version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 129
start: 12 30 115 12 47 30
data:
$ID,542
$MISSION,12
$DIVE,129
$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,-29811.736
$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,26
$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
$GPS1,301215,124112,-4258.571,825.030,41,1.0,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.3
$GPS2,301215,124704,-4258.543,825.088,20,1.0,20,-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,322.6,4936,-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,-146.0,156,2005,1959,1926,0.0,0.0,0,67,0.00,0.00,-50.00,0.000,16386,0.000,0.000,156,2005,3299,3368,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,155,2005,3368,3232,3.2,-5.0,6,87,8.38,2.35,-4.20,0.000,18948,0.225,0.074,2352,581,3507,3564,3451,0,0,0,0,0,0,25.54,25.93,26.32
$GC,191,-0.68,-146.0,2352,581,3566,3452,31.9,-15.8,24,199,0.00,2.28,0.00,0.000,1030,0.000,0.054,2344,1993,3509,3566,3453,0,0,0,0,0,0,28.83,26.00,28.83
$GC,338,-0.68,-146.0,2343,1993,3566,3453,57.2,-16.3,49,345,0.00,2.25,0.00,0.000,516,0.000,0.064,2344,588,3509,3566,3452,0,0,0,0,0,0,28.83,26.01,28.83
$GC,365,-0.68,-146.0,2344,588,3566,3454,61.8,-17.4,53,373,0.00,2.22,0.00,0.000,1030,0.000,0.054,2334,2003,3510,3566,3454,0,0,0,0,0,0,28.83,26.05,28.83
$GC,702,-0.68,-146.0,2333,2003,3566,3454,121.0,-17.8,103,710,0.00,2.25,0.00,0.000,516,0.000,0.064,2334,587,3510,3566,3454,0,0,0,0,0,0,28.83,26.10,28.83
$GC,734,-0.68,-146.0,2333,586,3566,3455,127.2,-18.2,106,742,0.00,2.20,0.00,0.000,1030,0.000,0.054,2324,1994,3510,3566,3454,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1044,-0.68,-146.0,2324,1994,3566,3455,183.4,-17.2,137,1053,0.00,2.25,0.00,0.000,516,0.000,0.063,2324,582,3510,3566,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1119,-0.68,-146.0,2324,582,3566,3455,196.4,-17.4,144,1128,0.10,2.28,0.00,0.000,3078,0.156,0.054,2345,1998,3511,3566,3456,0,0,0,0,0,0,26.01,26.21,28.83
$GC,1427,-0.68,-146.0,2345,1998,3566,3456,242.8,-14.0,175,1431,0.00,2.25,0.00,0.000,516,0.000,0.064,2345,585,3511,3566,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1484,-0.68,-146.0,2345,585,3566,3456,250.5,-13.7,180,1493,0.00,2.22,0.00,0.000,1030,0.000,0.054,2336,2008,3511,3566,3456,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1793,-0.68,-146.0,2336,2008,3566,3456,294.6,-14.6,211,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2008,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2093,-0.68,-146.0,2336,2008,3566,3456,336.9,-14.6,241,2103,0.00,2.25,0.00,0.000,516,0.000,0.065,2336,588,3511,3566,3457,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2125,-0.68,-146.0,2336,588,3566,3457,341.6,-14.7,244,2129,0.00,2.20,0.00,0.000,1030,0.000,0.054,2327,1997,3511,3566,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2430,-0.68,-146.0,2327,1998,3566,3457,386.8,-15.0,274,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1998,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.68,-146.0,2326,1998,3566,3457,434.2,-15.4,294,2746,0.00,2.25,0.00,0.000,516,0.000,0.066,2327,585,3511,3566,3457,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2814,-0.68,-146.0,2326,584,3566,3457,443.6,-15.3,297,2824,0.10,2.25,0.00,0.000,3078,0.155,0.055,2348,1990,3511,3566,3457,0,0,0,0,0,0,26.12,26.32,28.83
