version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 303
start: 1 31 116 17 16 55
data:
$ID,542
$MISSION,12
$DIVE,303
$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,-30030.922
$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,23
$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
$GPS1,310116,171003,-4304.026,830.755,116,0.9,116,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.4
$GPS2,310116,171628,-4304.063,830.766,21,1.0,22,-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,269.3,9155,-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,-146.0,154,1999,1974,1924,0.0,0.0,0,65,0.00,0.00,-47.53,0.000,16386,0.000,0.000,155,1999,3277,3345,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,154,2000,3345,3210,3.6,-6.6,6,86,8.45,2.35,-4.47,0.000,18948,0.214,0.066,2350,581,3509,3561,3457,0,0,0,0,0,0,24.98,25.67,26.23
$GC,312,-0.68,-146.0,2350,581,3564,3459,52.1,-13.3,45,320,0.00,2.28,0.00,0.000,1030,0.000,0.049,2342,1990,3511,3564,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,655,-0.68,-146.0,2342,1990,3566,3459,100.4,-15.0,106,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1990,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,954,-0.68,-146.0,2342,1990,3566,3460,143.8,-13.6,136,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1990,3513,3567,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1254,-0.68,-146.0,2342,1990,3567,3460,182.5,-12.4,166,1262,0.00,2.28,0.00,0.000,516,0.000,0.060,2342,579,3513,3567,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1298,-0.68,-146.0,2342,579,3567,3461,187.8,-12.8,170,1305,0.00,2.25,0.00,0.000,1030,0.000,0.047,2332,2004,3513,3567,3460,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1606,-0.68,-146.0,2332,2004,3567,3461,228.2,-12.7,201,1615,0.00,2.30,0.00,0.000,516,0.000,0.059,2332,575,3514,3567,3461,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1672,-0.68,-146.0,1504,575,3561,3459,236.5,-12.9,207,1679,0.00,2.25,0.00,0.000,1030,0.000,0.048,2322,2003,3514,3567,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1980,-0.68,-146.0,2322,2003,3567,3461,279.0,-13.9,238,1989,0.00,2.28,0.00,0.000,516,0.000,0.058,2322,582,3514,3567,3461,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2004,-0.68,-146.0,1504,582,3561,3459,282.2,-14.2,240,2013,0.10,2.25,0.00,0.000,3078,0.144,0.048,2344,1986,3514,3567,3461,0,0,0,0,0,0,25.59,25.91,28.83
$GC,2312,-0.68,-146.0,2344,1987,3567,3461,321.4,-12.4,271,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1987,3514,3567,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-0.68,-146.0,2344,1986,3567,3461,358.2,-12.1,301,2621,0.00,2.22,0.00,0.000,516,0.000,0.060,2344,591,3514,3567,3461,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2657,-0.68,-146.0,2344,591,3567,3461,363.5,-12.7,305,2664,0.00,2.22,0.00,0.000,1030,0.000,0.049,2336,2002,3514,3567,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2974,-0.68,-146.0,2335,2002,3567,3460,403.6,-12.4,336,2980,0.00,2.28,0.00,0.000,516,0.000,0.061,2336,587,3514,3567,3461,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2997,-0.68,-146.0,2336,586,3567,3461,406.1,-12.4,337,3001,0.00,2.22,0.00,0.000,1030,0.000,0.049,2326,1997,3514,3567,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3316,-0.68,-146.0,2326,1997,3567,3461,447.6,-13.0,353,3321,0.00,2.25,0.00,0.000,516,0.000,0.061,2326,592,3514,3568,3461,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3357,-0.68,-146.0,1504,592,3561,3459,453.0,-13.2,355,3363,0.08,2.25,0.00,0.000,3078,0.145,0.050,2352,1990,3514,3567,3461,0,0,0,0,0,0,25.56,25.88,28.83
