version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 323
start: 2 4 116 10 7 8
data:
$ID,542
$MISSION,12
$DIVE,323
$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,-30110.232
$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,31
$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
$GPS1,040216,095703,-4256.369,818.005,69,0.9,69,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.5
$GPS2,040216,100640,-4256.394,818.169,18,1.1,19,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,RECOVER
$TGT_LATLONG,-4300.000,830.000
$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,170.5,17361,-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,-146.0,172,2002,1963,1894,0.0,0.0,0,66,0.00,0.00,-48.38,0.000,16386,0.000,0.000,171,2003,3242,3312,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,171,2003,3312,3172,3.2,-5.4,6,95,8.30,2.35,-5.35,0.000,18948,0.209,0.067,2350,585,3509,3561,3457,0,0,0,0,0,0,24.94,25.60,26.20
$GC,291,-0.68,-146.0,2349,585,3563,3457,47.9,-14.1,41,298,0.00,2.22,0.00,0.000,1030,0.000,0.047,2341,1993,3510,3563,3457,0,0,0,0,0,0,28.83,25.71,28.83
$GC,639,-0.68,-146.0,2341,1994,3563,3458,99.4,-13.5,102,647,0.00,2.25,0.00,0.000,260,0.000,0.054,2330,3408,3511,3563,3459,0,0,0,0,0,0,28.83,25.74,28.83
$GC,708,-0.68,-146.0,2330,3407,3563,3460,107.4,-11.2,109,715,0.00,2.28,0.00,0.000,1030,0.000,0.044,2330,1992,3511,3564,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1015,-0.68,-146.0,2330,1992,3564,3460,150.0,-13.8,140,1027,0.00,2.25,0.00,0.000,516,0.000,0.058,2330,588,3511,3564,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1113,-0.68,-146.0,2330,588,3564,3460,163.6,-14.4,149,1122,0.12,2.22,0.00,0.000,3078,0.162,0.047,2350,2006,3512,3564,3460,0,0,0,0,0,0,25.63,25.87,28.83
$GC,1420,-0.68,-146.0,2351,2007,3565,3460,203.8,-13.2,180,1431,0.00,2.28,0.00,0.000,516,0.000,0.057,2351,588,3512,3564,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1456,-0.68,-146.0,1536,587,3559,3458,208.3,-14.0,183,1463,0.00,2.25,0.00,0.000,1030,0.000,0.047,2343,1993,3512,3564,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1763,-0.68,-146.0,2343,1994,3564,3460,249.9,-12.7,214,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1994,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.68,-146.0,2342,1994,3565,3460,286.9,-12.6,244,2073,0.00,2.25,0.00,0.000,516,0.000,0.058,2343,589,3512,3564,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2098,-0.68,-146.0,2342,589,3565,3460,291.1,-12.5,247,2105,0.00,2.25,0.00,0.000,1030,0.000,0.048,2333,1993,3512,3564,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2405,-0.68,-146.0,2333,1993,3564,3460,332.5,-13.7,278,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1993,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2705,-0.68,-146.0,2333,1993,3564,3460,374.8,-13.8,308,2718,0.00,2.25,0.00,0.000,516,0.000,0.059,2333,588,3512,3564,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2753,-0.68,-146.0,2333,588,3564,3460,381.1,-14.2,312,2762,0.00,2.25,0.00,0.000,1030,0.000,0.048,2323,1993,3512,3565,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3071,-0.68,-146.0,2323,1993,3564,3460,425.1,-13.5,335,3077,0.00,2.25,0.00,0.000,516,0.000,0.060,2323,589,3512,3565,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3104,-0.68,-146.0,2323,589,3565,3460,427.8,-13.5,336,3113,0.15,2.22,0.00,0.000,3078,0.155,0.050,2352,2000,3512,3565,3460,0,0,0,0,0,0,25.61,25.90,28.83
