version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 127
start: 12 30 115 4 2 42
data:
$ID,542
$MISSION,12
$DIVE,127
$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,-29809.234
$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,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
$GPS1,301215,035533,-4301.337,825.131,67,0.8,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.2
$GPS2,301215,040216,-4301.363,825.227,17,0.9,17,-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,330.5,10071,-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,14,-0.68,-146.0,137,1989,1964,1918,0.0,0.0,0,66,0.00,0.00,-48.95,0.000,16386,0.000,0.000,137,1989,3258,3332,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,137,1989,3332,3185,3.1,-5.1,6,94,8.65,2.33,-5.25,0.000,18948,0.233,0.077,2352,584,3506,3564,3449,0,0,0,0,0,0,25.49,25.89,26.29
$GC,128,-0.68,-146.0,2352,584,3564,3450,21.4,-24.5,14,136,0.00,2.30,0.00,0.000,1030,0.000,0.056,2343,1991,3507,3564,3450,0,0,0,0,0,0,28.83,25.92,28.83
$GC,284,-0.68,-146.0,2343,1991,3565,3451,48.0,-17.6,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1991,3508,3565,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,630,-0.68,-146.0,2343,1991,3565,3452,105.2,-16.2,98,638,0.00,2.28,0.00,0.000,516,0.000,0.064,2343,585,3508,3565,3452,0,0,0,0,0,0,28.83,26.07,28.83
$GC,722,-0.68,-146.0,2343,585,3565,3453,120.0,-15.4,107,726,0.00,2.22,0.00,0.000,1030,0.000,0.054,2334,1997,3509,3565,3453,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1030,-0.68,-146.0,2333,1998,3565,3453,169.5,-16.0,137,1039,0.00,2.25,0.00,0.000,516,0.000,0.063,2333,582,3509,3565,3454,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1053,-0.68,-146.0,1544,581,3559,3451,173.4,-16.3,139,1061,0.00,2.28,0.00,0.000,1030,0.000,0.054,2324,1996,3509,3565,3454,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1361,-0.68,-146.0,2323,1997,3565,3454,223.2,-15.6,170,1365,0.00,2.25,0.00,0.000,516,0.000,0.064,2324,585,3509,3565,3454,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1409,-0.68,-146.0,2323,585,3565,3455,231.1,-16.5,174,1419,0.15,2.22,0.00,0.000,3078,0.170,0.054,2351,2004,3509,3564,3454,0,0,0,0,0,0,26.04,26.22,28.83
$GC,1720,-0.68,-146.0,2351,2004,3565,3455,271.5,-13.2,205,1729,0.00,2.25,0.00,0.000,516,0.000,0.064,2351,584,3510,3565,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1771,-0.68,-146.0,2351,584,3565,3455,278.3,-12.9,210,1776,0.00,2.22,0.00,0.000,1030,0.000,0.054,2343,2002,3510,3565,3455,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2076,-0.68,-146.0,2343,2002,3565,3455,318.2,-13.1,240,2080,0.00,2.25,0.00,0.000,516,0.000,0.064,2343,586,3510,3565,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2137,-0.68,-146.0,2342,586,3564,3456,325.7,-12.8,245,2145,0.00,2.17,0.00,0.000,1030,0.000,0.054,2333,1988,3510,3565,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2444,-0.68,-146.0,2333,1988,3565,3455,367.8,-13.5,276,2448,0.00,2.25,0.00,0.000,516,0.000,0.065,2333,576,3510,3565,3456,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2461,-0.68,-146.0,2333,576,3565,3456,370.1,-13.7,277,2470,0.00,2.20,0.00,0.000,1030,0.000,0.054,2323,1995,3510,3565,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2771,-0.68,-146.0,2323,1996,3565,3455,415.8,-15.0,303,2776,0.00,2.22,0.00,0.000,516,0.000,0.065,2323,587,3510,3565,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2811,-0.68,-146.0,2323,586,3564,3456,422.1,-15.3,305,2817,0.15,2.22,0.00,0.000,3078,0.169,0.055,2351,2005,3510,3565,3455,0,0,0,0,0,0,26.12,26.31,28.83
