version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 19
start: 12 10 115 20 7 25
data:
$ID,542
$MISSION,12
$DIVE,19
$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,-29673.672
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,101215,200104,-4300.417,830.089,43,1.0,43,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.9
$GPS2,101215,200659,-4300.368,830.051,15,1.7,16,-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,243.1,10596,-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,-146.0,161,1995,1971,1911,0.0,0.0,0,66,0.00,0.00,-48.53,0.000,16386,0.000,0.000,161,1994,3249,3324,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,161,1994,3324,3176,3.1,-5.1,6,95,8.18,2.33,-5.45,0.000,18692,0.226,0.082,2330,3409,3508,3568,3449,0,0,0,0,0,0,25.90,26.06,26.36
$GC,103,-0.68,-146.0,2330,3409,3568,3449,14.5,-30.3,10,112,0.00,2.30,0.00,0.000,1030,0.000,0.060,2330,1994,3508,3567,3449,0,0,0,0,0,0,28.83,26.07,28.83
$GC,163,-0.68,-146.0,2329,1993,3568,3450,24.8,-16.8,19,172,0.00,2.35,0.00,0.000,516,0.000,0.075,2329,580,3509,3568,3450,0,0,0,0,0,0,28.83,26.08,28.83
$GC,249,-0.68,-146.0,2329,579,3568,3450,39.8,-17.3,32,260,0.08,2.33,0.00,0.000,3078,0.171,0.063,2343,2002,3509,3568,3450,0,0,0,0,0,0,26.03,26.12,28.83
$GC,393,-0.68,-146.0,2342,2002,3568,3451,62.5,-14.6,57,400,0.00,2.35,0.00,0.000,516,0.000,0.073,2342,584,3509,3568,3451,0,0,0,0,0,0,28.83,26.15,28.83
$GC,445,-0.68,-146.0,2342,583,3568,3450,70.7,-14.8,66,452,0.00,2.28,0.00,0.000,1030,0.000,0.063,2334,2002,3509,3568,3451,0,0,0,0,0,0,28.83,26.18,28.83
$GC,771,-0.68,-146.0,2334,2002,3568,3452,120.3,-15.4,114,779,0.00,2.30,0.00,0.000,516,0.000,0.072,2334,577,3510,3568,3452,0,0,0,0,0,0,28.83,26.25,28.83
$GC,815,-0.68,-146.0,1536,577,3562,3450,126.8,-15.3,118,822,0.00,2.30,0.00,0.000,1030,0.000,0.061,2324,1992,3510,3568,3452,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1125,-0.68,-146.0,2324,1992,3568,3454,175.7,-15.8,149,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1992,3510,3568,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.68,-146.0,2324,1992,3568,3454,221.4,-14.6,179,1432,0.00,2.28,0.00,0.000,516,0.000,0.072,2324,575,3511,3568,3454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1464,-0.68,-146.0,2324,575,3568,3454,227.9,-15.5,183,1469,0.15,2.25,0.00,0.000,3078,0.180,0.060,2351,1998,3511,3568,3454,0,0,0,0,0,0,26.27,26.36,28.83
$GC,1771,-0.68,-146.0,2351,1999,3568,3455,267.9,-13.0,213,1779,0.00,2.25,0.00,0.000,516,0.000,0.072,2352,587,3511,3568,3455,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1815,-0.68,-146.0,2351,587,3568,3455,273.8,-13.8,217,1824,0.00,2.28,0.00,0.000,1030,0.000,0.061,2343,1996,3511,3568,3455,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2123,-0.68,-146.0,2343,1998,3568,3455,317.0,-13.9,248,2127,0.00,2.28,0.00,0.000,516,0.000,0.073,2343,578,3511,3568,3455,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2160,-0.68,-146.0,2343,578,3568,3455,322.3,-14.5,251,2164,0.00,2.25,0.00,0.000,1030,0.000,0.062,2333,2005,3511,3567,3455,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2467,-0.68,-146.0,2333,2005,3568,3455,366.5,-14.5,281,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2005,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-0.68,-146.0,2333,2005,3568,3455,412.7,-14.8,308,2781,0.00,2.28,0.00,0.000,516,0.000,0.073,2333,584,3511,3568,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2846,-0.68,-146.0,2333,583,3568,3455,421.8,-14.8,311,2850,0.00,2.25,0.00,0.000,1030,0.000,0.063,2323,2008,3512,3568,3456,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3158,-0.68,-146.0,2323,2008,3568,3455,469.4,-14.8,327,3162,0.00,2.30,0.00,0.000,516,0.000,0.074,2323,577,3512,3568,3456,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3207,-0.68,-146.0,2323,577,3568,3455,474.9,-15.2,329,3216,0.15,2.28,0.00,0.000,3078,0.181,0.064,2350,2004,3511,3568,3455,0,0,0,0,0,0,26.39,26.46,28.83
