version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 106
start: 12 26 115 10 24 7
data:
$ID,542
$MISSION,12
$DIVE,106
$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,-29782.883
$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,22
$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
$GPS1,261215,101703,-4300.190,836.790,78,1.0,78,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.0
$GPS2,261215,102341,-4300.180,836.916,21,1.6,21,-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,235.9,7182,-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,-146.0,179,1985,1977,1910,0.0,0.0,0,73,0.00,0.00,-56.58,0.000,16390,0.000,0.000,179,1984,3506,3549,3464,0,0,0,0,0,0,28.83,28.83,26.36
$GC,76,-0.68,-146.0,179,1983,3550,3465,4.5,-9.4,7,93,8.23,2.33,0.00,0.000,2308,0.225,0.060,2332,3407,3508,3551,3466,0,0,0,0,0,0,25.64,25.94,28.83
$GC,138,-0.68,-146.0,2332,3407,3554,3466,24.3,-15.7,16,148,0.00,2.28,0.00,0.000,1030,0.000,0.054,2332,1997,3510,3554,3466,0,0,0,0,0,0,28.83,26.01,28.83
$GC,291,-0.68,-146.0,1424,1995,3547,3464,51.4,-16.7,41,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1997,3510,3554,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,625,-0.68,-146.0,2332,1997,3555,3466,111.0,-17.0,96,634,0.00,2.22,0.00,0.000,516,0.000,0.064,2333,587,3510,3555,3466,0,0,0,0,0,0,28.83,26.15,28.83
$GC,676,-0.68,-146.0,2332,587,3555,3466,119.5,-15.4,101,687,0.00,2.22,0.00,0.000,1030,0.000,0.054,2322,2004,3510,3555,3466,0,0,0,0,0,0,28.83,26.17,28.83
$GC,986,-0.68,-146.0,2322,2004,3555,3466,172.0,-17.6,132,990,0.00,2.28,0.00,0.000,516,0.000,0.063,2322,574,3511,3556,3467,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1022,-0.68,-146.0,2322,574,3556,3466,178.6,-18.2,135,1027,0.15,2.22,0.00,0.000,3078,0.181,0.054,2349,1994,3511,3556,3466,0,0,0,0,0,0,26.06,26.23,28.83
$GC,1328,-0.68,-146.0,2349,1994,3556,3466,224.2,-13.8,165,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1994,3511,3557,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.68,-146.0,2349,1994,3557,3466,265.0,-13.1,195,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1994,3511,3557,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,-0.68,-146.0,2349,1994,3557,3466,302.7,-12.6,225,1937,0.00,2.25,0.00,0.000,516,0.000,0.063,2349,577,3511,3557,3466,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1982,-0.68,-146.0,2349,577,3556,3466,309.3,-12.8,230,1991,0.00,2.25,0.00,0.000,1030,0.000,0.054,2341,1989,3511,3557,3466,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2291,-0.68,-146.0,2341,1989,3557,3466,352.0,-14.0,261,2300,0.00,2.25,0.00,0.000,516,0.000,0.064,2341,572,3511,3557,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2344,-0.68,-146.0,2340,572,3557,3466,359.6,-13.7,266,2354,0.00,2.22,0.00,0.000,1030,0.000,0.054,2330,1995,3512,3558,3466,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2654,-0.68,-146.0,2331,1995,3557,3466,403.0,-14.0,296,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1995,3511,3557,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2955,-0.68,-146.0,2330,1995,3558,3466,445.4,-13.9,311,2961,0.00,2.25,0.00,0.000,516,0.000,0.066,2331,572,3512,3558,3466,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3035,-0.68,-146.0,2330,572,3557,3466,456.4,-13.8,315,3041,0.12,2.22,0.00,0.000,3078,0.180,0.056,2350,1994,3512,3558,3466,0,0,0,0,0,0,26.22,26.37,28.83
