version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 107
start: 12 26 115 14 42 12
data:
$ID,542
$MISSION,12
$DIVE,107
$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,-29784.141
$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,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
$GPS1,261215,143533,-4301.219,836.832,68,0.9,68,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.1
$GPS2,261215,144146,-4301.214,836.940,19,0.9,19,-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,233.8,5313,-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,-146.0,164,1996,1972,1908,0.0,0.0,0,74,0.00,0.00,-56.90,0.000,16390,0.000,0.000,163,1997,3506,3550,3463,0,0,0,0,0,0,28.83,28.83,26.39
$GC,76,-0.68,-146.0,163,1997,3550,3464,4.2,-7.6,7,94,8.23,2.28,0.00,0.000,2308,0.223,0.052,2334,3414,3508,3551,3465,0,0,0,0,0,0,25.67,25.99,28.83
$GC,183,-0.68,-146.0,2334,3414,3554,3465,30.6,-13.8,23,191,0.00,2.28,0.00,0.000,1030,0.000,0.054,2334,2000,3509,3554,3465,0,0,0,0,0,0,28.83,26.04,28.83
$GC,332,-0.68,-146.0,1448,1998,3547,3463,56.0,-18.1,48,340,0.00,2.30,0.00,0.000,516,0.000,0.066,2335,592,3509,3554,3465,0,0,0,0,0,0,28.83,26.06,28.83
$GC,387,-0.68,-146.0,2334,592,3554,3464,65.2,-15.8,57,395,0.00,2.25,0.00,0.000,1030,0.000,0.054,2324,1992,3509,3554,3465,0,0,0,0,0,0,28.83,26.10,28.83
$GC,714,-0.68,-146.0,2324,1993,3555,3465,125.4,-17.9,104,723,0.00,2.22,0.00,0.000,516,0.000,0.063,2325,587,3510,3555,3465,0,0,0,0,0,0,28.83,26.16,28.83
$GC,796,-0.68,-146.0,2324,586,3555,3465,140.6,-18.2,112,807,0.15,2.22,0.00,0.000,3078,0.181,0.054,2351,2004,3510,3555,3465,0,0,0,0,0,0,26.02,26.20,28.83
$GC,1106,-0.68,-146.0,2351,2005,3556,3465,185.6,-13.8,143,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,3510,3556,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1406,-0.68,-146.0,2351,2005,3557,3465,227.2,-12.9,173,1416,0.00,2.25,0.00,0.000,516,0.000,0.063,2351,582,3511,3557,3465,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1442,-0.68,-146.0,1552,582,3551,3463,231.5,-12.6,176,1450,0.00,2.28,0.00,0.000,1030,0.000,0.055,2343,1998,3510,3556,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1749,-0.68,-146.0,2342,1999,3557,3465,273.2,-13.2,207,1753,0.00,2.25,0.00,0.000,516,0.000,0.063,2342,582,3511,3557,3465,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1809,-0.68,-146.0,2342,582,3557,3465,281.0,-13.4,212,1818,0.00,2.25,0.00,0.000,1030,0.000,0.054,2333,1989,3511,3557,3465,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2117,-0.68,-146.0,2332,1988,3557,3465,327.1,-15.4,243,2121,0.00,2.22,0.00,0.000,516,0.000,0.064,2333,586,3511,3557,3465,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2166,-0.68,-146.0,1536,586,3552,3463,334.2,-15.6,247,2174,0.00,2.25,0.00,0.000,1030,0.000,0.055,2323,1991,3511,3557,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2474,-0.68,-146.0,2322,1991,3558,3465,381.8,-14.7,278,2483,0.00,2.22,0.00,0.000,516,0.000,0.065,2323,587,3511,3557,3465,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2517,-0.68,-146.0,1552,586,3552,3463,388.1,-15.3,282,2525,0.10,2.25,0.00,0.000,3078,0.160,0.056,2344,1992,3511,3557,3465,0,0,0,0,0,0,26.18,26.36,28.83
