version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 126
start: 12 29 115 23 34 32
data:
$ID,542
$MISSION,12
$DIVE,126
$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,-29807.98
$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,18
$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
$GPS1,291215,232803,-4302.754,824.754,30,0.8,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.1
$GPS2,291215,233406,-4302.750,824.849,22,1.2,22,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,340.9,12555,-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,-146.0,157,1998,1966,1919,0.0,0.0,0,66,0.00,0.00,-48.55,0.000,16386,0.000,0.000,157,1997,3240,3312,3168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,157,1997,3313,3169,3.0,-4.9,6,88,8.57,2.33,-5.57,0.000,18692,0.234,0.072,2334,3414,3508,3567,3449,0,0,0,0,0,0,25.54,25.92,26.32
$GC,139,-0.68,-146.0,2334,3415,3567,3450,20.6,-13.8,16,148,0.00,2.30,0.00,0.000,1030,0.000,0.052,2334,1992,3508,3566,3451,0,0,0,0,0,0,28.83,25.97,28.83
$GC,296,-0.68,-146.0,1408,1990,3560,3449,46.7,-17.9,41,302,0.00,2.28,0.00,0.000,516,0.000,0.066,2334,579,3509,3567,3451,0,0,0,0,0,0,28.83,25.98,28.83
$GC,411,-0.68,-146.0,2334,578,3567,3451,66.9,-16.2,61,418,0.00,2.25,0.00,0.000,1030,0.000,0.055,2324,2001,3509,3567,3451,0,0,0,0,0,0,28.83,26.06,28.83
$GC,735,-0.68,-146.0,2324,2002,3567,3452,120.2,-16.5,110,743,0.00,2.25,0.00,0.000,516,0.000,0.066,2324,588,3509,3567,3452,0,0,0,0,0,0,28.83,26.10,28.83
$GC,807,-0.68,-146.0,2324,588,3567,3453,132.0,-16.1,117,816,0.15,2.22,0.00,0.000,3078,0.179,0.054,2350,2001,3510,3567,3453,0,0,0,0,0,0,25.95,26.15,28.83
$GC,1117,-0.68,-146.0,2350,2001,3567,3454,174.7,-13.6,148,1129,0.00,2.28,0.00,0.000,516,0.000,0.065,2351,581,3510,3567,3453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1174,-0.68,-146.0,2350,581,3567,3454,182.2,-13.6,153,1182,0.00,2.28,0.00,0.000,1030,0.000,0.054,2342,1993,3510,3567,3454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1482,-0.68,-146.0,2342,1993,3567,3454,224.5,-13.6,184,1492,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,584,3510,3567,3454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1507,-0.68,-146.0,1544,584,3561,3453,227.6,-13.4,186,1514,0.00,2.28,0.00,0.000,1030,0.000,0.053,2332,2002,3511,3567,3455,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1817,-0.68,-146.0,2332,2002,3567,3455,271.4,-14.6,217,1826,0.00,2.25,0.00,0.000,516,0.000,0.065,2332,584,3511,3567,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1850,-0.68,-146.0,2332,583,3567,3455,276.5,-15.3,220,1859,0.00,2.28,0.00,0.000,1030,0.000,0.054,2322,2000,3511,3567,3455,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2158,-0.68,-146.0,2322,2001,3567,3455,323.2,-14.8,251,2162,0.00,2.25,0.00,0.000,516,0.000,0.065,2322,588,3511,3567,3455,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2250,-0.68,-146.0,2322,587,3567,3456,336.3,-14.7,259,2259,0.15,2.25,0.00,0.000,3078,0.171,0.054,2349,2019,3511,3567,3456,0,0,0,0,0,0,26.10,26.29,28.83
$GC,2557,-0.68,-146.0,2349,2019,3567,3455,374.9,-12.0,290,2567,0.00,2.30,0.00,0.000,516,0.000,0.067,2350,581,3512,3568,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2571,-0.68,-146.0,2349,581,3567,3456,375.9,-11.9,291,2580,0.00,2.28,0.00,0.000,1030,0.000,0.054,2340,1998,3511,3567,3455,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2880,-0.68,-146.0,2341,1999,3567,3455,415.6,-13.0,316,2886,0.00,2.25,0.00,0.000,516,0.000,0.067,2341,582,3511,3567,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2912,-0.68,-146.0,2341,582,3567,3456,418.3,-13.1,317,2920,0.00,2.25,0.00,0.000,1030,0.000,0.055,2331,2004,3511,3567,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3219,-0.68,-146.0,2331,2005,3567,3455,461.4,-13.6,333,3225,0.00,2.28,0.00,0.000,516,0.000,0.067,2331,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3263,-0.68,-146.0,2331,581,3567,3455,467.1,-13.9,335,3268,0.12,2.22,0.00,0.000,3078,0.177,0.055,2351,1997,3511,3567,3456,0,0,0,0,0,0,26.15,26.32,28.83
