version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 39
start: 12 14 115 9 19 36
data:
$ID,542
$MISSION,12
$DIVE,39
$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,-29698.75
$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,18
$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
$GPS1,141215,091333,-4257.429,835.265,66,0.9,66,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.7
$GPS2,141215,091910,-4257.396,835.300,16,0.9,17,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,206.6,12268,-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,-146.0,176,1995,1960,1927,0.0,0.0,0,73,0.00,0.00,-55.83,0.000,16390,0.000,0.000,176,1996,3506,3554,3458,0,0,0,0,0,0,28.83,28.83,26.43
$GC,75,-0.68,-146.0,176,1996,3554,3460,4.4,-8.3,7,93,8.05,2.30,0.00,0.000,2308,0.223,0.055,2333,3422,3507,3554,3460,0,0,0,0,0,0,25.92,26.09,28.83
$GC,163,-0.68,-146.0,2332,3422,3557,3460,29.4,-14.2,20,176,0.00,2.30,0.00,0.000,1030,0.000,0.057,2332,1996,3508,3557,3460,0,0,0,0,0,0,28.83,26.12,28.83
$GC,318,-0.68,-146.0,2332,1996,3558,3461,53.6,-15.8,45,326,0.00,2.33,0.00,0.000,516,0.000,0.070,2332,580,3509,3558,3460,0,0,0,0,0,0,28.83,26.17,28.83
$GC,371,-0.68,-146.0,2332,579,3558,3460,62.5,-15.1,54,379,0.00,2.25,0.00,0.000,1030,0.000,0.057,2322,1998,3509,3558,3460,0,0,0,0,0,0,28.83,26.19,28.83
$GC,702,-0.68,-146.0,2322,1999,3559,3461,118.9,-17.0,104,716,0.00,2.25,0.00,0.000,260,0.000,0.064,2311,3416,3510,3559,3461,0,0,0,0,0,0,28.83,26.26,28.83
$GC,737,-0.68,-146.0,2311,3417,3559,3460,124.7,-16.7,107,742,0.15,2.22,0.00,0.000,3078,0.165,0.055,2350,1990,3510,3559,3461,0,0,0,0,0,0,26.19,26.27,28.83
$GC,1044,-0.68,-146.0,2349,1989,3561,3461,166.9,-14.0,137,1052,0.00,2.22,0.00,0.000,516,0.000,0.069,2350,582,3511,3561,3461,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1098,-0.68,-146.0,2350,583,3561,3460,174.1,-13.9,142,1106,0.00,2.28,0.00,0.000,1030,0.000,0.057,2341,2001,3511,3561,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1406,-0.68,-146.0,2341,2002,3562,3460,219.5,-15.0,173,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2002,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-0.68,-146.0,2341,2002,3562,3460,262.2,-13.5,203,1709,0.00,2.22,0.00,0.000,260,0.000,0.066,2331,3409,3511,3562,3461,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1752,-0.68,-146.0,2330,3410,3561,3461,268.2,-12.6,207,1756,0.00,2.20,0.00,0.000,1030,0.000,0.055,2331,1994,3511,3562,3460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2058,-0.68,-146.0,2330,1993,3562,3460,309.9,-14.5,237,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1993,3511,3562,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.68,-146.0,2330,1993,3562,3461,354.9,-14.8,267,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1993,3511,3562,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2658,-0.68,-146.0,2330,1993,3562,3460,399.4,-14.9,297,2668,0.00,2.25,0.00,0.000,516,0.000,0.070,2331,581,3511,3562,3461,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2692,-0.68,-146.0,2331,581,3562,3461,402.9,-15.3,299,2701,0.12,2.22,0.00,0.000,3078,0.177,0.058,2351,1995,3511,3562,3461,0,0,0,0,0,0,26.38,26.46,28.83
