,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1530,-0.68,-146.0,2335,1995,3573,3450,232.3,-14.5,189,1539,0.00,2.22,0.00,0.000,516,0.000,0.067,2335,584,3512,3573,3451,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1565,-0.68,-146.0,2335,583,3573,3451,237.1,-14.3,192,1573,0.00,2.25,0.00,0.000,1030,0.000,0.056,2325,1988,3512,3573,3451,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1872,-0.68,-146.0,2325,1989,3574,3451,281.6,-14.0,223,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1989,3512,3573,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2174,-0.68,-146.0,2325,1989,3573,3450,325.2,-14.9,253,2183,0.00,2.25,0.00,0.000,516,0.000,0.068,2325,578,3512,3573,3451,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2239,-0.68,-146.0,2325,578,3573,3452,335.1,-14.9,259,2248,0.10,2.28,0.00,0.000,3078,0.151,0.057,2347,1995,3512,3573,3452,0,0,0,0,0,0,26.30,26.39,28.83
$GC,2547,-0.68,-146.0,2347,1995,3573,3452,376.4,-13.7,290,2551,0.00,2.25,0.00,0.000,516,0.000,0.069,2347,577,3512,3573,3452,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2575,-0.68,-146.0,2347,577,3573,3452,380.0,-13.9,292,2585,0.00,2.28,0.00,0.000,1030,0.000,0.057,2339,1993,3512,3573,3452,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2883,-0.68,-146.0,2338,1994,3573,3452,423.6,-14.0,315,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1994,3512,3573,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3184,-0.68,-146.0,2339,1994,3573,3452,465.1,-13.6,330,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1994,3512,3573,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3485,-0.68,-146.0,2339,1994,3573,3452,505.4,-13.2,345,3490,0.00,2.22,0.00,0.000,516,0.000,0.070,2339,589,3512,3573,3452,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3524,-0.68,-146.0,2339,589,3573,3452,510.8,-13.4,347,3530,0.00,2.22,0.00,0.000,1030,0.000,0.060,2329,2005,3512,3573,3452,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3843,-0.68,-146.0,2329,2006,3573,3452,553.4,-13.0,363,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2006,3512,3573,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4144,-0.68,-146.0,2329,2006,3573,3452,592.4,-12.8,378,4150,0.00,2.28,0.00,0.000,516,0.000,0.072,2329,585,3512,3573,3452,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4171,-0.68,-146.0,2329,584,3573,3452,595.1,-12.9,379,4176,0.12,2.28,0.00,0.000,3078,0.176,0.061,2349,2023,3513,3573,3453,0,0,0,0,0,0,26.37,26.46,28.83
$GC,4484,-0.68,-146.0,2349,2023,3573,3452,631.2,-11.1,395,4489,0.00,2.30,0.00,0.000,516,0.000,0.073,2349,586,3512,3573,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4528,-0.68,-146.0,2349,586,3573,3452,635.8,-11.3,397,4532,0.00,2.22,0.00,0.000,1030,0.000,0.061,2341,1995,3512,3573,3452,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4840,-0.68,-146.0,2341,1995,3572,3452,673.5,-12.2,413,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3512,3572,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.68,-146.0,2341,1995,3572,3452,710.6,-12.4,428,5145,0.00,2.25,0.00,0.000,516,0.000,0.073,2341,585,3512,3572,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5180,-0.68,-146.0,2340,585,3571,3452,715.6,-12.5,430,5185,0.00,2.25,0.00,0.000,1030,0.000,0.063,2331,2004,3511,3571,3452,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5499,-0.68,-146.0,2330,2005,3571,3451,757.3,-13.2,446,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2005,3511,3570,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5802,-0.68,-146.0,2330,2005,3570,3452,795.7,-12.7,461,5808,0.00,2.28,0.00,0.000,516,0.000,0.074,2331,580,3511,3570,3452,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5829,-0.68,-146.0,2331,580,3570,3452,798.4,-12.7,462,5834,0.12,2.25,0.00,0.000,3078,0.175,0.063,2351,1998,3510,3569,3452,0,0,0,0,0,0,26.39,26.48,28.83
