version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 301
start: 1 31 116 7 38 7
data:
$ID,542
$MISSION,12
$DIVE,301
$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,-30028.408
$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,31
$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
$GPS1,310116,073126,-4304.110,833.388,92,0.9,92,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.0
$GPS2,310116,073741,-4304.101,833.490,16,1.6,17,-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,279.8,12841,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-146.0,165,2008,1974,1923,0.0,0.0,0,65,0.00,0.00,-46.88,0.000,16386,0.000,0.000,165,2008,3261,3332,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,165,2008,3332,3192,3.6,-6.3,6,87,8.50,2.30,-4.82,0.000,18692,0.219,0.064,2329,3410,3507,3562,3453,0,0,0,0,0,0,24.98,25.70,26.25
$GC,114,-0.68,-146.0,2329,3410,3562,3456,18.9,-29.3,12,123,0.00,2.30,0.00,0.000,1030,0.000,0.047,2329,1993,3509,3563,3456,0,0,0,0,0,0,28.83,25.66,28.83
$GC,175,-0.68,-146.0,2329,1993,3563,3456,29.2,-17.0,21,185,0.00,2.33,0.00,0.000,516,0.000,0.060,2329,591,3509,3563,3456,0,0,0,0,0,0,28.83,25.56,28.83
$GC,206,-0.68,-146.0,2328,591,3563,3456,34.7,-17.9,25,216,0.10,2.25,0.00,0.000,3078,0.153,0.047,2350,1988,3509,3563,3456,0,0,0,0,0,0,25.37,25.69,28.83
$GC,352,-0.68,-146.0,2349,1988,3564,3456,56.7,-13.6,50,358,0.00,2.28,0.00,0.000,516,0.000,0.057,2349,579,3509,3563,3456,0,0,0,0,0,0,28.83,25.61,28.83
$GC,426,-0.68,-146.0,2350,579,3563,3457,67.4,-14.6,63,434,0.00,2.28,0.00,0.000,1030,0.000,0.048,2341,1993,3510,3563,3457,0,0,0,0,0,0,28.83,25.74,28.83
$GC,757,-0.68,-146.0,2341,1993,3564,3457,116.9,-14.3,114,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1993,3510,3564,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.68,-146.0,2341,1993,3565,3459,156.5,-12.6,144,1065,0.00,2.25,0.00,0.000,516,0.000,0.058,2341,588,3511,3565,3458,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1098,-0.68,-146.0,2341,588,3564,3459,161.9,-13.0,148,1108,0.00,2.22,0.00,0.000,1030,0.000,0.048,2331,2004,3512,3565,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1407,-0.68,-146.0,2331,2005,3565,3459,202.5,-13.6,179,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2005,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.68,-146.0,2331,2005,3565,3460,242.2,-13.6,209,1717,0.00,2.28,0.00,0.000,516,0.000,0.058,2331,579,3512,3565,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1739,-0.68,-146.0,2331,579,3565,3460,246.6,-13.7,212,1750,0.12,2.22,0.00,0.000,3078,0.168,0.047,2351,2000,3512,3565,3460,0,0,0,0,0,0,25.62,25.88,28.83
$GC,2049,-0.68,-146.0,2351,2001,3565,3460,282.4,-11.2,243,2059,0.00,2.28,0.00,0.000,516,0.000,0.060,2351,583,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2102,-0.68,-146.0,2351,584,3565,3460,288.3,-11.6,248,2112,0.00,2.22,0.00,0.000,1030,0.000,0.049,2342,2005,3512,3565,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2411,-0.68,-146.0,2342,2005,3565,3460,326.4,-12.5,279,2420,0.00,2.28,0.00,0.000,516,0.000,0.059,2343,582,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2444,-0.68,-146.0,2342,582,3565,3460,330.6,-12.9,282,2452,0.00,2.22,0.00,0.000,1030,0.000,0.049,2333,2003,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2754,-0.68,-146.0,2333,2003,3565,3460,371.8,-13.2,313,2763,0.00,2.28,0.00,0.000,516,0.000,0.060,2333,588,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2789,-0.68,-146.0,2333,588,3565,3460,376.3,-13.9,316,2797,0.00,2.25,0.00,0.000,1030,0.000,0.049,2324,1991,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3098,-0.68,-146.0,2323,1992,3565,3460,419.8,-14.1,340,3104,0.00,2.28,0.00,0.000,516,0.000,0.060,2323,579,3512,3564,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3146,-0.68,-146.0,2323,580,3565,3460,425.7,-14.4,342,3151,0.15,2.22,0.00,0.000,3078,0.162,0.050,2351,1996,3512,3565,3460,0,0,0,0,0,0,25.56,25.88,28.83
