version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 30
start: 12 12 115 19 16 24
data:
$ID,542
$MISSION,12
$DIVE,30
$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,-29687.463
$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,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
$GPS1,121215,190951,-4302.098,824.234,67,1.0,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.5
$GPS2,121215,191558,-4302.033,824.291,15,1.0,16,-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,351.0,11179,-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,-146.0,165,2006,1959,1926,0.0,0.0,0,72,0.00,0.00,-55.25,0.000,16386,0.000,0.000,164,2006,3468,3524,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.68,-146.0,164,2006,3524,3414,3.8,-6.3,7,92,8.23,2.30,-0.73,0.000,18948,0.229,0.078,2352,581,3506,3557,3456,0,0,0,0,0,0,25.86,26.03,26.25
$GC,361,-0.68,-146.0,1472,581,3554,3453,55.7,-13.1,55,368,0.00,2.25,0.00,0.000,1030,0.000,0.061,2344,1990,3508,3561,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,694,-0.68,-146.0,2344,1990,3562,3456,103.5,-14.5,115,698,0.00,2.28,0.00,0.000,516,0.000,0.072,2344,581,3509,3562,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,712,-0.68,-146.0,2344,581,3562,3456,106.0,-14.7,116,722,0.00,2.22,0.00,0.000,1030,0.000,0.060,2334,1992,3509,3562,3456,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1020,-0.68,-146.0,2333,1993,3563,3456,154.1,-15.5,147,1024,0.00,2.28,0.00,0.000,516,0.000,0.072,2334,581,3509,3562,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1067,-0.68,-146.0,2334,580,3563,3456,161.4,-16.1,151,1076,0.00,2.25,0.00,0.000,1030,0.000,0.060,2324,2005,3509,3563,3456,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1378,-0.68,-146.0,2324,2005,3563,3456,211.0,-16.1,182,1386,0.00,2.28,0.00,0.000,516,0.000,0.072,2324,581,3509,3563,3456,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1398,-0.68,-146.0,2323,580,3563,3456,214.7,-16.6,184,1403,0.15,2.22,0.00,0.000,3078,0.185,0.060,2350,1994,3509,3563,3456,0,0,0,0,0,0,26.25,26.34,28.83
$GC,1705,-0.68,-146.0,2349,1994,3563,3456,255.2,-12.0,214,1713,0.00,2.25,0.00,0.000,516,0.000,0.072,2350,580,3509,3563,3456,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1737,-0.68,-146.0,2350,580,3563,3456,259.1,-12.4,217,1749,0.00,2.28,0.00,0.000,1030,0.000,0.060,2341,1990,3509,3563,3456,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2046,-0.68,-146.0,2341,1990,3563,3457,299.1,-12.9,248,2050,0.00,2.25,0.00,0.000,516,0.000,0.072,2341,585,3509,3563,3456,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2095,-0.68,-146.0,2341,585,3563,3456,305.2,-13.0,252,2104,0.00,2.28,0.00,0.000,1030,0.000,0.060,2332,1994,3509,3563,3456,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2402,-0.68,-146.0,2331,1995,3563,3457,349.7,-14.8,283,2407,0.00,2.28,0.00,0.000,516,0.000,0.073,2331,577,3510,3563,3457,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2452,-0.68,-146.0,2331,577,3563,3457,357.2,-14.9,287,2457,0.00,2.25,0.00,0.000,1030,0.000,0.061,2321,2004,3510,3563,3457,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2768,-0.68,-146.0,2321,2003,3563,3457,406.5,-15.8,316,2775,0.12,2.28,0.00,0.000,2564,0.194,0.072,2356,584,3510,3563,3457,0,0,0,0,0,0,26.36,26.43,28.83
