version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 86
start: 12 22 115 19 32 54
data:
$ID,542
$MISSION,12
$DIVE,86
$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,-29757.713
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,221215,192634,-4304.436,829.703,33,1.1,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.3
$GPS2,221215,193229,-4304.428,829.815,17,1.1,17,-25.0
$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,255.8,7908,-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,-146.0,169,1999,1963,1922,0.0,0.0,0,74,0.00,0.00,-56.47,0.000,16386,0.000,0.000,169,1999,3501,3550,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.68,-146.0,168,2000,3550,3456,4.2,-8.8,7,93,8.20,2.25,0.00,0.000,2308,0.225,0.050,2335,3417,3504,3550,3459,0,0,0,0,0,0,25.78,26.05,28.83
$GC,145,-0.68,-146.0,2335,3418,3551,3459,25.6,-16.0,17,155,0.00,2.28,0.00,0.000,1030,0.000,0.054,2335,2002,3505,3551,3459,0,0,0,0,0,0,28.83,26.06,28.83
$GC,299,-0.68,-146.0,1408,2000,3544,3457,50.4,-16.4,42,306,0.00,2.30,0.00,0.000,516,0.000,0.068,2335,581,3505,3552,3459,0,0,0,0,0,0,28.83,26.09,28.83
$GC,351,-0.68,-146.0,1472,580,3545,3457,59.7,-17.0,51,359,0.00,2.28,0.00,0.000,1030,0.000,0.055,2325,1992,3505,3552,3459,0,0,0,0,0,0,28.83,26.13,28.83
$GC,680,-0.68,-146.0,2324,1993,3553,3459,120.2,-17.7,101,690,0.00,2.25,0.00,0.000,516,0.000,0.067,2325,580,3506,3553,3459,0,0,0,0,0,0,28.83,26.20,28.83
$GC,734,-0.68,-146.0,1552,580,3547,3457,129.6,-17.5,106,743,0.10,2.28,0.00,0.000,3078,0.164,0.055,2345,1998,3506,3554,3459,0,0,0,0,0,0,26.09,26.23,28.83
$GC,1045,-0.68,-146.0,2345,1998,3554,3459,176.2,-15.0,137,1054,0.00,2.25,0.00,0.000,516,0.000,0.067,2345,581,3506,3554,3459,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1086,-0.68,-146.0,2345,580,3554,3459,183.0,-15.5,141,1096,0.00,2.25,0.00,0.000,1030,0.000,0.055,2337,2001,3507,3554,3460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1396,-0.68,-146.0,2336,2002,3554,3459,229.6,-14.8,172,1400,0.00,2.28,0.00,0.000,516,0.000,0.067,2337,576,3506,3554,3459,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1423,-0.68,-146.0,2336,575,3554,3459,233.6,-14.8,174,1432,0.00,2.22,0.00,0.000,1030,0.000,0.055,2327,1996,3507,3554,3460,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1734,-0.68,-146.0,2327,1997,3555,3459,280.6,-15.4,205,1743,0.00,2.22,0.00,0.000,516,0.000,0.067,2327,589,3507,3555,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1796,-0.68,-146.0,2327,589,3555,3459,290.4,-15.5,211,1805,0.12,2.20,0.00,0.000,3078,0.185,0.056,2346,1995,3507,3555,3459,0,0,0,0,0,0,26.22,26.35,28.83
$GC,2106,-0.68,-146.0,2346,1996,3556,3459,333.2,-13.4,242,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1996,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-0.68,-146.0,2346,1996,3556,3459,374.1,-13.6,272,2409,0.00,2.22,0.00,0.000,516,0.000,0.067,2346,585,3507,3556,3459,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2435,-0.68,-146.0,1504,585,3550,3457,377.8,-13.7,274,2442,0.00,2.22,0.00,0.000,1030,0.000,0.056,2338,2001,3507,3556,3459,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2752,-0.68,-146.0,2338,2001,3556,3459,423.0,-14.2,298,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2001,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,-0.68,-146.0,2338,2001,3556,3459,465.5,-13.9,313,3058,0.00,2.28,0.00,0.000,516,0.000,0.070,2338,577,3508,3556,3460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3101,-0.68,-146.0,2338,576,3556,3459,471.2,-14.2,315,