$GC,3121,-0.68,-146.0,2347,1991,3566,3457,484.0,-12.2,313,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1991,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,-0.68,-146.0,2348,1991,3566,3457,520.7,-12.2,328,3428,0.00,2.25,0.00,0.000,516,0.000,0.067,2348,582,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3441,-0.68,-146.0,2348,582,3566,3457,523.3,-12.3,329,3445,0.00,2.22,0.00,0.000,1030,0.000,0.057,2340,2003,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3758,-0.68,-146.0,2340,2003,3566,3457,565.4,-13.4,345,3763,0.00,2.28,0.00,0.000,516,0.000,0.068,2340,580,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3801,-0.68,-146.0,2339,580,3566,3456,571.0,-13.6,347,3805,0.00,2.22,0.00,0.000,1030,0.000,0.057,2330,1997,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4113,-0.68,-146.0,2329,1997,3566,3457,616.8,-14.5,363,4119,0.00,2.25,0.00,0.000,516,0.000,0.068,2330,590,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4154,-0.68,-146.0,2330,589,3566,3457,622.7,-14.6,365,4160,0.08,2.28,0.00,0.000,3078,0.164,0.058,2344,2002,3511,3566,3457,0,0,0,0,0,0,26.14,26.32,28.83
$GC,4472,-0.68,-146.0,2343,2003,3566,3457,663.5,-12.5,381,4476,0.00,2.28,0.00,0.000,516,0.000,0.069,2344,587,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4491,-0.68,-146.0,2344,587,3566,3457,665.5,-12.6,382,4496,0.00,2.25,0.00,0.000,1030,0.000,0.057,2336,1989,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4809,-0.68,-146.0,2335,1990,3566,3457,707.6,-12.8,398,4815,0.00,2.25,0.00,0.000,516,0.000,0.069,2336,589,3511,3566,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4829,-0.68,-146.0,2335,589,3566,3457,710.3,-12.9,399,4835,0.00,2.22,0.00,0.000,1030,0.000,0.059,2326,2004,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5149,-0.68,-146.0,2325,2004,3566,3457,753.5,-13.3,415,5155,0.00,2.28,0.00,0.000,516,0.000,0.069,2325,584,3511,3566,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5178,-0.68,-146.0,2325,583,3566,3456,756.3,-13.5,416,5183,0.12,2.22,0.00,0.000,3078,0.181,0.059,2345,1993,3511,3566,3457,0,0,0,0,0,0,26.14,26.32,28.83
$GC,5491,-0.68,-146.0,2345,1994,3566,3457,794.7,-11.7,432,5495,0.00,2.25,0.00,0.000,516,0.000,0.069,2345,587,3511,3566,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5530,-0.68,-146.0,2344,587,3566,3457,799.2,-12.0,434,5534,0.00,2.22,0.00,0.000,1030,0.000,0.059,2336,1996,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5847,-0.68,-146.0,2336,1996,3565,3457,839.1,-12.6,450,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6148,-0.68,-146.0,2336,1996,3565,3456,877.6,-13.1,465,6153,0.00,2.25,0.00,0.000,516,0.000,0.070,2336,590,3510,3564,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6181,-0.68,-146.0,2336,589,3564,3456,880.3,-13.2,466,6187,0.00,2.25,0.00,0.000,1030,0.000,0.060,2326,2004,3510,3564,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6488,-0.68,-146.0,2327,2005,3563,3456,923.8,-13.4,482,6493,0.00,2.28,0.00,0.000,516,0.000,0.070,2326,590,3510,3564,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6515,-0.68,-146.0,2326,589,3563,3456,926.6,-13.5,483,6520,0.12,2.22,0.00,0.000,3078,0.179,0.060,2346,1996,3510,3564,3456,0,0,0,0,0,0,26.14,26.32,28.83
$GC,6827,-0.68,-146.0,2346,1997,3563,3457,963.8,-11.5,499,6832,0.00,2.28,0.00,0.000,516,0.000,0.070,2346,581,3510,3563,3457,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6863,-0.68,-146.0,2346,581,3563,3456,968.2,-11.8,501,6867,0.00,2.25,0.00,0.000,1030,0.000,0.060,2338,1995,3509,3563,3456,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,7140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7140,begin apogee