$GC,3515,-0.68,-146.0,2350,2004,3568,3455,513.3,-11.7,345,3520,0.00,2.30,0.00,0.000,516,0.000,0.076,2350,576,3510,3566,3455,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3548,-0.68,-146.0,2350,576,3568,3455,515.8,-11.8,346,3556,0.00,2.30,0.00,0.000,1030,0.000,0.064,2341,2020,3511,3568,3455,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3856,-0.68,-146.0,2341,2022,3567,3455,555.8,-12.4,362,3862,0.00,2.33,0.00,0.000,516,0.000,0.076,2341,579,3511,3568,3455,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3903,-0.68,-146.0,2341,579,3568,3455,560.8,-12.4,364,3908,0.00,2.30,0.00,0.000,1030,0.000,0.066,2332,1992,3511,3568,3455,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4216,-0.68,-146.0,2331,1992,3568,3455,599.1,-12.1,380,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1992,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,-0.68,-146.0,2331,1992,3568,3455,635.9,-12.4,395,4522,0.00,2.28,0.00,0.000,516,0.000,0.078,2332,584,3511,3568,3455,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4557,-0.68,-146.0,2331,584,3568,3455,641.1,-12.8,397,4563,0.12,2.25,0.00,0.000,3078,0.185,0.067,2358,1998,3511,3568,3455,0,0,0,0,0,0,26.43,26.49,28.83
$GC,4877,-0.68,-146.0,2358,1998,3568,3455,673.9,-10.3,413,4883,0.00,2.28,0.00,0.000,516,0.000,0.078,2358,581,3511,3568,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4909,-0.68,-146.0,2358,581,3569,3455,676.0,-10.4,414,4916,0.00,2.28,0.00,0.000,1030,0.000,0.067,2350,2001,3511,3568,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5218,-0.68,-146.0,2350,2001,3568,3455,711.1,-10.8,430,5224,0.00,2.28,0.00,0.000,516,0.000,0.079,2350,585,3511,3568,3455,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5264,-0.68,-146.0,2350,585,3568,3455,715.5,-11.0,432,5268,0.00,2.28,0.00,0.000,1030,0.000,0.068,2340,2008,3511,3568,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5577,-0.68,-146.0,2340,2008,3567,3455,752.1,-11.4,448,5583,0.00,2.30,0.00,0.000,516,0.000,0.079,2340,579,3511,3567,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5616,-0.68,-146.0,2339,579,3567,3455,757.0,-12.0,450,5622,0.00,2.25,0.00,0.000,1030,0.000,0.067,2330,1994,3511,3567,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5938,-0.68,-146.0,2329,1994,3567,3455,795.8,-12.0,466,5943,0.00,2.28,0.00,0.000,516,0.000,0.080,2330,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5965,-0.68,-146.0,2330,581,3567,3455,798.2,-11.9,467,5970,0.12,2.25,0.00,0.000,3078,0.184,0.069,2350,1994,3511,3567,3455,0,0,0,0,0,0,26.44,26.51,28.83
$GC,6271,-0.68,-146.0,2349,1994,3567,3455,829.3,-9.6,482,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1994,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6572,-0.68,-146.0,2349,1994,3566,3455,858.4,-10.1,497,6577,0.00,2.28,0.00,0.000,516,0.000,0.079,2350,585,3510,3566,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6615,-0.68,-146.0,2349,585,3566,3455,862.6,-10.3,499,6619,0.00,2.25,0.00,0.000,1030,0.000,0.069,2341,1994,3510,3566,3455,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6928,-0.68,-146.0,2341,1994,3565,3454,895.1,-10.1,515,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3509,3565,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