$GC,6135,-0.68,-146.0,2351,1999,3569,3452,833.3,-10.6,477,6141,0.00,2.28,0.00,0.000,516,0.000,0.075,2351,585,3510,3569,3451,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6162,-0.68,-146.0,2351,585,3569,3451,835.6,-10.7,478,6167,0.00,2.28,0.00,0.000,1030,0.000,0.063,2342,1991,3510,3569,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6475,-0.68,-146.0,2343,1992,3568,3451,870.3,-10.8,494,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1992,3510,3568,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,-0.68,-146.0,2342,1992,3567,3451,903.1,-11.2,509,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1992,3510,3568,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7075,-0.68,-146.0,2343,1992,3566,3451,934.7,-10.4,524,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1992,3508,3566,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.68,-146.0,2343,1992,3565,3452,966.4,-10.5,539,7383,0.00,2.28,0.00,0.000,516,0.000,0.076,2343,582,3508,3565,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7404,-0.68,-146.0,2342,582,3565,3451,968.6,-10.6,540,7408,0.00,2.25,0.00,0.000,1030,0.000,0.065,2333,1998,3507,3564,3451,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,7690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7690,begin apogee
$GC,7694,-0.14,0.0,2333,1863,3563,3451,1002.1,-11.4,554,7831,0.60,0.00,129.25,1.756,10246,0.140,0.000,2521,1863,2908,2983,2834,0,0,0,0,0,0,26.41,28.83,23.40
$STATE,7832,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7833,0.68,146.0,2521,1863,2984,2834,1008.1,0.0,561,7976,0.75,2.62,133.75,1.718,10756,0.048,0.074,2813,459,2314,2374,2255,0,0,0,0,0,0,24.60,23.42,22.48
$GC,8208,0.68,146.0,2813,459,2366,2247,968.5,15.8,580,8213,0.00,2.40,0.00,0.000,1030,0.000,0.063,2813,1877,2306,2366,2247,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8525,0.68,146.0,2812,1877,2366,2243,918.4,15.9,596,8529,0.00,2.33,0.00,0.000,260,0.000,0.070,2813,3284,2305,2367,2243,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8649,0.68,146.0,2812,3284,2365,2243,899.8,16.0,602,8654,0.15,2.30,0.00,0.000,5126,0.226,0.063,2792,1875,2304,2365,2243,0,0,0,0,0,0,25.58,25.72,28.83
$GC,8956,0.68,146.0,2792,1875,2365,2241,854.4,14.4,617,8962,0.00,2.30,0.00,0.000,260,0.000,0.071,2789,3284,2303,2365,2241,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9018,0.68,146.0,2788,3284,2365,2241,845.5,14.7,620,9023,0.00,2.35,0.00,0.000,1030,0.000,0.063,2797,1866,2303,2365,2241,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9336,0.68,146.0,2797,1866,2365,2239,798.7,14.6,636,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1866,2302,2365,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,0.68,146.0,2797,1865,2365,2238,756.0,14.1,651,9640,0.00,2.30,0.00,0.000,260,0.000,0.072,2797,3285,2301,2365,2238,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9700,0.68,146.0,2797,3285,2365,2238,747.9,14.4,654,9704,0.00,2.28,0.00,0.000,1030,0.000,0.064,2808,1868,2301,2365,2238,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10007,0.68,146.0,2807,1867,2365,2237,703.2,14.3,669,10013,0.00,2.30,0.00,0.000,260,0.000,0.072,2808,3289,2301,2365,2237,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10094,0.68,146.0,2807,3289,2364,2237,691.4,14.8,673,10099,0.00,2.28,0.00,0.000,1030,0.000,0.063,2818,1869,2300,2364,2237,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10407,0.68,146.0,2817,1869,2364,2237,646.3,13.9,689,10413,0.00,2.30,0.00,0.000,260,0.000,0.072,2818,3294,2300,2364,2237,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10474,0.68,146.0,2817,3294,2364,2237,637.7,14.2,692,10479,0.15,2.28,0.00,0.000,5126,0.223,0.063,2796,1868,2300,2363,2237,0,0,0,0,0,0,26.14,26.29,28.83
$GC,10787,0.68,146.0,2795,1868,2364,2236,597.8,12.4,708,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1868,2299,2363,2236,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15577,end climb,SURFACE_DEPTH_REACHED
$STATE,15577,begin surface coast
$FINISH,-0.0,1.026519
$STATE,15597,end surface coast,CONTROL_FINISHED_OK
$STATE,15597,begin surface
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$10V_AH,10.2,12.774
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,352728
$DATA_FILE_SIZE,73574,1162
$CAP_FILE_SIZE,172004,0
$CFSIZE,259248128,252751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.183, 43.0,1
$GPS,201215,143042,-4303.848,835.782,113,1.6,113,-25.1