version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 305
start: 2 1 116 2 19 19
data:
$ID,542
$MISSION,12
$DIVE,305
$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,-30033.432
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,010216,021226,-4304.004,827.608,91,1.1,91,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.1
$GPS2,010216,021852,-4303.983,827.644,20,1.0,21,-25.0
$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,255.6,4931,-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,-146.0,161,2010,1985,1922,0.0,0.0,0,65,0.00,0.00,-47.45,0.000,16386,0.000,0.000,161,2010,3276,3344,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,161,2010,3344,3210,3.8,-7.8,6,86,8.40,2.28,-4.43,0.000,18692,0.214,0.064,2330,3402,3508,3561,3456,0,0,0,0,0,0,24.97,25.74,26.29
$GC,107,-0.68,-146.0,2330,3402,3561,3459,19.4,-37.8,11,116,0.00,2.28,0.00,0.000,1030,0.000,0.047,2330,1992,3510,3562,3459,0,0,0,0,0,0,28.83,25.70,28.83
$GC,169,-0.68,-146.0,2329,1991,3562,3459,30.5,-17.2,20,178,0.00,2.33,0.00,0.000,516,0.000,0.060,2330,582,3510,3562,3459,0,0,0,0,0,0,28.83,25.60,28.83
$GC,205,-0.68,-146.0,2329,582,3562,3459,37.0,-17.5,25,215,0.08,2.25,0.00,0.000,3078,0.162,0.047,2344,1983,3510,3562,3459,0,0,0,0,0,0,25.44,25.73,28.83
$GC,352,-0.68,-146.0,1440,1982,3556,3457,59.2,-14.3,50,359,0.00,2.25,0.00,0.000,516,0.000,0.057,2344,585,3511,3563,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,420,-0.68,-146.0,1408,585,3556,3457,68.4,-14.4,61,426,0.00,2.22,0.00,0.000,1030,0.000,0.047,2335,2002,3511,3563,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,749,-0.68,-146.0,2335,2002,3564,3460,117.2,-14.1,110,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2002,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,-0.68,-146.0,2335,2002,3565,3460,158.4,-13.7,140,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2002,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-0.68,-146.0,2335,2002,3566,3461,199.2,-13.7,170,1359,0.00,2.28,0.00,0.000,516,0.000,0.059,2335,586,3513,3566,3461,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1394,-0.68,-146.0,2335,586,3565,3461,205.0,-13.9,174,1401,0.00,2.25,0.00,0.000,1030,0.000,0.047,2325,1989,3513,3566,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1703,-0.68,-146.0,2325,1989,3566,3461,247.5,-14.0,205,1712,0.00,2.28,0.00,0.000,516,0.000,0.059,2326,585,3513,3566,3461,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1736,-0.68,-146.0,1512,585,3561,3460,252.2,-14.1,208,1746,0.10,2.25,0.00,0.000,3078,0.145,0.047,2347,1989,3514,3566,3462,0,0,0,0,0,0,25.58,25.90,28.83
$GC,2044,-0.68,-146.0,2347,1989,3566,3462,291.7,-12.7,239,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1989,3514,3566,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.68,-146.0,2347,1989,3566,3462,326.6,-11.1,269,2354,0.00,2.28,0.00,0.000,516,0.000,0.060,2347,582,3514,3566,3462,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2388,-0.68,-146.0,2347,582,3566,3462,331.6,-11.6,273,2397,0.00,2.20,0.00,0.000,1030,0.000,0.048,2339,1993,3514,3566,3462,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2697,-0.68,-146.0,2339,1993,3566,3462,367.4,-11.8,304,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1993,3514,3566,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.68,-146.0,2339,1993,3566,3462,405.0,-12.3,333,3014,0.00,2.25,0.00,0.000,516,0.000,0.061,2339,588,3514,3566,3462,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3056,-0.68,-146.0,2339,588,3566,3462,410.2,-12.6,335,3060,0.00,2.22,0.00,0.000,1030,0.000,0.050,2329,2002,3513,3566