version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 296
start: 1 30 116 9 28 43
data:
$ID,542
$MISSION,12
$DIVE,296
$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,-30022.127
$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,22
$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
$GPS1,300116,092134,-4303.505,836.698,80,0.9,80,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.2
$GPS2,300116,092804,-4303.514,836.806,16,2.0,16,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,275.5,1413,-20.6,-9.804,-23.26,1737
$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,-0.71,-111.1,167,1998,1966,1921,0.0,0.0,0,66,0.00,0.00,-48.53,0.000,16386,0.000,0.000,167,1997,3317,3385,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.75,-146.0,166,1997,3386,3252,3.8,-6.9,6,87,8.55,2.35,-3.65,0.000,18948,0.225,0.068,2328,577,3508,3561,3455,0,0,0,0,0,0,25.06,25.69,26.24
$GC,146,-0.75,-146.0,2328,577,3563,3456,27.9,-19.7,17,155,0.00,2.30,0.00,0.000,1030,0.000,0.050,2319,1996,3509,3563,3456,0,0,0,0,0,0,28.83,25.68,28.83
$GC,297,-0.75,-146.0,2319,1996,3563,3456,54.7,-16.9,42,307,0.00,2.28,0.00,0.000,260,0.000,0.055,2308,3417,3509,3563,3456,0,0,0,0,0,0,28.83,25.68,28.83
$GC,322,-0.75,-146.0,2308,3417,3563,3457,58.5,-17.0,45,329,0.00,2.28,0.00,0.000,1030,0.000,0.046,2308,2001,3510,3564,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,657,-0.75,-146.0,2308,2000,3564,3458,113.7,-16.4,98,666,0.00,2.28,0.00,0.000,516,0.000,0.060,2308,588,3511,3564,3458,0,0,0,0,0,0,28.83,25.68,28.83
$GC,764,-0.75,-146.0,2308,588,3564,3459,130.5,-15.9,108,772,0.00,2.28,0.00,0.000,1030,0.000,0.048,2298,2002,3511,3564,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1071,-0.75,-146.0,2298,2003,3565,3459,182.8,-17.6,139,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2003,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.75,-146.0,2298,2002,3565,3460,234.2,-16.7,169,1381,0.00,2.28,0.00,0.000,516,0.000,0.059,2298,582,3512,3565,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1428,-0.75,-146.0,2298,582,3565,3460,243.2,-16.7,174,1435,0.15,2.25,0.00,0.000,3078,0.170,0.048,2326,2006,3512,3565,3460,0,0,0,0,0,0,25.55,25.89,28.83
$GC,1736,-0.75,-146.0,2325,2007,3566,3460,287.3,-13.8,205,1745,0.00,2.25,0.00,0.000,516,0.000,0.059,2326,594,3512,3565,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1769,-0.75,-146.0,2325,593,3565,3460,292.2,-14.1,208,1779,0.00,2.20,0.00,0.000,1030,0.000,0.048,2317,1998,3512,3565,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2078,-0.75,-146.0,2317,1998,3565,3460,338.1,-15.0,239,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1998,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-0.75,-146.0,2317,1998,3565,3460,381.3,-14.3,269,2390,0.00,2.25,0.00,0.000,516,0.000,0.060,2317,588,3512,3565,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2424,-0.75,-146.0,2317,587,3565,3460,387.8,-15.0,273,2432,0.00,2.22,0.00,0.000,1030,0.000,0.050,2307,2002,3512,3565,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2733,-0.75,-146.0,2307,2001,3565,3460,434.9,-15.3,293,2738,0.00,2.28,0.00,0.000,516,0.000,0.060,2307,589,3513,3566,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2782,-0.75,-146.0,2307,589,3565,3460,441.3,-15.5,295,2787,0.12,2.22,0.00,0.000,3078,0.174,0.049,2326,1996,3512,3565,3460,0,0,0,0,0,0,25.63,25.90,28.83