$GC,3575,-0.68,-146.0,2351,1997,3567,3455,504.4,-11.6,351,3580,0.00,2.25,0.00,0.000,516,0.000,0.067,2351,588,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3599,-0.68,-146.0,2351,588,3567,3455,506.9,-11.7,352,3604,0.00,2.25,0.00,0.000,1030,0.000,0.057,2343,1988,3511,3567,3455,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3917,-0.68,-146.0,2342,1989,3567,3456,547.8,-13.0,368,3923,0.00,2.25,0.00,0.000,516,0.000,0.068,2343,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3939,-0.68,-146.0,2343,581,3567,3455,550.5,-13.1,369,3944,0.00,2.20,0.00,0.000,1030,0.000,0.057,2333,1992,3511,3567,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4257,-0.68,-146.0,2333,1992,3567,3456,594.5,-13.8,385,4261,0.00,2.25,0.00,0.000,516,0.000,0.069,2333,587,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4276,-0.68,-146.0,2333,587,3567,3455,596.7,-13.8,386,4281,0.00,2.28,0.00,0.000,1030,0.000,0.057,2323,1996,3511,3567,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4594,-0.68,-146.0,2323,1997,3567,3456,644.3,-14.9,402,4598,0.00,2.28,0.00,0.000,516,0.000,0.070,2323,580,3511,3567,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4611,-0.68,-146.0,2323,580,3567,3455,646.8,-15.0,403,4618,0.15,2.25,0.00,0.000,3078,0.172,0.058,2350,2007,3511,3567,3456,0,0,0,0,0,0,26.13,26.32,28.83
$GC,4931,-0.68,-146.0,2350,2008,3567,3456,685.3,-11.6,419,4937,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,588,3511,3567,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4978,-0.68,-146.0,2350,588,3567,3455,690.0,-11.7,421,4983,0.00,2.28,0.00,0.000,1030,0.000,0.060,2342,1995,3511,3567,3456,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5290,-0.68,-146.0,2341,1996,3567,3455,728.2,-11.7,437,5294,0.00,2.30,0.00,0.000,516,0.000,0.070,2342,580,3511,3567,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5321,-0.68,-146.0,2342,579,3567,3455,730.1,-11.8,438,5327,0.00,2.25,0.00,0.000,1030,0.000,0.060,2332,1997,3511,3567,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5626,-0.68,-146.0,2332,1998,3566,3456,769.5,-12.0,454,5630,0.00,2.28,0.00,0.000,260,0.000,0.067,2321,3410,3511,3567,3455,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5647,-0.68,-146.0,2321,3411,3566,3456,772.0,-11.9,455,5654,0.12,2.22,0.00,0.000,3078,0.157,0.056,2353,1990,3510,3566,3455,0,0,0,0,0,0,26.20,26.34,28.83
$GC,5967,-0.68,-146.0,2353,1989,3566,3455,802.8,-9.4,471,5974,0.00,2.25,0.00,0.000,516,0.000,0.071,2354,588,3511,3566,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6052,-0.68,-146.0,2353,588,3566,3455,810.8,-9.9,475,6057,0.00,2.28,0.00,0.000,1030,0.000,0.060,2345,1995,3510,3566,3455,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6370,-0.68,-146.0,2344,1995,3565,3455,844.6,-10.9,491,6376,0.00,2.28,0.00,0.000,516,0.000,0.072,2345,584,3510,3565,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6415,-0.68,-146.0,1552,584,3560,3453,849.4,-11.3,493,6419,0.00,2.30,0.00,0.000,1030,0.000,0.060,2335,2006,3510,3565,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6732,-0.68,-146.0,2335,2007,3564,3455,889.5,