version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 312
start: 2 2 116 7 12 42
data:
$ID,542
$MISSION,12
$DIVE,312
$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,-30096.311
$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,20
$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
$GPS1,020216,070604,-4303.740,823.786,174,0.9,174,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.3
$GPS2,020216,071216,-4303.739,823.875,18,1.1,19,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,357.2,14333,-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,-146.0,165,1992,1974,1922,0.0,0.0,0,65,0.00,0.00,-46.72,0.000,16386,0.000,0.000,164,1991,3261,3332,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,164,1991,3332,3191,3.8,-7.5,6,87,8.45,2.35,-4.75,0.000,18948,0.216,0.069,2352,578,3508,3562,3454,0,0,0,0,0,0,25.02,25.70,26.29
$GC,227,-0.68,-146.0,2352,578,3564,3455,38.8,-14.0,30,236,0.00,2.30,0.00,0.000,1030,0.000,0.048,2344,2002,3510,3564,3456,0,0,0,0,0,0,28.83,25.72,28.83
$GC,372,-0.68,-146.0,2343,2003,3564,3456,60.2,-14.7,55,380,0.00,2.28,0.00,0.000,516,0.000,0.057,2344,582,3510,3565,3456,0,0,0,0,0,0,28.83,25.66,28.83
$GC,432,-0.68,-146.0,1424,582,3558,3454,68.6,-14.1,65,439,0.00,2.22,0.00,0.000,1030,0.000,0.047,2334,1996,3510,3565,3456,0,0,0,0,0,0,28.83,25.78,28.83
$GC,764,-0.68,-146.0,2334,1997,3565,3458,119.1,-15.5,115,777,0.00,2.22,0.00,0.000,260,0.000,0.053,2324,3411,3511,3565,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,799,-0.68,-146.0,2323,3410,3565,3459,124.4,-15.2,118,809,0.00,2.22,0.00,0.000,1030,0.000,0.044,2323,1985,3512,3565,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1110,-0.68,-146.0,2323,1985,3566,3459,171.6,-15.4,149,1119,0.00,2.22,0.00,0.000,516,0.000,0.058,2323,586,3513,3566,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1248,-0.68,-146.0,2323,585,3566,3460,192.3,-14.9,162,1256,0.15,2.22,0.00,0.000,3078,0.157,0.047,2351,2000,3513,3566,3460,0,0,0,0,0,0,25.59,25.89,28.83
$GC,1556,-0.68,-146.0,2351,2000,3567,3460,229.3,-11.6,193,1566,0.00,2.28,0.00,0.000,516,0.000,0.058,2351,589,3513,3567,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1590,-0.68,-146.0,1552,589,3561,3458,233.3,-12.0,196,1598,0.00,2.25,0.00,0.000,1030,0.000,0.047,2343,1997,3513,3567,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1899,-0.68,-146.0,2342,1998,3567,3460,271.1,-11.9,227,1908,0.00,2.22,0.00,0.000,516,0.000,0.057,2343,592,3513,3567,3460,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1940,-0.68,-146.0,2343,591,3567,3460,276.2,-12.3,231,1950,0.00,2.20,0.00,0.000,1030,0.000,0.047,2333,1999,3513,3567,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2253,-0.68,-146.0,2333,1999,3567,3460,315.1,-12.9,262,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1999,3513,3567,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.68,-146.0,2333,1999,3567,3460,357.1,-13.5,293,2571,0.00,2.25,0.00,0.000,516,0.000,0.060,2333,589,3513,3567,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2613,-0.68,-146.0,2332,589,3567,3460,364.3,-13.8,298,2623,0.00,2.22,0.00,0.000,1030,0.000,0.049,2323,2005,3513,3567,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2934,-0.68,-146.0,2323,2006,3567,3460,408.8,-13.9,327,2939,0.00,2.28,0.00,0.000,516,0.000,0.060,2323,591,3513,3567,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2978,-0.68,-146.0,2323,590,3567,3460,414.8,-14.0,329,2983,0.15,2.22,0.00,0.000,3078,0.156,0.049,2351,2002,3513,3567,3460,0,0,0,0,0,0,25.61,25.89,28.83
