version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 85
start: 12 22 115 15 6 58
data:
$ID,542
$MISSION,12
$DIVE,85
$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,-29756.459
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,221215,150027,-4304.924,830.489,39,0.9,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.6
$GPS2,221215,150632,-4304.908,830.515,28,0.9,28,-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,272.0,8974,-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,-146.0,166,1996,1960,1921,0.0,0.0,0,73,0.00,0.00,-56.42,0.000,16390,0.000,0.000,166,1996,3505,3555,3456,0,0,0,0,0,0,28.83,28.83,26.41
$GC,75,-0.68,-146.0,166,1996,3554,3462,4.4,-9.0,7,92,8.18,2.28,0.00,0.000,2308,0.224,0.052,2332,3418,3509,3555,3463,0,0,0,0,0,0,25.79,26.04,28.83
$GC,119,-0.68,-146.0,2332,3418,3555,3463,21.9,-33.6,13,129,0.00,2.30,0.00,0.000,1030,0.000,0.056,2332,1995,3509,3555,3463,0,0,0,0,0,0,28.83,26.05,28.83
$GC,274,-0.68,-146.0,2331,1994,3556,3463,49.9,-17.6,38,281,0.00,2.28,0.00,0.000,516,0.000,0.068,2332,586,3509,3556,3463,0,0,0,0,0,0,28.83,26.09,28.83
$GC,310,-0.68,-146.0,2332,585,3556,3462,56.5,-17.8,44,319,0.00,2.28,0.00,0.000,1030,0.000,0.056,2322,1995,3509,3556,3463,0,0,0,0,0,0,28.83,26.12,28.83
$GC,646,-0.68,-146.0,2321,1996,3557,3463,115.6,-16.9,97,656,0.12,2.25,0.00,0.000,2564,0.194,0.066,2356,585,3510,3557,3463,0,0,0,0,0,0,26.09,26.20,28.83
$GC,691,-0.68,-146.0,2356,585,3558,3463,122.5,-14.9,101,699,0.00,2.25,0.00,0.000,1030,0.000,0.055,2348,2011,3510,3557,3463,0,0,0,0,0,0,28.83,26.22,28.83
$GC,998,-0.68,-146.0,2347,2011,3558,3463,165.5,-13.6,132,1008,0.00,2.28,0.00,0.000,516,0.000,0.067,2348,587,3510,3558,3463,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1044,-0.68,-146.0,2347,587,3558,3463,171.6,-13.9,136,1052,0.00,2.25,0.00,0.000,1030,0.000,0.056,2338,1991,3510,3558,3463,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1352,-0.68,-146.0,2338,1992,3559,3463,216.3,-15.0,167,1361,0.00,2.25,0.00,0.000,516,0.000,0.067,2338,581,3511,3559,3463,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1387,-0.68,-146.0,2338,581,3559,3463,221.0,-15.2,170,1394,0.00,2.22,0.00,0.000,1030,0.000,0.055,2327,1995,3510,3559,3462,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1695,-0.68,-146.0,2327,1996,3559,3463,266.3,-14.1,201,1705,0.00,2.22,0.00,0.000,516,0.000,0.067,2328,582,3511,3559,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1727,-0.68,-146.0,2327,582,3560,3463,271.1,-14.5,204,1738,0.12,2.22,0.00,0.000,3078,0.184,0.056,2347,2002,3511,3560,3463,0,0,0,0,0,0,26.23,26.35,28.83
$GC,2036,-0.68,-146.0,2347,2003,3560,3463,309.2,-12.5,235,2041,0.00,2.28,0.00,0.000,516,0.000,0.067,2347,576,3512,3561,3463,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2065,-0.68,-146.0,2347,576,3561,3463,312.5,-12.4,237,2074,0.00,2.28,0.00,0.000,1030,0.000,0.056,2339,1994,3511,3560,3463,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2373,-0.68,-146.0,2338,1995,3561,3463,352.5,-13.2,268,2377,0.00,2.22,0.00,0.000,516,0.000,0.067,2339,588,3512,3561,3463,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2409,-0.68,-146.0,2338,587,3561,3463,357.4,-13.6,271,2413,0.00,2.22,0.00,0.000,1030,0.000,0.057,2329,2009,3512,3561,3463,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2715,-0.68,-146.0,2328,2009,3561,3463,398.5,-13.9,301,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2009,3512,3561,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-0.68,-146.0,2329,2009,3561,3463,441.4,-14.5,317,3022,0.00,2.25,0.00,0.000,516,0.000,0.068,2329,584,3512,3561,3463,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3055,-0.68,-146.0,2328,584,3561,3463,447.3,-14.8,319,3062,0.12,2.22,0.00,0.000,3078,0.181,0.058,2348,2002,3512,3561,3463,0,0,0,0,0,0,26.31,26.42,28.83
