version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 123
start: 12 29 115 10 22 26
data:
$ID,542
$MISSION,12
$DIVE,123
$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,-29804.215
$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,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
$GPS1,291215,101530,-4304.715,825.959,40,1.6,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.7
$GPS2,291215,102200,-4304.732,826.045,29,1.7,29,-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,278.7,3081,-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,14,begin dive
$GC,15,-0.68,-146.0,161,2004,1963,1919,0.0,0.0,0,66,0.00,0.00,-48.33,0.000,16386,0.000,0.000,161,2004,3245,3318,3173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,161,2004,3318,3175,3.1,-5.1,6,88,8.25,2.33,-5.55,0.000,18692,0.221,0.072,2332,3415,3507,3565,3449,0,0,0,0,0,0,25.58,25.94,26.32
$GC,108,-0.68,-146.0,2332,3415,3565,3451,15.2,-30.1,11,117,0.00,2.30,0.00,0.000,1030,0.000,0.053,2332,1990,3508,3565,3451,0,0,0,0,0,0,28.83,25.96,28.83
$GC,170,-0.68,-146.0,2332,1990,3565,3451,25.6,-16.9,20,178,0.00,2.33,0.00,0.000,516,0.000,0.067,2332,582,3508,3565,3451,0,0,0,0,0,0,28.83,25.98,28.83
$GC,205,-0.68,-146.0,2332,582,3565,3451,32.0,-17.6,25,214,0.00,2.28,0.00,0.000,1030,0.000,0.054,2323,1989,3508,3566,3451,0,0,0,0,0,0,28.83,26.00,28.83
$GC,350,-0.68,-146.0,2322,1989,3565,3452,58.6,-18.6,50,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1989,3508,3565,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,678,-0.68,-146.0,2322,1989,3565,3453,119.0,-18.7,101,687,0.00,2.25,0.00,0.000,516,0.000,0.063,2322,586,3509,3566,3453,0,0,0,0,0,0,28.83,26.10,28.83
$GC,729,-0.68,-146.0,2322,586,3565,3454,128.7,-18.3,106,734,0.15,2.22,0.00,0.000,3078,0.172,0.054,2350,2002,3509,3565,3454,0,0,0,0,0,0,25.96,26.15,28.83
$GC,1036,-0.68,-146.0,2349,2002,3565,3454,175.4,-14.2,136,1045,0.00,2.28,0.00,0.000,516,0.000,0.064,2349,578,3509,3565,3454,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1068,-0.68,-146.0,2350,578,3565,3455,180.3,-15.0,139,1077,0.00,2.22,0.00,0.000,1030,0.000,0.054,2341,1995,3510,3565,3455,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1379,-0.68,-146.0,2340,1996,3565,3455,226.4,-15.1,170,1387,0.00,2.22,0.00,0.000,516,0.000,0.063,2341,581,3510,3565,3455,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1412,-0.68,-146.0,2341,581,3565,3456,231.3,-15.1,173,1420,0.00,2.28,0.00,0.000,1030,0.000,0.053,2331,1999,3510,3565,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1721,-0.68,-146.0,2331,2000,3566,3456,278.8,-15.6,204,1731,0.00,2.25,0.00,0.000,516,0.000,0.064,2331,585,3510,3565,3456,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1774,-0.68,-146.0,2331,585,3565,3456,287.2,-15.8,209,1783,0.00,2.22,0.00,0.000,1030,0.000,0.054,2321,2002,3510,3565,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2084,-0.68,-146.0,2321,2002,3565,3456,334.1,-15.2,240,2097,0.12,2.22,0.00,0.000,2308,0.179,0.060,2349,3414,3510,3565,3456,0,0,0,0,0,0,26.19,26.27,28.83
