version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 253
start: 1 22 116 5 52 3
data:
$ID,542
$MISSION,12
$DIVE,253
$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,-29968.1
$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,26
$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
$GPS1,220116,054549,-4256.487,822.864,130,0.9,130,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.6
$GPS2,220116,055135,-4256.428,822.891,19,1.2,19,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,103.4,1700,-27.8,-9.804,-30.00,959
$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,-0.85,-61.2,162,2008,1972,1922,0.0,0.0,0,65,0.00,0.00,-43.95,0.000,16390,0.000,0.000,162,2008,3160,3237,3084,0,0,0,0,0,0,28.83,28.83,26.39
$GC,68,-0.87,-77.7,162,2008,3237,3084,4.2,-8.0,6,85,7.95,2.25,-1.25,0.000,18692,0.207,0.063,2272,3400,3225,3306,3145,0,0,0,0,0,0,25.19,25.81,26.23
$GC,407,-0.87,-77.7,2272,3400,3311,3144,70.3,-16.9,62,414,0.00,2.22,0.00,0.000,1030,0.000,0.049,2272,1996,3227,3311,3144,0,0,0,0,0,0,28.83,25.81,28.83
$GC,732,-0.87,-77.7,2271,1995,3312,3144,127.6,-17.5,107,741,0.00,2.28,0.00,0.000,516,0.000,0.061,2272,585,3228,3312,3144,0,0,0,0,0,0,28.83,25.75,28.83
$GC,857,-0.87,-77.7,2271,585,3313,3145,150.5,-18.1,119,865,0.00,2.20,0.00,0.000,1030,0.000,0.048,2262,1990,3229,3313,3145,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1166,-0.87,-77.7,2262,1990,3314,3144,208.1,-17.9,150,1175,0.00,2.25,0.00,0.000,516,0.000,0.060,2262,588,3229,3314,3144,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1270,-0.87,-77.7,2261,588,3314,3144,226.3,-17.8,160,1281,0.10,2.17,0.00,0.000,3078,0.169,0.048,2281,1989,3229,3314,3145,0,0,0,0,0,0,25.56,25.94,28.83
$GC,1578,-0.87,-77.7,2281,1989,3316,3145,273.5,-15.4,191,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1989,3230,3316,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1880,-0.87,-77.7,2281,1988,3316,3145,318.6,-15.5,221,1888,0.00,2.25,0.00,0.000,516,0.000,0.060,2281,588,3230,3316,3145,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1942,-0.87,-77.7,2281,588,3316,3144,328.8,-16.0,227,1951,0.00,2.20,0.00,0.000,1030,0.000,0.049,2273,1995,3231,3317,3145,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2252,-0.87,-77.7,2273,1995,3317,3145,378.6,-16.5,258,2260,0.00,2.25,0.00,0.000,516,0.000,0.060,2273,585,3230,3316,3144,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2306,-0.87,-77.7,2273,585,3317,3144,387.4,-17.0,263,2313,0.00,2.22,0.00,0.000,1030,0.000,0.050,2263,1995,3230,3317,3144,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2624,-0.87,-77.7,2263,1995,3316,3145,441.8,-17.2,283,2630,0.00,2.25,0.00,0.000,516,0.000,0.061,2264,588,3231,3317,3145,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2691,-0.87,-77.7,2263,588,3316,3144,452.7,-18.1,286,2696,0.15,2.22,0.00,0.000,3078,0.184,0.050,2288,2002,3230,3317,3144,0,0,0,0,0,0,25.58,25.96,28.83
$GC,3000,-0.87,-77.7,2288,2002,3316,3144,502.7,-15.8,301,3006,0.00,2.28,0.00,0.000,516,0.000,0.062,2289,589,3231,3317,3145,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3051,-0.87,-77.7,2288,589,3317,3144,509.4,-16.2,303,3062,0.00,2.22,0.00,0.000,1030,0.000,0.050,2280,1995,3230,3316,3144,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3358,-0.87,-77.7,2280,1995,3317,3144,559.9,-15.2,319,3364,0.00,2.25,0.00,0.000,516,0.000,0.062,2280,588,3230,3316,3144,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3408,-0.87,-77.7,2280,588,3317,3144,566.5,-15.4,321,3413,0.00,2.28,0.00,0.000,1030,0.000,0.051,2270,1995,3230,3317,3144,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3722,-0.87,-77.7,2270,1995,3316,3144,615.4,-15.3,337,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1995,3230,3317,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.87,-77.7,2270,1995,3316,3144,661.1,-15.1,352,4028,0.00,2.25,0.00,0.000,516,0.000,0.063,2270,592,3230,3316,3144,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4170,-0.87,-77.7,2269,592,3317,3144,683.1,-15.6,359,4175,0.12,2.22,0.00,0.000,3078,0.182,0.052,2288,1995,3230,3317,3144,0,0,0,0,0,0,25.65,25.94,28.83