$GC,3374,-0.68,-146.0,2348,2002,3561,3463,487.6,-12.6,335,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2003,3512,3561,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3676,-0.68,-146.0,2348,2003,3561,3462,524.6,-12.6,350,3681,0.00,2.25,0.00,0.000,516,0.000,0.070,2348,587,3512,3561,3463,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3724,-0.68,-146.0,2348,587,3561,3463,530.0,-12.8,352,3728,0.00,2.25,0.00,0.000,1030,0.000,0.060,2341,1988,3512,3561,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4038,-0.68,-146.0,2340,1989,3561,3463,572.5,-13.4,368,4043,0.00,2.22,0.00,0.000,516,0.000,0.071,2340,586,3512,3561,3463,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4064,-0.68,-146.0,2340,585,3561,3463,575.2,-13.4,369,4068,0.00,2.25,0.00,0.000,1030,0.000,0.060,2330,2012,3511,3561,3462,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4376,-0.68,-146.0,2330,2012,3561,3462,619.4,-13.7,385,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2012,3512,3561,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4679,-0.68,-146.0,2330,2012,3561,3463,661.2,-14.2,400,4684,0.00,2.28,0.00,0.000,516,0.000,0.071,2330,581,3512,3561,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4706,-0.68,-146.0,2330,581,3561,3463,664.1,-14.2,401,4711,0.12,2.22,0.00,0.000,3078,0.180,0.061,2350,1992,3511,3560,3463,0,0,0,0,0,0,26.34,26.44,28.83
$GC,5012,-0.68,-146.0,2349,1992,3560,3462,701.3,-11.2,416,5017,0.00,2.28,0.00,0.000,516,0.000,0.072,2350,584,3512,3561,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5039,-0.68,-146.0,2350,583,3561,3463,703.6,-11.2,417,5043,0.00,2.22,0.00,0.000,1030,0.000,0.061,2341,1995,3511,3561,3462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5352,-0.68,-146.0,2341,1996,3560,3462,741.1,-11.8,433,5357,0.00,2.28,0.00,0.000,516,0.000,0.072,2342,585,3511,3560,3462,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5384,-0.68,-146.0,2341,585,3560,3463,743.5,-11.9,434,5394,0.00,2.25,0.00,0.000,1030,0.000,0.060,2332,2000,3511,3560,3462,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5692,-0.68,-146.0,2332,2001,3560,3462,783.8,-12.6,450,5697,0.00,2.28,0.00,0.000,516,0.000,0.073,2332,584,3511,3560,3462,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5735,-0.68,-146.0,1488,584,3554,3459,789.1,-12.9,452,5739,0.00,2.22,0.00,0.000,1030,0.000,0.062,2322,1995,3510,3560,3461,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6046,-0.68,-146.0,2321,1995,3558,3460,829.6,-12.6,468,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1995,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6347,-0.68,-146.0,2321,1995,3558,3460,867.4,-12.5,483,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1995,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-0.68,-146.0,2321,1995,3558,3460,905.3,-12.9,498,6650,0.12,0.00,0.00,0.000,2054,0.185,0.000,2352,1995,3509,3558,3460,0,0,0,0,0,0,26.37,28.83,28.83
$GC,6947,-0.68,-146.0,2351,1995,3558,3459,937.4,-10.6,513,6953,0.00,2.25,0.00,0.000,516,0.000,0.074,2352,588,3509,3558,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7009,-0.68,-146.0,1556,588,3553,3457,944.0,-10.8,516,7014,0.00,2.28,0.00,0.000,1030,0.000,0.062,2343,1992,3509,3558,3460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7327,-0.68,-146.0,2343,1993,3558,3459,980.7,-11.6,532,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1994,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7506,begin apogee
