version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 44
start: 12 15 115 6 5 54
data:
$ID,542
$MISSION,12
$DIVE,44
$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,-29705.021
$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,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
$GPS1,151215,055704,-4303.614,835.999,39,0.9,39,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.1
$GPS2,151215,060528,-4303.482,836.024,18,1.1,19,-25.1
$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,268.9,16296,-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,14,begin dive
$GC,15,-0.68,-146.0,136,1999,1963,1922,0.0,0.0,0,67,0.00,0.00,-49.65,0.000,16386,0.000,0.000,136,1999,3341,3413,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,136,1999,3414,3272,4.1,-8.3,6,88,8.25,2.35,-3.22,0.000,18692,0.222,0.075,2329,3422,3507,3566,3449,0,0,0,0,0,0,25.77,25.94,26.22
$GC,96,-0.68,-146.0,2329,3421,3566,3450,15.2,-31.0,9,105,0.00,2.33,0.00,0.000,1030,0.000,0.057,2329,1992,3508,3566,3450,0,0,0,0,0,0,28.83,25.95,28.83
$GC,157,-0.68,-146.0,2329,1991,3568,3450,26.9,-18.1,18,166,0.00,2.33,0.00,0.000,516,0.000,0.069,2330,584,3509,3568,3450,0,0,0,0,0,0,28.83,25.98,28.83
$GC,199,-0.68,-146.0,2329,584,3568,3450,33.4,-15.1,24,207,0.00,2.30,0.00,0.000,1030,0.000,0.059,2321,1994,3509,3568,3450,0,0,0,0,0,0,28.83,26.00,28.83
$GC,345,-0.68,-146.0,1408,1992,3561,3448,56.9,-22.5,49,353,0.12,0.00,0.00,0.000,2054,0.194,0.000,2355,1994,3509,3568,3451,0,0,0,0,0,0,26.00,28.83,28.83
$GC,683,-0.68,-146.0,2354,1995,3568,3452,104.5,-13.0,108,687,0.00,2.28,0.00,0.000,516,0.000,0.070,2354,577,3510,3568,3452,0,0,0,0,0,0,28.83,26.17,28.83
$GC,823,-0.68,-146.0,2354,577,3568,3453,122.7,-13.3,121,832,0.00,2.30,0.00,0.000,1030,0.000,0.058,2346,1995,3510,3568,3453,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1132,-0.68,-146.0,2345,1997,3568,3454,166.0,-13.6,152,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1996,3511,3568,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1432,-0.68,-146.0,2345,1996,3568,3454,207.7,-13.9,182,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1997,3511,3569,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.68,-146.0,2345,1997,3567,3455,250.6,-14.5,212,1741,0.00,2.25,0.00,0.000,516,0.000,0.070,2346,584,3511,3568,3454,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1766,-0.68,-146.0,2345,584,3568,3455,255.4,-14.5,215,1774,0.00,2.20,0.00,0.000,1030,0.000,0.058,2336,1997,3511,3568,3455,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2075,-0.68,-146.0,2336,1997,3568,3455,300.1,-14.5,246,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1997,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2373,-0.68,-146.0,2336,1996,3568,3455,342.0,-13.6,276,2377,0.00,2.28,0.00,0.000,516,0.000,0.071,2336,575,3511,3568,3455,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2431,-0.68,-146.0,2335,575,3568,3455,349.7,-13.3,281,2444,0.00,2.25,0.00,0.000,1030,0.000,0.060,2325,2006,3511,3568,3455,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2740,-0.68,-146.0,2325,2006,3568,3455,393.2,-14.0,312,2744,0.00,2.22,0.00,0.000,260,0.000,0.067,2314,3412,3511,3568,3455,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2771,-0.68,-146.0,1480,3411,3562,3453,396.9,-14.1,314,2778,0.12,2.22,0.00,0.000,3078,0.164,0.058,2346,1993,3511,3568,3455,0,0,0,0,0,0,26.36,26.44,28.83