$GC,3291,-0.68,-146.0,2351,2002,3567,3460,451.7,-11.7,345,3297,0.00,2.28,0.00,0.000,516,0.000,0.060,2351,585,3513,3567,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3318,-0.68,-146.0,2351,584,3567,3460,454.2,-11.8,346,3323,0.00,2.22,0.00,0.000,1030,0.000,0.050,2343,1993,3514,3568,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3625,-0.68,-146.0,2343,1993,3567,3460,494.5,-13.1,361,3631,0.00,2.28,0.00,0.000,516,0.000,0.062,2343,585,3513,3567,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3660,-0.68,-146.0,2343,585,3567,3460,497.2,-13.2,362,3667,0.00,2.25,0.00,0.000,1030,0.000,0.050,2334,2001,3513,3567,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3968,-0.68,-146.0,2333,2002,3567,3460,541.2,-13.6,378,3973,0.00,2.25,0.00,0.000,516,0.000,0.063,2334,596,3513,3567,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3987,-0.68,-146.0,2334,596,3566,3460,544.1,-13.7,379,3991,0.00,2.20,0.00,0.000,1030,0.000,0.050,2324,1994,3513,3567,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4303,-0.68,-146.0,2324,1994,3567,3460,589.6,-14.3,395,4309,0.00,2.25,0.00,0.000,516,0.000,0.062,2323,591,3513,3567,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4344,-0.68,-146.0,2324,590,3567,3460,595.5,-14.3,397,4351,0.12,2.22,0.00,0.000,3078,0.162,0.052,2344,1998,3513,3567,3460,0,0,0,0,0,0,25.62,25.86,28.83
$GC,4664,-0.68,-146.0,2345,1999,3567,3460,634.1,-11.9,413,4670,0.00,2.30,0.00,0.000,516,0.000,0.063,2345,589,3513,3566,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4704,-0.68,-146.0,2345,589,3567,3460,639.1,-12.1,415,4709,0.00,2.25,0.00,0.000,1030,0.000,0.052,2337,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5024,-0.68,-146.0,2337,1997,3565,3460,679.5,-12.6,431,5030,0.00,2.28,0.00,0.000,516,0.000,0.062,2337,590,3512,3565,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5088,-0.68,-146.0,2337,589,3565,3460,687.5,-12.9,434,5094,0.00,2.22,0.00,0.000,1030,0.000,0.052,2327,1997,3512,3565,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5406,-0.68,-146.0,2327,1998,3564,3460,728.1,-12.2,450,5412,0.00,2.30,0.00,0.000,516,0.000,0.063,2327,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5434,-0.68,-146.0,2327,584,3564,3459,730.6,-12.2,451,5439,0.12,2.25,0.00,0.000,3078,0.164,0.052,2346,1999,3512,3564,3460,0,0,0,0,0,0,25.60,25.83,28.83
$GC,5742,-0.68,-146.0,2347,2001,3564,3460,763.9,-10.6,466,5747,0.00,2.30,0.00,0.000,516,0.000,0.063,2347,590,3512,3564,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5764,-0.68,-146.0,2347,589,3564,3460,766.0,-10.6,467,5769,0.00,2.22,0.00,0.000,1030,0.000,0.053,2339,2000,3512,3564,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6084,-0.68,-146.0,2339,2000,3563,3460,801.2,-11.0,483,6089,0.00,2.28,0.00,0.000,516,0.000,0.063,2339,586,3511,3563,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6104,-0.68,-146.0,1536,586,3557,3458,803.5,-11.1,484,6109,0.00,2.30,0.00,0.000,1030,0.000,0.054,2330,1997,3511,3563,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6424,-0.68,-146.0,2329,1997,3563,3460,840.6,-11.6,500,6430,0.00,2.28,0.00,0.000,516,0.000,0.063,2330,588,3511,3562,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6463,-0.68,-146.0,2329,588,3563,3460,845.3,-11.6,502,6469,0.08,2.22,0.00,0.000,3078,0.141,0.054,2344,1994,3511,3563,3460,0,0,0,0,0,0,25.56,25.80,28.83
