version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 103
start: 12 25 115 21 3 30
data:
$ID,542
$MISSION,12
$DIVE,103
$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,-29779.123
$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,28
$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
$GPS1,251215,205705,-4256.144,835.793,166,1.0,166,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.6
$GPS2,251215,210304,-4256.119,835.883,18,1.0,18,-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,244.5,14597,-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,-146.0,164,2002,1985,1901,0.0,0.0,0,67,0.00,0.00,-49.58,0.000,16386,0.000,0.000,164,2002,3288,3353,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,164,2002,3353,3223,3.1,-5.2,6,87,8.05,2.33,-4.47,0.000,18692,0.215,0.073,2333,3410,3507,3561,3454,0,0,0,0,0,0,25.69,26.00,26.34
$GC,177,-0.68,-146.0,2333,3411,3561,3457,32.3,-19.0,22,186,0.00,2.28,0.00,0.000,1030,0.000,0.054,2333,1997,3509,3561,3457,0,0,0,0,0,0,28.83,26.05,28.83
$GC,322,-0.68,-146.0,2333,1998,3561,3457,60.4,-19.6,47,329,0.00,2.28,0.00,0.000,516,0.000,0.066,2333,580,3509,3561,3457,0,0,0,0,0,0,28.83,26.08,28.83
$GC,372,-0.68,-146.0,2333,580,3561,3458,68.5,-14.7,56,381,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,1983,3509,3561,3458,0,0,0,0,0,0,28.83,26.12,28.83
$GC,697,-0.68,-146.0,2322,1983,3561,3459,125.6,-17.2,103,705,0.00,2.22,0.00,0.000,516,0.000,0.064,2323,579,3510,3561,3459,0,0,0,0,0,0,28.83,26.17,28.83
$GC,772,-0.68,-146.0,2323,580,3561,3459,138.5,-16.7,110,781,0.10,2.28,0.00,0.000,3078,0.168,0.054,2343,1999,3510,3561,3459,0,0,0,0,0,0,26.05,26.20,28.83
$GC,1081,-0.68,-146.0,2343,1998,3561,3460,184.0,-15.1,141,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1999,3510,3561,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1380,-0.68,-146.0,2342,1998,3561,3460,229.3,-14.7,171,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1999,3510,3561,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1681,-0.68,-146.0,2343,1998,3562,3460,271.4,-14.0,201,1690,0.00,2.28,0.00,0.000,516,0.000,0.065,2343,568,3511,3562,3460,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1736,-0.68,-146.0,2343,567,3562,3460,278.8,-13.8,206,1743,0.00,2.28,0.00,0.000,1030,0.000,0.054,2335,1990,3511,3562,3460,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2045,-0.68,-146.0,2335,1990,3562,3460,323.0,-14.7,237,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1990,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.68,-146.0,2334,1990,3562,3460,365.1,-13.4,267,2353,0.00,2.25,0.00,0.000,516,0.000,0.066,2335,574,3511,3562,3461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2389,-0.68,-146.0,2335,574,3562,3460,370.7,-13.7,271,2397,0.00,2.28,0.00,0.000,1030,0.000,0.055,2325,1995,3511,3562,3461,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2697,-0.68,-146.0,2324,1995,3562,3460,414.8,-14.6,297,2701,0.00,2.22,0.00,0.000,516,0.000,0.066,2325,584,3511,3562,3461,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2726,-0.68,-146.0,2325,584,3562,3460,417.1,-14.7,298,2734,0.08,2.25,0.00,0.000,3078,0.163,0.056,2349,1991,3511,3562,3460,0,0,0,0,0,0,26.21,26.38,28.83
