version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 121
start: 12 29 115 1 27 38
data:
$ID,542
$MISSION,12
$DIVE,121
$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,-29801.709
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,291215,011934,-4305.042,827.469,52,0.9,52,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.7
$GPS2,291215,012712,-4305.036,827.589,21,0.9,22,-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,275.6,5221,-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,-146.0,167,1999,1997,1917,0.0,0.0,0,66,0.00,0.00,-48.65,0.000,16386,0.000,0.000,167,2000,3278,3350,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,167,2000,3350,3209,3.3,-5.4,6,88,8.20,2.33,-4.72,0.000,18692,0.220,0.071,2333,3417,3506,3563,3449,0,0,0,0,0,0,25.64,25.97,26.33
$GC,107,-0.68,-146.0,2333,3417,3564,3451,16.8,-34.4,11,117,0.00,2.30,0.00,0.000,1030,0.000,0.054,2333,1994,3507,3564,3451,0,0,0,0,0,0,28.83,25.98,28.83
$GC,169,-0.68,-146.0,2333,1993,3564,3452,27.5,-18.6,20,178,0.00,2.33,0.00,0.000,516,0.000,0.068,2333,585,3508,3564,3452,0,0,0,0,0,0,28.83,25.97,28.83
$GC,224,-0.68,-146.0,2332,585,3564,3452,37.3,-17.5,28,232,0.00,2.28,0.00,0.000,1030,0.000,0.054,2323,1993,3508,3564,3453,0,0,0,0,0,0,28.83,26.03,28.83
$GC,366,-0.68,-146.0,2323,1993,3565,3453,63.5,-18.6,53,372,0.00,2.28,0.00,0.000,516,0.000,0.064,2323,580,3508,3564,3453,0,0,0,0,0,0,28.83,26.04,28.83
$GC,397,-0.68,-146.0,2323,579,3564,3453,69.8,-19.6,58,405,0.15,2.25,0.00,0.000,3078,0.177,0.054,2350,1998,3508,3564,3453,0,0,0,0,0,0,25.90,26.08,28.83
$GC,720,-0.68,-146.0,2349,1999,3565,3454,121.4,-15.4,106,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1999,3509,3564,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.68,-146.0,2349,1999,3564,3455,166.7,-14.5,136,1029,0.00,2.28,0.00,0.000,516,0.000,0.064,2350,574,3509,3564,3455,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1071,-0.68,-146.0,2349,574,3564,3455,174.2,-14.7,141,1084,0.00,2.25,0.00,0.000,1030,0.000,0.054,2341,2008,3509,3564,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1383,-0.68,-146.0,2341,2008,3564,3455,220.0,-14.5,172,1392,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,584,3510,3564,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1468,-0.68,-146.0,2341,584,3565,3456,232.6,-14.1,180,1477,0.00,2.25,0.00,0.000,1030,0.000,0.054,2332,1988,3510,3564,3456,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1776,-0.68,-146.0,2332,1989,3565,3456,279.4,-14.9,211,1780,0.00,2.25,0.00,0.000,260,0.000,0.061,2320,3409,3510,3565,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1816,-0.68,-146.0,2320,3409,3565,3456,284.7,-14.3,214,1825,0.12,2.25,0.00,0.000,3078,0.155,0.052,2353,1969,3510,3565,3456,0,0,0,0,0,0,26.17,26.29,28.83
$GC,2124,-0.68,-146.0,2352,1968,3564,3457,321.9,-11.7,245,2132,0.00,2.22,0.00,0.000,516,0.000,0.067,2353,578,3511,3565,3457,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2208,-0.68,-146.0,2353,578,3565,3457,331.7,-11.4,253,2216,0.00,2.22,0.00,0.000,1030,0.000,0.054,2345,2000,3511,3565,3457,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2517,-0.68,-146.0,2344,2000,3565,3457,369.5,-12.6,284,2530,0.00,2.25,0.00,0.000,516,0.000,0.066,2344,586,3511,3565,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2575,-0.68,-146.0,2344,586,3565,3457,376.6,-12.8,289,2582,0.00,2.25,0.00,0.000,1030,0.000,0.054,2335,1990,3511,3565,3457,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2892,-0.68,-146.0,2334,1991,3565,3457,419.2,-13.3,314,2896,0.00,2.25,0.00,0.000,260,0.000,0.062