version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 72
start: 12 20 115 5 52 10
data:
$ID,542
$MISSION,12
$DIVE,72
$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,-29740.152
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,201215,054502,-4303.374,836.810,41,1.5,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.0
$GPS2,201215,055144,-4303.358,836.997,36,0.9,36,-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,250.3,1797,-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,-146.0,164,1990,1966,1916,0.0,0.0,0,74,0.00,0.00,-56.85,0.000,16386,0.000,0.000,162,1990,3478,3531,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.68,-146.0,162,1990,3531,3428,3.9,-8.2,7,94,8.27,2.30,-0.50,0.000,18692,0.229,0.069,2330,3417,3506,3555,3458,0,0,0,0,0,0,25.77,25.98,26.18
$GC,115,-0.68,-146.0,2329,3417,3558,3458,20.4,-41.2,12,124,0.00,2.30,0.00,0.000,1030,0.000,0.056,2329,2001,3508,3558,3458,0,0,0,0,0,0,28.83,26.00,28.83
$GC,270,-0.68,-146.0,2329,2001,3559,3458,46.9,-17.0,37,278,0.00,2.30,0.00,0.000,516,0.000,0.070,2330,578,3509,3560,3458,0,0,0,0,0,0,28.83,26.06,28.83
$GC,320,-0.68,-146.0,2330,578,3560,3458,55.9,-20.0,45,329,0.08,2.28,0.00,0.000,3078,0.170,0.056,2350,1988,3508,3560,3457,0,0,0,0,0,0,25.98,26.09,28.83
$GC,657,-0.68,-146.0,2350,1989,3561,3458,106.1,-14.4,103,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1989,3510,3562,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.68,-146.0,2350,1989,3562,3458,151.0,-14.9,133,967,0.00,2.22,0.00,0.000,516,0.000,0.067,2350,588,3510,3562,3458,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1001,-0.68,-146.0,2350,588,3562,3458,157.4,-15.3,137,1010,0.00,2.20,0.00,0.000,1030,0.000,0.056,2342,1998,3510,3562,3458,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1308,-0.68,-146.0,2342,1998,3562,3458,203.0,-14.2,168,1313,0.00,2.25,0.00,0.000,516,0.000,0.065,2342,583,3510,3563,3458,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1398,-0.68,-146.0,2342,583,3562,3458,216.0,-14.5,176,1407,0.00,2.20,0.00,0.000,1030,0.000,0.057,2332,1998,3510,3562,3458,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1705,-0.68,-146.0,2332,1998,3563,3458,264.3,-15.8,207,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1999,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-0.68,-146.0,2332,1999,3563,3458,310.0,-15.3,237,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1999,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-0.68,-146.0,2332,1999,3563,3458,356.5,-15.3,267,2315,0.00,2.25,0.00,0.000,516,0.000,0.067,2333,584,3510,3563,3458,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2347,-0.68,-146.0,2332,584,3563,3458,363.1,-16.0,271,2351,0.00,2.22,0.00,0.000,1030,0.000,0.057,2322,2005,3510,3563,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2663,-0.68,-146.0,2322,2005,3563,3458,414.1,-15.8,298,2668,0.00,2.25,0.00,0.000,516,0.000,0.068,2322,584,3510,3563,3458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2712,-0.68,-146.0,2322,584,3563,3458,420.4,-16.0,300,2717,0.15,2.25,0.00,0.000,3078,0.178,0.058,2349,2012,3511,3564,3458,0,0,0,0,0,0,26.31,26.42,28.83