$GC,3453,-0.68,-146.0,2350,1996,3565,3460,463.0,-11.7,357,3459,0.00,2.28,0.00,0.000,516,0.000,0.060,2351,582,3512,3565,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3492,-0.68,-146.0,2350,582,3565,3459,467.9,-11.9,359,3496,0.00,2.22,0.00,0.000,1030,0.000,0.050,2342,1997,3512,3565,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3810,-0.68,-146.0,2342,1997,3565,3460,506.2,-11.9,375,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1997,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.68,-146.0,2342,1997,3565,3460,540.8,-11.5,390,4116,0.00,2.30,0.00,0.000,516,0.000,0.063,2342,584,3512,3565,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4183,-0.68,-146.0,2342,584,3565,3460,547.9,-11.6,393,4191,0.00,2.25,0.00,0.000,1030,0.000,0.051,2332,2001,3512,3565,3460,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4489,-0.68,-146.0,2332,2002,3565,3460,584.8,-11.4,409,4493,0.00,2.30,0.00,0.000,516,0.000,0.063,2332,587,3512,3565,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4538,-0.68,-146.0,2332,586,3565,3460,589.7,-11.7,411,4543,0.00,2.22,0.00,0.000,1030,0.000,0.052,2322,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4846,-0.68,-146.0,2321,1995,3565,3460,627.4,-12.0,426,4852,0.00,2.28,0.00,0.000,516,0.000,0.063,2323,584,3512,3565,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4868,-0.68,-146.0,1536,583,3559,3458,629.9,-12.1,427,4873,0.10,2.28,0.00,0.000,3078,0.147,0.051,2344,1991,3512,3565,3460,0,0,0,0,0,0,25.53,25.84,28.83
$GC,5185,-0.68,-146.0,2344,1992,3564,3460,663.1,-10.2,443,5191,0.00,2.28,0.00,0.000,516,0.000,0.063,2344,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5228,-0.68,-146.0,2344,585,3564,3460,667.5,-10.4,445,5233,0.00,2.25,0.00,0.000,1030,0.000,0.052,2336,2006,3512,3564,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5548,-0.68,-146.0,2336,2006,3563,3460,703.1,-11.5,461,5553,0.00,2.30,0.00,0.000,516,0.000,0.062,2336,583,3511,3563,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5570,-0.68,-146.0,2336,582,3563,3460,705.5,-11.5,462,5575,0.00,2.30,0.00,0.000,1030,0.000,0.052,2326,2000,3511,3563,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5888,-0.68,-146.0,2326,2001,3563,3459,744.6,-12.3,478,5893,0.00,2.30,0.00,0.000,516,0.000,0.064,2326,587,3511,3563,3460,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5921,-0.68,-146.0,2326,585,3563,3460,747.2,-12.4,479,5929,0.12,2.25,0.00,0.000,3078,0.171,0.052,2346,1998,3511,3563,3459,0,0,0,0,0,0,25.55,25.80,28.83
$GC,6228,-0.68,-146.0,2346,2000,3563,3460,781.8,-10.9,495,6234,0.00,2.30,0.00,0.000,516,0.000,0.064,2346,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6261,-0.68,-146.0,2346,588,3563,3459,784.0,-11.0,496,6268,0.00,2.25,0.00,0.000,1030,0.000,0.054,2338,1996,3511,3563,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6569,-0.68,-146.0,2338,1996,3562,3459,821.2,-11.9,512,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1996,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6870,-0.68,-146.0,2338,1996,3562,3460,856.6,-11.8,527,6875,0.00,2.28,0.00,0.000,516,0.000,0.065,2338,589,3511,3562,3460,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6936,-0.68,-146.0,2338,589,3561,3459,864.0,-12.2,530,6940,0.00,2.25,0.00,0.000,1030,0.000,0.054,2329,2003,3510,3561,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7243,-0.68,-146.0,2328,2003,3560,3459,903.5,-12.4,545,7248,0.00,2.30,0.00,0.000,516,0.000,0.065,2329,591,3510,3560,3460,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7278,-0.68,-146.0,2328,590,3559,3460,906.0,-12.5,546,7285,0.12,2.25,0.00,0.000,3078,0.164,0.053,2348,1996,3509,3559,3459,0,0,0,0,0,0,25.53,25.76,28.83
