version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 314
start: 2 2 116 16 50 13
data:
$ID,542
$MISSION,12
$DIVE,314
$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,-30098.822
$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,27
$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
$GPS1,020216,164321,-4300.470,823.237,87,0.8,87,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.9
$GPS2,020216,164946,-4300.484,823.201,21,1.1,22,-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,11.0,8374,-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,-146.0,155,1991,1979,1920,0.0,0.0,0,66,0.00,0.00,-48.80,0.000,16386,0.000,0.000,155,1990,3326,3387,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,155,1991,3387,3267,3.9,-6.9,6,87,8.40,2.33,-3.50,0.000,18948,0.213,0.067,2343,582,3509,3560,3458,0,0,0,0,0,0,24.98,25.68,26.22
$GC,246,-0.68,-146.0,2343,582,3563,3459,41.9,-15.3,33,253,0.00,2.28,0.00,0.000,1030,0.000,0.047,2335,1993,3511,3563,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,587,-0.68,-146.0,2335,1993,3564,3459,91.9,-13.9,94,594,0.00,2.25,0.00,0.000,260,0.000,0.054,2324,3415,3511,3564,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,668,-0.68,-146.0,2324,3415,3564,3460,102.7,-12.8,107,677,0.00,2.22,0.00,0.000,1030,0.000,0.044,2324,1990,3512,3564,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,978,-0.68,-146.0,2324,1989,3565,3460,148.4,-14.5,138,987,0.00,2.25,0.00,0.000,516,0.000,0.059,2324,589,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1086,-0.68,-146.0,1488,589,3559,3458,163.5,-14.3,148,1095,0.10,2.25,0.00,0.000,3078,0.138,0.047,2346,1997,3512,3565,3460,0,0,0,0,0,0,25.58,25.87,28.83
$GC,1393,-0.68,-146.0,2346,1997,3566,3460,202.0,-12.4,179,1402,0.00,2.25,0.00,0.000,516,0.000,0.057,2346,591,3513,3566,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1416,-0.68,-146.0,2346,591,3566,3460,204.7,-12.6,181,1427,0.00,2.25,0.00,0.000,1030,0.000,0.047,2338,1996,3513,3566,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1725,-0.68,-146.0,2338,1996,3566,3460,245.4,-13.6,212,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1996,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.68,-146.0,2338,1996,3567,3460,286.2,-13.6,242,2034,0.00,2.25,0.00,0.000,516,0.000,0.059,2338,590,3513,3566,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2058,-0.68,-146.0,2338,590,3566,3461,290.6,-14.0,245,2066,0.00,2.17,0.00,0.000,1030,0.000,0.047,2328,1992,3513,3566,3461,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2366,-0.68,-146.0,2328,1992,3567,3461,334.1,-13.9,276,2379,0.00,2.25,0.00,0.000,516,0.000,0.059,2328,589,3513,3566,3461,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2406,-0.68,-146.0,2328,589,3566,3461,339.2,-14.3,279,2414,0.12,2.22,0.00,0.000,3078,0.163,0.047,2348,2004,3514,3567,3461,0,0,0,0,0,0,25.66,25.91,28.83
$GC,2712,-0.68,-146.0,2348,2005,3566,3461,375.6,-11.4,310,2721,0.00,2.28,0.00,0.000,516,0.000,0.058,2348,588,3514,3567,3461,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2726,-0.68,-146.0,2348,587,3567,3461,376.6,-11.3,311,2733,0.00,2.22,0.00,0.000,1030,0.000,0.047,2340,2000,3514,3567,3461,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3034,-0.68,-146.0,2340,2000,3567,3461,415.5,-12.5,336,3040,0.00,2.25,0.00,0.000,516,0.000,0.060,2340,588,3514,3567,3461,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3066,-0.68,-146.0,2340,587,3566,3461,418.2,-12.6,337,3074,0.00,2.22,0.00,0.000,1030,0.000,0.049,2330,1997,3513,3566,3461,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3374,-0.68,-146.0,2330,1997,3566,3461,460.3,-13.0,353,3380,0.00,2.22,0.00,0.000,260,0.000,0.057,2320,3403,3513,3566,3461,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3386,-0.68,-146.0,2319,3403,3567,3461,460.3,-13.0,353,3394,0.12,2.22,0.00,0.000,3078,0.155,0.045,2351,1987,3513,3566,3461,0,0,0,0,0,0,25.67,25.89,28.83
