version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 322
start: 2 4 116 5 15 42
data:
$ID,542
$MISSION,12
$DIVE,322
$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,-30108.975
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,040216,050727,-4256.226,819.433,153,3.6,173,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.5
$GPS2,040216,051514,-4256.259,819.477,54,4.1,75,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,RECOVER
$TGT_LATLONG,-4300.000,630.000
$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,266.1,148445,-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,-146.0,161,1989,1973,1921,0.0,0.0,0,66,0.00,0.00,-49.05,0.000,16386,0.000,0.000,161,1989,3346,3411,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,161,1989,3411,3284,4.1,-8.1,6,87,8.45,2.30,-3.00,0.000,19204,0.215,0.066,2352,585,3508,3557,3459,0,0,0,0,0,0,25.00,25.71,26.25
$GC,412,-0.68,-146.0,2352,585,3563,3460,67.0,-14.2,63,419,0.00,2.25,0.00,0.000,1030,0.000,0.047,2344,1993,3511,3563,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,746,-0.68,-146.0,2344,1993,3563,3459,118.0,-15.1,113,754,0.00,2.22,0.00,0.000,260,0.000,0.054,2333,3409,3511,3563,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,770,-0.68,-146.0,2333,3409,3563,3460,121.5,-15.0,115,778,0.00,2.25,0.00,0.000,1030,0.000,0.043,2333,1998,3511,3563,3460,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1079,-0.68,-146.0,2333,1998,3564,3460,167.9,-14.7,146,1088,0.00,2.28,0.00,0.000,516,0.000,0.058,2333,581,3512,3564,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1166,-0.68,-146.0,2333,581,3564,3460,180.6,-15.1,154,1174,0.00,2.25,0.00,0.000,1030,0.000,0.045,2323,1993,3512,3564,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1475,-0.68,-146.0,2323,1993,3564,3461,227.8,-14.7,185,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1993,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.68,-146.0,2323,1993,3565,3460,270.3,-13.7,215,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1993,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-0.68,-146.0,2323,1993,3565,3460,310.6,-13.5,245,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1993,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.68,-146.0,2322,1993,3565,3460,353.4,-14.3,276,2394,0.00,2.25,0.00,0.000,516,0.000,0.058,2323,590,3512,3564,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2419,-0.68,-146.0,2323,590,3564,3460,358.5,-14.9,279,2428,0.15,2.20,0.00,0.000,3078,0.157,0.047,2351,1998,3512,3565,3460,0,0,0,0,0,0,25.62,25.93,28.83
$GC,2729,-0.68,-146.0,2351,1998,3565,3460,395.4,-11.7,310,2738,0.00,2.28,0.00,0.000,516,0.000,0.059,2351,586,3512,3565,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2762,-0.68,-146.0,2351,586,3565,3460,399.2,-11.9,313,2771,0.00,2.17,0.00,0.000,1030,0.000,0.048,2343,1991,3513,3565,3461,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3071,-0.68,-146.0,2343,1991,3565,3460,436.9,-12.2,329,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1991,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,-0.68,-146.0,2343,1991,3565,3460,472.6,-11.9,344,3377,0.00,2.22,0.00,0.000,516,0.000,0.060,2343,591,3512,3565,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3403,-0.68,-146.0,2343,591,3565,3460,475.0,-11.9,345,3411,0.00,2.22,0.00,0.000,1030,0.000,0.048,2333,1998,3512,3565,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3712,-0.68,-146.0,2333,1999,3565,3460,515.4,-12.7,361,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1999,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.68,-146.0,2333,1999,3564,3460,553.1,-12.4,376,4017,0.00,2.25,0.00,0.000,516,0.000,0.061,2333,590,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4056,-0.68,-146.0,2333,590,3565,3460,558.5,-12.6,378,4060,0.00,2.22,0.00,0.000,1030,0.000,0.050,2323,2000,3512,3565,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4368,-0.68,-146.0,2323,2000,3564,3460,600.4,-13.6,394,4374,0.00,2.30,0.00,0.000,516,0.000,0.062,2323,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4396,-0.68,-146.0,2323,585,3564,3460,603.2,-13.7,395,4401,0.15,2.22,0.00,0.000,3078,0.158,0.051,2351,1995,3512,3564,3460,0,0,0,0,0,0,25.57,25.86,28.83
$GC,4702,-0.68,-146.0,2351,1995,3564,3460,640.0,-11.2,410,4708,0.00,2.25,0.00,0.000,516,0.000,0.062,2352,590,3511,3563,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4731,-0.68,-146.0,2351,589,3564,3460,642.3,-11.2,411,4735,0.00,2.22,0.00,0.000,1030,0.000,0.051,2343,1997,3511,3563,3460,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5037,-0.68,-146.0,2343,1997,3563,3460,678.4,-11.4,426,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1997,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,-0.68,-146.0,2343,1997,3563,3460,711.8,-11.0,441,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1997,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5639,-0.68,-146.0,2343,1997,3563,3460,744.1,-10.6,456,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1997,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5940,-0.68,-146.0,2343,1997,3562,3460,775.8,-10.5,471,5945,0.00,2.25,0.00,0.000,516,0.000,0.063,2344,596,3510,3562,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