$GC,3354,-0.68,-146.0,2350,1995,3557,3466,493.4,-11.5,331,3358,0.00,2.25,0.00,0.000,516,0.000,0.067,2350,574,3511,3557,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3378,-0.68,-146.0,2349,574,3557,3466,495.3,-11.6,332,3382,0.00,2.22,0.00,0.000,1030,0.000,0.057,2342,1994,3511,3557,3466,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3690,-0.68,-146.0,2342,1994,3557,3466,535.5,-13.0,348,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1994,3511,3557,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-0.68,-146.0,2341,1994,3557,3465,574.5,-12.8,363,3996,0.00,2.25,0.00,0.000,516,0.000,0.067,2342,585,3511,3557,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4034,-0.68,-146.0,2342,585,3557,3466,580.0,-13.1,365,4038,0.00,2.28,0.00,0.000,1030,0.000,0.057,2332,1995,3511,3557,3466,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4351,-0.68,-146.0,2332,1995,3557,3466,624.4,-14.1,381,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1995,3511,3557,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.68,-146.0,2332,1995,3557,3465,667.2,-14.2,396,4658,0.00,2.25,0.00,0.000,516,0.000,0.068,2332,581,3511,3557,3465,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4692,-0.68,-146.0,2331,581,3557,3465,673.0,-14.4,398,4698,0.00,2.22,0.00,0.000,1030,0.000,0.060,2322,1995,3511,3558,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5013,-0.68,-146.0,2322,1995,3557,3464,721.3,-15.2,414,5015,0.10,0.00,0.00,0.000,2054,0.195,0.000,2345,1996,3510,3557,3464,0,0,0,0,0,0,26.34,28.83,28.83
$GC,5312,-0.68,-146.0,2344,1996,3557,3464,760.2,-12.6,429,5318,0.00,2.28,0.00,0.000,516,0.000,0.070,2345,578,3510,3557,3463,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5375,-0.68,-146.0,2344,578,3557,3463,768.0,-12.7,432,5379,0.00,2.25,0.00,0.000,1030,0.000,0.060,2336,2002,3510,3557,3463,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5687,-0.68,-146.0,2336,2002,3557,3463,810.0,-13.3,448,5693,0.00,2.28,0.00,0.000,516,0.000,0.070,2336,582,3509,3557,3462,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5719,-0.68,-146.0,2336,582,3557,3463,812.8,-13.4,449,5728,0.00,2.28,0.00,0.000,1030,0.000,0.060,2326,2017,3509,3557,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6027,-0.68,-146.0,2326,2016,3557,3462,857.9,-14.1,465,6031,0.00,2.30,0.00,0.000,516,0.000,0.070,2326,585,3509,3557,3462,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6084,-0.68,-146.0,2326,584,3557,3462,866.1,-14.5,468,6091,0.12,2.22,0.00,0.000,3078,0.177,0.060,2346,1993,3509,3557,3462,0,0,0,0,0,0,26.25,26.39,28.83
$GC,6403,-0.68,-146.0,2346,1993,3557,3461,904.5,-11.8,484,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1993,3509,3557,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6704,-0.68,-146.0,2346,1993,3557,3460,938.1,-10.9,499,6709,0.00,2.28,0.00,0.000,516,0.000,0.073,2346,580,3508,3557,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6733,-0.68,-146.0,2346,580,3557,3460,940.4,-10.9,500,6737,0.00,2.28,0.00,0.000,1030,0.000,0.061,2338,2012,3508,3557,3460,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7047,-0.68,-146.0,2338,2012,3557,3460,975.9,-10.8,516,7052,0.00,2.28,0.00,0.000,516,0.000,0.073,2338,589,3508,3557,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7086,-0.68,-146.0,2338,588,3556,3460,980.4,-11.1,518,7092,0.00,2.22,0.00,0.000,1030,0.000,0.062,2328,1993,3508,3557,3460,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7264,begin apogee
$GC,7269,-0.14,0.0,2328,1856,3556,3460,1000.7,-11.4,527,7406,0.62,0.00,130.05,1.804,10246,0.142,0.000,2523,1856,2910,2989,2831,0,0,0,0,0,0,26.22,28.83,23.37
$STATE,7407,end apogee,CONTROL_FINISHED_OK
$STATE,7407,begin climb
$GC,7408,0.68,146.0,2522,1856,2989,2831,1005.9,0.0,534,7553,0.75,2.62,137.50,1.769,10500,0.046,0.067,2805,3281,2313,2378,2248,0,0,0,0,0,0,24.51,23.34,22.40
