version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 87
start: 12 22 115 23 50 1
data:
$ID,542
$MISSION,12
$DIVE,87
$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,-29758.967
$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,20
$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
$GPS1,221215,234321,-4304.587,829.279,68,0.9,68,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.3
$GPS2,221215,234935,-4304.545,829.401,20,1.1,20,-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,262.0,7377,-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,-146.0,162,1996,1964,1918,0.0,0.0,0,73,0.00,0.00,-56.17,0.000,16390,0.000,0.000,162,1997,3505,3554,3457,0,0,0,0,0,0,28.83,28.83,26.39
$GC,76,-0.68,-146.0,162,1997,3555,3462,4.5,-8.7,7,93,8.18,2.28,0.00,0.000,2308,0.223,0.050,2331,3423,3509,3554,3464,0,0,0,0,0,0,25.76,26.03,28.83
$GC,101,-0.68,-146.0,2331,3424,3555,3464,17.0,-38.4,10,110,0.00,2.33,0.00,0.000,1030,0.000,0.057,2338,1992,3509,3555,3464,0,0,0,0,0,0,28.83,26.02,28.83
$GC,163,-0.68,-146.0,2338,1992,3555,3464,30.4,-18.4,19,171,0.00,2.33,0.00,0.000,516,0.000,0.069,2338,583,3509,3555,3464,0,0,0,0,0,0,28.83,26.02,28.83
$GC,216,-0.68,-146.0,2338,583,3555,3464,39.5,-15.3,27,226,0.00,2.28,0.00,0.000,1030,0.000,0.055,2330,1992,3509,3555,3464,0,0,0,0,0,0,28.83,26.07,28.83
$GC,360,-0.68,-146.0,2330,1992,3556,3464,64.0,-17.5,52,370,0.00,2.33,0.00,0.000,516,0.000,0.067,2330,577,3510,3556,3464,0,0,0,0,0,0,28.83,26.10,28.83
$GC,432,-0.68,-146.0,2330,577,3556,3464,76.6,-16.5,64,441,0.08,2.30,0.00,0.000,3078,0.176,0.055,2343,2005,3509,3556,3463,0,0,0,0,0,0,26.01,26.14,28.83
$GC,762,-0.68,-146.0,2342,2005,3557,3464,128.0,-15.0,108,771,0.00,2.28,0.00,0.000,516,0.000,0.066,2343,582,3510,3557,3464,0,0,0,0,0,0,28.83,26.20,28.83
$GC,797,-0.68,-146.0,2342,582,3557,3464,132.8,-14.9,111,804,0.00,2.25,0.00,0.000,1030,0.000,0.054,2334,2004,3510,3557,3464,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1104,-0.68,-146.0,2334,2004,3557,3464,181.7,-16.5,142,1113,0.00,2.25,0.00,0.000,516,0.000,0.067,2334,585,3511,3558,3464,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1147,-0.68,-146.0,1568,585,3552,3462,188.7,-16.8,146,1156,0.00,2.25,0.00,0.000,1030,0.000,0.054,2324,1988,3511,3558,3464,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1458,-0.68,-146.0,2324,1988,3558,3464,240.2,-16.8,177,1467,0.00,2.22,0.00,0.000,516,0.000,0.066,2324,583,3511,3559,3464,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1491,-0.68,-146.0,2324,583,3558,3464,246.2,-17.3,180,1500,0.10,2.28,0.00,0.000,3078,0.164,0.055,2345,2000,3511,3559,3464,0,0,0,0,0,0,26.20,26.33,28.83
$GC,1800,-0.68,-146.0,2345,2001,3559,3464,290.1,-14.2,211,1808,0.00,2.25,0.00,0.000,516,0.000,0.067,2345,585,3511,3559,3464,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1852,-0.68,-146.0,2345,585,3559,3464,297.6,-13.9,216,1856,0.00,2.20,0.00,0.000,1030,0.000,0.056,2336,1995,3511,3559,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2157,-0.68,-146.0,2336,1995,3559,3464,339.2,-13.3,246,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1995,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.68,-146.0,2336,1995,3561,3464,379.6,-13.6,276,2461,0.00,2.25,0.00,0.000,516,0.000,0.067,2336,574,3512,3560,3464,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2493,-0.68,-146.0,2336,574,3560,3464,384.7,-14.2,279,2498,0.00,2.22,0.00,0.000,1030,0.000,0.056,2327,1998,3512,3560,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2799,-0.68,-146.0,2326,1999,3560,3464,429.7,-14.7,299,2803,0.00,2.25,0.00,0.000,516,0.000,0.067,2327,585,3512,3560,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2864,-0.68,-146.0,2327,585,3561,3464,438.1,-14.5,302,2869,0.12,2.25,0.00,0.000,3078,0.182,0.057,2346,1988,3512,3560,3464,0,0,0,0,0,0,26.29,26.41,28.83