$GC,2112,-0.68,-146.0,1552,3413,3560,3454,337.7,-14.3,242,2119,0.00,2.25,0.00,0.000,1030,0.000,0.051,2349,1996,3510,3565,3456,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2420,-0.68,-146.0,2348,1995,3565,3456,374.3,-11.7,273,2430,0.00,2.22,0.00,0.000,516,0.000,0.066,2348,586,3510,3565,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2475,-0.68,-146.0,2348,586,3566,3456,380.6,-12.2,278,2483,0.00,2.25,0.00,0.000,1030,0.000,0.054,2339,1994,3511,3566,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2794,-0.68,-146.0,2338,1994,3565,3456,421.9,-13.0,302,2800,0.00,2.25,0.00,0.000,516,0.000,0.066,2339,587,3511,3566,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2842,-0.68,-146.0,2338,586,3566,3456,427.3,-13.3,304,2846,0.00,2.25,0.00,0.000,1030,0.000,0.055,2329,2019,3511,3566,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3155,-0.68,-146.0,2328,2020,3565,3456,472.8,-14.1,320,3161,0.00,2.30,0.00,0.000,516,0.000,0.067,2329,579,3511,3566,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3196,-0.68,-146.0,1536,579,3560,3454,478.7,-14.2,322,3202,0.08,2.28,0.00,0.000,3078,0.151,0.056,2344,1994,3511,3566,3456,0,0,0,0,0,0,26.18,26.33,28.83
$GC,3514,-0.68,-146.0,2343,1994,3565,3456,519.9,-12.9,338,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3815,-0.68,-146.0,2343,1994,3566,3456,557.8,-12.6,353,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4115,-0.68,-146.0,2344,1994,3565,3456,594.9,-12.3,368,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4415,-0.68,-146.0,2343,1994,3565,3456,631.6,-12.4,383,4421,0.00,2.28,0.00,0.000,516,0.000,0.069,2344,582,3510,3565,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4436,-0.68,-146.0,1576,582,3560,3454,634.1,-12.4,384,4441,0.00,2.28,0.00,0.000,1030,0.000,0.058,2336,1990,3511,3566,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4755,-0.68,-146.0,2336,1990,3565,3456,677.8,-13.9,400,4761,0.00,2.25,0.00,0.000,516,0.000,0.070,2336,588,3510,3565,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4784,-0.68,-146.0,2335,587,3565,3456,680.6,-13.9,401,4788,0.00,2.25,0.00,0.000,1030,0.000,0.059,2326,2012,3511,3566,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5097,-0.68,-146.0,2325,2012,3565,3456,727.8,-14.6,417,5102,0.00,2.30,0.00,0.000,516,0.000,0.070,2326,581,3510,3565,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5136,-0.68,-146.0,2325,580,3565,3456,733.7,-14.7,419,5141,0.12,2.25,0.00,0.000,3078,0.173,0.059,2346,1997,3510,3565,3456,0,0,0,0,0,0,26.19,26.34,28.83
$GC,5453,-0.68,-146.0,2346,1998,3565,3456,772.3,-11.9,435,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1998,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.68,-146.0,2346,1998,3565,3456,806.7,-11.3,450,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1998,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.68,-146.0,2346,1998,3564,3456,839.9,-10.7,465,6059,0.00,2.28,0.00,0.000,516,0.000,0.070,2346,584,3510,3564,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6086,-0.68,-146.0,2346,584,3564,3456,842.2,-10.8,466,6093,0.00,2.30,0.00,0.000,1030,0.000,0.060,2338,2000,3510,3564,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6393,-0.68,-146.0,2337,2001,3564,3456,879.1,-11.6,482,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2001,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6694,-0.68,-146.0,2338,2001,3563,3456,913.4,-11.2,497,6700,0.00,2.28,0.00,0.000,516,0.000,0.071,2338,588,3509,3563,3456,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6721,-0.68,-146.0,2338,588,3563,3457,915.7,-11.3,498,6725,0.00,2.28,0.00,0.000,1030,0.000,0.061,2328,2018,3509,3563,3456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7033,-0.68,-146.0,2328,2018,3562,3455,954.3,-12.1,514,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2018,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7335,-0.68,-146.0,2328,2018,3562,3455,989.5,-11.4,529,7341,0.00,2.30,0.00,0.000,516,0.000,0.073,2328,585,3508,3562,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7356,-0.68,-146.0,2328,585,3562,3455,991.9,-11.5,530,7361,0.08,2.28,0.00,0.000,3078,0.152,0.061,2343,1986,3508,3562,3455,0,0,0,0,0,0,26.17,26.33,28.83