-12.8,509,6737,0.00,2.30,0.00,0.000,516,0.000,0.072,2335,585,3509,3564,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6763,-0.68,-146.0,2335,585,3563,3455,891.7,-13.0,510,6770,0.00,2.25,0.00,0.000,1030,0.000,0.060,2325,1997,3509,3563,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7070,-0.68,-146.0,2325,1998,3563,3455,935.8,-13.9,526,7075,0.00,2.28,0.00,0.000,516,0.000,0.072,2325,588,3509,3563,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7101,-0.68,-146.0,2325,588,3563,3455,938.7,-14.0,527,7111,0.12,2.28,0.00,0.000,3078,0.181,0.061,2345,2011,3509,3563,3455,0,0,0,0,0,0,26.15,26.32,28.83
$GC,7408,-0.68,-146.0,2345,2012,3562,3455,977.6,-11.7,543,7413,0.00,2.30,0.00,0.000,516,0.000,0.073,2345,588,3509,3563,3455,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7438,-0.68,-146.0,2345,587,3562,3455,979.6,-11.8,544,7445,0.00,2.25,0.00,0.000,1030,0.000,0.061,2337,1994,3508,3562,3455,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,7604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7604,begin apogee
$GC,7608,-0.14,0.0,2337,1858,3562,3456,1001.3,-12.0,553,7746,0.60,0.00,133.25,1.795,10246,0.136,0.000,2525,1858,2908,2982,2835,0,0,0,0,0,0,26.12,28.83,23.27
$STATE,7747,end apogee,CONTROL_FINISHED_OK
$STATE,7747,begin climb
$GC,7749,0.68,146.0,2524,1858,2982,2835,1008.1,0.0,560,7899,0.73,2.58,141.32,1.766,11012,0.047,0.072,2809,462,2312,2376,2249,0,0,0,0,0,0,24.37,23.34,22.39
$GC,7979,0.68,146.0,2809,462,2370,2246,996.0,15.0,571,7987,0.00,2.45,0.00,0.000,1030,0.000,0.060,2809,1871,2307,2370,2245,0,0,0,0,0,0,28.83,24.42,28.83
$GC,8286,0.68,146.0,2809,1870,2369,2238,944.1,16.3,587,8290,0.00,2.35,0.00,0.000,260,0.000,0.067,2809,3282,2303,2369,2238,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8390,0.68,146.0,2809,3283,2368,2238,927.0,17.9,592,8395,0.12,2.30,0.00,0.000,5126,0.227,0.060,2795,1878,2302,2368,2237,0,0,0,0,0,0,25.33,25.53,28.83
$GC,8702,0.68,146.0,2795,1878,2368,2236,876.1,15.5,608,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1878,2302,2368,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9002,0.68,146.0,2795,1877,2368,2234,830.8,14.8,623,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1878,2301,2368,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9302,0.68,146.0,2795,1877,2368,2234,787.2,14.4,638,9308,0.00,2.28,0.00,0.000,260,0.000,0.068,2794,3284,2301,2368,2234,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,15489,end climb,SURFACE_DEPTH_REACHED
$STATE,15489,begin surface coast
$FINISH,-0.1,1.026468
$STATE,15509,end surface coast,CONTROL_FINISHED_OK
$STATE,15509,begin surface
$SM_CCo,15525,32.75,0.149,0,0,1969,230.09
$SM_GC,2.46,6.70,2.08,32.75,0.034,0.053,0.149,164,1994,1969,-7.40,0.76,230.09,0,0,0,0,0,0,26.46,26.36,26.05
$IRIDIUM_FIX,-4247.91,819.89,251008,080857
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.08
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,23.678
$10V_AH,10.1,19.151
$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,18.000,181.950,274.575,32.750,0.000,19.626,21.150,202.823,49.250,0.000,23.939,3181.207,9027.595,522.969,3003.098,182.793,0.000,1724.960,0.000,2509.913,0.000,296.686,0.000
$DEVICE_MAMPS,234.090,81.855,1794.690,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.894,77.633,699.047,1772.631,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352712
$DATA_FILE_SIZE,76933,1181
$CAP_FILE_SIZE,181259,0
$CFSIZE,259248128,248496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.225, 77.5,1
$GPS,301215,035533,-4301.337,825.131,67,0.8,67,-25.0