$GC,2826,-0.68,-146.0,2344,1993,3557,3465,428.8,-13.2,302,2831,0.00,2.25,0.00,0.000,516,0.000,0.067,2344,578,3511,3557,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2873,-0.68,-146.0,2344,578,3557,3465,434.2,-13.4,304,2877,0.00,2.25,0.00,0.000,1030,0.000,0.057,2336,2012,3511,3557,3465,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3182,-0.68,-146.0,2335,2014,3557,3465,477.7,-13.7,319,3187,0.00,2.25,0.00,0.000,516,0.000,0.067,2336,588,3511,3558,3465,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3208,-0.68,-146.0,2335,587,3557,3465,480.5,-13.9,320,3212,0.00,2.22,0.00,0.000,1030,0.000,0.057,2326,2000,3511,3558,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3521,-0.68,-146.0,2325,2001,3557,3465,527.8,-14.7,336,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2001,3511,3557,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.68,-146.0,2325,2001,3557,3465,571.2,-14.2,351,3827,0.00,2.25,0.00,0.000,516,0.000,0.069,2326,585,3510,3557,3464,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3888,-0.68,-146.0,2325,585,3557,3465,579.8,-14.4,354,3893,0.12,2.22,0.00,0.000,3078,0.186,0.058,2345,1995,3510,3557,3464,0,0,0,0,0,0,26.22,26.38,28.83
$GC,4200,-0.68,-146.0,2344,1995,3557,3464,618.6,-12.1,370,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1996,3510,3557,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.68,-146.0,2345,1995,3557,3464,655.2,-11.9,385,4507,0.00,2.22,0.00,0.000,516,0.000,0.069,2345,588,3511,3557,3465,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4541,-0.68,-146.0,2345,588,3557,3464,660.1,-12.1,387,4546,0.00,2.22,0.00,0.000,1030,0.000,0.059,2336,2001,3511,3557,3465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4861,-0.68,-146.0,2336,2001,3557,3464,701.3,-12.9,403,4866,0.00,2.28,0.00,0.000,516,0.000,0.070,2336,588,3510,3557,3464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4893,-0.68,-146.0,2336,588,3558,3464,704.0,-12.9,404,4901,0.00,2.28,0.00,0.000,1030,0.000,0.060,2327,1994,3510,3557,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5200,-0.68,-146.0,2326,1994,3557,3464,748.6,-14.1,420,5204,0.00,2.25,0.00,0.000,516,0.000,0.069,2327,588,3510,3557,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5249,-0.68,-146.0,2327,587,3557,3463,753.8,-14.3,422,5260,0.05,2.28,0.00,0.000,3078,0.142,0.060,2345,1993,3510,3557,3463,0,0,0,0,0,0,26.22,26.39,28.83
$GC,5556,-0.68,-146.0,2345,1993,3557,3462,793.1,-12.2,438,5562,0.00,2.25,0.00,0.000,516,0.000,0.070,2345,588,3510,3558,3462,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5584,-0.68,-146.0,2345,588,3557,3462,795.7,-12.2,439,5588,0.00,2.25,0.00,0.000,1030,0.000,0.060,2337,2007,3509,3557,3462,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5897,-0.68,-146.0,2337,2008,3557,3461,835.5,-12.5,455,5902,0.00,2.28,0.00,0.000,516,0.000,0.070,2337,587,3509,3557,3462,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5929,-0.68,-146.0,2337,588,3557,3461,838.0,-12.6,456,5939,0.00,2.28,0.00,0.000,1030,0.000,0.061,2327,1991,3509,3557,3462,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6236,-0.68,-146.0,2327,1991,3556,3461,879.7,-13.0,472,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1991,3509,3557,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,-0.68,-146.0,2327,1991,3557,3460,918.6,-13.0,487,6542,0.00,2.28,0.00,0.000,516,0.000,0.071,2327,578,3508,3556,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6579,-0.68,-146.0,1536,578,3550,3458,923.9,-13.1,489,6584,0.08,2.30,0.00,0.000,3078,0.163,0.062,2341,1994,3508,3556,3460,0,0,0,0,0,0,26.23,26.39,28.83
$GC,6896,-0.68,-146.0,2341,1994,3557,3460,959.9,-11.3,505,6900,0.00,2.28,0.00,0.000,516,0.000,0.071,2341,581,3508,3556,3460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6937,-0.68,-146.0,2341,581,3556,3460,964.1,-11.3,507,6941,0.00,2.25,0.00,0.000,1030,0.000,0.062,2333,2000,3508,3556,3460,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,7249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7249,begin apogee