$GC,3131,-0.68,-146.0,2351,2007,3565,3456,461.4,-12.1,321,3136,0.00,2.28,0.00,0.000,516,0.000,0.067,2351,584,3510,3564,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3157,-0.68,-146.0,2351,584,3565,3456,463.9,-12.1,322,3161,0.00,2.22,0.00,0.000,1030,0.000,0.057,2342,1996,3510,3565,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3470,-0.68,-146.0,2342,1997,3565,3456,505.3,-13.1,338,3476,0.00,2.28,0.00,0.000,516,0.000,0.067,2342,585,3510,3565,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3497,-0.68,-146.0,2342,585,3565,3455,508.0,-13.1,339,3502,0.00,2.25,0.00,0.000,1030,0.000,0.057,2332,2011,3510,3565,3455,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3810,-0.68,-146.0,2332,2011,3565,3456,552.1,-13.9,355,3816,0.00,2.28,0.00,0.000,516,0.000,0.067,2332,587,3510,3565,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3842,-0.68,-146.0,2332,587,3565,3456,555.0,-14.0,356,3851,0.00,2.25,0.00,0.000,1030,0.000,0.057,2322,1987,3510,3565,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4151,-0.68,-146.0,2322,1987,3565,3456,601.4,-14.5,372,4156,0.00,2.25,0.00,0.000,516,0.000,0.069,2322,583,3510,3565,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4177,-0.68,-146.0,2322,582,3565,3455,604.4,-14.5,373,4182,0.15,2.25,0.00,0.000,3078,0.171,0.058,2350,2008,3509,3564,3455,0,0,0,0,0,0,26.13,26.32,28.83
$GC,4491,-0.68,-146.0,2349,2008,3565,3456,642.1,-11.5,389,4496,0.00,2.28,0.00,0.000,516,0.000,0.069,2350,587,3510,3565,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4530,-0.68,-146.0,2349,588,3565,3456,646.9,-11.7,391,4536,0.00,2.22,0.00,0.000,1030,0.000,0.059,2341,1996,3510,3565,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4850,-0.68,-146.0,2341,1997,3565,3456,685.9,-12.1,407,4856,0.00,2.28,0.00,0.000,516,0.000,0.070,2341,587,3510,3565,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4873,-0.68,-146.0,2341,586,3565,3455,688.5,-12.2,408,4877,0.00,2.22,0.00,0.000,1030,0.000,0.060,2332,1995,3510,3565,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5184,-0.68,-146.0,2331,1995,3564,3455,729.2,-13.0,424,5189,0.00,2.28,0.00,0.000,516,0.000,0.070,2332,580,3509,3564,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5202,-0.68,-146.0,2332,579,3565,3456,731.4,-13.0,425,5207,0.00,2.25,0.00,0.000,1030,0.000,0.059,2322,2002,3510,3565,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5522,-0.68,-146.0,2321,2004,3565,3455,775.5,-13.7,441,5524,0.12,0.00,0.00,0.000,2054,0.182,0.000,2351,2004,3509,3564,3455,0,0,0,0,0,0,26.25,28.83,28.83
$GC,5822,-0.68,-146.0,2351,2004,3564,3455,809.7,-11.0,456,5827,0.00,2.30,0.00,0.000,516,0.000,0.070,2351,582,3509,3564,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5885,-0.68,-146.0,2351,582,3564,3455,816.6,-11.1,459,5890,0.00,2.22,0.00,0.000,1030,0.000,0.060,2343,2001,3509,3564,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6203,-0.68,-146.0,2343,2001,3564,3455,853.2,-11.6,475,6209,0.00,2.25,0.00,0.000,260,0.000,0.069,2332,3408,3509,3563,3455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6225,-0.68,-146.0,2332,3408,3563,3455,855.6,-11.7,476,6230,0.00,2.20,0.00,0.000,1030,0.000,0.057,2332,1996,3509,3563,3455,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6543,-0.68,-146.0,2332,1994,3563,3455,896.4,-13.0,492,6549,0.00,2.25,0.00,0.000,516,0.000,0.072,2332,587,3509,3563,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6643,-0.68,-146.0,2332,587,3563,3455,909.4,-12.9,497,6649,0.00,2.22,0.00,0.000,1030,0.000,0.060,2322,1995,3509,3563,3455,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6963,-0.68,-146.0,2322,1995,3562,3455,953.2,-13.7,513,6969,0.00,2.28,0.00,0.000,516,0.000,0.071,2322,584,3508,3562,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6985,-0.68,-146.0,2322,584,3562,3455,956.0,-13.7,514,6990,0.10,2.28,0.00,0.000,3078,0.155,0.060,2344,1988,3508,3562,3455,0,0,0,0,0,0,26.13,26.32,28.83