$GC,4479,-0.87,-77.7,2288,1995,3317,3144,726.0,-13.3,374,4484,0.00,2.28,0.00,0.000,516,0.000,0.063,2288,574,3230,3316,3144,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4571,-0.87,-77.7,2288,574,3317,3144,737.2,-14.0,378,4577,0.00,2.28,0.00,0.000,1030,0.000,0.053,2280,2001,3230,3317,3144,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4878,-0.87,-77.7,2279,2001,3317,3144,783.9,-14.6,394,4882,0.00,2.30,0.00,0.000,516,0.000,0.064,2280,582,3230,3317,3144,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4958,-0.87,-77.7,2279,582,3316,3144,795.4,-15.1,398,4963,0.00,2.28,0.00,0.000,1030,0.000,0.054,2269,1988,3230,3317,3144,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5276,-0.87,-77.7,2269,1989,3316,3144,844.1,-15.2,414,5280,0.00,2.28,0.00,0.000,516,0.000,0.065,2269,585,3230,3316,3144,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5375,-0.87,-77.7,2269,585,3316,3144,859.2,-15.3,419,5382,0.12,2.25,0.00,0.000,3078,0.182,0.054,2288,2006,3230,3316,3144,0,0,0,0,0,0,25.63,25.91,28.83
$GC,5694,-0.87,-77.7,2287,2006,3315,3144,903.1,-13.8,435,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2006,3229,3315,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5996,-0.87,-77.7,2288,2006,3314,3144,944.8,-14.2,450,6001,0.00,2.30,0.00,0.000,516,0.000,0.065,2288,584,3229,3314,3144,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6058,-0.87,-77.7,1456,583,3299,3141,953.7,-14.6,453,6063,0.00,2.25,0.00,0.000,1030,0.000,0.054,2279,2000,3229,3314,3144,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6371,-0.87,-77.7,2279,2000,3313,3144,997.4,-13.5,469,6376,0.00,2.28,0.00,0.000,516,0.000,0.066,2279,589,3228,3313,3144,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,6389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6389,begin apogee
$GC,6395,-0.14,0.0,2270,1875,3312,3144,1000.1,-13.5,470,6470,0.85,0.00,70.20,1.773,10246,0.155,0.000,2520,1876,2909,2998,2821,0,0,0,0,0,0,25.34,28.83,23.40
$STATE,6471,end apogee,CONTROL_FINISHED_OK
$STATE,6471,begin climb
$GC,6473,0.87,77.7,2519,1876,2998,2821,1003.1,0.0,474,6553,0.90,2.55,71.78,1.743,10500,0.054,0.060,2858,3280,2592,2664,2520,0,0,0,0,0,0,24.78,23.67,22.51
$GC,6693,0.89,97.8,2857,3280,2662,2520,997.1,7.7,485,6719,0.00,2.38,20.17,1.676,9222,0.000,0.051,2868,1868,2510,2574,2446,0,0,0,0,0,0,28.83,24.70,23.13
$GC,7027,0.89,97.8,2868,1868,2568,2446,959.7,11.3,502,7032,0.00,2.35,0.00,0.000,516,0.000,0.069,2879,454,2507,2568,2446,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7134,0.89,97.8,2879,454,2567,2446,947.6,12.2,507,7138,0.00,2.33,0.00,0.000,1030,0.000,0.057,2879,1873,2506,2567,2446,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7443,0.89,97.8,2879,1873,2567,2446,911.7,11.3,522,7448,0.00,2.28,0.00,0.000,260,0.000,0.062,2879,3286,2506,2566,2446,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7949,0.89,97.8,2879,3286,2566,2446,854.4,11.6,547,7954,0.15,2.28,0.00,0.000,5126,0.240,0.054,2860,1866,2505,2565,2446,0,0,0,0,0,0,25.32,25.84,28.83