3105,0.00,2.22,0.00,0.000,1030,0.000,0.057,2328,1993,3507,3556,3459,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3409,-0.68,-146.0,2328,1993,3556,3459,516.4,-14.3,330,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1993,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-0.68,-146.0,2328,1993,3556,3459,559.8,-14.4,345,3713,0.00,2.25,0.00,0.000,516,0.000,0.070,2328,585,3507,3556,3459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3756,-0.68,-146.0,2328,585,3556,3459,565.7,-14.6,347,3761,0.12,2.25,0.00,0.000,3078,0.181,0.059,2347,2010,3507,3556,3459,0,0,0,0,0,0,26.32,26.44,28.83
$GC,4069,-0.68,-146.0,2347,2011,3555,3459,605.1,-12.2,363,4075,0.00,2.28,0.00,0.000,516,0.000,0.071,2348,587,3507,3556,3459,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4101,-0.68,-146.0,2347,587,3556,3459,607.5,-12.2,364,4109,0.00,2.28,0.00,0.000,1030,0.000,0.060,2339,1995,3507,3556,3459,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4409,-0.68,-146.0,2339,1996,3556,3459,648.9,-13.2,380,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1996,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.68,-146.0,2339,1996,3556,3459,688.7,-13.3,395,4715,0.00,2.28,0.00,0.000,516,0.000,0.072,2339,584,3507,3556,3459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4742,-0.68,-146.0,2339,584,3556,3459,691.5,-13.6,396,4749,0.00,2.25,0.00,0.000,1030,0.000,0.060,2330,2000,3507,3556,3459,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5049,-0.68,-146.0,2329,2000,3556,3459,736.4,-14.2,412,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1999,3507,3556,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5349,-0.68,-146.0,2329,1999,3556,3458,779.7,-14.6,427,5355,0.00,2.28,0.00,0.000,516,0.000,0.073,2329,581,3507,3556,3458,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5398,-0.68,-146.0,2329,581,3556,3458,785.9,-14.7,429,5403,0.08,2.28,0.00,0.000,3078,0.164,0.061,2344,1992,3506,3556,3457,0,0,0,0,0,0,26.33,26.45,28.83
$GC,5711,-0.68,-146.0,2343,1993,3556,3456,827.2,-12.8,445,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1993,3506,3556,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6011,-0.68,-146.0,2343,1993,3556,3456,862.9,-11.3,460,6016,0.00,2.28,0.00,0.000,516,0.000,0.073,2344,584,3506,3556,3456,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6053,-0.68,-146.0,1560,582,3550,3454,867.6,-11.5,462,6057,0.00,2.28,0.00,0.000,1030,0.000,0.061,2336,1995,3505,3555,3456,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6371,-0.68,-146.0,2336,1995,3555,3456,903.8,-11.3,478,6377,0.00,2.25,0.00,0.000,516,0.000,0.073,2336,587,3505,3555,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6404,-0.68,-146.0,2335,587,3555,3455,906.2,-11.4,479,6411,0.00,2.25,0.00,0.000,1030,0.000,0.062,2326,1999,3505,3555,3455,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6711,-0.68,-146.0,2325,1999,3554,3455,945.5,-12.3,495,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1999,3505,3555,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,-0.68,-146.0,2325,1999,3554,3455,981.5,-12.0,510,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2000,3504,3554,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7171,begin apogee
$GC,7175,-0.14,0.0,2325,1863,3554,3454,1000.6,-11.9,518,7311,0.62,0.00,129.00,1.789,10246,0.143,0.000,2521,1863,2911,2986,2836,0,0,0,0,0,0,26.34,28.83,23.39
$STATE,7312,end apogee,CONTROL_FINISHED_OK
$STATE,7312,begin climb