5982,-0.68,-146.0,2343,596,3561,3460,780.1,-10.6,473,5986,0.00,2.22,0.00,0.000,1030,0.000,0.052,2334,1999,3511,3562,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6294,-0.68,-146.0,2334,2000,3561,3460,814.9,-11.3,489,6300,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,592,3510,3561,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6326,-0.68,-146.0,2334,592,3561,3460,817.2,-11.4,490,6333,0.00,2.22,0.00,0.000,1030,0.000,0.053,2324,1993,3510,3560,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6636,-0.68,-146.0,2323,1994,3559,3460,855.6,-12.0,506,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1995,3509,3559,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6937,-0.68,-146.0,2323,1995,3557,3460,890.9,-11.7,521,6942,0.00,2.28,0.00,0.000,516,0.000,0.063,2324,587,3509,3558,3460,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6962,-0.68,-146.0,2324,586,3557,3459,893.3,-11.7,522,6967,0.12,2.25,0.00,0.000,3078,0.161,0.053,2345,1996,3508,3557,3460,0,0,0,0,0,0,25.56,25.78,28.83
$GC,7272,-0.68,-146.0,2345,1996,3557,3460,922.8,-8.9,537,7277,0.00,2.28,0.00,0.000,516,0.000,0.063,2345,591,3508,3557,3460,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7293,-0.68,-146.0,2343,591,3557,3460,924.6,-8.9,538,7297,0.00,2.25,0.00,0.000,1030,0.000,0.053,2338,1997,3508,3557,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7605,-0.68,-146.0,2337,1997,3557,3459,954.6,-9.6,554,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1997,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7906,-0.68,-146.0,2337,1997,3556,3459,984.7,-10.1,569,7912,0.00,2.30,0.00,0.000,516,0.000,0.063,2337,592,3507,3556,3459,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7965,-0.68,-146.0,2337,591,3556,3459,991.1,-10.6,572,7971,0.00,2.25,0.00,0.000,1030,0.000,0.054,2327,2000,3507,3555,3459,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,8064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8064,begin apogee
$GC,8069,-0.14,0.0,2327,1860,3555,3458,1001.8,-10.9,577,8206,0.62,0.00,133.95,1.791,10246,0.125,0.000,2522,1859,2909,2982,2836,0,0,0,0,0,0,25.25,28.83,22.23
$STATE,8207,end apogee,CONTROL_FINISHED_OK
$STATE,8207,begin climb
$GC,8210,0.68,146.0,2522,1859,2982,2836,1008.5,0.0,584,8366,0.77,2.67,142.38,1.746,10500,0.048,0.059,2801,3287,2311,2373,2250,0,0,0,0,0,0,23.72,23.27,21.92
$GC,8477,0.68,146.0,2800,3287,2372,2243,993.9,14.7,597,8481,0.00,2.40,0.00,0.000,1030,0.000,0.050,2811,1873,2308,2372,2244,0,0,0,0,0,0,28.83,24.49,28.83
$GC,8784,0.68,146.0,2811,1873,2371,2238,948.2,14.8,612,8789,0.00,2.33,0.00,0.000,260,0.000,0.060,2811,3290,2304,2371,2238,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8817,0.68,146.0,2811,3290,2370,2238,945.3,14.7,613,8825,0.12,2.33,0.00,0.000,5126,0.209,0.052,2796,1867,2304,2371,2238,0,0,0,0,0,0,25.22,25.53,28.83
$GC,9124,0.68,146.0,2795,1867,2371,2236,902.5,12.8,629,9130,0.00,2.30,0.00,0.000,260,0.000,0.060,2794,3286,2302,2370,2235,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9191,0.68,146.0,2794,3286,2370,2235,894.3,13.5,632,9195,0.00,2.28,0.00,0.000,1030,0.000,0.052,2803,1870,2302,2370,2235,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9499,0.68,146.0,2803,1869,2370,2234,851.9,13.6,647,9505,0.00,2.30,0.00,0.000,260,0.000,0.059,2803,3294,2302,2370,2234,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9611,0.68,146.0,2802,3294,2370,2234,837.3,14.7,652,9618,0.00,2.30,0.00,0.000,1030,0.000,0.052,2812,1861,2302,2370,2234,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9919,0.68,146.0,2813,1861,2370,2234,792.6,13.9,668,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1860,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,0.68,146.0,2813,1861,2369,2234,751.0,13.8,683,10224,0.00,2.30,0.00,0.000,260,0.000,0.059,2813,3289,2301,2369,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10251,0.68,146.0,2813,3289,2369,2234,748.3,13.8,684,10259,0.15,2.28,0.00,0.000,5126,0.206,0.051,2790,1868,2301,2369,2234,0,0,0,0,0,0,25.48,25.91,28.83
$GC,10559,0.68,146.0,2790,1868,2369,2233,706.2,12.9,700,10565,0.00,2.28,0.00,0.000,260,0.000,0.059,2788,3286,2301,2369,2233,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10779,0.68,146.0,2787,3286,2369,2233,676.9,13.2,711,10785,0.00,2.25,0.00,0.000,1030,0.000,0.052,2796,1872,2301,2369,2233,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11099,0.68,146.0,2796,1872,2369,2232,637.0,12.4,727,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1872,2300,2369,2232,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16680,end climb,SURFACE_DEPTH_REACHED
$STATE,16680,begin surface coast
$FINISH,-0.2,1.007150
$STATE,16701,end surface coast,CONTROL_FINISHED_OK
$STATE,16701,begin surface
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$HUMID,53.34
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$XPDR_PINGS,0
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$10V_AH,9.9,43.848
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353280
$DATA_FILE_SIZE,80251,1240
$CAP_FILE_SIZE,177834,0
$CFSIZE,259248128,232062976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142, 30.2,1
$GPS,040216,095703,-4256.369,818.005,69,0.9,69,-25.0