$GC,3675,-0.68,-146.0,2352,1990,3567,3461,488.2,-11.1,371,3680,0.00,2.28,0.00,0.000,516,0.000,0.060,2352,580,3514,3567,3461,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3703,-0.68,-146.0,2352,580,3567,3461,490.5,-11.1,372,3707,0.00,2.25,0.00,0.000,1030,0.000,0.050,2343,1999,3514,3567,3461,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4010,-0.68,-146.0,2343,1999,3567,3461,528.3,-12.1,387,4015,0.00,2.28,0.00,0.000,516,0.000,0.063,2343,588,3514,3567,3461,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4054,-0.68,-146.0,1488,588,3561,3459,533.3,-12.3,389,4058,0.00,2.22,0.00,0.000,1030,0.000,0.051,2334,1997,3514,3567,3461,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4368,-0.68,-146.0,2334,1997,3567,3461,572.0,-12.3,405,4373,0.00,2.28,0.00,0.000,516,0.000,0.063,2334,584,3514,3567,3461,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4407,-0.68,-146.0,2334,584,3567,3461,577.1,-12.6,407,4412,0.00,2.28,0.00,0.000,1030,0.000,0.052,2324,1988,3514,3567,3461,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4725,-0.68,-146.0,2324,1989,3566,3461,619.0,-13.1,423,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1989,3513,3566,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-0.68,-146.0,2323,1989,3565,3461,658.8,-13.3,438,5032,0.00,2.25,0.00,0.000,516,0.000,0.064,2324,592,3513,3565,3461,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5073,-0.68,-146.0,2324,591,3565,3461,664.4,-13.6,440,5078,0.15,2.22,0.00,0.000,3078,0.161,0.052,2351,1994,3512,3564,3461,0,0,0,0,0,0,25.53,25.83,28.83
$GC,5381,-0.68,-146.0,2351,1995,3564,3461,700.1,-11.3,455,5387,0.00,2.28,0.00,0.000,516,0.000,0.064,2351,581,3512,3564,3461,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5413,-0.68,-146.0,2351,580,3564,3461,702.5,-11.4,456,5421,0.00,2.28,0.00,0.000,1030,0.000,0.052,2343,2002,3512,3564,3461,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5721,-0.68,-146.0,2343,2002,3564,3461,740.1,-11.6,472,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2002,3512,3564,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6021,-0.68,-146.0,2343,2003,3563,3461,772.6,-10.6,487,6027,0.00,2.30,0.00,0.000,516,0.000,0.064,2343,585,3512,3563,3461,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6081,-0.68,-146.0,2343,585,3563,3461,779.1,-10.7,490,6087,0.00,2.25,0.00,0.000,1030,0.000,0.053,2334,1994,3512,3563,3461,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6401,-0.68,-146.0,2333,1995,3562,3461,813.7,-10.5,506,6406,0.00,2.28,0.00,0.000,516,0.000,0.065,2334,588,3511,3562,3461,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6442,-0.68,-146.0,2333,588,3562,3461,818.4,-10.9,508,6448,0.00,2.25,0.00,0.000,1030,0.000,0.054,2324,2002,3511,3562,3461,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6762,-0.68,-146.0,2323,2002,3561,3461,854.2,-11.0,524,6768,0.00,2.30,0.00,0.000,516,0.000,0.065,2323,589,3511,3561,3461,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6836,-0.68,-146.0,2324,588,3561,3461,861.0,-11.2,527,6843,0.15,2.25,0.00,0.000,3078,0.163,0.054,2350,1996,3511,3561,3461,0,0,0,0,0,0,25.46,25.77,28.83