$GC,7510,-0.14,0.0,2343,1857,3558,3459,1001.9,-11.6,541,7647,0.55,0.00,130.62,1.792,10246,0.135,0.000,2518,1857,2909,2984,2834,0,0,0,0,0,0,26.36,28.83,23.38
$STATE,7648,end apogee,CONTROL_FINISHED_OK
$STATE,7648,begin climb
$GC,7650,0.68,146.0,2518,1857,2984,2834,1009.1,0.0,548,7795,0.77,2.62,136.55,1.762,10756,0.052,0.073,2812,463,2312,2372,2253,0,0,0,0,0,0,24.53,23.33,22.39
$GC,7995,0.68,146.0,2812,464,2365,2246,978.0,15.8,565,7999,0.00,2.40,0.00,0.000,1030,0.000,0.062,2812,1881,2305,2364,2246,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8307,0.68,146.0,2811,1882,2366,2241,925.9,16.4,581,8311,0.00,2.33,0.00,0.000,260,0.000,0.069,2812,3288,2303,2365,2241,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8331,0.68,146.0,2812,3288,2364,2241,923.2,16.6,582,8336,0.15,2.33,0.00,0.000,5126,0.223,0.061,2791,1876,2302,2364,2241,0,0,0,0,0,0,25.43,25.58,28.83
$GC,8644,0.68,146.0,2791,1876,2364,2239,873.6,15.5,598,8650,0.00,2.33,0.00,0.000,260,0.000,0.070,2791,3294,2301,2364,2239,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8696,0.68,146.0,2790,3293,2363,2239,867.2,15.9,600,8703,0.00,2.33,0.00,0.000,1030,0.000,0.061,2800,1868,2301,2363,2239,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9003,0.68,146.0,2799,1868,2364,2238,818.1,15.2,616,9007,0.00,2.30,0.00,0.000,260,0.000,0.070,2800,3284,2301,2364,2238,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9167,0.68,146.0,2799,3284,2363,2237,793.0,16.0,624,9172,0.00,2.33,0.00,0.000,1030,0.000,0.062,2809,1845,2300,2363,2237,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9479,0.68,146.0,2810,1845,2362,2236,745.6,14.8,640,9484,0.00,2.33,0.00,0.000,260,0.000,0.070,2810,3284,2299,2363,2236,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9509,0.68,146.0,2810,3284,2363,2236,743.1,14.9,641,9517,0.12,2.28,0.00,0.000,5126,0.226,0.060,2795,1867,2299,2362,2236,0,0,0,0,0,0,26.01,26.17,28.83
$GC,9816,0.68,146.0,2795,1867,2362,2236,698.1,14.0,657,9820,0.00,2.28,0.00,0.000,260,0.000,0.068,2794,3285,2298,2362,2235,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9859,0.68,146.0,2793,3285,2362,2236,692.8,14.0,659,9864,0.00,2.30,0.00,0.000,1030,0.000,0.060,2803,1873,2298,2362,2235,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,12225,0.68,146.0,2797,1874,2362,2234,381.6,12.6,784,12235,0.00,2.25,0.00,0.000,260,0.000,0.067,2798,3286,2297,2361,2234,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15434,begin surface coast
$FINISH,-0.3,1.014356
$STATE,15461,end surface coast,CONTROL_FINISHED_OK
$STATE,15461,begin surface
$SM_CCo,15474,32.40,0.148,0,0,1968,230.09
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$IRIDIUM_FIX,-4247.91,831.99,181008,000002
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.90
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,1
$24V_AH,22.4,17.148
$10V_AH,10.2,14.253
$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,17.625,136.800,267.175,32.400,0.000,24.628,43.403,174.276,49.500,0.000,29.923,3125.668,9179.461,477.953,2925.068,160.716,0.000,1630.462,0.000,2426.626,0.000,298.206,0.000
$DEVICE_MAMPS,226.440,88.740,1792.395,147.645,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.753,70.664,676.599,1746.593,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352756
$DATA_FILE_SIZE,73597,1173
$CAP_FILE_SIZE,170630,0
$CFSIZE,259248128,251777024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222, 39.9,1
$GPS,221215,192634,-4304.436,829.703,33,1.1,33,-25.0