$STATE,7432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7437,-0.14,0.0,2343,1865,3562,3456,1000.5,-10.5,534,7574,0.55,0.00,132.98,1.793,10246,0.128,0.000,2521,1865,2909,2982,2836,0,0,0,0,0,0,26.19,28.83,23.28
$STATE,7575,end apogee,CONTROL_FINISHED_OK
$STATE,7575,begin climb
$GC,7577,0.68,146.0,2521,1865,2982,2836,1006.5,0.0,541,7727,0.75,2.65,140.70,1.769,10500,0.050,0.066,2801,3278,2312,2375,2250,0,0,0,0,0,0,24.38,23.34,22.39
$GC,7907,0.68,146.0,2801,3278,2371,2243,976.7,17.1,557,7914,0.00,2.38,0.00,0.000,1030,0.000,0.058,2811,1877,2306,2370,2243,0,0,0,0,0,0,28.83,24.87,28.83
$GC,8215,0.68,146.0,2811,1876,2370,2237,923.9,16.3,573,8221,0.00,2.35,0.00,0.000,260,0.000,0.067,2811,3294,2303,2370,2237,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8254,0.68,146.0,2811,3294,2369,2237,917.1,16.5,575,8259,0.15,2.35,0.00,0.000,5126,0.221,0.060,2791,1859,2303,2370,2236,0,0,0,0,0,0,25.37,25.58,28.83
$GC,8571,0.68,146.0,2790,1859,2370,2235,866.9,15.6,591,8577,0.00,2.33,0.00,0.000,260,0.000,0.067,2788,3285,2302,2370,2235,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8651,0.68,146.0,2788,3285,2369,2235,853.7,16.5,595,8655,0.00,2.28,0.00,0.000,1030,0.000,0.059,2797,1869,2302,2369,2235,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8967,0.68,146.0,2797,1869,2369,2234,802.1,15.9,611,8973,0.00,2.30,0.00,0.000,260,0.000,0.067,2797,3288,2301,2369,2234,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9015,0.68,146.0,2797,3288,2369,2234,795.4,16.4,613,9019,0.00,2.28,0.00,0.000,1030,0.000,0.058,2808,1869,2301,2369,2234,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9327,0.68,146.0,2807,1869,2369,2233,742.6,16.1,629,9333,0.00,2.30,0.00,0.000,260,0.000,0.067,2808,3294,2301,2369,2233,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9415,0.68,146.0,2807,3293,2369,2233,729.3,16.7,633,9419,0.00,2.28,0.00,0.000,1030,0.000,0.059,2818,1868,2301,2369,2233,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9727,0.68,146.0,2818,1868,2368,2233,677.2,16.0,649,9731,0.00,2.28,0.00,0.000,260,0.000,0.067,2818,3286,2300,2368,2233,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,15136,end climb,SURFACE_DEPTH_REACHED
$STATE,15136,begin surface coast
$FINISH,0.1,1.026442
$STATE,15162,end surface coast,CONTROL_FINISHED_OK
$STATE,15163,begin surface
$SM_CCo,15176,32.75,0.149,0,0,1968,230.09
$SM_GC,1.85,6.90,0.20,32.75,0.053,0.083,0.149,169,2005,1968,-7.41,-0.74,230.09,0,0,0,0,0,0,26.45,26.41,26.06
$IRIDIUM_FIX,-4250.85,826.16,241008,191930
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.89
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,23.197
$10V_AH,10.1,18.780
$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
$DEVICE_SECS,17.675,146.125,273.675,32.750,0.000,26.003,39.958,185.638,49.250,0.000,29.971,3089.836,8885.036,472.979,2988.642,159.502,0.000,1640.219,0.000,2465.578,0.000,297.061,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.412,76.149,694.750,1740.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,73567,1154
$CAP_FILE_SIZE,171974,0
$CFSIZE,259248128,248758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.212, 48.7,1
$GPS,291215,143733,-4304.342,825.275,63,0.9,63,-25.0