$GC,3000,-0.68,-146.0,2350,1996,3562,3461,441.9,-11.6,315,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1996,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-0.68,-146.0,2350,1995,3562,3460,476.2,-11.7,330,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1996,3511,3562,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.68,-146.0,2350,1995,3562,3460,511.4,-12.1,345,3607,0.00,2.22,0.00,0.000,260,0.000,0.068,2341,3412,3511,3562,3460,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3632,-0.68,-146.0,2341,3412,3562,3460,513.8,-12.2,346,3641,0.00,2.25,0.00,0.000,1030,0.000,0.058,2341,1999,3511,3562,3460,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3939,-0.68,-146.0,2340,1998,3562,3460,552.5,-12.1,362,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1998,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-0.68,-146.0,2341,1998,3562,3460,588.3,-11.5,377,4246,0.00,2.28,0.00,0.000,516,0.000,0.074,2341,578,3511,3562,3460,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4283,-0.68,-146.0,2342,578,3562,3461,593.1,-11.7,379,4287,0.00,2.28,0.00,0.000,1030,0.000,0.061,2331,1988,3511,3562,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4600,-0.68,-146.0,2331,1989,3562,3460,634.6,-13.7,395,4606,0.00,2.25,0.00,0.000,260,0.000,0.069,2320,3408,3511,3562,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4644,-0.68,-146.0,2320,3408,3562,3460,640.0,-13.3,397,4649,0.08,2.28,0.00,0.000,3078,0.145,0.059,2346,1989,3511,3562,3460,0,0,0,0,0,0,26.44,26.51,28.83
$GC,4963,-0.68,-146.0,2345,1989,3562,3460,676.5,-11.3,413,4969,0.00,2.25,0.00,0.000,516,0.000,0.075,2346,585,3511,3562,3460,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4990,-0.68,-146.0,2346,585,3562,3460,678.9,-11.4,414,4994,0.00,2.25,0.00,0.000,1030,0.000,0.062,2337,2010,3511,3562,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5302,-0.68,-146.0,2337,2011,3562,3460,716.6,-11.8,430,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2011,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.68,-146.0,2337,2012,3562,3460,752.2,-12.0,445,5610,0.00,2.20,0.00,0.000,260,0.000,0.071,2326,3405,3511,3562,3460,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5643,-0.68,-146.0,2326,3405,3562,3459,757.0,-12.1,447,5649,0.00,2.22,0.00,0.000,1030,0.000,0.060,2327,1987,3511,3562,3460,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5963,-0.68,-146.0,2326,1987,3561,3459,796.7,-12.6,463,5969,0.00,2.25,0.00,0.000,516,0.000,0.076,2327,585,3510,3562,3459,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5990,-0.68,-146.0,2326,585,3562,3459,799.2,-12.5,464,5995,0.12,2.25,0.00,0.000,3078,0.181,0.063,2347,2005,3510,3561,3459,0,0,0,0,0,0,26.44,26.51,28.83
$GC,6302,-0.68,-146.0,2346,2005,3561,3458,833.4,-10.8,480,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2005,3510,3562,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6604,-0.68,-146.0,2346,2005,3561,3457,866.9,-11.3,495,6609,0.00,2.25,0.00,0.000,260,0.000,0.073,2337,3415,3509,3562,3457,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6635,-0.68,-146.0,2337,3415,3561,3457,869.2,-11.3,496,6646,0.00,2.28,0.00,0.000,1030,0.000,0.060,2337,1995,3509,3562,3457,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6942,-0.68,-146.0,2337,1994,3562,3456,904.9,-11.1,512,6946,0.00,2.28,0.00,0.000,516,0.000,0.076,2337,580,3509,3562,3456,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6967,-0.68,-146.0,2337,580,3561,3456,906.8,-11.1,513,6971,0.00,2.25,0.00,0.000,1030,0.000,0.065,2328,1998,3508,3561,3456,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7280,-0.68,-146.0,2327,1999,3561,3456,946.1,-12.6,529,7286,0.00,2.25,0.00,0.000,260,0.000,0.073,2317,3408,3508,3561,3456,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7312,-0.68,-146.0,2316,3408,3560,3456,948.6,-12.4,530,7323,0.12,2.28,0.00,0.000,3078,0.165,0.061,2348,1994,3508,3561,3456,0,0,0,0,0,0,26.46,26.53,28.83