$GC,8256,0.89,97.8,2860,1865,2566,2445,821.6,10.2,562,8262,0.00,2.30,0.00,0.000,260,0.000,0.061,2854,3288,2505,2565,2445,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8284,0.89,97.8,2853,3288,2566,2445,819.5,10.2,563,8288,0.00,2.28,0.00,0.000,1030,0.000,0.054,2862,1870,2505,2565,2445,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8596,0.90,101.7,2862,1870,2565,2443,789.0,9.4,579,8602,0.00,0.00,3.85,1.153,8198,0.000,0.000,2863,1870,2493,2552,2435,0,0,0,0,0,0,28.83,28.83,24.51
$GC,8896,0.90,101.7,2863,1870,2552,2435,759.2,10.1,594,8902,0.00,2.28,0.00,0.000,260,0.000,0.063,2862,3285,2494,2553,2435,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9090,0.90,101.7,2862,3285,2552,2436,739.7,10.9,603,9097,0.00,2.28,0.00,0.000,1030,0.000,0.054,2873,1865,2494,2552,2436,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9397,0.90,101.7,2872,1865,2552,2435,706.6,10.2,619,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1865,2493,2552,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9696,0.90,101.7,2872,1865,2552,2435,676.3,9.9,634,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1865,2494,2552,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9996,0.90,101.7,2872,1865,2552,2435,646.8,9.8,649,10002,0.00,2.30,0.00,0.000,260,0.000,0.062,2871,3290,2493,2552,2435,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10144,0.90,103.8,2871,3290,2551,2435,633.2,9.6,656,10148,0.00,2.28,0.00,0.000,1030,0.000,0.054,2880,1864,2493,2551,2436,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10452,0.91,111.0,2880,1864,2551,2435,603.8,9.0,671,10471,0.00,2.38,9.27,1.405,8452,0.000,0.063,2880,3291,2456,2513,2399,0,0,0,0,0,0,28.83,26.03,24.72
$GC,10616,0.91,111.0,1992,3289,2473,2393,585.9,11.2,679,10620,0.00,2.33,0.00,0.000,1030,0.000,0.054,2890,1871,2456,2513,2400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10934,0.91,111.0,2890,1870,2513,2399,551.0,10.9,695,10940,0.00,2.28,0.00,0.000,260,0.000,0.062,2891,3286,2456,2513,2399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11340,0.91,111.0,2890,3286,2513,2399,506.1,10.8,715,11345,0.15,2.28,0.00,0.000,5126,0.233,0.054,2870,1864,2456,2513,2399,0,0,0,0,0,0,25.37,25.91,28.83
$GC,11654,0.91,112.1,2869,1864,2512,2400,475.6,9.7,731,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1864,2456,2513,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11952,0.91,112.1,2869,1864,2512,2399,445.4,10.2,746,11958,0.00,2.30,0.00,0.000,260,0.000,0.061,2870,3288,2456,2513,2399,0,0,0,0,0,0,28.83,25.90,28.83
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$GC,13098,0.92,121.3,2889,1870,2513,2399,328.3,8.8,838,13117,0.00,2.35,10.23,1.278,8708,0.000,0.068,2900,458,2413,2471,2356,0,0,0,0,0,0,28.83,26.04,24.82
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$STATE,16187,end climb,SURFACE_DEPTH_REACHED
$STATE,16187,begin surface coast
$FINISH,-0.1,1.026075
$STATE,16214,end surface coast,CONTROL_FINISHED_OK
$STATE,16214,begin surface
$SM_CCo,16231,26.80,0.151,0,0,1970,230.09
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$IRIDIUM_FIX,-4242.04,822.38,171108,151507
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.22
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.5,43.720
$10V_AH,10.0,34.937
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.825,145.725,206.375,26.800,0.000,23.708,41.786,161.025,49.250,0.000,20.965,3295.541,9325.570,394.765,3343.754,247.787,0.000,1715.242,0.000,2876.351,0.000,299.406,0.000
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,77040,1214
$CAP_FILE_SIZE,182285,0
$CFSIZE,259248128,237977600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109, 22.5,1
$GPS,220116,102527,-4254.962,825.087,109,0.9,109,-25.0