,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3362,-0.68,-146.0,2329,2002,3566,3462,453.3,-13.9,350,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2002,3514,3566,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.68,-146.0,2329,2002,3566,3462,493.5,-13.5,365,3669,0.00,2.28,0.00,0.000,516,0.000,0.063,2329,586,3514,3566,3462,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3731,-0.68,-146.0,2329,585,3566,3462,501.6,-13.6,368,3736,0.12,2.22,0.00,0.000,3078,0.168,0.050,2349,1996,3513,3566,3461,0,0,0,0,0,0,25.62,25.87,28.83
$GC,4037,-0.68,-146.0,2348,1996,3566,3462,537.7,-11.2,383,4043,0.00,2.30,0.00,0.000,516,0.000,0.063,2349,578,3514,3566,3462,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4066,-0.68,-146.0,2348,578,3566,3462,539.9,-11.2,384,4070,0.00,2.25,0.00,0.000,1030,0.000,0.051,2340,1999,3513,3566,3461,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4375,-0.68,-146.0,2340,2000,3566,3461,576.4,-11.4,399,4380,0.00,2.28,0.00,0.000,516,0.000,0.063,2340,589,3514,3566,3462,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4421,-0.68,-146.0,2340,588,3566,3461,581.1,-11.5,401,4425,0.00,2.22,0.00,0.000,1030,0.000,0.052,2330,1994,3514,3566,3462,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4730,-0.68,-146.0,2330,1994,3565,3462,617.2,-11.6,416,4735,0.00,2.28,0.00,0.000,516,0.000,0.063,2331,585,3513,3565,3461,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4777,-0.68,-146.0,2330,585,3565,3461,621.9,-11.7,418,4781,0.12,2.25,0.00,0.000,3078,0.164,0.051,2350,1997,3513,3565,3462,0,0,0,0,0,0,25.60,25.83,28.83
$GC,5085,-0.68,-146.0,2350,1997,3564,3461,650.9,-8.8,433,5090,0.00,2.28,0.00,0.000,516,0.000,0.063,2351,589,3513,3565,3462,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5112,-0.68,-146.0,2350,589,3565,3461,652.8,-8.9,434,5116,0.00,2.22,0.00,0.000,1030,0.000,0.053,2342,1993,3513,3564,3462,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5421,-0.68,-146.0,2342,1994,3564,3461,681.6,-8.9,449,5426,0.00,2.28,0.00,0.000,516,0.000,0.063,2342,584,3513,3564,3462,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5462,-0.68,-146.0,2342,583,3564,3461,685.4,-9.2,451,5466,0.00,2.25,0.00,0.000,1030,0.000,0.053,2332,1999,3513,3564,3462,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5774,-0.68,-146.0,2332,1999,3563,3461,717.9,-10.8,467,5780,0.00,2.30,0.00,0.000,516,0.000,0.064,2333,582,3512,3563,3462,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5817,-0.68,-146.0,2332,582,3563,3461,722.7,-11.1,469,5822,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1996,3512,3563,3461,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6137,-0.68,-146.0,2322,1997,3563,3461,759.9,-11.7,485,6143,0.00,2.30,0.00,0.000,516,0.000,0.063,2322,578,3512,3563,3462,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6164,-0.68,-146.0,2322,578,3562,3461,762.3,-11.7,486,6169,0.15,2.28,0.00,0.000,3078,0.159,0.052,2350,2006,3512,3563,3461,0,0,0,0,0,0,25.51,25.80,28.83
$GC,6474,-0.68,-146.0,2349,2007,3562,3461,791.4,-9.2,501,6480,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,592,3512,3562,3462,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6520,-0.68,-146.0,2349,592,3562,3461,795.4,-9.6,503,6524,0.00,2.22,0.00,0.000,1030,0.000,0.053,2342,1994,3511,3562,3461,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6828,-0.68,-146.0,2341,1994,3562,3461,827.1,-10.1,518,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3511,3561,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.68,-146.0,2341,1994,3560,3461,857.7,-10.2,533,7133,