version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 297
start: 1 30 116 13 48 14
data:
$ID,542
$MISSION,12
$DIVE,297
$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,-30023.383
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,300116,134058,-4303.018,835.263,146,1.0,146,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.4
$GPS2,300116,134747,-4302.968,835.310,13,1.0,15,-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,211.3,2126,-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,-146.0,163,1998,1966,1922,0.0,0.0,0,65,0.00,0.00,-47.53,0.000,16386,0.000,0.000,163,1998,3295,3367,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,163,1998,3366,3225,3.8,-7.0,6,86,8.43,2.33,-4.12,0.000,18692,0.216,0.063,2331,3418,3507,3561,3454,0,0,0,0,0,0,25.05,25.71,26.24
$GC,144,-0.68,-146.0,2331,3418,3562,3457,24.9,-15.1,17,154,0.00,2.30,0.00,0.000,1030,0.000,0.047,2331,1997,3509,3562,3456,0,0,0,0,0,0,28.83,25.68,28.83
$GC,300,-0.68,-146.0,2330,1997,3563,3457,50.1,-15.9,42,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1997,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,638,-0.68,-146.0,2330,1997,3563,3457,101.7,-15.2,102,642,0.00,2.28,0.00,0.000,516,0.000,0.060,2331,585,3510,3563,3458,0,0,0,0,0,0,28.83,25.65,28.83
$GC,740,-0.68,-146.0,2330,585,3563,3458,115.9,-14.1,111,747,0.12,2.25,0.00,0.000,3078,0.171,0.047,2350,2009,3511,3564,3458,0,0,0,0,0,0,25.55,25.82,28.83
$GC,1047,-0.68,-146.0,2350,2009,3564,3458,153.4,-11.6,142,1056,0.00,2.30,0.00,0.000,516,0.000,0.059,2350,581,3512,3565,3459,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1090,-0.68,-146.0,2350,581,3565,3459,158.6,-12.1,146,1098,0.00,2.22,0.00,0.000,1030,0.000,0.047,2342,2000,3512,3565,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1402,-0.68,-146.0,2342,2000,3565,3459,200.5,-14.2,177,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2000,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1700,-0.68,-146.0,2342,2000,3565,3459,241.9,-13.3,207,1709,0.00,2.28,0.00,0.000,516,0.000,0.060,2342,587,3512,3565,3459,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1742,-0.68,-146.0,2342,586,3565,3459,247.7,-13.9,211,1751,0.00,2.20,0.00,0.000,1030,0.000,0.048,2332,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2052,-0.68,-146.0,2332,1994,3565,3459,288.7,-13.5,242,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1994,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.68,-146.0,2332,1994,3565,3460,329.9,-13.8,272,2366,0.00,2.28,0.00,0.000,516,0.000,0.060,2332,581,3512,3565,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2399,-0.68,-146.0,2332,581,3565,3460,336.4,-14.0,276,2409,0.00,2.22,0.00,0.000,1030,0.000,0.047,2323,2000,3512,3565,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2709,-0.68,-146.0,2322,2000,3565,3460,379.6,-13.7,307,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2000,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.68,-146.0,2322,2000,3565,3459,422.2,-13.7,330,3025,0.00,2.30,0.00,0.000,516,0.000,0.061,2322,581,3512,3565,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3083,-0.68,-146.0,2322,581,3565,3459,430.6,-13.9,333,3088,0.15,2.22,0.00,0.000,3078,0.161,0.050,2350,1994,3512,3565,3459,0,0,0,0,0,0,25.58,25.89,28.83
$GC,3398,-0.68,-146.0,2350,1994,3565,3460,466.7,-11.4,349,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1995,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3697,-0.68,-146.0,2350,1994,3565,3459,500.9,-11.3,364,3702,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,582,3512,3565,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3748,-0.68,-146.0,2350,582,3564,3460,505.5,-11.5,366,3755,0.00,2.25,0.00,0.000,1030,0.000,0.051,2342,1996,3511,3564,3459,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4055,-0.68,-146.0,2342,1996,3565,3459,543.8,-11.9,382,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1996,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4357,-0.68,-146.0,2342,1996,3565,3459,577.4,-10.7,397,4363,0.00,2.28,0.00,0.000,516,0.000,0.063,2342,584,3512,3565,3459,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4425,-0.68,-146.0,2341,584,3565,3459,584.1,-10.9,400,4429,0.00,2.25,0.00,0.000,1030,0.000,0.051,2332,2002,3512,3565,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4733,-0.68,-146.0,2332,2002,3564,3459,620.5,-12.1,415,4739,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,591,3511,3564,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4773,-0.68,-146.0,2332,591,3564,3459,625.5,-12.4,417,4777,0.00,2.22,0.00,0.000,1030,0.000,0.052,2322,1993,3511,3564,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5095,-0.68,-146.0,2322,1994,3563,3459,669.0,-14.0,433,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1994,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,-0.68,-146.0,2322,1994,3563,3459,710.8,-13.8,448,5403,0.00,2.28,0.00,0.000,516,0.000,0.063,2322,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5428,-0.68,-146.0,2322,586,3563,3459,713.7,-13.8,449,5436,0.15,2.25,0.00,0.000,3078,0.159,0.052,2350,1998,3511,3563,3459,0,0,0,0,0,0,25.54,25.83,28.83