$GC,3025,-0.68,-146.0,2349,2013,3563,3458,462.3,-12.8,316,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2013,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.68,-146.0,2349,2013,3563,3458,500.0,-12.5,331,3330,0.00,2.28,0.00,0.000,516,0.000,0.070,2349,588,3510,3563,3458,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3366,-0.68,-146.0,2349,588,3563,3458,505.1,-12.7,333,3371,0.00,2.17,0.00,0.000,1030,0.000,0.060,2341,1987,3510,3563,3458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3685,-0.68,-146.0,2340,1986,3563,3458,547.3,-13.5,349,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1987,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-0.68,-146.0,2341,1987,3563,3458,587.4,-13.2,364,3992,0.00,2.22,0.00,0.000,516,0.000,0.072,2341,585,3510,3563,3458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4026,-0.68,-146.0,1568,584,3557,3456,592.9,-13.5,366,4031,0.00,2.28,0.00,0.000,1030,0.000,0.060,2331,1993,3510,3563,3458,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4344,-0.68,-146.0,2330,1993,3563,3458,638.0,-14.3,382,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1993,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.68,-146.0,2330,1993,3563,3457,680.4,-13.9,397,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1993,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.68,-146.0,2331,1993,3563,3457,722.7,-14.3,412,4951,0.00,2.25,0.00,0.000,516,0.000,0.073,2330,585,3510,3563,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4986,-0.68,-146.0,2330,585,3563,3457,728.6,-14.4,414,4992,0.12,2.22,0.00,0.000,3078,0.182,0.062,2350,1997,3510,3563,3458,0,0,0,0,0,0,26.38,26.47,28.83
$GC,5307,-0.68,-146.0,2350,1997,3563,3457,767.3,-11.8,430,5312,0.00,2.28,0.00,0.000,516,0.000,0.074,2350,588,3510,3563,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5333,-0.68,-146.0,2350,588,3563,3457,769.7,-11.8,431,5338,0.00,2.25,0.00,0.000,1030,0.000,0.063,2342,2005,3510,3563,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5645,-0.68,-146.0,2342,2005,3563,3457,808.7,-12.3,447,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2006,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5948,-0.68,-146.0,2342,2005,3562,3457,845.6,-12.6,462,5953,0.00,2.25,0.00,0.000,516,0.000,0.074,2342,591,3509,3562,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5978,-0.68,-146.0,2342,591,3562,3457,848.2,-12.7,463,5987,0.00,2.28,0.00,0.000,1030,0.000,0.063,2332,2022,3509,3562,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6286,-0.68,-146.0,2332,2023,3561,3457,891.4,-13.3,479,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2023,3509,3562,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-0.68,-146.0,2332,2022,3562,3457,930.0,-13.0,494,6592,0.00,2.30,0.00,0.000,516,0.000,0.075,2332,587,3509,3562,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6635,-0.68,-146.0,2332,587,3562,3457,935.6,-13.3,496,6640,0.00,2.28,0.00,0.000,1030,0.000,0.065,2322,1986,3509,3562,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6948,-0.68,-146.0,2322,1986,3562,3456,977.6,-13.2,512,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1986,3508,3561,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7147,begin apogee
$GC,7151,-0.14,0.0,2322,1866,3561,3456,1002.3,-12.2,522,7288,0.65,0.00,129.12,1.759,10246,0.148,0.000,2523,1866,2910,2986,2834,0,0,0,0,0,0,26.39,28.83,23.38
$STATE,7289,end apogee,CONTROL_FINISHED_OK
$STATE,7289,begin climb
$GC,7290,0.68,146.0,2523,1865,2986,2835,1007.7,0.0,529,7434,0.75,2.60,135.10,1.720,10500,0.048,0.067,2800,3284,2312,2371,2253,0,0,0,0,0,0,24.57,23.44,22.48
$GC,7520,0.68,146.0,2799,3284,2370,2245,991.9,16.8,540,7527,0.00,2.45,0.00,0.000,1030,0.000,0.061,2810,1869,2307,2370,2245,0,0,0,0,0,0,28.83,24.47,28.83
$GC,7827,0.68,146.0,2810,1869,2369,2238,938.8,16.2,556,7831,0.00,2.38,0.00,0.000,260,0.000,0.070,2810,3285,2303,2369,2238,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7905,0.68,146.0,1920,3284,2328,2232,925.7,17.2,560,7911,0.10,2.38,0.00,0.000,5126,0.210,0.063,2795,1876,2303,2368,2238,0,0,0,0,0,0,25.35,25.49,28.83