,2324,3417,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2916,-0.68,-146.0,2323,3417,3565,3457,421.2,-13.2,315,2920,0.00,2.22,0.00,0.000,1030,0.000,0.053,2324,1990,3511,3565,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3228,-0.68,-146.0,2323,1989,3565,3457,463.5,-13.3,331,3232,0.00,2.22,0.00,0.000,516,0.000,0.067,2324,589,3511,3565,3458,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3287,-0.68,-146.0,2323,588,3565,3457,471.1,-13.7,334,3292,0.10,2.25,0.00,0.000,3078,0.151,0.056,2345,1994,3511,3565,3457,0,0,0,0,0,0,26.17,26.34,28.83
$GC,3605,-0.68,-146.0,2345,1994,3565,3458,507.9,-11.9,350,3609,0.00,2.25,0.00,0.000,516,0.000,0.067,2346,581,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3624,-0.68,-146.0,2345,581,3565,3457,509.9,-12.0,351,3628,0.00,2.22,0.00,0.000,1030,0.000,0.056,2337,1995,3511,3565,3458,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3941,-0.68,-146.0,2337,1995,3565,3457,551.1,-13.2,367,3947,0.00,2.25,0.00,0.000,516,0.000,0.069,2337,582,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3969,-0.68,-146.0,2337,582,3565,3458,553.8,-13.3,368,3973,0.00,2.22,0.00,0.000,1030,0.000,0.057,2327,1996,3511,3565,3457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4281,-0.68,-146.0,2327,1996,3565,3457,597.9,-13.6,384,4287,0.00,2.25,0.00,0.000,516,0.000,0.068,2327,588,3511,3565,3458,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4314,-0.68,-146.0,2327,588,3565,3457,600.7,-13.7,385,4322,0.12,2.22,0.00,0.000,3078,0.174,0.057,2348,1994,3511,3565,3457,0,0,0,0,0,0,26.20,26.34,28.83
$GC,4622,-0.68,-146.0,2347,1995,3565,3457,636.8,-10.6,401,4627,0.00,2.25,0.00,0.000,516,0.000,0.068,2348,582,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4643,-0.68,-146.0,1552,582,3559,3455,638.9,-10.5,402,4648,0.00,2.28,0.00,0.000,1030,0.000,0.057,2340,1991,3511,3565,3457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4961,-0.68,-146.0,2340,1992,3565,3457,675.0,-11.5,418,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1992,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5261,-0.68,-146.0,2338,1992,3565,3457,709.3,-11.6,433,5267,0.00,2.25,0.00,0.000,516,0.000,0.069,2340,588,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5294,-0.68,-146.0,2340,588,3565,3457,711.8,-11.8,434,5301,0.00,2.25,0.00,0.000,1030,0.000,0.059,2330,2002,3511,3565,3457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5602,-0.68,-146.0,2330,2003,3565,3457,751.6,-12.5,450,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2003,3510,3564,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.68,-146.0,2330,2003,3564,3457,790.8,-13.4,465,5909,0.00,2.25,0.00,0.000,516,0.000,0.070,2330,592,3510,3564,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5949,-0.68,-146.0,2330,590,3564,3457,796.2,-13.4,467,5954,0.12,2.28,0.00,0.000,3078,0.174,0.060,2350,2025,3510,3564,3457,0,0,0,0,0,0,26.20,26.35,28.83
$GC,6261,-0.68,-146.0,2350,2026,3564,3457,833.3,-11.5,483,6265,0.00,2.33,0.00,0.000,516,0.000,0.070,2350,583,3510,3564,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6311,-0.68,-146.0,2350,583,3564,3457,837.7,-11.7,485,6318,0.00,2.25,0.00,0.000,1030,0.000,0.060,2342,1996,3510,3563,3457,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6620,-0.68,-146.0,2342,1997,3563,3457,875.4,-11.8,501,6625,0.00,2.25,0.00,0.000,516,0.000,0.070,2342,591,3510,3563,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6647,-0.68,-146.0,2342,589,3563,3457,877.9,-11.8,502,6651,0.00,2.22,0.00,0.000,1030,0.000,0.060,2333,1997,3510,3563,