$GC,7144,-0.14,0.0,2338,1859,3562,3456,1001.9,-12.3,515,7281,0.57,0.00,132.88,1.797,10246,0.132,0.000,2519,1857,2909,2982,2836,0,0,0,0,0,0,26.12,28.83,23.26
$STATE,7282,end apogee,CONTROL_FINISHED_OK
$STATE,7282,begin climb
$GC,7283,0.68,146.0,2519,1857,2982,2836,1009.6,0.0,522,7433,0.77,2.60,140.88,1.774,10756,0.048,0.070,2818,463,2312,2375,2250,0,0,0,0,0,0,24.37,23.37,22.41
$GC,7614,0.68,146.0,2818,463,2368,2245,983.2,16.0,538,7621,0.00,2.40,0.00,0.000,1030,0.000,0.060,2818,1877,2306,2368,2244,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7921,0.68,146.0,2818,1877,2368,2239,931.1,16.1,554,7927,0.00,2.33,0.00,0.000,260,0.000,0.067,2818,3290,2303,2368,2239,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7933,0.68,146.0,2818,3289,2367,2239,931.1,16.1,554,7941,0.17,2.33,0.00,0.000,5126,0.226,0.059,2791,1872,2303,2367,2239,0,0,0,0,0,0,25.32,25.55,28.83
$GC,8241,0.68,146.0,2791,1872,2367,2237,882.3,15.1,570,8247,0.00,2.30,0.00,0.000,260,0.000,0.067,2784,3283,2302,2367,2237,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8288,0.68,146.0,2784,3284,2366,2237,876.0,15.3,572,8292,0.00,2.30,0.00,0.000,1030,0.000,0.059,2793,1862,2301,2366,2237,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8600,0.68,146.0,2793,1862,2366,2235,826.6,15.5,588,8604,0.00,2.30,0.00,0.000,260,0.000,0.067,2793,3285,2300,2365,2235,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8696,0.68,146.0,2793,3285,2366,2235,810.8,16.6,593,8701,0.00,2.28,0.00,0.000,1030,0.000,0.059,2803,1862,2300,2366,2235,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9012,0.68,146.0,2803,1862,2366,2234,761.2,15.2,609,9017,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3291,2300,2366,2234,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9042,0.68,146.0,2803,3291,2366,2234,758.7,15.2,610,9049,0.00,2.28,0.00,0.000,1030,0.000,0.059,2813,1869,2300,2366,2235,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9349,0.68,146.0,2812,1869,2365,2234,709.7,14.8,626,9355,0.00,2.28,0.00,0.000,260,0.000,0.067,2813,3286,2300,2366,2234,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9388,0.68,146.0,2813,3286,2366,2234,703.6,15.0,628,9393,0.15,2.28,0.00,0.000,5126,0.221,0.058,2792,1860,2299,2365,2234,0,0,0,0,0,0,25.90,26.16,28.83
$GC,9705,0.68,146.0,2791,1859,2365,2233,660.6,13.5,644,9711,0.00,2.30,0.00,0.000,260,0.000,0.067,2782,3292,2299,2365,2234,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,15073,end climb,SURFACE_DEPTH_REACHED
$STATE,15073,begin surface coast
$FINISH,-0.1,1.012108
$STATE,15105,end surface coast,CONTROL_FINISHED_OK
$STATE,15105,begin surface
$SM_CCo,15121,29.55,0.150,0,0,1967,230.09
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$TT8_MAMPS,0.021721,0.021721
$HUMID,50.94
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,24.158
$10V_AH,10.1,19.520
$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
$DEVICE_SECS,18.025,181.750,276.550,29.550,0.000,22.737,22.261,187.600,49.250,0.000,21.782,3092.816,8804.350,501.096,2925.061,176.418,0.000,1677.236,0.000,2444.292,0.000,297.714,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.813,78.895,703.015,1744.858,0.000,0.000,0.000,0.000,0.000,0.000
$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,73608,1149
$CAP_FILE_SIZE,179434,0
$CFSIZE,259248128,248250368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229, 66.0,1
$GPS,301215,170151,-4257.165,824.922,74,0.8,74,-25.0