$GC,7619,-0.68,-146.0,2348,1993,3561,3455,980.5,-10.0,546,7625,0.00,2.28,0.00,0.000,516,0.000,0.077,2348,581,3507,3560,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7652,-0.68,-146.0,2348,581,3561,3455,982.5,-10.1,547,7659,0.00,2.28,0.00,0.000,1030,0.000,0.065,2340,2005,3508,3561,3455,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,7818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7818,begin apogee
$GC,7822,-0.14,0.0,2339,1867,3561,3455,1001.2,-10.5,556,7959,0.57,0.00,129.27,1.764,10246,0.140,0.000,2521,1866,2909,2982,2836,0,0,0,0,0,0,26.45,28.83,23.39
$STATE,7960,end apogee,CONTROL_FINISHED_OK
$STATE,7960,begin climb
$GC,7962,0.68,146.0,2520,1866,2982,2836,1006.8,0.0,563,8104,0.73,2.58,133.65,1.733,10756,0.048,0.076,2810,459,2313,2371,2255,0,0,0,0,0,0,24.58,23.75,22.81
$GC,8344,0.68,146.0,2809,459,2365,2245,965.9,16.4,582,8349,0.00,2.40,0.00,0.000,1030,0.000,0.065,2810,1876,2305,2365,2245,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8657,0.68,146.0,2809,1877,2366,2241,914.1,15.9,598,8661,0.00,2.33,0.00,0.000,260,0.000,0.072,2810,3283,2303,2365,2241,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8740,0.68,146.0,2809,3283,2364,2241,901.5,16.5,602,8745,0.12,2.33,0.00,0.000,5126,0.237,0.063,2796,1868,2302,2364,2240,0,0,0,0,0,0,25.57,25.70,28.83
$GC,9053,0.68,146.0,2795,1868,2364,2238,852.8,15.1,618,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1868,2301,2364,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,0.68,146.0,2795,1868,2364,2237,810.1,13.8,633,9359,0.00,2.30,0.00,0.000,260,0.000,0.071,2794,3283,2300,2364,2237,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9405,0.68,146.0,2793,3284,2363,2237,804.4,13.9,635,9413,0.00,2.33,0.00,0.000,1030,0.000,0.064,2802,1875,2300,2363,2237,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9713,0.68,146.0,2803,1875,2363,2236,760.3,13.7,651,9719,0.00,2.30,0.00,0.000,260,0.000,0.072,2803,3291,2299,2363,2236,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9755,0.68,146.0,1952,3290,2325,2230,754.5,14.1,653,9760,0.00,2.33,0.00,0.000,1030,0.000,0.064,2813,1875,2299,2363,2236,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10073,0.68,146.0,2813,1875,2363,2235,708.2,14.7,669,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1875,2299,2363,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10373,0.68,146.0,2813,1875,2363,2235,663.9,14.6,684,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1875,2298,2363,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15460,end climb,SURFACE_DEPTH_REACHED
$STATE,15460,begin surface coast
$FINISH,2.0,1.026395
$STATE,15467,end surface coast,CONTROL_FINISHED_OK
$STATE,15467,begin surface
$SM_CCo,15484,32.22,0.148,0,0,1967,230.09
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$IRIDIUM_FIX,-4239.11,836.94,091008,181835
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.77
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.8,10.172
$10V_AH,10.2,8.752
$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,17.925,146.050,262.925,32.225,0.000,24.612,19.440,179.100,49.250,0.000,17.597,3108.377,9198.502,469.826,2919.836,154.825,0.000,1627.157,0.000,2450.813,0.000,295.586,0.000
$DEVICE_MAMPS,237.150,86.445,1764.090,147.645,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.804,72.789,668.980,1740.146,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352752
$DATA_FILE_SIZE,73486,1159
$CAP_FILE_SIZE,170553,0
$CFSIZE,259248128,255393792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050, 53.9,1
$GPS,141215,134019,-4259.199,835.773,72,3.9,92,-25.1