$GC,3696,-0.68,-146.0,2351,1987,3566,3461,496.0,-10.9,369,3701,0.00,2.22,0.00,0.000,516,0.000,0.063,2351,595,3514,3567,3461,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3796,-0.68,-146.0,2351,595,3566,3461,507.0,-11.0,374,3801,0.00,2.17,0.00,0.000,1030,0.000,0.050,2343,1991,3513,3566,3461,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4113,-0.68,-146.0,2343,1992,3566,3461,544.6,-12.0,390,4119,0.00,2.28,0.00,0.000,516,0.000,0.062,2342,583,3513,3566,3461,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4136,-0.68,-146.0,2342,582,3566,3461,547.1,-12.0,391,4141,0.00,2.20,0.00,0.000,1030,0.000,0.050,2333,1989,3513,3566,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4454,-0.68,-146.0,2333,1990,3566,3460,587.0,-12.4,407,4460,0.00,2.28,0.00,0.000,516,0.000,0.061,2333,584,3513,3566,3461,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4495,-0.68,-146.0,2333,584,3566,3461,592.2,-12.7,409,4500,0.00,2.20,0.00,0.000,1030,0.000,0.050,2323,1989,3513,3566,3461,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4814,-0.68,-146.0,2323,1990,3565,3461,632.6,-12.3,425,4820,0.00,2.28,0.00,0.000,516,0.000,0.061,2323,584,3512,3565,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4826,-0.68,-146.0,2323,584,3565,3460,632.6,-12.3,425,4834,0.15,2.25,0.00,0.000,3078,0.161,0.050,2351,1998,3513,3565,3461,0,0,0,0,0,0,25.54,25.85,28.83
$GC,5134,-0.68,-146.0,2350,1999,3564,3461,663.7,-9.4,441,5140,0.00,2.28,0.00,0.000,516,0.000,0.062,2351,591,3512,3564,3461,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5178,-0.68,-146.0,2351,591,3564,3460,667.8,-9.7,443,5183,0.00,2.22,0.00,0.000,1030,0.000,0.051,2343,1993,3512,3564,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5491,-0.68,-146.0,2342,1994,3564,3460,701.5,-11.2,459,5496,0.00,2.28,0.00,0.000,516,0.000,0.062,2343,591,3512,3564,3461,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5531,-0.68,-146.0,2342,591,3563,3460,706.2,-11.6,461,5537,0.00,2.25,0.00,0.000,1030,0.000,0.052,2333,2000,3511,3563,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5851,-0.68,-146.0,2333,2001,3563,3460,744.1,-11.9,477,5857,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,592,3511,3563,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5863,-0.68,-146.0,2333,592,3563,3461,744.1,-11.9,477,5871,0.00,2.25,0.00,0.000,1030,0.000,0.051,2323,2002,3511,3563,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6170,-0.68,-146.0,2323,2002,3563,3460,783.8,-12.4,493,6176,0.00,2.30,0.00,0.000,516,0.000,0.063,2323,584,3511,3562,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6200,-0.68,-146.0,2323,584,3562,3460,786.4,-12.5,494,6205,0.15,2.25,0.00,0.000,3078,0.158,0.053,2351,1996,3511,3563,3460,0,0,0,0,0,0,25.51,25.79,28.83
$GC,6507,-0.68,-146.0,2351,1996,3562,3460,819.6,-10.4,509,6513,0.00,2.28,0.00,0.000,516,0.000,0.063,2351,591,3511,3562,3460,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6560,-0.68,-146.0,2350,591,3562,3460,824.0,-10.7,511,6570,0.00,2.25,0.00,0.000,1030,0.000,0.052,2343,2001,3511,3562,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6867,-0.68,-146.0,2343,2001,3561,3460,860.0,-11.3,527,6872,0.00,2.30,0.00,0.000,516,0.000,0.063,2343,585,3510,3561,3460,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6900,-0.68,-146.0,2343,585,3560,3460,862.3,-11.4,528,6907,0.00