$GC,3177,-0.68,-146.0,2346,1988,3560,3464,479.7,-13.0,318,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1989,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,-0.68,-146.0,2346,1988,3560,3464,519.6,-13.4,333,3482,0.00,2.25,0.00,0.000,516,0.000,0.070,2346,579,3512,3560,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3526,-0.68,-146.0,2346,578,3560,3464,525.0,-13.2,335,3531,0.00,2.28,0.00,0.000,1030,0.000,0.059,2338,1993,3512,3560,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3841,-0.68,-146.0,2338,1994,3560,3464,570.0,-14.7,351,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1994,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.68,-146.0,2338,1994,3560,3463,613.4,-14.2,366,4145,0.00,2.25,0.00,0.000,516,0.000,0.071,2338,585,3512,3560,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4211,-0.68,-146.0,2338,585,3560,3463,621.9,-14.2,369,4219,0.00,2.25,0.00,0.000,1030,0.000,0.060,2328,2004,3512,3560,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4519,-0.68,-146.0,2328,2005,3560,3464,667.8,-14.2,385,4525,0.00,2.28,0.00,0.000,516,0.000,0.071,2327,585,3512,3560,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4563,-0.68,-146.0,2328,585,3559,3464,673.7,-14.4,387,4568,0.12,2.22,0.00,0.000,3078,0.184,0.060,2347,1995,3512,3560,3464,0,0,0,0,0,0,26.32,26.44,28.83
$GC,4877,-0.68,-146.0,2347,1996,3560,3463,711.0,-11.6,403,4883,0.00,2.25,0.00,0.000,516,0.000,0.072,2348,583,3512,3560,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4905,-0.68,-146.0,2347,582,3560,3464,713.4,-11.6,404,4909,0.00,2.22,0.00,0.000,1030,0.000,0.060,2339,1995,3511,3560,3463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5211,-0.68,-146.0,2339,1995,3560,3464,751.3,-12.1,419,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1995,3512,3560,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.68,-146.0,2339,1995,3560,3462,786.5,-11.9,434,5517,0.00,2.22,0.00,0.000,516,0.000,0.073,2339,589,3511,3560,3462,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5552,-0.68,-146.0,2339,589,3560,3462,791.4,-12.2,436,5557,0.00,2.28,0.00,0.000,1030,0.000,0.061,2329,2000,3511,3560,3462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5871,-0.68,-146.0,2329,1999,3559,3462,831.5,-12.9,452,5877,0.00,2.28,0.00,0.000,516,0.000,0.073,2329,587,3510,3559,3462,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5931,-0.68,-146.0,2329,586,3558,3461,839.6,-13.2,455,5936,0.12,2.22,0.00,0.000,3078,0.184,0.061,2349,1996,3509,3558,3461,0,0,0,0,0,0,26.33,26.44,28.83
$GC,6248,-0.68,-146.0,2349,1997,3558,3460,873.8,-10.7,471,6252,0.00,2.28,0.00,0.000,516,0.000,0.072,2349,580,3509,3558,3461,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6331,-0.68,-146.0,2349,579,3558,3460,882.1,-11.0,475,6336,0.00,2.28,0.00,0.000,1030,0.000,0.062,2341,2012,3509,3558,3460,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6644,-0.68,-146.0,2340,2013,3558,3460,917.6,-11.2,491,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2013,3508,3557,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,-0.68,-146.0,2340,2013,3557,3460,950.1,-10.9,506,6951,0.00,2.28,0.00,0.000,516,0.000,0.073,2341,587,3509,3558,3460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6998,-0.68,-146.0,2340,587,3557,3460,954.6,-11.1,508,7005,0.00,2.25,0.00,0.000,1030,0.000,0.063,2331,2002,3508,3557,3460,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7306,-0.68,-146.0,2330,2003,3557,3459,990.8,-11.3,524,7311,0.00,2.28,0.00,0.000,516,0.000,0.073,2331,582,3508,3557,3460,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7337,-0.68,-146.0,2330,582,3557,3460,993.2,-11.5,525,7346,0.12,2.25,0.00,0.000,3078,0.182,0.063,2350,1995,3508,3557,3460,0,0,0,0,0,0,26.32,26.45,28.83