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,595,3510,3560,3461,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7190,-0.68,-146.0,1536,595,3554,3459,864.0,-10.6,536,7193,0.00,2.22,0.00,0.000,1030,0.000,0.054,2332,1994,3510,3559,3462,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7508,-0.68,-146.0,2332,1995,3559,3461,900.1,-11.3,552,7513,0.00,2.28,0.00,0.000,516,0.000,0.065,2332,589,3509,3558,3461,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7540,-0.68,-146.0,2332,589,3558,3461,902.4,-11.4,553,7547,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1998,3509,3558,3461,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7847,-0.68,-146.0,2322,1997,3558,3460,939.8,-11.4,569,7853,0.00,2.30,0.00,0.000,516,0.000,0.064,2322,585,3509,3558,3460,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7887,-0.68,-146.0,2322,585,3558,3460,944.7,-11.8,571,7895,0.15,2.25,0.00,0.000,3078,0.158,0.054,2350,1994,3509,3558,3460,0,0,0,0,0,0,25.47,25.75,28.83
$GC,8208,-0.68,-146.0,2349,1994,3558,3460,974.6,-9.2,587,8214,0.00,2.30,0.00,0.000,516,0.000,0.065,2350,586,3508,3557,3460,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8248,-0.68,-146.0,2350,586,3557,3460,978.5,-9.5,589,8254,0.00,2.22,0.00,0.000,1030,0.000,0.054,2342,1994,3508,3557,3460,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8472,-0.14,0.0,2342,1856,3557,3460,1001.3,-10.7,600,8610,0.57,0.00,134.57,1.824,10246,0.125,0.000,2521,1854,2909,2982,2836,0,0,0,0,0,0,25.32,28.83,22.26
$STATE,8611,end apogee,CONTROL_FINISHED_OK
$STATE,8611,begin climb
$GC,8613,0.68,146.0,2521,1854,2982,2836,1008.8,0.0,607,8769,0.77,2.60,142.07,1.779,10756,0.041,0.064,2811,467,2312,2370,2255,0,0,0,0,0,0,23.70,23.25,21.99
$GC,8936,0.68,146.0,2812,467,2363,2251,985.9,15.5,623,8940,0.00,2.38,0.00,0.000,1030,0.000,0.054,2812,1878,2307,2363,2251,0,0,0,0,0,0,28.83,24.74,28.83
$GC,9247,0.68,146.0,2811,1879,2362,2247,938.8,15.1,639,9253,0.00,2.30,0.00,0.000,260,0.000,0.060,2812,3290,2304,2362,2246,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9360,0.68,146.0,2812,3290,2361,2246,923.2,15.6,644,9369,0.15,2.30,0.00,0.000,5126,0.216,0.051,2791,1865,2303,2361,2246,0,0,0,0,0,0,25.22,25.63,28.83
$GC,9667,0.68,146.0,2791,1865,2361,2245,878.6,13.5,660,9673,0.00,2.30,0.00,0.000,260,0.000,0.058,2786,3294,2303,2361,2245,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9750,0.68,146.0,2786,3294,2361,2245,867.2,14.2,664,9754,0.00,2.28,0.00,0.000,1030,0.000,0.052,2794,1869,2303,2361,2245,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,17346,end climb,SURFACE_DEPTH_REACHED
$STATE,17347,begin surface coast
$FINISH,-0.2,1.026272
$STATE,17367,end surface coast,CONTROL_FINISHED_OK
$STATE,17367,begin surface
$SM_CCo,17385,4.30,0.216,0,0,1970,230.09
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$IRIDIUM_FIX,-4250.85,823.24,271108,111127
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.52
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.0,52.027
$10V_AH,9.9,41.729
$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
$DEVICE_SECS,18.000,173.175,311.350,4.300,0.000,24.994,41.310,190.813,49.250,0.000,21.672,3468.613,10282.943,472.215,3288.794,258.747,0.000,1819.568,0.000,2775.095,0.000,297.952,0.000
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$SENSOR_SECS,906.931,70.004,700.262,1901.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352712
$DATA_FILE_SIZE,83537,1294
$CAP_FILE_SIZE,194444,0
$CFSIZE,259248128,233459712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084, 13.1,1
$GPS,010216,071121,-4304.764,825.807,97,1.0,97,-25.0