$GC,7314,0.68,146.0,2520,1863,2986,2836,1006.0,0.0,525,7459,0.73,2.65,136.80,1.763,10756,0.050,0.073,2807,445,2312,2372,2252,0,0,0,0,0,0,24.55,23.34,22.39
$GC,7593,0.68,146.0,2807,445,2365,2247,981.7,17.1,539,7599,0.00,2.42,0.00,0.000,1030,0.000,0.061,2807,1870,2305,2365,2246,0,0,0,0,0,0,28.83,24.70,28.83
$GC,7912,0.68,146.0,2807,1870,2365,2241,928.8,15.7,555,7918,0.00,2.35,0.00,0.000,260,0.000,0.069,2807,3288,2303,2365,2241,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8074,0.68,146.0,2807,3288,2364,2241,902.5,16.4,563,8079,0.00,2.38,0.00,0.000,1030,0.000,0.062,2817,1870,2302,2363,2241,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8392,0.68,146.0,2817,1869,2363,2238,852.4,15.5,579,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1869,2300,2363,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,0.68,146.0,2817,1869,2363,2237,805.6,15.7,594,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1869,2300,2363,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,0.68,146.0,2817,1869,2364,2236,759.5,15.6,609,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1869,2299,2363,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,0.68,146.0,2817,1869,2363,2235,714.8,15.0,624,9298,0.00,2.30,0.00,0.000,260,0.000,0.070,2817,3292,2299,2363,2235,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9335,0.68,146.0,2817,3292,2362,2235,708.6,15.2,626,9339,0.15,2.30,0.00,0.000,5126,0.221,0.062,2795,1858,2298,2362,2235,0,0,0,0,0,0,26.04,26.20,28.83
$GC,9652,0.68,146.0,2795,1858,2362,2235,663.6,14.0,642,9656,0.00,2.30,0.00,0.000,260,0.000,0.070,2793,3287,2298,2362,2234,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9749,0.68,146.0,2794,3287,2362,2234,649.5,14.8,647,9754,0.00,2.25,0.00,0.000,1030,0.000,0.061,2803,1871,2298,2362,2234,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10068,0.68,146.0,2802,1870,2362,2234,604.1,14.0,663,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1871,2298,2362,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10368,0.68,146.0,2802,1870,2362,2234,562.3,13.8,678,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1871,2298,2362,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10668,0.68,146.0,2802,1870,2362,2234,521.9,13.2,693,10674,0.00,2.28,0.00,0.000,260,0.000,0.069,2803,3292,2298,2362,2234,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10736,0.68,146.0,2802,3292,2362,2234,513.4,14.0,696,10740,0.00,2.30,0.00,0.000,1030,0.000,0.061,2813,1869,2298,2362,2234,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,14848,end climb,SURFACE_DEPTH_REACHED
$STATE,14848,begin surface coast
$FINISH,-0.2,1.026514
$STATE,14874,end surface coast,CONTROL_FINISHED_OK
$STATE,14874,begin surface
$SM_CCo,14890,32.40,0.148,0,0,1966,230.09
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$IRIDIUM_FIX,-4250.85,829.51,181008,040421
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.10
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,17.302
$10V_AH,10.2,14.371
$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
$DEVICE_SECS,17.650,123.225,265.800,32.400,0.000,26.207,19.710,190.566,49.250,0.000,17.898,3008.807,8823.342,445.113,2844.910,152.610,0.000,1551.705,0.000,2368.895,0.000,296.180,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.267,73.419,667.030,1696.486,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352736
$DATA_FILE_SIZE,70307,1128
$CAP_FILE_SIZE,161711,0
$CFSIZE,259248128,251703296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.201, 40.5,1
$GPS,221215,234321,-4304.587,829.279,68,0.9,68,-25.0