$GC,3034,-0.68,-146.0,2349,1991,3562,3460,455.3,-11.8,314,3040,0.00,2.25,0.00,0.000,516,0.000,0.067,2349,580,3511,3562,3461,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3061,-0.68,-146.0,2349,580,3562,3460,457.8,-11.9,315,3065,0.00,2.25,0.00,0.000,1030,0.000,0.057,2341,2010,3510,3561,3460,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3373,-0.68,-146.0,2341,2012,3562,3461,499.2,-13.1,331,3377,0.00,2.28,0.00,0.000,516,0.000,0.068,2341,584,3511,3562,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3422,-0.68,-146.0,2341,584,3562,3460,504.0,-13.3,333,3431,0.00,2.22,0.00,0.000,1030,0.000,0.057,2331,1997,3511,3562,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3730,-0.68,-146.0,2330,1997,3562,3460,547.3,-13.6,349,3735,0.00,2.25,0.00,0.000,516,0.000,0.069,2331,585,3511,3562,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3770,-0.68,-146.0,2330,585,3562,3460,552.9,-13.6,351,3775,0.12,2.22,0.00,0.000,3078,0.183,0.057,2350,2003,3511,3562,3460,0,0,0,0,0,0,26.25,26.39,28.83
$GC,4087,-0.68,-146.0,2350,2004,3562,3460,589.2,-11.6,367,4091,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,581,3511,3562,3460,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4115,-0.68,-146.0,2350,580,3562,3460,591.2,-11.8,368,4123,0.00,2.28,0.00,0.000,1030,0.000,0.059,2342,1993,3511,3562,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4423,-0.68,-146.0,2342,1993,3562,3460,631.7,-12.8,384,4429,0.00,2.28,0.00,0.000,516,0.000,0.070,2341,581,3511,3562,3460,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4467,-0.68,-146.0,2342,580,3562,3460,637.0,-13.0,386,4471,0.00,2.22,0.00,0.000,1030,0.000,0.058,2332,1993,3511,3562,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4779,-0.68,-146.0,2332,1994,3562,3460,678.3,-13.1,402,4785,0.00,2.25,0.00,0.000,516,0.000,0.069,2332,585,3510,3561,3460,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4820,-0.68,-146.0,2331,585,3562,3460,683.9,-13.4,404,4824,0.00,2.22,0.00,0.000,1030,0.000,0.060,2322,1998,3511,3562,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5136,-0.68,-146.0,2322,1998,3562,3460,727.6,-14.1,420,5143,0.12,2.28,0.00,0.000,2564,0.185,0.070,2357,584,3511,3562,3460,0,0,0,0,0,0,26.27,26.37,28.83
$GC,5165,-0.68,-146.0,2357,583,3562,3460,730.4,-14.0,421,5169,0.00,2.22,0.00,0.000,1030,0.000,0.060,2349,1996,3511,3562,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5472,-0.68,-146.0,2348,1996,3562,3460,765.6,-11.0,436,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,-0.68,-146.0,2348,1997,3561,3460,797.7,-10.8,451,5777,0.00,2.28,0.00,0.000,516,0.000,0.070,2348,580,3510,3561,3460,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5840,-0.68,-146.0,2348,579,3561,3460,804.7,-11.1,454,5844,0.00,2.25,0.00,0.000,1030,0.000,0.060,2338,1997,3510,3561,3460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6154,-0.68,-146.0,2338,1997,3561,3460,843.7,-12.3,470,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1997,3510,3561,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6454,-0.68,-146.0,2338,1997,3560,3460,880.5,-12.3,485,6459,0.00,2.25,0.00,0.000,516,0.000,0.072,2339,588,3510,3561,3460,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6496,-0.68,-146.0,2338,587,3560,3460,885.5,-12.4,487,6500,0.00,2.22,0.00,0.000,1030,0.000,0.061,2329,1995,3510,3560,3460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6807,-0.68,-146.0,2329,1995,3558,3458,924.4,-12.4,503,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-0.68,-146.0,2328,1995,3558,3458,962.3,-12.8,518,7114,0.00,2.25,0.00,0.000,516,0.000,0.073,2328,584,3508,3558,3458,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7135,-0.68,-146.0,2329,583,3557,3458,964.9,-12.9,519,7140,0.12,2.25,0.00,0.000,3078,0.181,0.062,2348,2001,3507,3557,3458,0,0,0,0,0,0,26.26,26.40,28.83