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6953,-0.68,-146.0,2332,1997,3563,3457,916.7,-12.5,517,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1997,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,-0.68,-146.0,2332,1997,3562,3457,953.9,-12.1,532,7259,0.00,2.28,0.00,0.000,516,0.000,0.071,2333,586,3509,3562,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7293,-0.68,-146.0,2332,586,3562,3457,959.0,-12.2,534,7297,0.00,2.25,0.00,0.000,1030,0.000,0.061,2323,1997,3509,3562,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7609,-0.68,-146.0,2322,1998,3562,3457,999.3,-12.5,550,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1998,3508,3561,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7633,-0.14,0.0,2322,1860,3562,3457,1001.8,-12.5,551,7770,0.62,0.00,132.82,1.795,10246,0.136,0.000,2519,1860,2908,2982,2835,0,0,0,0,0,0,26.17,28.83,23.28
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7771,begin climb
$GC,7773,0.68,146.0,2519,1860,2983,2835,1008.0,0.0,558,7923,0.75,2.67,140.32,1.760,10500,0.051,0.066,2799,3284,2312,2376,2249,0,0,0,0,0,0,24.38,23.34,22.39
$GC,7952,0.68,146.0,1920,3282,2331,2241,1002.1,10.7,567,7957,0.00,2.53,0.00,0.000,1030,0.000,0.057,2809,1873,2309,2372,2247,0,0,0,0,0,0,28.83,24.02,28.83
$GC,8270,0.68,146.0,2809,1873,2371,2237,949.8,16.2,583,8275,0.00,2.38,0.00,0.000,260,0.000,0.067,2809,3293,2304,2371,2237,0,0,0,0,0,0,28.83,25.31,28.83
$GC,8321,0.68,146.0,2809,3294,2370,2238,943.6,16.6,585,8328,0.12,2.38,0.00,0.000,5126,0.226,0.060,2796,1858,2303,2370,2237,0,0,0,0,0,0,25.22,25.40,28.83
$GC,8626,0.68,146.0,2796,1859,2370,2235,893.6,15.3,601,8631,0.00,2.35,0.00,0.000,260,0.000,0.068,2794,3289,2302,2370,2235,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8715,0.68,146.0,2794,3289,2370,2235,881.6,15.8,605,8722,0.00,2.33,0.00,0.000,1030,0.000,0.060,2803,1864,2302,2370,2235,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9022,0.68,146.0,2803,1863,2370,2234,834.6,14.3,621,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1863,2302,2370,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9323,0.68,146.0,2803,1863,2370,2233,792.2,13.9,636,9329,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3287,2301,2369,2234,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9352,0.68,146.0,2803,3287,2369,2233,789.3,14.0,637,9356,0.00,2.28,0.00,0.000,1030,0.000,0.060,2813,1866,2301,2370,2233,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,15556,end climb,SURFACE_DEPTH_REACHED
$STATE,15557,begin surface coast
$FINISH,-0.0,1.026552
$STATE,15577,end surface coast,CONTROL_FINISHED_OK
$STATE,15577,begin surface
$SM_CCo,15592,32.88,0.148,0,0,1970,230.09
$SM_GC,2.01,6.80,2.47,32.88,0.044,0.057,0.148,166,1991,1970,-7.41,-0.82,230.09,0,0,0,0,0,0,26.46,26.34,26.08
$IRIDIUM_FIX,-4247.91,829.08,241008,141421
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.12
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,22.878
$10V_AH,10.1,18.536
$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,17.775,173.200,273.150,32.875,0.000,50.007,63.999,164.653,49.250,0.000,22.963,3170.816,9216.867,491.614,3032.763,173.552,0.000,1686.548,0.000,2496.741,0.000,296.986,0.000
$DEVICE_MAMPS,226.440,82.620,1794.690,148.410,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.917,75.943,691.237,1773.045,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352680
$DATA_FILE_SIZE,73634,1177
$CAP_FILE_SIZE,180392,0
$CFSIZE,259248128,248909824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199, 46.4,1
$GPS,291215,054924,-4304.748,826.784,44,1.2,44,-25.0