$GC,3411,-0.68,-146.0,2352,2001,3564,3460,462.3,-10.3,352,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2001,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3712,-0.68,-146.0,2351,2001,3564,3460,493.9,-10.6,367,3717,0.00,2.28,0.00,0.000,516,0.000,0.061,2352,584,3512,3564,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3752,-0.68,-146.0,2352,583,3564,3460,498.3,-10.8,369,3757,0.00,2.22,0.00,0.000,1030,0.000,0.050,2343,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4071,-0.68,-146.0,2343,1995,3564,3460,534.1,-11.2,385,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1995,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.68,-146.0,2343,1995,3564,3460,567.1,-10.9,400,4378,0.00,2.25,0.00,0.000,516,0.000,0.062,2343,587,3512,3564,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4413,-0.68,-146.0,2343,586,3564,3460,571.6,-11.1,402,4417,0.00,2.28,0.00,0.000,1030,0.000,0.051,2334,1992,3512,3564,3460,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4731,-0.68,-146.0,2334,1993,3564,3460,610.0,-12.1,418,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1993,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.68,-146.0,2333,1993,3563,3460,646.7,-12.2,433,5038,0.00,2.25,0.00,0.000,516,0.000,0.063,2333,595,3511,3563,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5084,-0.68,-146.0,2333,595,3563,3460,651.6,-12.3,435,5091,0.00,2.22,0.00,0.000,1030,0.000,0.052,2324,1996,3511,3563,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5391,-0.68,-146.0,2323,1996,3563,3460,693.3,-13.4,451,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1996,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5695,-0.68,-146.0,2324,1996,3563,3460,734.0,-13.3,466,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1996,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5992,-0.68,-146.0,2323,1996,3562,3460,774.2,-13.2,481,5998,0.00,2.28,0.00,0.000,516,0.000,0.063,2323,585,3511,3562,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6059,-0.68,-146.0,2323,585,3562,3460,782.2,-13.3,484,6064,0.12,2.25,0.00,0.000,3078,0.161,0.052,2345,2002,3511,3562,3460,0,0,0,0,0,0,25.58,25.81,28.83
$GC,6367,-0.68,-146.0,2345,2002,3562,3460,816.7,-10.6,499,6373,0.00,2.28,0.00,0.000,516,0.000,0.063,2345,585,3511,3562,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6407,-0.68,-146.0,2344,585,3562,3460,821.0,-10.6,501,6413,0.00,2.22,0.00,0.000,1030,0.000,0.053,2337,1993,3510,3561,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6728,-0.68,-146.0,2336,1993,3560,3460,855.5,-11.0,517,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1993,3510,3560,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7029,-0.68,-146.0,2336,1993,3558,3460,890.2,-11.9,532,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1993,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7328,-0.68,-146.0,2336,1993,3557,3460,925.6,-11.6,547,7333,0.00,2.28,0.00,0.000,516,0.000,0.064,2337,588,3509,3558,3460,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7379,-0.68,-146.0,2336,588,3557,3459,930.3,-11.7,549,7386,0.00,2.28,0.00,0.000,1030,0.000,0.054,2327,2004,3508,3557,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7689,-0.68,-146.0,2326,2004,3556,3459,967.0,-11.4,565,7695,0.00,2.33,0.00,0.000,516,0.000,0.065,2326,582,3507,3556,3459,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7720,-0.68,-146.0,2326,582,3556,3459,969.3,-11.4,566,7728,0.12,2.28,0.00,0.000,3078,0.166,0.054,2346,1998,3507,3556,3459,0,0,0,0,0,0,25.53,25.75,28.83
$GC,8027,-0.68,-146.0,2346,1999,3556,3458,999.7,-9.5,582,8033,0.00,2.30,0.00,0.000,516,0.000,0.064,2347,587,3507,3556,3458,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,8046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8046,begin apogee