$STATE,7403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7403,begin apogee
$GC,7407,-0.14,0.0,2350,1859,3557,3459,1001.7,-10.5,529,7544,0.55,0.00,130.62,1.792,10246,0.135,0.000,2525,1859,2908,2983,2834,0,0,0,0,0,0,26.34,28.83,23.39
$STATE,7545,end apogee,CONTROL_FINISHED_OK
$STATE,7545,begin climb
$GC,7547,0.68,146.0,2525,1859,2983,2834,1007.4,0.0,536,7693,0.73,2.67,136.25,1.760,10500,0.045,0.067,2807,3284,2313,2372,2254,0,0,0,0,0,0,24.54,23.35,22.39
$GC,8058,0.68,146.0,2807,3284,2370,2240,942.5,17.6,561,8066,0.00,2.35,0.00,0.000,1030,0.000,0.060,2817,1873,2305,2370,2240,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8365,0.68,146.0,2817,1873,2369,2237,889.3,16.2,577,8371,0.00,2.33,0.00,0.000,260,0.000,0.067,2817,3290,2303,2369,2237,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8428,0.68,146.0,2817,3290,2369,2237,879.2,16.7,580,8433,0.10,2.38,0.00,0.000,5126,0.216,0.061,2791,1863,2303,2369,2237,0,0,0,0,0,0,25.63,25.78,28.83
$GC,8745,0.68,146.0,2791,1863,2369,2235,832.5,14.6,596,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1863,2302,2369,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9045,0.68,146.0,2791,1863,2369,2234,789.2,14.6,611,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1863,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9345,0.68,146.0,2791,1863,2368,2234,747.3,14.0,626,9351,0.00,2.30,0.00,0.000,260,0.000,0.068,2781,3287,2301,2368,2234,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9465,0.68,146.0,2781,3286,2368,2234,729.9,14.7,632,9469,0.00,2.28,0.00,0.000,1030,0.000,0.061,2790,1861,2300,2367,2234,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9781,0.68,146.0,2791,1861,2368,2233,684.5,14.7,648,9785,0.00,2.30,0.00,0.000,260,0.000,0.069,2782,3289,2300,2367,2233,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9940,0.68,146.0,2781,3289,2367,2233,660.9,14.9,656,9944,0.00,2.30,0.00,0.000,1030,0.000,0.060,2791,1876,2300,2367,2233,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10257,0.68,146.0,2790,1876,2365,2233,614.6,14.0,672,10263,0.00,2.25,0.00,0.000,260,0.000,0.068,2781,3283,2299,2366,2233,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,15158,end climb,SURFACE_DEPTH_REACHED
$STATE,15158,begin surface coast
$FINISH,-0.2,1.026502
$STATE,15190,end surface coast,CONTROL_FINISHED_OK
$STATE,15190,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,51.02
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$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,17.457
$10V_AH,10.2,14.493
$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
$DEVICE_SECS,17.375,136.875,266.875,32.500,0.000,25.143,44.029,187.230,49.250,0.000,21.221,3068.871,8931.522,458.316,2989.866,161.864,0.000,1629.273,0.000,2491.001,0.000,295.695,0.000
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,73635,1140
$CAP_FILE_SIZE,168956,0
$CFSIZE,259248128,251617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179, 39.5,1
$GPS,231215,040504,-4304.761,828.639,29,1.5,29,-25.0