version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 91
start: 12 23 115 17 31 12
data:
$ID,542
$MISSION,12
$DIVE,91
$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,-29763.98
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,231215,172420,-4304.468,826.850,86,2.0,101,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.8
$GPS2,231215,173046,-4304.398,826.917,17,0.9,17,-25.0
$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,264.6,4014,-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,-146.0,167,2012,1960,1916,0.0,0.0,0,73,0.00,0.00,-56.60,0.000,16390,0.000,0.000,167,2011,3506,3555,3457,0,0,0,0,0,0,28.83,28.83,26.36
$GC,76,-0.68,-146.0,166,2012,3555,3461,4.2,-7.6,7,93,8.35,2.25,0.00,0.000,2308,0.230,0.055,2336,3407,3509,3554,3464,0,0,0,0,0,0,25.70,25.99,28.83
$GC,120,-0.68,-146.0,2336,3407,3554,3464,22.1,-34.4,13,129,0.00,2.30,0.00,0.000,1030,0.000,0.058,2339,1992,3509,3555,3464,0,0,0,0,0,0,28.83,26.00,28.83
$GC,275,-0.68,-146.0,1448,1989,3549,3461,42.7,-11.4,38,282,0.00,2.28,0.00,0.000,516,0.000,0.067,2339,583,3510,3556,3464,0,0,0,0,0,0,28.83,26.05,28.83
$GC,349,-0.68,-146.0,1472,582,3549,3462,54.2,-16.2,51,359,0.00,2.25,0.00,0.000,1030,0.000,0.054,2331,1980,3510,3556,3464,0,0,0,0,0,0,28.83,26.10,28.83
$GC,686,-0.68,-146.0,2330,1980,3557,3464,109.7,-15.6,107,690,0.00,2.22,0.00,0.000,516,0.000,0.064,2331,585,3510,3556,3464,0,0,0,0,0,0,28.83,26.17,28.83
$GC,774,-0.68,-146.0,2331,585,3556,3464,123.2,-14.6,115,784,0.12,2.22,0.00,0.000,3078,0.188,0.055,2349,2002,3510,3557,3464,0,0,0,0,0,0,26.08,26.21,28.83
$GC,1085,-0.68,-146.0,2349,2003,3557,3464,166.0,-14.5,146,1094,0.00,2.28,0.00,0.000,516,0.000,0.065,2349,583,3511,3558,3464,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1129,-0.68,-146.0,1568,582,3552,3462,172.1,-14.6,150,1137,0.00,2.28,0.00,0.000,1030,0.000,0.055,2341,1998,3511,3558,3464,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1438,-0.68,-146.0,2341,1999,3558,3464,216.7,-14.1,181,1448,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,584,3511,3559,3464,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1511,-0.68,-146.0,2341,584,3558,3464,226.8,-12.9,188,1515,0.00,2.22,0.00,0.000,1030,0.000,0.056,2331,1997,3511,3558,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1818,-0.68,-146.0,2331,1998,3559,3464,270.4,-14.7,218,1826,0.00,2.25,0.00,0.000,516,0.000,0.065,2331,581,3511,3559,3464,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1849,-0.68,-146.0,2331,581,3559,3464,275.0,-14.5,221,1860,0.12,2.22,0.00,0.000,3078,0.184,0.056,2350,1997,3511,3559,3464,0,0,0,0,0,0,26.20,26.34,28.83
$GC,2158,-0.68,-146.0,2350,1997,3560,3464,314.8,-13.1,252,2169,0.00,2.25,0.00,0.000,516,0.000,0.067,2350,585,3512,3560,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2204,-0.68,-146.0,2350,585,3560,3464,320.5,-13.5,256,2212,0.00,2.25,0.00,0.000,1030,0.000,0.056,2342,1992,3512,3560,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2511,-0.68,-146.0,2342,1993,3560,3464,362.6,-13.6,287,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1993,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2812,-0.68,-146.0,2341,1993,3560,3464,402.8,-13.1,316,2816,0.00,2.25,0.00,0.000,516,0.000,0.068,2342,580,3511,3560,3463,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2849,-0.68,-146.0,2341,579,3560,3464,407.6,-13.1,318,2855,0.00,2.22,0.00,0.000,1030,0.000,0.057,2332,2000,3512,3560,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