,2.25,0.00,0.000,1030,0.000,0.053,2334,1996,3510,3560,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7207,-0.68,-146.0,2333,1997,3559,3460,900.4,-12.0,544,7213,0.00,2.30,0.00,0.000,516,0.000,0.064,2333,585,3509,3559,3460,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7251,-0.68,-146.0,2333,585,3559,3460,905.3,-12.1,546,7255,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,1995,3509,3558,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7562,-0.68,-146.0,2323,1995,3558,3460,944.6,-12.4,562,7568,0.00,2.30,0.00,0.000,516,0.000,0.064,2324,585,3508,3557,3460,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7602,-0.68,-146.0,2323,584,3557,3460,949.7,-12.6,564,7609,0.15,2.25,0.00,0.000,3078,0.156,0.054,2352,1996,3508,3557,3460,0,0,0,0,0,0,25.48,25.75,28.83
$GC,7924,-0.68,-146.0,2352,1997,3557,3460,980.2,-9.0,580,7929,0.00,2.28,0.00,0.000,516,0.000,0.064,2352,592,3508,3557,3460,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7971,-0.68,-146.0,2352,592,3557,3460,983.8,-9.0,582,7975,0.00,2.25,0.00,0.000,1030,0.000,0.054,2344,2000,3509,3558,3460,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,8157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8157,begin apogee
$GC,8162,-0.14,0.0,2343,1861,3557,3459,1001.7,-9.2,591,8300,0.57,0.00,134.35,1.808,10246,0.122,0.000,2525,1860,2909,2982,2836,0,0,0,0,0,0,25.32,28.83,22.24
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8303,0.68,146.0,2524,1860,2982,2836,1007.3,0.0,598,8459,0.73,2.62,142.52,1.758,11012,0.044,0.063,2811,468,2312,2370,2255,0,0,0,0,0,0,23.72,23.25,21.95
$GC,8581,0.68,146.0,2811,468,2362,2252,986.8,16.1,612,8587,0.00,2.38,0.00,0.000,1030,0.000,0.053,2811,1870,2306,2362,2251,0,0,0,0,0,0,28.83,24.55,28.83
$GC,8902,0.68,146.0,2811,1870,2362,2246,937.3,14.9,628,8908,0.00,2.30,0.00,0.000,260,0.000,0.060,2811,3285,2304,2362,2246,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8969,0.68,146.0,2811,3284,2361,2246,928.0,15.4,631,8975,0.12,2.28,0.00,0.000,5126,0.211,0.052,2795,1875,2303,2361,2246,0,0,0,0,0,0,25.25,25.58,28.83
$GC,9277,0.68,146.0,2795,1875,2361,2245,884.7,13.4,646,9283,0.00,2.28,0.00,0.000,260,0.000,0.059,2794,3286,2303,2361,2245,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9306,0.68,146.0,2794,3286,2361,2244,882.0,13.5,647,9310,0.00,2.28,0.00,0.000,1030,0.000,0.051,2803,1866,2303,2361,2245,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9612,0.68,146.0,2802,1866,2361,2243,840.1,13.3,662,9617,0.00,2.30,0.00,0.000,260,0.000,0.058,2803,3293,2302,2361,2244,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,16569,end climb,SURFACE_DEPTH_REACHED
$STATE,16569,begin surface coast
$FINISH,-0.1,1.026111
$STATE,16595,end surface coast,CONTROL_FINISHED_OK
$STATE,16596,begin surface
$SM_CCo,16613,24.35,0.197,0,0,1968,230.09
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$IRIDIUM_FIX,-4244.98,837.38,291108,010131
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.95
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.0,53.427
$10V_AH,9.9,42.817
$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
$DEVICE_SECS,18.350,199.400,290.500,24.350,0.000,23.589,19.468,203.803,49.250,0.000,22.702,3344.044,9651.146,532.490,3201.300,285.662,0.000,1852.878,0.000,2702.454,0.000,298.868,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.656,79.753,724.001,1871.957,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352748
$DATA_FILE_SIZE,80343,1248
$CAP_FILE_SIZE,192893,0
$CFSIZE,259248128,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.100, 66.0,1
$GPS,020216,212949,-4258.602,823.138,82,2.3,102,-25.0