$GC,3077,-0.68,-146.0,2345,1993,3568,3455,433.9,-12.0,331,3081,0.00,2.25,0.00,0.000,516,0.000,0.074,2346,588,3511,3568,3455,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3137,-0.68,-146.0,2346,587,3568,3455,440.6,-11.8,334,3142,0.00,2.20,0.00,0.000,1030,0.000,0.061,2338,1998,3511,3568,3455,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3455,-0.68,-146.0,2337,1998,3568,3455,480.4,-12.6,350,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1998,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.68,-146.0,2338,1998,3568,3455,518.8,-12.8,365,3760,0.00,2.30,0.00,0.000,516,0.000,0.075,2338,578,3511,3568,3455,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3784,-0.68,-146.0,2337,578,3568,3455,521.5,-12.9,366,3788,0.00,2.25,0.00,0.000,1030,0.000,0.063,2328,2001,3511,3568,3455,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4090,-0.68,-146.0,2327,2002,3568,3455,563.8,-13.3,381,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2002,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.68,-146.0,2327,2002,3568,3455,604.0,-13.3,396,4396,0.00,2.28,0.00,0.000,516,0.000,0.075,2327,587,3511,3568,3455,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4430,-0.68,-146.0,2327,587,3568,3456,609.4,-13.4,398,4437,0.12,2.22,0.00,0.000,3078,0.188,0.063,2347,1995,3510,3566,3455,0,0,0,0,0,0,26.40,26.48,28.83
$GC,4753,-0.68,-146.0,2346,1995,3568,3454,646.2,-11.4,414,4758,0.00,2.25,0.00,0.000,516,0.000,0.076,2347,584,3511,3568,3455,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4779,-0.68,-146.0,2346,583,3568,3455,648.6,-11.6,415,4783,0.00,2.25,0.00,0.000,1030,0.000,0.064,2338,2002,3511,3568,3455,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5086,-0.68,-146.0,2338,2002,3568,3454,685.9,-11.7,430,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2002,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-0.68,-146.0,2338,2002,3567,3455,721.8,-12.2,445,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2002,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5685,-0.68,-146.0,2338,2003,3567,3454,758.7,-12.4,460,5691,0.00,2.30,0.00,0.000,516,0.000,0.077,2338,578,3511,3567,3455,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5725,-0.68,-146.0,2338,578,3566,3454,763.8,-12.5,462,5732,0.00,2.25,0.00,0.000,1030,0.000,0.065,2328,1995,3510,3566,3454,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6046,-0.68,-146.0,2328,1995,3566,3454,805.5,-13.2,478,6052,0.00,2.25,0.00,0.000,516,0.000,0.077,2328,585,3510,3566,3454,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6078,-0.68,-146.0,2328,585,3565,3454,808.2,-13.3,479,6086,0.12,2.25,0.00,0.000,3078,0.187,0.066,2347,1995,3509,3565,3454,0,0,0,0,0,0,26.42,26.51,28.83
$GC,6385,-0.68,-146.0,2347,1997,3565,3454,844.4,-10.9,495,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3509,3565,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.68,-146.0,2347,1997,3565,3454,875.8,-10.3,510,6692,0.00,2.25,0.00,0.000,516,0.000,0.077,2348,592,3509,3565,3454,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6713,-0.68,-146.0,2348,592,3565,3454,877.9,-10.4,511,6717,0.00,2.28,0.00,0.000,1030,0.000,0.066,2339,2020,3509,3565,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7026,-0.68,-146.0,2339,2021,3565,3454,911.8,-10.4,527,7031,0.00,2.33,0.00,0.000,516,0.000,0.077,2339,583,3509,3565,3454,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7058,-0.68,-146.0,2339,582,3565,3454,914.0,-10.5,528,7066,0.00,2.30,0.00,0.000,1030,0.000,0.066,2330,1996,3509,3565,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7366,-0.68,-146.0,2329,1995,3564,3454,951.4,-11.9,544,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3509,3564,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7665,-0.68,-146.0,2329,1996,3564,3454,987.6,-11.9,559,7671,0.00,2.28,0.00,0.000,516,0.000,0.077,2330,588,3508,3564,3453,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7706,-0.68,-146.0,2329,588,3564,3453,992.3,-11.7,561,7712,0.12,2.25,0.00,0.000,3078,0.186,0.066,2349,2004,3508,3563,3453,0,0,0,0,0,0,26.44,26.51,28.83