$GC,7584,-0.68,-146.0,2348,1996,3558,3460,939.6,-10.1,562,7590,0.00,2.30,0.00,0.000,516,0.000,0.063,2348,582,3508,3558,3459,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7629,-0.68,-146.0,1536,582,3552,3457,944.0,-10.4,564,7633,0.00,2.25,0.00,0.000,1030,0.000,0.054,2341,1995,3508,3558,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7942,-0.68,-146.0,2340,1996,3557,3459,976.0,-10.0,580,7948,0.00,2.28,0.00,0.000,516,0.000,0.064,2340,588,3508,3558,3459,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7969,-0.68,-146.0,2340,588,3557,3459,978.1,-10.1,581,7973,0.00,2.25,0.00,0.000,1030,0.000,0.054,2331,1995,3508,3557,3459,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,8175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8175,begin apogee
$GC,8181,-0.14,0.0,2331,1868,3557,3458,1001.0,-10.8,591,8319,0.62,0.00,134.40,1.815,10246,0.129,0.000,2525,1868,2908,2981,2836,0,0,0,0,0,0,25.27,28.83,22.28
$STATE,8320,end apogee,CONTROL_FINISHED_OK
$STATE,8320,begin climb
$GC,8321,0.68,146.0,2524,1868,2981,2836,1007.2,0.0,598,8478,0.77,2.60,142.38,1.775,11012,0.041,0.059,2804,3283,2311,2372,2250,0,0,0,0,0,0,23.71,23.27,22.01
$GC,8981,0.68,146.0,2804,3283,2371,2236,925.2,16.0,631,8987,0.00,2.28,0.00,0.000,1030,0.000,0.054,2814,1876,2303,2371,2236,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9302,0.68,146.0,2814,1876,2370,2234,876.8,15.2,647,9307,0.00,2.28,0.00,0.000,260,0.000,0.060,2815,3286,2302,2370,2234,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9490,0.68,146.0,2814,3286,2370,2234,849.0,15.6,656,9495,0.15,2.28,0.00,0.000,5126,0.213,0.053,2793,1867,2302,2370,2234,0,0,0,0,0,0,25.35,25.77,28.83
$GC,9797,0.68,146.0,2793,1867,2370,2232,805.1,13.8,671,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1867,2301,2370,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10097,0.68,146.0,2793,1867,2370,2232,765.4,13.0,686,10102,0.00,2.30,0.00,0.000,260,0.000,0.060,2782,3294,2301,2370,2232,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,16550,end climb,SURFACE_DEPTH_REACHED
$STATE,16550,begin surface coast
$FINISH,-0.1,1.026073
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16582,begin surface
$SM_CCo,16598,24.88,0.194,0,0,1968,230.09
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$IRIDIUM_FIX,-4244.98,831.55,261108,161617
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.44
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.0,51.330
$10V_AH,9.9,41.201
$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,18.025,173.550,287.725,24.875,0.000,25.006,18.385,199.941,49.250,0.000,17.452,3357.281,9587.858,508.074,3255.679,280.910,0.000,1829.244,0.000,2763.350,0.000,301.215,0.000
$DEVICE_MAMPS,218.790,79.560,1814.580,193.545,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.742,79.957,743.882,1883.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352680
$DATA_FILE_SIZE,80381,1254
$CAP_FILE_SIZE,188774,0
$CFSIZE,259248128,233820160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.163, 44.3,1
$GPS,310116,121703,-4303.863,832.312,75,0.9,75,-25.1