3169,-0.68,-146.0,2332,2000,3560,3464,450.2,-13.4,334,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2000,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.68,-146.0,2332,2000,3560,3464,491.5,-13.9,349,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2000,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-0.68,-146.0,2331,2000,3560,3464,534.3,-14.0,364,3774,0.00,2.25,0.00,0.000,516,0.000,0.069,2332,587,3512,3560,3464,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3796,-0.68,-146.0,2332,587,3559,3464,537.2,-14.2,365,3800,0.00,2.22,0.00,0.000,1030,0.000,0.059,2322,1995,3512,3560,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4108,-0.68,-146.0,2322,1997,3560,3464,584.7,-15.2,381,4112,0.12,2.25,0.00,0.000,2564,0.189,0.068,2357,587,3511,3559,3464,0,0,0,0,0,0,26.32,26.41,28.83
$GC,4148,-0.68,-146.0,2357,587,3560,3464,589.7,-14.7,383,4152,0.00,2.22,0.00,0.000,1030,0.000,0.059,2348,1995,3512,3560,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4465,-0.68,-146.0,2348,1996,3560,3464,628.2,-11.9,399,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4767,-0.68,-146.0,2348,1996,3560,3464,662.4,-11.3,414,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.68,-146.0,2348,1996,3560,3464,697.2,-11.7,429,5072,0.00,2.25,0.00,0.000,516,0.000,0.071,2348,582,3512,3560,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5098,-0.68,-146.0,2348,582,3560,3464,699.7,-11.7,430,5108,0.00,2.25,0.00,0.000,1030,0.000,0.060,2338,2004,3512,3560,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5405,-0.68,-146.0,2338,2005,3560,3463,738.5,-12.1,446,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2006,3511,3560,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.68,-146.0,2338,2005,3559,3462,775.0,-11.9,461,5712,0.00,2.28,0.00,0.000,516,0.000,0.071,2338,581,3510,3559,3462,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5733,-0.68,-146.0,2338,580,3559,3462,777.5,-11.9,462,5737,0.00,2.25,0.00,0.000,1030,0.000,0.061,2328,1998,3510,3559,3462,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6042,-0.68,-146.0,2328,1999,3559,3462,815.6,-12.1,477,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1999,3510,3559,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6342,-0.68,-146.0,2328,1999,3558,3461,851.5,-11.9,492,6347,0.00,2.25,0.00,0.000,516,0.000,0.071,2328,587,3509,3558,3461,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6389,-0.68,-146.0,2328,586,3558,3461,856.5,-12.2,494,6394,0.12,2.25,0.00,0.000,3078,0.181,0.063,2348,2004,3509,3558,3461,0,0,0,0,0,0,26.32,26.44,28.83
$GC,6696,-0.68,-146.0,2347,2004,3558,3460,891.2,-11.4,509,6702,0.00,2.28,0.00,0.000,516,0.000,0.072,2347,587,3509,3558,3460,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6718,-0.68,-146.0,1568,587,3552,3458,893.6,-11.4,510,6723,0.00,2.28,0.00,0.000,1030,0.000,0.062,2340,1990,3509,3558,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7037,-0.68,-146.0,2339,1990,3558,3460,932.4,-12.3,526,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1991,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,-0.68,-146.0,2339,1990,3557,3460,969.2,-12.2,541,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1991,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7597,begin apogee
$GC,7602,-0.14,0.0,2339,1866,3557,3460,1000.7,-12.1,554,7737,0.57,0.00,129.80,1.789,10246,0.138,0.000,2520,1866,2909,2984,2834,0,0,0,0,0,0,26.32,28.83,23.38