$GC,5736,-0.68,-146.0,2350,1999,3562,3459,747.3,-9.8,465,5741,0.00,2.30,0.00,0.000,516,0.000,0.065,2350,585,3511,3563,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5763,-0.68,-146.0,2350,585,3563,3459,749.3,-9.8,466,5767,0.00,2.25,0.00,0.000,1030,0.000,0.054,2342,2000,3511,3563,3459,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6073,-0.68,-146.0,2342,2001,3562,3459,782.1,-10.6,481,6078,0.00,2.28,0.00,0.000,516,0.000,0.065,2342,591,3510,3562,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6138,-0.68,-146.0,2342,591,3562,3459,788.7,-11.0,484,6142,0.00,2.22,0.00,0.000,1030,0.000,0.054,2332,1995,3510,3562,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6446,-0.68,-146.0,2332,1996,3561,3459,826.0,-12.2,499,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3510,3561,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6749,-0.68,-146.0,2332,1996,3560,3459,862.3,-12.0,514,6754,0.00,2.28,0.00,0.000,516,0.000,0.065,2332,592,3509,3560,3459,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6799,-0.68,-146.0,2332,591,3559,3459,867.4,-12.3,516,6807,0.00,2.25,0.00,0.000,1030,0.000,0.053,2322,1996,3509,3559,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7107,-0.68,-146.0,2322,1996,3558,3459,908.4,-13.0,532,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1996,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.68,-146.0,2322,1996,3558,3459,946.4,-12.8,547,7414,0.00,2.28,0.00,0.000,516,0.000,0.065,2322,592,3508,3558,3459,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7455,-0.68,-146.0,2322,591,3557,3459,951.8,-13.2,549,7460,0.15,2.25,0.00,0.000,3078,0.160,0.054,2350,2004,3508,3557,3459,0,0,0,0,0,0,25.48,25.77,28.83
$GC,7768,-0.68,-146.0,2350,2005,3557,3458,982.7,-9.3,565,7774,0.00,2.33,0.00,0.000,516,0.000,0.065,2350,581,3507,3557,3458,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7821,-0.68,-146.0,2350,581,3557,3458,986.6,-9.6,567,7827,0.00,2.28,0.00,0.000,1030,0.000,0.054,2342,2002,3507,3556,3458,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,7967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7967,begin apogee
$GC,7972,-0.14,0.0,2341,1861,3556,3457,1001.8,-9.5,575,8109,0.57,0.00,133.82,1.808,10246,0.125,0.000,2521,1861,2909,2981,2837,0,0,0,0,0,0,25.34,28.83,22.34
$STATE,8110,end apogee,CONTROL_FINISHED_OK
$STATE,8110,begin climb
$GC,8112,0.68,146.0,2521,1861,2981,2837,1007.0,0.0,582,8263,0.75,2.60,141.70,1.767,10500,0.050,0.058,2795,3289,2313,2373,2254,0,0,0,0,0,0,23.72,23.28,22.04
$GC,8570,0.68,146.0,2794,3289,2371,2242,958.5,15.8,604,8574,0.00,2.33,0.00,0.000,1030,0.000,0.054,2805,1876,2306,2371,2242,0,0,0,0,0,0,28.83,25.19,28.83
$GC,8881,0.68,146.0,2804,1876,2370,2239,911.0,15.1,620,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1875,2304,2370,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9182,0.68,146.0,2804,1875,2369,2238,868.1,14.0,635,9187,0.00,2.30,0.00,0.000,260,0.000,0.061,2805,3294,2303,2369,2238,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9409,0.68,146.0,2805,3294,2368,2238,835.3,14.5,646,9413,0.00,2.30,0.00,0.000,1030,0.000,0.054,2815,1863,2303,2368,2238,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9717,0.68,146.0,2815,1863,2368,2236,790.5,14.4,661,9723,0.00,2.28,0.00,0.000,260,0.000,0.061,2815,3283,2302,2368,2236,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9821,0.68,146.0,2815,3283,2367,2236,775.1,15.4,666,9826,0.15,2.25,0.00,0.000,5126,0.216,0.053,2794,1869,2301,2367,2236,0,0,0,0,0,0,25.40,25.85,28.83
$GC,10135,0.68,146.0,2793,1868,2367,2236,732.4,13.1,682,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1869,2301,2367,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10433,0.68,146.0,2793,1868,2367,2234,693.4,13.0,697,10439,0.00,2.30,0.00,0.000,260,0.000,0.060,2783,3291,2300,2367,2234,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10581,0.68,146.0,2783,3291,2367,2235,675.2,12.8,704,10585,0.00,2.28,0.00,0.000,1030,0.000,0.053,2792,1869,2300,2366,2235,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10888,0.68,146.0,2792,1869,2367,2234,636.4,12.2,719,10895,0.00,2.30,0.00,0.000,260,0.000,0.060,2792,3294,2300,2367,2234,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11019,0.68,146.0,2792,3294,2367,2234,620.9,12.8,725,11028,0.00,2.28,0.00,0.000,1030,0.000,0.053,2802,1869,2300,2366,2234,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,16529,end climb,SURFACE_DEPTH_REACHED
$STATE,16529,begin surface coast
$FINISH,-0.1,1.011645
$STATE,16555,end surface coast,CONTROL_FINISHED_OK
$STATE,16556,begin surface
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$IRIDIUM_FIX,-4244.98,837.38,251108,222239
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.63
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.0,50.677
$10V_AH,9.9,40.694
$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
$DEVICE_SECS,17.850,127.800,297.825,13.350,0.000,24.945,44.307,215.554,49.250,0.000,16.285,3341.197,9645.328,449.848,3290.193,263.179,0.000,1724.866,0.000,2765.659,0.000,299.375,0.000
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$SENSOR_SECS,878.332,81.218,735.412,1875.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352660
$DATA_FILE_SIZE,80165,1254
$CAP_FILE_SIZE,178506,0
$CFSIZE,259248128,234168320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.050, 95.0,1
$GPS,300116,182633,-4305.143,835.984,78,0.8,78,-25.1