$GC,2810,-0.68,-146.0,2356,584,3564,3457,412.2,-15.2,318,2815,0.00,2.20,0.00,0.000,1030,0.000,0.060,2347,1991,3510,3564,3457,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3128,-0.68,-146.0,2347,1991,3563,3457,451.8,-12.0,334,3134,0.00,2.25,0.00,0.000,260,0.000,0.070,2337,3409,3510,3564,3457,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3147,-0.68,-146.0,2336,3409,3564,3457,454.1,-11.9,335,3153,0.00,2.22,0.00,0.000,1030,0.000,0.059,2337,1985,3510,3563,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3468,-0.68,-146.0,2337,1985,3563,3457,491.9,-11.5,351,3474,0.00,2.25,0.00,0.000,516,0.000,0.076,2337,582,3509,3563,3456,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3535,-0.68,-146.0,2337,581,3564,3457,499.0,-11.8,354,3539,0.00,2.25,0.00,0.000,1030,0.000,0.063,2327,2005,3510,3564,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3848,-0.68,-146.0,2327,2006,3563,3457,540.4,-13.4,370,3854,0.00,2.30,0.00,0.000,516,0.000,0.076,2327,578,3510,3563,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3889,-0.68,-146.0,2326,578,3563,3457,545.9,-13.6,372,3895,0.12,2.25,0.00,0.000,3078,0.187,0.063,2346,2002,3510,3563,3457,0,0,0,0,0,0,26.39,26.48,28.83
$GC,4207,-0.68,-146.0,2346,2002,3563,3457,583.0,-11.2,388,4211,0.00,2.28,0.00,0.000,516,0.000,0.076,2346,587,3510,3563,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4257,-0.68,-146.0,2346,587,3563,3457,587.2,-11.3,390,4264,0.00,2.25,0.00,0.000,1030,0.000,0.065,2337,1999,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4565,-0.68,-146.0,2337,1999,3564,3457,625.1,-11.8,406,4571,0.00,2.30,0.00,0.000,516,0.000,0.077,2338,579,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4624,-0.68,-146.0,2337,578,3563,3457,632.6,-12.2,409,4628,0.00,2.25,0.00,0.000,1030,0.000,0.065,2328,1997,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4940,-0.68,-146.0,2327,1998,3563,3457,674.3,-13.5,425,4944,0.00,2.25,0.00,0.000,260,0.000,0.073,2316,3408,3510,3563,3457,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4959,-0.68,-146.0,2316,3408,3563,3457,676.5,-13.4,426,4965,0.10,2.28,0.00,0.000,3078,0.148,0.062,2349,1996,3510,3563,3457,0,0,0,0,0,0,26.41,26.50,28.83
$GC,5277,-0.68,-146.0,2349,1994,3564,3457,712.5,-11.0,442,5283,0.00,2.28,0.00,0.000,516,0.000,0.078,2349,582,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5366,-0.68,-146.0,2349,583,3563,3456,721.4,-11.3,446,5370,0.00,2.25,0.00,0.000,1030,0.000,0.066,2341,1994,3510,3563,3457,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5678,-0.68,-146.0,2341,1995,3564,3456,758.0,-11.4,462,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5979,-0.68,-146.0,2341,1995,3563,3456,791.7,-11.3,477,5984,0.00,2.28,0.00,0.000,516,0.000,0.079,2341,572,3509,3563,3456,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6000,-0.68,-146.0,1568,571,3557,3453,794.0,-11.4,478,6005,0.00,2.30,0.00,0.000,1030,0.000,0.066,2331,1989,3509,3563,3456,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6319,-0.68,-146.0,2331,1990,3563,3456,831.3,-11.3,494,6324,0.00,2.28,0.00,0.000,516,0.000,0.079,2331,584,3509,3563,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6340,-0.68,-146.0,2330,584,3562,3456,833.7,-11.5,495,6345,0.12,2.25,0.00,0.000,3078,0.187,0.066,2350,1998,3509,3562,3456,0,0,0,0,0,0,26.43,26.51,28.83
$GC,6658,-0.68,-146.0,2350,1998,3563,3455,866.4,-10.1,511,6664,0.00,2.30,0.00,0.000,516,0.000,0.079,2350,577,3509,3563,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6678,-0.68,-146.0,2350,577,3562,3455,868.5,-10.2,512,6684,0.00,2.25,0.00,0.000,1030,0.000,0.067,2342,1994,3508,3562,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6997,-0.68,-146.0,2342,1995,3563,3455,902.4,-10.7,528,7002,0.00,2.28,0.00,0.000,516,0.000,0.079,2342,580,3508,3562,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7026,-0.68,-146.0,2342,580,3563,3454,904.1,-10.7,529,7035