$GC,6782,-0.68,-146.0,2344,1995,3563,3460,878.2,-10.5,518,6788,0.00,2.28,0.00,0.000,516,0.000,0.064,2344,588,3511,3562,3460,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6812,-0.68,-146.0,2344,588,3562,3460,880.4,-10.6,519,6816,0.00,2.25,0.00,0.000,1030,0.000,0.054,2336,2002,3511,3562,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7119,-0.68,-146.0,2335,2002,3562,3460,913.7,-10.4,534,7124,0.00,2.30,0.00,0.000,516,0.000,0.065,2336,592,3511,3562,3460,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7161,-0.68,-146.0,1536,592,3555,3458,918.1,-10.6,536,7166,0.00,2.25,0.00,0.000,1030,0.000,0.054,2326,2003,3510,3561,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7474,-0.68,-146.0,2326,2004,3560,3460,952.7,-11.1,552,7480,0.00,2.30,0.00,0.000,516,0.000,0.063,2326,588,3510,3560,3460,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7503,-0.68,-146.0,2326,588,3560,3460,955.0,-11.2,553,7508,0.12,2.25,0.00,0.000,3078,0.171,0.054,2346,1996,3510,3561,3460,0,0,0,0,0,0,25.53,25.76,28.83
$GC,7811,-0.68,-146.0,2346,1996,3559,3460,984.5,-9.1,568,7817,0.00,2.30,0.00,0.000,516,0.000,0.063,2347,588,3509,3559,3460,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7845,-0.68,-146.0,2346,588,3559,3459,986.4,-9.3,569,7852,0.00,2.25,0.00,0.000,1030,0.000,0.054,2338,1993,3509,3558,3460,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,7971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7971,begin apogee
$GC,7976,-0.14,0.0,2338,1868,3558,3460,1000.3,-10.1,576,8114,0.60,0.00,133.93,1.799,10246,0.127,0.000,2525,1867,2909,2982,2836,0,0,0,0,0,0,25.32,28.83,22.30
$STATE,8115,end apogee,CONTROL_FINISHED_OK
$STATE,8115,begin climb
$GC,8116,0.68,146.0,2525,1867,2982,2835,1005.6,0.0,583,8267,0.77,2.58,141.27,1.762,10500,0.044,0.059,2801,3282,2314,2372,2256,0,0,0,0,0,0,23.71,23.26,21.99
$GC,8482,0.68,146.0,2801,3282,2370,2247,972.4,16.1,600,8490,0.00,2.35,0.00,0.000,1030,0.000,0.053,2811,1876,2308,2370,2246,0,0,0,0,0,0,28.83,24.92,28.83
$GC,8790,0.68,146.0,2812,1876,2368,2244,922.5,15.6,616,8796,0.00,2.30,0.00,0.000,260,0.000,0.060,2812,3287,2306,2369,2244,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8938,0.68,146.0,2811,3287,2369,2244,899.5,16.2,623,8943,0.15,2.28,0.00,0.000,5126,0.211,0.053,2790,1869,2306,2369,2244,0,0,0,0,0,0,25.31,25.70,28.83
$GC,9245,0.68,146.0,2790,1868,2369,2242,855.4,13.3,638,9251,0.00,2.30,0.00,0.000,260,0.000,0.060,2787,3296,2305,2368,2242,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9327,0.68,146.0,1896,3294,2328,2236,844.5,13.8,642,9331,0.00,2.33,0.00,0.000,1030,0.000,0.053,2796,1874,2305,2368,2242,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9645,0.68,146.0,2796,1873,2368,2240,803.0,12.7,658,9651,0.00,2.28,0.00,0.000,260,0.000,0.060,2796,3289,2304,2368,2240,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,16684,end climb,SURFACE_DEPTH_REACHED
$STATE,16685,begin surface coast
$FINISH,-0.1,1.026193
$STATE,16717,end surface coast,CONTROL_FINISHED_OK
$STATE,16717,begin surface
$SM_CCo,16732,19.23,0.187,0,0,1970,230.09
$SM_GC,3.44,6.97,0.22,19.23,0.044,0.072,0.187,165,2003,1970,-7.41,-0.71,230.09,0,0,0,0,0,0,26.03,26.09,25.42
$IRIDIUM_FIX,-4247.91,922.89,281108,171742
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.89
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.0,53.094
$10V_AH,9.9,42.547
$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
$DEVICE_SECS,18.325,200.450,291.775,19.225,0.000,22.796,47.624,182.073,49.250,0.000,19.684,3371.413,9708.984,532.764,3224.328,285.420,0.000,1883.865,0.000,2727.555,0.000,298.137,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.789,74.029,718.693,1865.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352788
$DATA_FILE_SIZE,80419,1256
$CAP_FILE_SIZE,195952,0
$CFSIZE,259248128,232906752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130, 78.2,1
$GPS,020216,115421,-4302.127,823.625,111,0.9,111,-25.0