$GC,3089,-0.75,-146.0,2326,1996,3565,3460,484.1,-13.7,310,3095,0.00,2.28,0.00,0.000,516,0.000,0.061,2327,589,3512,3565,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3129,-0.75,-146.0,2326,589,3566,3460,489.8,-13.9,312,3135,0.00,2.22,0.00,0.000,1030,0.000,0.050,2318,2002,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3450,-0.75,-146.0,2318,2003,3565,3460,535.9,-14.5,328,3455,0.00,2.30,0.00,0.000,516,0.000,0.063,2318,585,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3492,-0.75,-146.0,2318,585,3565,3460,541.9,-14.7,330,3496,0.00,2.22,0.00,0.000,1030,0.000,0.050,2308,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3809,-0.75,-146.0,2308,1995,3565,3460,589.9,-14.8,346,3815,0.00,2.28,0.00,0.000,516,0.000,0.063,2308,586,3513,3566,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3863,-0.75,-146.0,2308,586,3565,3460,595.9,-14.9,348,3870,0.00,2.22,0.00,0.000,1030,0.000,0.051,2298,1995,3512,3565,3460,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4169,-0.75,-146.0,2298,1995,3565,3460,644.9,-15.2,364,4175,0.00,2.28,0.00,0.000,516,0.000,0.063,2298,584,3512,3565,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4204,-0.75,-146.0,2297,584,3565,3460,648.1,-15.3,365,4212,0.15,2.25,0.00,0.000,3078,0.168,0.051,2325,2001,3512,3565,3460,0,0,0,0,0,0,25.53,25.86,28.83
$GC,4511,-0.75,-146.0,2325,2001,3565,3460,689.3,-12.7,381,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2001,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.75,-146.0,2325,2001,3564,3460,727.7,-12.9,396,4817,0.00,2.28,0.00,0.000,516,0.000,0.064,2326,588,3512,3564,3460,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4851,-0.75,-146.0,2325,588,3564,3460,733.1,-13.1,398,4855,0.00,2.22,0.00,0.000,1030,0.000,0.053,2317,1993,3512,3564,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5168,-0.75,-146.0,2317,1993,3563,3460,776.1,-13.5,414,5174,0.00,2.28,0.00,0.000,516,0.000,0.064,2317,589,3511,3563,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5195,-0.75,-146.0,2317,589,3563,3460,778.9,-13.6,415,5199,0.00,2.25,0.00,0.000,1030,0.000,0.053,2307,2001,3511,3563,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5503,-0.75,-146.0,2307,2001,3563,3460,820.8,-13.2,430,5509,0.00,2.30,0.00,0.000,516,0.000,0.064,2307,586,3511,3563,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5543,-0.75,-146.0,2307,586,3562,3459,826.4,-13.5,432,5549,0.12,2.25,0.00,0.000,3078,0.173,0.054,2326,2002,3511,3563,3460,0,0,0,0,0,0,25.56,25.82,28.83
$GC,5862,-0.75,-146.0,2326,2003,3562,3460,863.9,-11.6,448,5868,0.00,2.30,0.00,0.000,516,0.000,0.065,2327,591,3511,3563,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5916,-0.75,-146.0,2326,589,3562,3460,868.8,-12.0,450,5923,0.00,2.25,0.00,0.000,1030,0.000,0.054,2318,1995,3511,3562,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6224,-0.75,-146.0,2318,1996,3562,3460,906.3,-11.7,466,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1996,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-0.75,-146.0,2318,1997,3561,3460,941.4,-11.6,481,6532,0.00,2.28,0.00,0.000,516,0.000,0.065,2319,591,3510,3561,3460,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6577,-0.75,-146.0,2318,591,3560,3460,946.3,-11.9,483,6584,0.00,2.25,0.00,0.000,1030,0.000,0.054,2308,1997,3510,3560,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6884,-0.75,-146.0,2308,1997,3559,3460,984.7,-11.7,499,6890,0.00,2.30,0.00,0.000,516,0.000,0.065,2308,587,3509,3559,3460,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6912,-0.75,-146.0,2308,586,3559,3460,987.1,-11.8,500,6917,0.00,2.25,0.00,0.000,1030,0.000,0.054,2298,1993,3509,3558,3460,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,7019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7019,begin apogee