$GC,8053,-0.14,0.0,2339,1873,3556,3458,1001.6,-9.6,583,8191,0.57,0.00,134.10,1.795,10246,0.122,0.000,2521,1873,2908,2981,2836,0,0,0,0,0,0,25.32,28.83,22.21
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8194,0.68,146.0,2521,1873,2981,2837,1008.3,0.0,590,8349,0.75,2.65,142.15,1.746,10756,0.051,0.064,2803,467,2311,2372,2250,0,0,0,0,0,0,23.70,23.25,21.89
$GC,8560,0.68,146.0,2803,467,2368,2243,979.1,14.8,608,8564,0.00,2.35,0.00,0.000,1030,0.000,0.054,2803,1873,2305,2368,2243,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8868,0.68,146.0,2803,1873,2368,2238,933.9,14.2,623,8873,0.00,2.30,0.00,0.000,260,0.000,0.060,2803,3290,2303,2368,2238,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8955,0.68,146.0,2803,3290,2367,2237,921.9,15.1,627,8959,0.00,2.30,0.00,0.000,1030,0.000,0.053,2814,1865,2302,2367,2237,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9262,0.68,146.0,2813,1864,2367,2236,876.2,14.3,642,9268,0.00,2.30,0.00,0.000,260,0.000,0.060,2813,3289,2301,2367,2235,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9370,0.68,146.0,2813,3289,2365,2235,861.2,15.0,647,9375,0.15,2.28,0.00,0.000,5126,0.207,0.052,2792,1869,2300,2366,2235,0,0,0,0,0,0,25.44,25.84,28.83
$GC,9678,0.68,146.0,2791,1869,2366,2234,821.6,12.4,662,9684,0.00,2.28,0.00,0.000,260,0.000,0.060,2789,3284,2300,2366,2234,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9777,0.68,146.0,2788,3285,2366,2234,808.9,12.7,667,9783,0.00,2.25,0.00,0.000,1030,0.000,0.052,2797,1870,2300,2366,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10098,0.68,146.0,2797,1870,2366,2233,768.6,12.6,683,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1869,2299,2366,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10397,0.68,146.0,2797,1870,2366,2232,729.7,13.2,698,10403,0.00,2.28,0.00,0.000,260,0.000,0.060,2797,3285,2299,2366,2232,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10601,0.68,146.0,2797,3285,2366,2232,701.4,14.4,708,10605,0.00,2.28,0.00,0.000,1030,0.000,0.052,2807,1863,2299,2366,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10913,0.68,146.0,2807,1863,2366,2232,660.6,12.3,724,10919,0.00,2.30,0.00,0.000,260,0.000,0.059,2807,3290,2299,2366,2232,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11001,0.68,146.0,2807,3290,2365,2232,650.3,13.0,728,11005,0.00,2.28,0.00,0.000,1030,0.000,0.052,2818,1869,2299,2366,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11308,0.68,146.0,2817,1869,2366,2232,609.9,12.9,743,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1869,2299,2366,2232,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16696,end climb,SURFACE_DEPTH_REACHED
$STATE,16696,begin surface coast
$FINISH,0.4,1.026122
$STATE,16722,end surface coast,CONTROL_FINISHED_OK
$STATE,16723,begin surface
$SM_CCo,16738,20.80,0.193,0,0,1970,230.09
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$IRIDIUM_FIX,-4239.11,819.04,301108,232316
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.67
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.9,54.865
$10V_AH,9.8,43.983
$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
$DEVICE_SECS,17.525,127.500,291.700,20.800,0.000,50.967,92.811,236.428,49.250,0.000,20.587,3352.494,9901.699,461.619,3339.316,275.608,0.000,1722.256,0.000,2719.023,0.000,296.855,0.000
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$SENSOR_SECS,891.229,79.111,728.783,1882.555,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353288
$DATA_FILE_SIZE,80264,1266
$CAP_FILE_SIZE,178104,0
$CFSIZE,259248128,231976960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135, 53.6,1
$GPS,040216,144851,-4257.260,821.448,107,0.9,107,-25.0