version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 33
start: 12 13 115 8 18 56
data:
$ID,542
$MISSION,12
$DIVE,33
$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,-29691.227
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,131215,080936,-4257.529,823.462,30,1.1,30,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.4
$GPS2,131215,081829,-4257.571,823.576,17,0.9,18,-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,357.5,2966,-27.8,-9.804,-30.00,959
$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,-0.85,-61.2,167,2005,1957,1927,0.0,0.0,0,64,0.00,0.00,-45.92,0.000,16390,0.000,0.000,168,2004,3160,3238,3083,0,0,0,0,0,0,28.83,28.83,26.34
$GC,66,-0.92,-121.8,168,2004,3238,3083,2.7,-3.3,6,86,7.88,2.38,-5.70,0.000,18948,0.223,0.082,2273,584,3408,3482,3334,0,0,0,0,0,0,25.82,25.98,26.29
$GC,345,-0.92,-121.8,2273,584,3482,3337,61.4,-17.9,52,354,0.00,2.28,0.00,0.000,1030,0.000,0.058,2265,1987,3409,3482,3337,0,0,0,0,0,0,28.83,26.13,28.83
$GC,680,-0.92,-121.8,2264,1987,3483,3338,131.0,-22.3,100,689,0.00,2.22,0.00,0.000,516,0.000,0.068,2265,591,3410,3482,3339,0,0,0,0,0,0,28.83,26.21,28.83
$GC,710,-0.92,-121.8,2264,591,3483,3339,138.2,-22.6,103,715,0.00,2.22,0.00,0.000,1030,0.000,0.057,2255,2006,3410,3482,3339,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1016,-0.92,-121.8,2254,2006,3483,3339,204.2,-20.9,133,1026,0.00,2.28,0.00,0.000,516,0.000,0.069,2255,585,3411,3483,3340,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1049,-0.92,-121.8,2254,585,3482,3340,211.2,-21.5,136,1059,0.00,2.22,0.00,0.000,1030,0.000,0.057,2245,1996,3411,3482,3340,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1358,-0.92,-121.8,2244,1997,3483,3341,277.4,-20.7,167,1362,0.00,2.22,0.00,0.000,260,0.000,0.063,2234,3409,3411,3482,3340,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1394,-0.92,-121.8,2234,3409,3482,3341,284.8,-20.2,170,1399,0.15,2.22,0.00,0.000,3078,0.185,0.057,2270,1986,3411,3482,3341,0,0,0,0,0,0,26.23,26.34,28.83
$GC,1700,-0.92,-121.8,2269,1985,3483,3341,337.2,-16.1,200,1709,0.00,2.22,0.00,0.000,516,0.000,0.070,2270,588,3412,3483,3341,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1745,-0.92,-121.8,1512,588,3476,3339,344.5,-17.1,204,1755,0.00,2.25,0.00,0.000,1030,0.000,0.057,2261,1994,3411,3482,3341,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2053,-0.92,-121.8,2261,1994,3483,3341,399.7,-18.1,235,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1994,3412,3483,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.92,-121.8,2261,1994,3482,3341,457.0,-18.4,251,2370,0.00,2.22,0.00,0.000,516,0.000,0.071,2262,592,3411,3482,3341,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2387,-0.92,-121.8,2261,593,3483,3341,460.9,-18.7,252,2392,0.00,2.25,0.00,0.000,1030,0.000,0.059,2251,1994,3412,3483,3341,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2708,-0.92,-121.8,2251,1995,3483,3342,523.8,-19.5,268,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1995,3412,3483,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3006,-0.92,-121.8,2251,1995,3482,3341,582.9,-19.4,283,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1995,3411,3482,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3306,-0.92,-121.8,2251,1995,3482,3341,642.3,-19.8,298,3312,0.00,2.25,0.00,0.000,260,0.000,0.068,2240,3416,3411,3482,3341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3348,-0.92,-121.8,2240,3416,3483,3341,650.3,-19.9,300,3354,0.08,2.28,0.00,0.000,3078,0.171,0.060,2264,1998,3412,3483,3341,0,0,0,0,0,0,26.38,26.47,28.83
