version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 300
start: 1 31 116 2 43 7
data:
$ID,542
$MISSION,12
$DIVE,300
$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,-30027.152
$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,25
$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
$GPS1,310116,023035,-4303.004,834.699,35,1.4,35,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.2
$GPS2,310116,024240,-4303.128,834.829,17,2.0,17,-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,253.0,14740,-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,-146.0,154,1991,1972,1923,0.0,0.0,0,65,0.00,0.00,-47.55,0.000,16386,0.000,0.000,154,1992,3287,3354,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,154,1991,3354,3222,3.7,-6.9,6,87,8.55,2.35,-4.25,0.000,18692,0.218,0.063,2335,3419,3507,3561,3453,0,0,0,0,0,0,25.00,25.70,26.22
$GC,233,-0.68,-146.0,2335,3419,3562,3456,35.9,-13.2,31,242,0.00,2.30,0.00,0.000,1030,0.000,0.047,2335,1998,3509,3562,3456,0,0,0,0,0,0,28.83,25.69,28.83
$GC,375,-0.68,-146.0,1424,1997,3555,3454,56.6,-15.0,56,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1998,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,708,-0.68,-146.0,2335,1998,3563,3457,104.8,-14.7,114,718,0.00,2.30,0.00,0.000,516,0.000,0.060,2335,583,3510,3563,3457,0,0,0,0,0,0,28.83,25.66,28.83
$GC,836,-0.68,-146.0,2335,584,3563,3457,124.1,-14.8,126,840,0.00,2.25,0.00,0.000,1030,0.000,0.047,2325,2007,3510,3563,3457,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1143,-0.68,-146.0,2324,2008,3564,3458,170.3,-14.8,156,1152,0.00,2.28,0.00,0.000,516,0.000,0.058,2325,585,3511,3564,3458,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1187,-0.68,-146.0,1536,585,3558,3457,176.8,-15.4,160,1195,0.10,2.25,0.00,0.000,3078,0.140,0.047,2346,1991,3511,3564,3458,0,0,0,0,0,0,25.57,25.87,28.83
$GC,1494,-0.68,-146.0,2346,1992,3564,3459,217.1,-13.4,191,1504,0.00,2.28,0.00,0.000,516,0.000,0.058,2346,577,3511,3564,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1559,-0.68,-146.0,2346,577,3564,3459,225.7,-13.8,197,1568,0.00,2.20,0.00,0.000,1030,0.000,0.048,2338,1995,3511,3564,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1867,-0.68,-146.0,2338,1996,3564,3459,269.9,-13.9,228,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1996,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.68,-146.0,2338,1995,3564,3459,310.4,-12.9,258,2177,0.00,2.25,0.00,0.000,516,0.000,0.059,2339,581,3511,3564,3459,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2242,-0.68,-146.0,2338,581,3564,3460,320.0,-13.0,265,2250,0.00,2.20,0.00,0.000,1030,0.000,0.048,2329,1999,3511,3564,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2550,-0.68,-146.0,2328,1999,3564,3459,361.3,-12.8,296,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2000,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,-0.68,-146.0,2328,1999,3564,3459,399.1,-12.5,326,2859,0.00,2.28,0.00,0.000,516,0.000,0.060,2329,586,3511,3564,3459,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2924,-0.68,-146.0,2328,586,3564,3459,407.1,-12.9,330,2932,0.12,2.22,0.00,0.000,3078,0.168,0.049,2348,1997,3511,3564,3459,0,0,0,0,0,0,25.64,25.89,28.83