$GC,7253,-0.14,0.0,2333,1862,3555,3459,1001.6,-11.9,523,7389,0.60,0.00,130.00,1.796,10246,0.142,0.000,2519,1861,2909,2986,2832,0,0,0,0,0,0,26.22,28.83,23.36
$STATE,7390,end apogee,CONTROL_FINISHED_OK
$STATE,7390,begin climb
$GC,7392,0.68,146.0,2519,1862,2986,2832,1008.2,0.0,530,7537,0.77,2.62,136.95,1.764,10500,0.049,0.067,2808,3282,2313,2378,2248,0,0,0,0,0,0,24.49,23.34,22.40
$GC,7697,0.68,146.0,2808,3282,2372,2241,981.7,17.2,545,7705,0.00,2.40,0.00,0.000,1030,0.000,0.058,2818,1868,2306,2372,2241,0,0,0,0,0,0,28.83,24.81,28.83
$GC,8004,0.68,146.0,2818,1868,2371,2236,928.0,16.9,561,8008,0.00,2.35,0.00,0.000,260,0.000,0.066,2818,3291,2304,2372,2236,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8129,0.68,146.0,2818,3290,2371,2235,908.0,17.1,567,8134,0.17,2.33,0.00,0.000,5126,0.221,0.060,2790,1870,2302,2370,2235,0,0,0,0,0,0,25.47,25.65,28.83
$GC,8436,0.68,146.0,2790,1869,2370,2234,862.0,14.0,582,8442,0.00,2.33,0.00,0.000,260,0.000,0.068,2781,3293,2302,2371,2234,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8548,0.68,146.0,2781,3294,2371,2234,847.6,14.5,587,8555,0.00,2.33,0.00,0.000,1030,0.000,0.060,2790,1860,2302,2370,2234,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8855,0.68,146.0,2790,1860,2370,2233,804.3,13.6,603,8859,0.00,2.33,0.00,0.000,260,0.000,0.067,2790,3295,2301,2370,2232,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9044,0.68,146.0,2789,3295,2370,2233,778.1,15.1,612,9052,0.00,2.30,0.00,0.000,1030,0.000,0.061,2800,1868,2301,2370,2232,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9351,0.68,146.0,2800,1867,2370,2232,731.9,14.5,628,9355,0.00,2.30,0.00,0.000,260,0.000,0.067,2800,3290,2300,2370,2231,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9410,0.68,146.0,1920,3288,2330,2226,723.3,15.2,631,9414,0.00,2.33,0.00,0.000,1030,0.000,0.060,2810,1866,2300,2370,2231,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9727,0.68,146.0,2810,1866,2370,2231,675.6,14.8,647,9732,0.00,2.28,0.00,0.000,260,0.000,0.067,2810,3287,2300,2370,2231,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9832,0.68,146.0,2810,3286,2369,2231,660.4,15.6,652,9836,0.12,2.28,0.00,0.000,5126,0.221,0.060,2796,1860,2300,2369,2231,0,0,0,0,0,0,26.03,26.23,28.83
$GC,10144,0.68,146.0,2795,1860,2369,2231,615.4,13.5,668,10150,0.00,2.30,0.00,0.000,260,0.000,0.067,2794,3292,2300,2369,2231,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
$FINISH,-0.2,1.025435
$STATE,15004,end surface coast,CONTROL_FINISHED_OK
$STATE,15004,begin surface
$SM_CCo,15019,32.38,0.144,0,0,1966,230.09
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$IRIDIUM_FIX,-4242.04,834.03,211008,232357
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.41
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,20.652
$10V_AH,10.2,16.905
$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
$DEVICE_SECS,17.550,145.650,266.950,32.375,0.000,25.085,40.409,186.149,49.250,0.000,20.546,3078.990,8618.516,489.788,3073.235,162.586,0.000,1685.602,0.000,2568.171,0.000,296.854,0.000
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$SENSOR_SECS,795.737,74.253,676.031,1712.535,0.000,0.000,0.000,0.000,0.000,0.000
$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,73461,1137
$CAP_FILE_SIZE,171754,0
$CFSIZE,259248128,250011648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089, 62.4,1
$GPS,261215,185533,-4302.757,836.840,112,1.0,112,-25.1