$GC,3666,-0.92,-121.8,2264,1997,3482,3341,708.9,-17.6,316,3672,0.00,2.28,0.00,0.000,516,0.000,0.076,2264,581,3412,3483,3341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3695,-0.92,-121.8,2264,581,3483,3341,712.5,-17.6,317,3699,0.00,2.25,0.00,0.000,1030,0.000,0.063,2256,1999,3411,3482,3341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4007,-0.92,-121.8,2255,2000,3483,3341,768.5,-16.9,333,4012,0.00,2.30,0.00,0.000,516,0.000,0.076,2255,584,3411,3482,3341,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4043,-0.92,-121.8,2255,584,3482,3341,774.9,-17.3,335,4048,0.00,2.22,0.00,0.000,1030,0.000,0.063,2245,1993,3412,3483,3341,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4361,-0.92,-121.8,2245,1994,3483,3341,830.6,-17.5,351,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1994,3411,3482,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4660,-0.92,-121.8,2245,1994,3483,3340,884.2,-18.1,366,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1994,3411,3482,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.92,-121.8,2245,1994,3483,3341,939.0,-18.4,381,4963,0.00,2.28,0.00,0.000,516,0.000,0.076,2246,584,3412,3483,3341,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4979,-0.92,-121.8,2245,584,3482,3341,941.9,-18.3,382,4984,0.10,2.30,0.00,0.000,3078,0.190,0.064,2264,1998,3411,3482,3341,0,0,0,0,0,0,26.39,26.50,28.83
$GC,5299,-0.92,-121.8,2264,1999,3482,3340,995.0,-16.1,398,5304,0.00,2.22,0.00,0.000,260,0.000,0.073,2255,3401,3410,3482,3339,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5320,-0.92,-121.8,2254,3401,3483,3339,998.3,-16.1,399,5324,0.00,2.25,0.00,0.000,1030,0.000,0.063,2255,2000,3410,3482,3339,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5337,begin apogee
$GC,5341,-0.14,0.0,2254,1863,3482,3339,1001.5,-16.2,400,5457,0.88,0.00,107.70,1.752,10246,0.167,0.000,2519,1863,2909,2987,2831,0,0,0,0,0,0,26.40,28.83,23.44
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5459,0.92,121.8,2519,1863,2987,2831,1006.2,0.0,406,5580,0.98,2.55,110.10,1.726,10500,0.050,0.070,2882,3282,2411,2461,2361,0,0,0,0,0,0,24.65,24.05,23.08
$GC,5585,1.02,197.2,2882,3282,2459,2360,1006.0,1.7,412,5665,0.00,2.45,72.82,1.698,9222,0.000,0.060,2893,1876,2103,2165,2042,0,0,0,0,0,0,28.83,24.31,22.76
$GC,5962,1.02,197.2,2892,1875,2163,2024,917.4,23.6,431,5967,0.00,2.38,0.00,0.000,260,0.000,0.070,2892,3283,2093,2163,2024,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6059,1.02,197.2,2892,3283,2161,2023,894.1,24.3,436,6065,0.00,2.35,0.00,0.000,1030,0.000,0.065,2901,1869,2092,2161,2023,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6379,1.02,197.2,2901,1869,2161,2020,818.8,23.6,452,6385,0.00,2.35,0.00,0.000,260,0.000,0.071,2899,3290,2090,2161,2020,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6446,1.02,197.2,2898,3290,2159,2020,804.4,24.1,455,6450,0.00,2.35,0.00,0.000,1030,0.000,0.065,2907,1861,2089,2159,2020,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6758,1.02,197.2,2907,1861,2159,2019,729.5,22.9,471,6762,0.00,2.33,0.00,0.000,260,0.000,0.071,2905,3285,2089,2159,2019,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6807,1.02,197.2,2904,3285,2158,2018,721.3,22.8,473,6814,0.00,2.33,0.00,0.000,1030,0.000,0.064,2914,1861,2088,2159,2018,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7114,1.02,197.2,2914,1861,2158,2017,648.3,22.7,489,7119,0.00,2.33,0.00,0.000