$GC,7143,-0.68,-146.0,2350,1996,3559,3461,889.7,-8.8,543,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1996,3510,3560,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7445,-0.68,-146.0,2351,1996,3558,3461,916.5,-9.0,558,7451,0.00,2.30,0.00,0.000,516,0.000,0.065,2351,575,3509,3558,3461,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7497,-0.68,-146.0,2351,575,3558,3461,920.4,-9.4,560,7504,0.00,2.28,0.00,0.000,1030,0.000,0.053,2343,1994,3509,3558,3461,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7805,-0.68,-146.0,2342,1994,3558,3460,953.2,-10.5,576,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1995,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8105,-0.68,-146.0,2342,1994,3558,3460,985.3,-10.8,591,8110,0.00,2.28,0.00,0.000,516,0.000,0.066,2343,584,3508,3557,3460,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8177,-0.68,-146.0,2343,583,3556,3460,992.0,-11.2,594,8183,0.00,2.28,0.00,0.000,1030,0.000,0.054,2333,2000,3508,3557,3460,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.14,0.0,2333,1859,3557,3460,1001.1,-11.3,598,8386,0.60,0.00,134.23,1.821,10246,0.131,0.000,2518,1859,2908,2981,2836,0,0,0,0,0,0,25.25,28.83,22.27
$STATE,8387,end apogee,CONTROL_FINISHED_OK
$STATE,8387,begin climb
$GC,8389,0.68,146.0,2518,1858,2982,2836,1008.8,0.0,605,8540,0.77,2.60,142.20,1.784,11012,0.052,0.059,2796,3283,2313,2373,2254,0,0,0,0,0,0,23.69,23.26,21.99
$GC,8670,0.68,146.0,2796,3283,2370,2246,991.4,15.3,618,8674,0.00,2.40,0.00,0.000,1030,0.000,0.053,2806,1874,2307,2370,2245,0,0,0,0,0,0,28.83,24.52,28.83
$GC,8983,0.68,146.0,2806,1874,2369,2241,943.8,14.8,634,8989,0.00,2.33,0.00,0.000,260,0.000,0.060,2806,3291,2305,2369,2241,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9045,0.68,146.0,1920,3290,2329,2235,934.0,16.1,637,9049,0.00,2.35,0.00,0.000,1030,0.000,0.052,2816,1873,2305,2369,2241,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9363,0.68,146.0,2816,1873,2368,2239,883.5,15.5,653,9369,0.00,2.30,0.00,0.000,260,0.000,0.060,2816,3294,2303,2368,2239,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9511,0.68,146.0,2816,3294,2367,2239,860.7,16.5,660,9517,0.15,2.30,0.00,0.000,5126,0.213,0.053,2795,1863,2303,2367,2239,0,0,0,0,0,0,25.36,25.78,28.83
$GC,9817,0.68,146.0,2794,1863,2367,2237,816.0,13.8,675,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1863,2302,2367,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10118,0.68,146.0,2794,1863,2367,2236,774.9,13.9,690,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1863,2301,2367,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10418,0.68,146.0,2794,1863,2367,2236,735.1,13.0,705,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1863,2301,2367,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10718,0.68,146.0,2794,1863,2366,2235,696.7,12.7,720,10724,0.00,2.30,0.00,0.000,260,0.000,0.058,2794,3293,2300,2366,2235,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10830,0.68,146.0,2794,3293,2366,2235,683.7,13.0,725,10837,0.00,2.28,0.00,0.000,1030,0.000,0.053,2803,1869,2300,2366,2235,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,16671,end climb,SURFACE_DEPTH_REACHED
$STATE,16671,begin surface coast
$FINISH,-0.2,1.026006
$STATE,16709,end surface coast,CONTROL_FINISHED_OK
$STATE,16709,begin surface
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$IRIDIUM_FIX,-4244.98,831.55,271108,010110
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.36
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.0,51.673
$10V_AH,9.9,41.473
$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
$DEVICE_SECS,17.850,150.725,307.600,19.675,0.000,25.607,17.497,209.284,49.250,0.000,22.446,3351.042,9824.133,491.667,3203.986,250.912,0.000,1757.397,0.000,2703.148,0.000,300.656,0.000
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$SENSOR_SECS,881.317,80.596,733.550,1888.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352676
$DATA_FILE_SIZE,80420,1259
$CAP_FILE_SIZE,181784,0
$CFSIZE,259248128,233648128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.126, 42.8,1
$GPS,310116,215821,-4304.314,829.468,91,0.9,105,-25.0