$GC,3231,-0.68,-146.0,2348,1997,3564,3459,442.2,-10.7,346,3237,0.00,2.28,0.00,0.000,516,0.000,0.061,2349,587,3511,3564,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3274,-0.68,-146.0,2348,587,3564,3459,446.7,-11.1,348,3278,0.00,2.28,0.00,0.000,1030,0.000,0.050,2340,1998,3511,3564,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3593,-0.68,-146.0,2340,1999,3564,3459,481.6,-10.8,364,3599,0.00,2.28,0.00,0.000,516,0.000,0.062,2340,582,3511,3564,3459,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3641,-0.68,-146.0,2340,582,3564,3459,486.1,-11.1,366,3645,0.00,2.22,0.00,0.000,1030,0.000,0.050,2330,1995,3511,3564,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3951,-0.68,-146.0,2330,1995,3564,3459,522.0,-11.4,381,3956,0.00,2.28,0.00,0.000,516,0.000,0.062,2330,587,3511,3564,3459,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3991,-0.68,-146.0,2328,587,3564,3459,526.8,-11.7,383,3996,0.08,2.28,0.00,0.000,3078,0.148,0.050,2344,1994,3511,3564,3459,0,0,0,0,0,0,25.62,25.87,28.83
$GC,4309,-0.68,-146.0,2344,1994,3564,3459,559.8,-10.2,399,4315,0.00,2.28,0.00,0.000,516,0.000,0.063,2345,588,3511,3564,3459,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4351,-0.68,-146.0,2344,588,3564,3459,564.3,-10.3,401,4357,0.00,2.22,0.00,0.000,1030,0.000,0.051,2336,1997,3511,3564,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4672,-0.68,-146.0,2336,1997,3564,3458,600.1,-11.5,417,4678,0.00,2.30,0.00,0.000,516,0.000,0.063,2336,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4732,-0.68,-146.0,2336,586,3563,3458,607.2,-11.7,420,4738,0.00,2.22,0.00,0.000,1030,0.000,0.052,2326,2002,3511,3563,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5052,-0.68,-146.0,2326,2002,3563,3459,645.7,-12.0,436,5058,0.00,2.30,0.00,0.000,516,0.000,0.063,2326,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5099,-0.68,-146.0,2326,588,3563,3459,650.7,-12.3,438,5104,0.12,2.22,0.00,0.000,3078,0.165,0.052,2346,1995,3511,3563,3459,0,0,0,0,0,0,25.60,25.83,28.83
$GC,5407,-0.68,-146.0,2346,1996,3562,3459,682.4,-9.8,453,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1996,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.68,-146.0,2346,1996,3562,3459,712.4,-10.1,468,5714,0.00,2.25,0.00,0.000,260,0.000,0.060,2337,3405,3510,3562,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5735,-0.68,-146.0,2337,3405,3562,3459,714.4,-10.0,469,5739,0.00,2.22,0.00,0.000,1030,0.000,0.047,2337,1991,3510,3562,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6042,-0.68,-146.0,2337,1991,3562,3459,747.6,-10.7,484,6048,0.00,2.30,0.00,0.000,516,0.000,0.064,2337,581,3510,3561,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6153,-0.68,-146.0,2337,581,3561,3459,758.7,-11.1,489,6163,0.00,2.25,0.00,0.000,1030,0.000,0.053,2327,1995,3509,3561,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6463,-0.68,-146.0,2327,1995,3559,3458,795.4,-11.6,505,6469,0.00,2.28,0.00,0.000,516,0.000,0.064,2327,591,3508,3559,3458,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6505,-0.68,-146.0,2327,590,3559,3458,800.4,-12.2,507,6510,0.12,2.22,0.00,0.000,3078,0.162,0.053,2348,1993,3509,3559,3459,0,0,0,0,0,0,25.57,25.79,28.83
$GC,6817,-0.68,-146.0,2348,1994,3558,3459,834.7,-10.8,523,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1994,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7121,-0.68,-146.0,2348,1994,3557,3458,866.8,-11.0,538,7127,0.00,2.28,0.00,0.000,516,0.000,0.064,2348,588,3507,3557,3458,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7183,-0.68,-146.0,2348,588,3557,3458,873.8,-11.3,541,7187,0.00,2.25,0.00,0.000,1030,0.000,0.054,2340,1995,3507,3557,3458,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7494,-0.68,-146.0,2340,1996,3556,3457,908.5,-10.9,557,7500,0.00,2.30,0.00,0.000,516,0.000,0.064,2340,586,3506,3556,3457,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7547,-0.68,-146.0,2340,587,3556,3457,913.1,-11.2,559,7558,0.00,2.28,0.00,0.000,1030,0.000,0.053,2331,2006,3507,3557,3457,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7855,-0.68,-146.0,2330,2006,3556,3456,948.8,-11.1,575,7861,0.00,2.33,0.00,0.000,516,0.000,0.065,2330,582,3506,3556,3456,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7916,-0.68,-146.0,2330,582,3556,3456,955.6,-11.3,578,7922,0.12,2.25,0.00,0.000,3078,0.163,0.054,2351,1996,3506,3556,3456,0,0,0,0,0,0,25.53,25.75,28.83