,260,0.000,0.071,2910,3289,2088,2158,2018,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7283,1.02,197.2,2910,3289,2157,2017,612.4,22.8,497,7290,0.00,2.35,0.00,0.000,1030,0.000,0.066,2919,1867,2087,2157,2017,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7590,1.02,197.2,2920,1867,2157,2017,541.8,21.5,513,7594,0.00,2.30,0.00,0.000,260,0.000,0.071,2911,3286,2087,2158,2017,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7754,1.02,197.2,2910,3286,2157,2017,507.3,22.0,521,7758,0.00,2.33,0.00,0.000,1030,0.000,0.064,2920,1871,2086,2156,2016,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8066,1.02,197.2,2919,1870,2157,2017,438.8,21.3,537,8070,0.00,2.28,0.00,0.000,260,0.000,0.071,2911,3284,2086,2156,2017,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8084,1.02,197.2,2048,3283,2117,2011,435.4,21.3,538,8090,0.00,2.30,0.00,0.000,1030,0.000,0.063,2920,1872,2086,2156,2016,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8393,1.02,197.2,2919,1871,2156,2016,367.9,22.3,560,8403,0.00,2.28,0.00,0.000,260,0.000,0.071,2911,3285,2086,2156,2016,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8495,1.02,197.2,2911,3285,2156,2016,344.4,22.9,570,8499,0.00,2.25,0.00,0.000,1030,0.000,0.063,2920,1868,2086,2156,2016,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8802,1.02,197.2,2920,1868,2156,2016,273.9,23.9,600,8811,0.00,2.25,0.00,0.000,260,0.000,0.071,2912,3282,2085,2156,2015,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8894,1.02,197.2,2911,3282,2156,2016,251.2,23.9,609,8902,0.00,2.25,0.00,0.000,1030,0.000,0.063,2920,1867,2086,2156,2016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9203,1.02,197.2,2920,1866,2156,2016,178.8,22.9,640,9213,0.00,2.28,0.00,0.000,260,0.000,0.070,2912,3289,2086,2156,2016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9327,1.02,197.2,2048,3288,2118,2011,151.6,22.1,652,9336,0.00,2.30,0.00,0.000,1030,0.000,0.060,2921,1864,2085,2155,2016,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9640,1.02,197.2,1872,1862,2106,2009,85.1,20.9,689,9647,0.00,2.28,0.00,0.000,260,0.000,0.067,2912,3293,2085,2155,2016,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9717,1.02,197.2,2912,3293,2155,2016,67.8,21.6,703,9724,0.00,2.25,0.00,0.000,1030,0.000,0.061,2921,1869,2085,2155,2016,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10035,end climb,SURFACE_DEPTH_REACHED
$STATE,10035,begin surface coast
$FINISH,-0.0,1.026274
$STATE,10049,end surface coast,CONTROL_FINISHED_OK
$STATE,10049,begin surface
$SM_CCo,10064,11.35,0.156,0,0,1969,230.09
$SM_GC,3.00,7.22,0.22,11.35,0.054,0.083,0.156,165,2003,1969,-7.41,-0.57,230.09,0,0,0,0,0,0,26.47,26.44,26.30
$IRIDIUM_FIX,-4242.04,825.29,081008,212127
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.87
$INTERNAL_PRESSURE,9.02345
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.8,9.274
$10V_AH,10.2,8.025
$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,17.275,101.150,290.625,11.350,0.000,50.162,67.094,225.505,49.250,0.000,18.675,2096.002,5781.435,395.216,2217.346,117.891,0.000,1205.829,0.000,1660.371,0.000,295.071,0.000
$DEVICE_MAMPS,223.380,88.740,1751.850,156.060,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.701,52.546,464.520,1151.550,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,50465,760
$CAP_FILE_SIZE,125078,0
$CFSIZE,259248128,255918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.178, 67.0,1
$GPS,131215,110804,-4256.144,823.663,37,1.0,38,-25.0