$STATE,7738,end apogee,CONTROL_FINISHED_OK
$STATE,7738,begin climb
$GC,7739,0.68,146.0,2519,1866,2984,2833,1008.5,0.0,561,7884,0.77,2.65,136.57,1.763,10500,0.056,0.067,2798,3277,2313,2373,2253,0,0,0,0,0,0,24.48,23.34,22.39
$GC,7937,0.68,146.0,2798,3277,2371,2246,1000.7,12.8,571,7943,0.00,2.42,0.00,0.000,1030,0.000,0.060,2809,1879,2308,2371,2245,0,0,0,0,0,0,28.83,24.22,28.83
$GC,8257,0.68,146.0,2808,1879,2370,2237,951.0,15.5,587,8263,0.00,2.35,0.00,0.000,260,0.000,0.069,2809,3282,2304,2371,2237,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8290,0.68,146.0,2808,3283,2370,2237,947.8,15.7,588,8297,0.12,2.35,0.00,0.000,5126,0.226,0.060,2795,1867,2303,2370,2237,0,0,0,0,0,0,25.26,25.40,28.83
$GC,8597,0.68,146.0,2795,1867,2370,2234,900.2,14.8,604,8601,0.00,2.35,0.00,0.000,260,0.000,0.069,2795,3289,2302,2370,2235,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8655,0.68,146.0,1936,3288,2331,2229,891.6,15.3,607,8660,0.00,2.35,0.00,0.000,1030,0.000,0.061,2804,1872,2302,2370,2235,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8973,0.68,146.0,2804,1873,2369,2234,843.8,14.8,623,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1873,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,0.68,146.0,2804,1872,2369,2233,799.2,14.8,638,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1873,2301,2369,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,0.68,146.0,2803,1873,2369,2233,755.9,14.5,653,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1872,2301,2370,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9873,0.68,146.0,2803,1872,2368,2232,713.0,14.4,668,9877,0.00,2.28,0.00,0.000,260,0.000,0.068,2804,3287,2301,2369,2233,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9969,0.68,146.0,2803,3287,2368,2232,699.0,14.6,673,9973,0.00,2.28,0.00,0.000,1030,0.000,0.060,2814,1859,2300,2368,2232,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10285,0.68,146.0,2814,1859,2368,2232,653.5,14.8,689,10291,0.00,2.30,0.00,0.000,260,0.000,0.068,2814,3290,2300,2368,2232,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10393,0.68,146.0,2814,3289,2367,2232,638.3,15.2,694,10398,0.15,2.28,0.00,0.000,5126,0.218,0.060,2792,1861,2299,2367,2232,0,0,0,0,0,0,26.10,26.28,28.83
$GC,10705,0.68,146.0,2791,1861,2367,2232,594.8,13.4,710,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1862,2299,2367,2232,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15517,end climb,SURFACE_DEPTH_REACHED
$STATE,15518,begin surface coast
$FINISH,0.1,1.026507
$STATE,15538,end surface coast,CONTROL_FINISHED_OK
$STATE,15538,begin surface
$SM_CCo,15553,32.53,0.148,0,0,1967,230.09
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$IRIDIUM_FIX,-4247.91,826.16,191008,020247
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.00
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,18.086
$10V_AH,10.2,14.977
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.200,118.675,266.375,32.525,0.000,27.677,19.106,229.990,49.250,0.000,18.349,3108.881,9348.426,464.940,2871.876,175.214,0.000,1551.301,0.000,2362.503,0.000,297.582,0.000
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$SENSOR_SECS,828.166,73.619,666.820,1755.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352672
$DATA_FILE_SIZE,73687,1181
$CAP_FILE_SIZE,162793,0
$CFSIZE,259248128,251301888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174, 32.8,1
$GPS,231215,215203,-4304.357,825.756,30,0.9,30,-25.0