$GC,8235,-0.68,-146.0,2351,1996,3555,3455,984.7,-9.2,594,8241,0.00,2.30,0.00,0.000,516,0.000,0.063,2351,582,3505,3556,3455,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8276,-0.68,-146.0,2351,582,3554,3455,988.7,-9.6,596,8282,0.00,2.25,0.00,0.000,1030,0.000,0.054,2343,1994,3505,3556,3455,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,8395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8396,begin apogee
$GC,8401,-0.14,0.0,2343,1869,3556,3455,1000.4,-9.8,602,8538,0.57,0.00,133.55,1.818,10246,0.126,0.000,2522,1869,2909,2981,2837,0,0,0,0,0,0,25.31,28.83,22.29
$STATE,8539,end apogee,CONTROL_FINISHED_OK
$STATE,8539,begin climb
$GC,8540,0.68,146.0,2522,1869,2982,2837,1006.6,0.0,609,8697,0.80,2.65,142.25,1.770,10500,0.050,0.060,2803,3283,2312,2371,2254,0,0,0,0,0,0,23.70,23.27,22.00
$GC,8883,0.68,146.0,1872,3282,2327,2238,978.0,15.4,626,8887,0.00,2.38,0.00,0.000,1030,0.000,0.053,2814,1866,2307,2369,2246,0,0,0,0,0,0,28.83,24.79,28.83
$GC,9195,0.68,146.0,2814,1866,2368,2242,932.8,14.0,642,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1866,2305,2368,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9494,0.68,146.0,2813,1866,2367,2241,891.3,13.5,657,9500,0.00,2.30,0.00,0.000,260,0.000,0.060,2813,3286,2303,2367,2240,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9582,0.68,146.0,2813,3286,2366,2241,879.7,14.5,661,9587,0.15,2.28,0.00,0.000,5126,0.213,0.052,2792,1865,2303,2366,2241,0,0,0,0,0,0,25.32,25.74,28.83
$GC,9890,0.68,146.0,2792,1865,2366,2239,839.8,12.5,676,9896,0.00,2.30,0.00,0.000,260,0.000,0.060,2788,3290,2302,2366,2238,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9982,0.68,146.0,2788,3290,2366,2239,829.4,13.1,680,9990,0.00,2.30,0.00,0.000,1030,0.000,0.053,2797,1862,2302,2366,2238,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10290,0.68,146.0,2797,1862,2366,2237,788.6,12.6,696,10296,0.00,2.30,0.00,0.000,260,0.000,0.060,2797,3297,2301,2366,2237,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,17108,end climb,SURFACE_DEPTH_REACHED
$STATE,17108,begin surface coast
$FINISH,-0.1,1.026117
$STATE,17134,end surface coast,CONTROL_FINISHED_OK
$STATE,17134,begin surface
$SM_CCo,17149,19.83,0.196,0,0,1969,230.09
$SM_GC,3.88,6.97,0.20,19.83,0.043,0.078,0.196,169,2006,1969,-7.40,-0.68,230.09,0,0,0,0,0,0,26.05,26.11,25.44
$IRIDIUM_FIX,-4247.91,834.91,261108,161616
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.44
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.0,51.164
$10V_AH,9.9,41.066
$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,18.150,160.050,291.775,19.825,0.000,110.362,76.701,217.832,49.250,0.000,18.887,3445.667,10157.907,483.839,3528.835,271.041,0.000,1838.497,0.000,2864.052,0.000,302.827,0.000
$DEVICE_MAMPS,218.025,79.560,1817.640,195.840,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.893,78.897,728.825,1917.474,0.000,0.000,0.000,0.000,0.000,0.000
$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,80175,1285
$CAP_FILE_SIZE,192872,0
$CFSIZE,259248128,233906176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078, 24.4,1
$GPS,310116,073126,-4304.110,833.388,92,0.9,92,-25.1