$GC,7447,-0.68,-146.0,2348,2002,3558,3457,999.2,-9.9,535,7451,0.00,2.28,0.00,0.000,516,0.000,0.073,2348,587,3507,3558,3457,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,7463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7463,begin apogee
$GC,7468,-0.14,0.0,2341,1877,3558,3457,1000.8,-10.0,536,7604,0.57,0.00,130.02,1.805,10246,0.136,0.000,2522,1877,2909,2987,2832,0,0,0,0,0,0,26.26,28.83,23.36
$STATE,7605,end apogee,CONTROL_FINISHED_OK
$STATE,7605,begin climb
$GC,7607,0.68,146.0,2522,1877,2987,2832,1006.4,0.0,543,7753,0.73,2.65,137.35,1.786,10756,0.054,0.073,2803,463,2313,2383,2243,0,0,0,0,0,0,24.48,23.33,22.39
$GC,7932,0.68,146.0,2803,462,2372,2237,977.7,16.1,559,7940,0.00,2.40,0.00,0.000,1030,0.000,0.061,2803,1872,2304,2372,2236,0,0,0,0,0,0,28.83,24.89,28.83
$GC,8240,0.68,146.0,2803,1872,2372,2232,928.4,14.8,575,8246,0.00,2.33,0.00,0.000,260,0.000,0.067,2803,3283,2302,2372,2232,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8422,0.68,146.0,2803,3282,2371,2231,900.1,15.9,584,8427,0.00,2.33,0.00,0.000,1030,0.000,0.060,2813,1860,2301,2371,2231,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8740,0.68,146.0,2813,1860,2371,2229,852.6,14.7,600,8744,0.00,2.33,0.00,0.000,260,0.000,0.067,2813,3288,2300,2371,2229,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8809,0.68,146.0,2813,3288,2371,2229,843.9,15.3,603,8816,0.15,2.30,0.00,0.000,5126,0.230,0.060,2792,1864,2300,2371,2229,0,0,0,0,0,0,25.77,25.97,28.83
$GC,9116,0.68,146.0,2792,1864,2371,2228,801.2,13.2,619,9120,0.00,2.30,0.00,0.000,260,0.000,0.067,2785,3285,2299,2371,2228,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9220,0.68,146.0,2785,3285,2371,2228,787.5,14.3,624,9224,0.00,2.33,0.00,0.000,1030,0.000,0.061,2794,1864,2299,2371,2228,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9532,0.68,146.0,2794,1864,2371,2227,744.0,13.8,640,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1864,2298,2370,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9832,0.68,146.0,2794,1864,2370,2227,702.8,13.5,655,9838,0.00,2.28,0.00,0.000,260,0.000,0.068,2795,3285,2298,2370,2227,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9934,0.68,146.0,2794,3285,2370,2227,688.0,15.0,660,9939,0.00,2.28,0.00,0.000,1030,0.000,0.060,2805,1856,2299,2371,2227,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10252,0.68,146.0,2805,1856,2370,2226,642.9,14.0,676,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1856,2298,2370,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15231,end climb,SURFACE_DEPTH_REACHED
$STATE,15231,begin surface coast
$FINISH,-0.1,1.026511
$STATE,15264,end surface coast,CONTROL_FINISHED_OK
$STATE,15264,begin surface
$SM_CCo,15278,32.20,0.151,0,0,1967,230.09
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$IRIDIUM_FIX,-4239.11,827.77,211008,060651
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.10
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,20.012
$10V_AH,10.2,16.404
$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
$DEVICE_SECS,17.350,145.550,267.375,32.200,0.000,31.134,23.603,186.148,49.250,0.000,19.081,3125.297,8889.506,458.135,3042.571,154.709,0.000,1637.726,0.000,2553.054,0.000,299.438,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.458,78.906,688.206,1748.280,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352692
$DATA_FILE_SIZE,73609,1162
$CAP_FILE_SIZE,172581,0
$CFSIZE,259248128,250335232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136, 29.5,1
$GPS,261215,012011,-4256.826,835.159,54,1.0,54,-25.1