$GC,8223,0.68,146.0,2795,1876,2368,2235,877.6,14.5,576,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1876,2301,2368,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8524,0.68,146.0,2795,1876,2368,2234,834.0,14.5,591,8530,0.00,2.30,0.00,0.000,260,0.000,0.071,2794,3284,2301,2368,2234,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8576,0.68,146.0,2794,3284,2368,2234,828.0,14.6,593,8583,0.00,2.30,0.00,0.000,1030,0.000,0.063,2803,1868,2301,2368,2234,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8883,0.68,146.0,2802,1868,2367,2234,779.6,15.0,609,8887,0.00,2.30,0.00,0.000,260,0.000,0.070,2803,3284,2300,2367,2234,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8932,0.68,146.0,2802,3284,2367,2234,774.2,14.8,611,8939,0.00,2.30,0.00,0.000,1030,0.000,0.063,2813,1864,2300,2367,2234,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9239,0.68,146.0,2813,1864,2366,2233,725.4,14.8,627,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1864,2299,2366,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,0.68,146.0,2813,1864,2366,2233,682.3,14.1,642,9543,0.00,2.30,0.00,0.000,260,0.000,0.071,2813,3287,2299,2366,2233,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9595,0.68,146.0,2813,3288,2366,2233,674.1,14.4,645,9600,0.15,2.28,0.00,0.000,5126,0.223,0.063,2791,1863,2299,2366,2233,0,0,0,0,0,0,26.10,26.26,28.83
$GC,9912,0.68,146.0,2791,1862,2366,2232,633.1,12.9,661,9916,0.00,2.30,0.00,0.000,260,0.000,0.070,2786,3292,2299,2366,2232,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10031,0.68,146.0,2786,3292,2366,2233,617.7,13.2,667,10035,0.00,2.28,0.00,0.000,1030,0.000,0.062,2795,1863,2299,2366,2233,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10349,0.68,146.0,2794,1862,2365,2232,577.6,12.3,683,10354,0.00,2.30,0.00,0.000,260,0.000,0.070,2795,3292,2298,2365,2232,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10391,0.68,146.0,2794,3293,2365,2232,572.4,12.6,685,10395,0.00,2.28,0.00,0.000,1030,0.000,0.062,2805,1864,2298,2365,2232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10708,0.68,146.0,2805,1864,2365,2232,530.5,13.0,701,10712,0.00,2.28,0.00,0.000,260,0.000,0.070,2805,3285,2298,2365,2232,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,11963,0.68,146.0,2794,3286,2364,2232,363.5,12.7,778,11967,0.00,2.25,0.00,0.000,1030,0.000,0.060,2805,1861,2298,2364,2232,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,14761,end climb,SURFACE_DEPTH_REACHED
$STATE,14761,begin surface coast
$FINISH,-0.2,1.026486
$STATE,14781,end surface coast,CONTROL_FINISHED_OK
$STATE,14781,begin surface
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$IRIDIUM_FIX,-4247.91,834.91,151008,141453
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.29
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,15.134
$10V_AH,10.2,12.652
$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
$DEVICE_SECS,17.450,127.875,273.075,23.575,0.000,23.977,40.858,196.914,49.250,0.000,36.930,2976.824,8799.711,441.715,2848.515,151.597,0.000,1540.163,0.000,2325.784,0.000,297.514,0.000
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$SENSOR_SECS,781.014,60.322,596.964,1630.387,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352780
$DATA_FILE_SIZE,70290,1110
$CAP_FILE_SIZE,163407,0
$CFSIZE,259248128,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.177, 33.6,1
$GPS,201215,100059,-4303.698,836.258,75,2.0,75,-25.1