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7788,-0.14,0.0,2349,1867,3563,3453,1000.1,-9.7,565,7926,0.55,0.00,129.07,1.768,10246,0.135,0.000,2525,1867,2910,2984,2836,0,0,0,0,0,0,26.45,28.83,23.34
$STATE,7927,end apogee,CONTROL_FINISHED_OK
$STATE,7927,begin climb
$GC,7928,0.68,146.0,2525,1867,2983,2836,1004.8,0.0,572,8070,0.73,2.60,133.52,1.733,11012,0.052,0.070,2794,3287,2313,2372,2255,0,0,0,0,0,0,24.57,23.70,22.73
$GC,8570,0.68,146.0,2793,3287,2369,2240,917.8,16.8,604,8575,0.00,2.35,0.00,0.000,1030,0.000,0.065,2804,1868,2304,2369,2239,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8882,0.68,146.0,2804,1868,2368,2236,864.8,16.1,620,8887,0.00,2.35,0.00,0.000,260,0.000,0.072,2804,3292,2302,2368,2236,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9091,0.68,146.0,2804,3292,2368,2237,832.9,16.0,630,9099,0.00,2.35,0.00,0.000,1030,0.000,0.067,2815,1861,2302,2368,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9399,0.68,146.0,2814,1861,2367,2235,784.6,15.4,646,9405,0.00,2.33,0.00,0.000,260,0.000,0.073,2815,3284,2301,2367,2235,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9422,0.68,146.0,2814,3284,2367,2234,781.4,15.6,647,9427,0.15,2.30,0.00,0.000,5126,0.230,0.065,2794,1862,2300,2366,2235,0,0,0,0,0,0,25.94,26.07,28.83
$GC,9734,0.68,146.0,2793,1861,2366,2234,737.4,13.7,663,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1861,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10034,0.68,146.0,2794,1861,2366,2234,696.2,13.9,678,10040,0.00,2.33,0.00,0.000,260,0.000,0.073,2788,3292,2300,2366,2234,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10114,0.68,146.0,2788,3292,2366,2234,685.0,14.0,682,10120,0.00,2.30,0.00,0.000,1030,0.000,0.067,2798,1863,2300,2366,2234,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10434,0.68,146.0,2797,1863,2366,2234,642.7,12.6,698,10440,0.00,2.30,0.00,0.000,260,0.000,0.073,2797,3283,2300,2366,2234,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10496,0.68,146.0,2797,3284,2366,2234,634.7,13.1,701,10501,0.00,2.28,0.00,0.000,1030,0.000,0.065,2808,1863,2300,2366,2234,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10814,0.68,146.0,2808,1862,2366,2233,591.9,13.6,717,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1862,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15487,end climb,SURFACE_DEPTH_REACHED
$STATE,15487,begin surface coast
$FINISH,-0.1,1.023035
$STATE,15520,end surface coast,CONTROL_FINISHED_OK
$STATE,15520,begin surface
$SM_CCo,15536,32.08,0.146,0,0,1967,230.09
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$IRIDIUM_FIX,-4244.98,831.55,101008,191904
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.22
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.7,10.898
$10V_AH,10.2,9.336
$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
$DEVICE_SECS,17.525,137.275,262.600,32.075,0.000,52.000,75.159,197.943,49.250,0.000,19.629,3158.821,9185.054,457.133,3118.033,152.180,0.000,1639.135,0.000,2538.688,0.000,294.607,0.000
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$SENSOR_SECS,826.618,75.525,684.783,1765.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352696
$DATA_FILE_SIZE,76984,1179
$CAP_FILE_SIZE,172840,0
$CFSIZE,259248128,255004672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158, 24.1,1
$GPS,151215,102651,-4303.398,834.594,52,0.8,52,-25.1