$GC,7025,-0.14,0.0,2298,1869,3558,3460,1001.1,-12.2,505,7162,0.73,0.00,133.85,1.802,10246,0.138,0.000,2518,1868,2908,2982,2835,0,0,0,0,0,0,25.21,28.83,22.38
$STATE,7163,end apogee,CONTROL_FINISHED_OK
$STATE,7163,begin climb
$GC,7165,0.75,146.0,2518,1868,2982,2835,1006.2,0.0,512,7315,0.88,2.58,142.05,1.775,11012,0.050,0.059,2826,3282,2312,2370,2255,0,0,0,0,0,0,23.73,23.28,22.06
$GC,7486,0.75,146.0,2826,3282,2368,2246,977.1,17.4,527,7491,0.00,2.38,0.00,0.000,1030,0.000,0.052,2836,1874,2307,2369,2246,0,0,0,0,0,0,28.83,24.72,28.83
$GC,7794,0.75,146.0,2836,1874,2367,2242,925.2,15.8,542,7800,0.00,2.30,0.00,0.000,260,0.000,0.060,2836,3287,2304,2366,2242,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7881,0.75,146.0,2836,3287,2366,2242,912.1,16.4,546,7886,0.15,2.33,0.00,0.000,5126,0.230,0.054,2816,1863,2304,2367,2242,0,0,0,0,0,0,25.15,25.59,28.83
$GC,8189,0.75,146.0,2816,1863,2366,2240,865.8,14.9,561,8194,0.00,2.33,0.00,0.000,260,0.000,0.060,2816,3294,2303,2366,2240,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8342,0.75,146.0,2816,3293,2366,2240,844.7,14.9,568,8348,0.00,2.30,0.00,0.000,1030,0.000,0.054,2825,1869,2303,2366,2240,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8649,0.75,146.0,2825,1869,2366,2238,798.9,14.4,584,8655,0.00,2.30,0.00,0.000,260,0.000,0.060,2825,3294,2302,2366,2238,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8696,0.75,146.0,2825,3294,2365,2238,793.0,14.7,586,8701,0.00,2.30,0.00,0.000,1030,0.000,0.054,2835,1860,2302,2366,2238,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9004,0.75,146.0,2835,1859,2365,2237,747.2,14.1,601,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1859,2301,2365,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9304,0.75,146.0,2835,1859,2364,2237,704.2,14.7,616,9310,0.00,2.30,0.00,0.000,260,0.000,0.060,2826,3291,2300,2364,2237,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9457,0.75,146.0,2826,3291,2363,2237,683.2,15.0,623,9464,0.00,2.28,0.00,0.000,1030,0.000,0.053,2835,1867,2300,2363,2237,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9764,0.75,146.0,2835,1867,2363,2236,636.9,14.2,639,9770,0.00,2.28,0.00,0.000,260,0.000,0.060,2827,3287,2299,2363,2236,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9803,0.75,146.0,2826,3287,2363,2236,631.0,14.6,641,9809,0.00,2.28,0.00,0.000,1030,0.000,0.052,2835,1861,2299,2363,2236,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,14874,end climb,SURFACE_DEPTH_REACHED
$STATE,14874,begin surface coast
$FINISH,-0.0,1.025972
$STATE,14906,end surface coast,CONTROL_FINISHED_OK
$STATE,14906,begin surface
$SM_CCo,14924,28.42,0.196,0,0,1969,230.09
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$IRIDIUM_FIX,-4247.91,834.91,251108,181809
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.32
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.1,50.511
$10V_AH,9.9,40.558
$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,17.825,155.475,281.925,28.425,0.000,26.228,42.684,199.357,49.250,0.000,17.657,3040.902,8608.611,498.516,2958.195,243.943,0.000,1667.257,0.000,2459.044,0.000,297.608,0.000
$DEVICE_MAMPS,230.265,77.265,1801.575,195.840,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.295,79.116,698.981,1715.087,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352716
$DATA_FILE_SIZE,73659,1135
$CAP_FILE_SIZE,169973,0
$CFSIZE,259248128,234266624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.180, 23.8,1
$GPS,300116,134058,-4303.018,835.263,146,1.0,146,-25.1