7227,-0.68,-146.0,2341,1994,3565,3454,925.4,-10.2,530,7233,0.00,2.28,0.00,0.000,516,0.000,0.080,2341,585,3509,3565,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7279,-0.68,-146.0,2341,585,3565,3454,929.7,-10.4,532,7288,0.00,2.30,0.00,0.000,1030,0.000,0.070,2332,1990,3509,3564,3454,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7586,-0.68,-146.0,2331,1991,3564,3453,964.2,-11.1,548,7590,0.00,2.28,0.00,0.000,516,0.000,0.080,2332,587,3508,3564,3453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7622,-0.68,-146.0,2331,585,3564,3453,968.4,-11.5,550,7627,0.12,2.28,0.00,0.000,3078,0.182,0.070,2352,2010,3508,3563,3453,0,0,0,0,0,0,26.46,26.52,28.83
$GC,7940,-0.68,-146.0,2352,2010,3563,3452,996.6,-8.6,566,7946,0.00,2.33,0.00,0.000,516,0.000,0.080,2353,577,3507,3563,3452,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7973,-0.68,-146.0,2352,577,3563,3452,998.4,-8.7,567,7982,0.00,2.30,0.00,0.000,1030,0.000,0.070,2343,2004,3507,3563,3452,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,7998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7999,begin apogee
$GC,8003,-0.14,0.0,2343,1856,3563,3452,1002.0,-8.9,569,8140,0.57,0.00,128.98,1.773,10246,0.139,0.000,2525,1856,2909,2982,2836,0,0,0,0,0,0,26.46,28.83,23.30
$STATE,8141,end apogee,CONTROL_FINISHED_OK
$STATE,8141,begin climb
$GC,8142,0.68,146.0,2524,1856,2983,2835,1006.8,0.0,576,8284,0.73,2.58,133.27,1.738,10756,0.051,0.080,2814,457,2313,2377,2250,0,0,0,0,0,0,24.54,23.90,22.94
$GC,8414,0.68,146.0,2814,456,2370,2244,983.7,17.7,589,8422,0.00,2.45,0.00,0.000,1030,0.000,0.070,2814,1876,2306,2370,2242,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8721,0.68,146.0,2813,1876,2369,2236,928.9,17.1,605,8725,0.00,2.35,0.00,0.000,260,0.000,0.076,2814,3282,2303,2370,2236,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8771,0.68,146.0,2814,3282,2369,2236,922.4,17.4,607,8779,0.15,2.35,0.00,0.000,5126,0.236,0.069,2794,1871,2302,2369,2236,0,0,0,0,0,0,25.47,25.60,28.83
$GC,9077,0.68,146.0,2794,1871,2369,2234,872.4,15.2,623,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1871,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9377,0.68,146.0,2794,1871,2369,2233,827.7,15.2,638,9383,0.00,2.33,0.00,0.000,260,0.000,0.076,2794,3282,2301,2369,2234,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9550,0.68,146.0,2793,3282,2368,2233,802.7,15.8,646,9557,0.00,2.35,0.00,0.000,1030,0.000,0.069,2803,1870,2300,2368,2233,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,15727,end climb,SURFACE_DEPTH_REACHED
$STATE,15727,begin surface coast
$FINISH,-0.1,1.023195
$STATE,15753,end surface coast,CONTROL_FINISHED_OK
$STATE,15753,begin surface
$SM_CCo,15767,29.25,0.148,0,0,1968,230.09
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$IRIDIUM_FIX,-4242.04,828.21,061008,050523
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.66
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.9,7.285
$10V_AH,10.3,6.370
$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,17.650,156.675,264.775,29.250,0.000,25.352,42.788,173.480,49.250,0.000,16.613,3197.916,9202.109,486.939,3095.780,166.069,0.000,1718.958,0.000,2613.426,0.000,296.313,0.000
$DEVICE_MAMPS,236.385,89.505,1773.270,147.645,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.676,80.386,716.723,1799.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352768
$DATA_FILE_SIZE,77018,1188
$CAP_FILE_SIZE,180192,0
$CFSIZE,259248128,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086, 10.0,1
$GPS,111215,003220,-4301.447,828.802,56,1.0,64,-25.0