,0.00,2.28,0.00,0.000,1030,0.000,0.067,2332,2002,3508,3563,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7333,-0.68,-146.0,2332,2002,3562,3455,939.1,-11.0,545,7337,0.00,2.30,0.00,0.000,516,0.000,0.079,2332,581,3509,3563,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7352,-0.68,-146.0,2332,581,3562,3455,940.9,-11.0,546,7357,0.00,2.22,0.00,0.000,1030,0.000,0.067,2322,1987,3508,3562,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7670,-0.68,-146.0,2322,1987,3562,3454,978.0,-11.9,562,7676,0.00,2.28,0.00,0.000,516,0.000,0.079,2322,583,3508,3562,3454,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7699,-0.68,-146.0,2322,583,3562,3454,980.5,-12.0,563,7704,0.15,2.28,0.00,0.000,3078,0.179,0.067,2350,2004,3508,3562,3454,0,0,0,0,0,0,26.43,26.51,28.83
$STATE,7890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7890,begin apogee
$GC,7895,-0.14,0.0,2349,1854,3562,3454,1000.2,-9.4,573,8031,0.52,0.00,128.45,1.753,10246,0.135,0.000,2518,1854,2909,2982,2836,0,0,0,0,0,0,26.46,28.83,23.35
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8032,begin climb
$GC,8034,0.68,146.0,2518,1854,2981,2836,1005.7,0.0,580,8176,0.75,2.58,133.00,1.721,10756,0.049,0.079,2811,462,2313,2372,2254,0,0,0,0,0,0,24.57,23.85,22.90
$GC,8315,0.68,146.0,2811,462,2367,2246,979.7,17.3,594,8320,0.00,2.45,0.00,0.000,1030,0.000,0.067,2811,1869,2306,2367,2246,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8633,0.68,146.0,2811,1869,2366,2240,925.0,17.3,610,8639,0.00,2.35,0.00,0.000,260,0.000,0.073,2811,3282,2303,2366,2240,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8657,0.68,146.0,2811,3282,2366,2240,921.5,17.5,611,8662,0.15,2.33,0.00,0.000,5126,0.233,0.067,2792,1877,2303,2367,2240,0,0,0,0,0,0,25.43,25.56,28.83
$GC,8971,0.68,146.0,2791,1876,2365,2238,871.7,15.3,627,8976,0.00,2.30,0.00,0.000,260,0.000,0.075,2789,3276,2301,2365,2238,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9089,0.68,146.0,2788,3276,2365,2237,852.5,16.2,633,9094,0.00,2.30,0.00,0.000,1030,0.000,0.067,2797,1867,2301,2365,2237,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9406,0.68,146.0,2797,1867,2365,2236,804.4,15.2,649,9411,0.00,2.33,0.00,0.000,260,0.000,0.074,2797,3285,2301,2365,2237,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9448,0.68,146.0,1920,3283,2324,2230,798.1,15.5,651,9452,0.00,2.35,0.00,0.000,1030,0.000,0.067,2807,1867,2300,2365,2236,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,15583,end climb,SURFACE_DEPTH_REACHED
$STATE,15583,begin surface coast
$FINISH,-0.1,1.003323
$STATE,15609,end surface coast,CONTROL_FINISHED_OK
$STATE,15609,begin surface
$SM_CCo,15623,23.88,0.149,0,0,1967,230.09
$SM_GC,3.19,6.95,0.22,23.88,0.056,0.083,0.149,169,2008,1967,-7.41,-0.45,230.09,0,0,0,0,0,0,26.44,26.41,26.23
$IRIDIUM_FIX,-4244.98,837.38,081008,040407
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.49
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.9,8.816
$10V_AH,10.2,7.698
$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,18.000,182.925,269.775,23.875,0.000,23.829,44.277,186.168,49.250,0.000,17.114,3202.915,9041.767,469.698,3110.993,186.353,0.000,1719.598,0.000,2621.490,0.000,296.282,0.000
$DEVICE_MAMPS,232.560,84.150,1753.380,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.122,78.060,697.334,1774.550,0.000,0.000,0.000,0.000,0.000,0.000
$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,76960,1182
$CAP_FILE_SIZE,184812,0
$CFSIZE,259248128,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160, 64.4,1
$GPS,121215,233857,-4300.259,824.058,71,0.9,71,-25.0