$GC,7303,-0.68,-146.0,2344,1989,3562,3454,994.2,-11.7,530,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1989,3508,3562,3454,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7363,begin apogee
$GC,7367,-0.14,0.0,2344,1867,3561,3454,1001.1,-11.5,533,7504,0.55,0.00,133.43,1.795,10246,0.132,0.000,2519,1867,2909,2983,2835,0,0,0,0,0,0,26.14,28.83,23.26
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7505,begin climb
$GC,7507,0.68,146.0,2519,1867,2983,2836,1008.1,0.0,540,7657,0.75,2.65,141.12,1.769,10500,0.053,0.067,2797,3302,2312,2375,2250,0,0,0,0,0,0,24.33,23.34,22.39
$GC,7852,0.68,146.0,2796,3302,2371,2242,976.4,16.4,557,7856,0.00,2.40,0.00,0.000,1030,0.000,0.058,2807,1877,2306,2371,2242,0,0,0,0,0,0,28.83,24.92,28.83
$GC,8164,0.68,146.0,2807,1877,2370,2236,922.6,16.8,573,8168,0.00,2.33,0.00,0.000,260,0.000,0.066,2807,3285,2303,2370,2236,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8240,0.68,146.0,2806,3285,2370,2236,908.9,18.1,577,8246,0.00,2.30,0.00,0.000,1030,0.000,0.058,2817,1868,2303,2370,2237,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8560,0.68,146.0,2817,1868,2370,2235,852.6,17.4,593,8564,0.00,2.30,0.00,0.000,260,0.000,0.067,2817,3285,2302,2370,2235,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8576,0.68,146.0,2817,3285,2369,2235,849.8,17.5,594,8583,0.15,2.28,0.00,0.000,5126,0.223,0.057,2796,1869,2302,2369,2235,0,0,0,0,0,0,25.65,25.89,28.83
$GC,8897,0.68,146.0,2796,1869,2369,2234,798.8,15.4,610,8902,0.00,2.30,0.00,0.000,260,0.000,0.067,2794,3291,2301,2369,2234,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9009,0.68,146.0,2794,3291,2369,2234,782.3,16.6,615,9016,0.00,2.28,0.00,0.000,1030,0.000,0.059,2803,1869,2301,2369,2234,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9316,0.68,146.0,2802,1869,2369,2233,733.0,14.9,631,9322,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3293,2301,2369,2233,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9419,0.68,146.0,2803,3294,2369,2233,717.3,15.7,636,9423,0.00,2.28,0.00,0.000,1030,0.000,0.059,2814,1869,2301,2369,2233,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15378,begin surface coast
$FINISH,-0.0,1.026465
$STATE,15404,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15420,32.83,0.153,0,0,1969,230.09
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$IRIDIUM_FIX,-4244.98,825.73,251008,121253
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.00
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,23.840
$10V_AH,10.2,19.276
$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
$DEVICE_SECS,18.125,177.375,274.550,32.825,0.000,22.589,42.770,217.753,49.250,0.000,18.505,3167.400,8947.145,489.001,3064.281,184.258,0.000,1715.452,0.000,2530.832,0.000,297.408,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.098,73.187,687.451,1756.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352708
$DATA_FILE_SIZE,76798,1173
$CAP_FILE_SIZE,181157,0
$CFSIZE,259248128,248410112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.222, 66.9,1
$GPS,301215,082203,-4259.895,825.132,72,1.0,72,-25.0