$GC,7593,0.68,146.0,2805,3281,2374,2245,998.9,11.7,543,7601,0.00,2.47,0.00,0.000,1030,0.000,0.059,2816,1875,2309,2374,2244,0,0,0,0,0,0,28.83,24.12,28.83
$GC,7900,0.68,146.0,2815,1875,2373,2235,944.1,16.8,559,7905,0.00,2.38,0.00,0.000,260,0.000,0.067,2816,3292,2304,2373,2235,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7944,0.68,146.0,2815,3292,2371,2235,937.9,16.6,561,7949,0.12,2.40,0.00,0.000,5126,0.206,0.062,2794,1871,2303,2372,2235,0,0,0,0,0,0,25.24,25.39,28.83
$GC,8257,0.68,146.0,2794,1870,2372,2234,886.6,15.9,577,8261,0.00,2.33,0.00,0.000,260,0.000,0.068,2794,3285,2303,2372,2234,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8416,0.68,146.0,2793,3285,2371,2234,860.7,16.5,585,8420,0.00,2.30,0.00,0.000,1030,0.000,0.061,2803,1867,2302,2371,2233,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8733,0.68,146.0,2802,1867,2371,2232,810.4,15.5,601,8737,0.00,2.30,0.00,0.000,260,0.000,0.067,2802,3287,2301,2371,2232,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8802,0.68,146.0,2802,3286,2371,2232,801.2,16.2,604,8809,0.00,2.30,0.00,0.000,1030,0.000,0.060,2813,1859,2301,2371,2232,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9109,0.68,146.0,2813,1860,2370,2231,750.5,15.4,620,9115,0.00,2.30,0.00,0.000,260,0.000,0.067,2813,3285,2301,2370,2232,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9209,0.68,146.0,2813,3285,2370,2231,734.3,16.2,625,9214,0.15,2.25,0.00,0.000,5126,0.220,0.060,2791,1869,2301,2370,2232,0,0,0,0,0,0,25.94,26.14,28.83
$GC,9526,0.68,146.0,2790,1868,2370,2231,689.2,14.2,641,9530,0.00,2.28,0.00,0.000,260,0.000,0.068,2781,3285,2300,2370,2231,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9610,0.68,146.0,2781,3285,2370,2231,678.1,14.5,645,9614,0.00,2.25,0.00,0.000,1030,0.000,0.060,2790,1870,2300,2370,2231,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9922,0.68,146.0,2790,1870,2370,2230,633.5,13.7,661,9926,0.00,2.28,0.00,0.000,260,0.000,0.068,2790,3286,2300,2370,2230,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10041,0.68,146.0,2790,3287,2370,2230,616.6,14.6,667,10045,0.00,2.25,0.00,0.000,1030,0.000,0.060,2800,1869,2300,2370,2230,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10353,0.68,146.0,2800,1869,2370,2229,572.6,14.1,683,10357,0.00,2.28,0.00,0.000,260,0.000,0.067,2800,3288,2299,2369,2229,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10509,0.68,146.0,2799,3288,2369,2229,549.5,14.8,691,10513,0.00,2.25,0.00,0.000,1030,0.000,0.060,2810,1868,2299,2369,2229,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,14897,end climb,SURFACE_DEPTH_REACHED
$STATE,14897,begin surface coast
$FINISH,-0.3,1.026065
$STATE,14936,end surface coast,CONTROL_FINISHED_OK
$STATE,14936,begin surface
$SM_CCo,14949,32.28,0.145,0,0,1967,230.09
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$IRIDIUM_FIX,-4244.98,834.47,211008,191939
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.37
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,20.496
$10V_AH,10.2,16.782
$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
$DEVICE_SECS,17.375,127.900,267.550,32.275,0.000,25.492,47.919,210.988,49.250,0.000,21.727,3062.330,8681.553,467.723,3001.167,164.783,0.000,1618.770,0.000,2482.107,0.000,297.059,0.000
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$SENSOR_SECS,798.745,73.628,677.399,1719.039,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352752
$DATA_FILE_SIZE,73519,1140
$CAP_FILE_SIZE,167126,0
$CFSIZE,259248128,250097664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138, 42.7,1
$GPS,261215,143533,-4301.219,836.832,68,0.9,68,-25.1