version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 132
start: 12 31 115 0 9 32
data:
$ID,542
$MISSION,12
$DIVE,132
$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,-29815.506
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,311215,000359,-4256.039,823.564,48,0.9,48,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.5
$GPS2,311215,000906,-4256.039,823.669,18,0.9,19,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,139.0,16720,-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,-146.0,162,1989,1970,1929,0.0,0.0,0,65,0.00,0.00,-48.47,0.000,16386,0.000,0.000,161,1990,3289,3362,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,161,1990,3362,3217,3.7,-7.3,6,86,8.12,2.33,-4.40,0.000,18692,0.217,0.072,2329,3408,3506,3564,3449,0,0,0,0,0,0,25.60,26.00,26.37
$GC,268,-0.68,-146.0,2329,3409,3564,3452,40.0,-12.7,37,274,0.00,2.25,0.00,0.000,1030,0.000,0.053,2329,1988,3508,3564,3452,0,0,0,0,0,0,28.83,26.07,28.83
$GC,608,-0.68,-146.0,2329,1988,3564,3453,98.5,-17.6,98,614,0.00,2.28,0.00,0.000,260,0.000,0.060,2319,3414,3509,3565,3453,0,0,0,0,0,0,28.83,26.13,28.83
$GC,851,-0.68,-146.0,2319,3413,3564,3454,134.0,-13.7,122,855,0.12,2.22,0.00,0.000,3078,0.161,0.051,2350,1988,3509,3564,3455,0,0,0,0,0,0,26.05,26.20,28.83
$GC,1156,-0.68,-146.0,2349,1988,3565,3454,177.6,-13.5,152,1160,0.00,2.25,0.00,0.000,516,0.000,0.066,2350,578,3509,3565,3454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1228,-0.68,-146.0,1552,578,3560,3453,187.0,-13.5,158,1235,0.00,2.28,0.00,0.000,1030,0.000,0.052,2341,1998,3510,3565,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1539,-0.68,-146.0,2341,1998,3565,3455,230.8,-14.3,189,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1998,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.68,-146.0,2341,1998,3565,3456,273.2,-12.9,220,1849,0.00,2.25,0.00,0.000,516,0.000,0.064,2342,583,3511,3566,3456,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1937,-0.68,-146.0,1536,582,3560,3455,284.8,-12.8,228,1947,0.00,2.25,0.00,0.000,1030,0.000,0.053,2332,1991,3511,3566,3456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2244,-0.68,-146.0,2332,1991,3566,3456,329.1,-14.7,259,2248,0.00,2.22,0.00,0.000,516,0.000,0.063,2332,586,3511,3566,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2273,-0.68,-146.0,2332,586,3566,3456,333.3,-14.9,261,2282,0.00,2.20,0.00,0.000,1030,0.000,0.054,2321,1997,3511,3566,3457,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2584,-0.68,-146.0,2322,1997,3566,3456,380.8,-15.5,292,2594,0.12,2.22,0.00,0.000,2564,0.179,0.063,2357,589,3511,3566,3457,0,0,0,0,0,0,26.20,26.28,28.83
$GC,2609,-0.68,-146.0,1540,589,3561,3455,384.3,-15.0,294,2617,0.00,2.25,0.00,0.000,1030,0.000,0.054,2349,1994,3511,3566,3457,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2918,-0.68,-146.0,2349,1995,3566,3457,422.0,-12.1,316,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1995,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,-0.68,-146.0,2349,1995,3566,3457,457.9,-12.2,331,3223,0.00,2.22,0.00,0.000,516,0.000,0.067,2349,588,3512,3567,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3277,-0.68,-146.0,2349,587,3566,3457,465.4,-12.5,334,3283,0.00,2.20,0.00,0.000,1030,0.000,0.055,2339,1996,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3596,-0.68,-146.0,2339,1997,3566,3457,507.7,-13.4,350,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1997,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.68,-146.0,2339,1997,3566,3456,546.8,-12.9,365,3904,0.00,2.25,0.00,0.000,516,0.000,0.068,2339,581,3511,3566,3457,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3944,-0.68,-146.0,2339,581,3566,3457,552.1,-13.1,367,3949,0.00,2.28,0.00,0.000,1030,0.000,0.057,2330,1994,3511,3566,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4256,-0.68,-146.0,2329,1995,3566,3457,593.9,-13.0,383,4260,0.00,2.25,0.00,0.000,516,0.000,0.068,2329,581,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4300,-0.68,-146.0,2329,581,3566,3457,598.8,-13.3,385,4305,0.12,2.25,0.00,0.000,3078,0.175,0.057,2349,2006,3511,3566,3457,0,0,0,0,0,0,26.16,26.33,28.83
$GC,4613,-0.68,-146.0,2349,2008,3567,3457,634.7,-11.1,401,4619,0.00,2.28,0.00,0.000,516,0.000,0.070,2349,588,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4662,-0.68,-146.0,2349,588,3566,3457,639.3,-11.4,403,4666,0.00,2.22,0.00,0.000,1030,0.000,0.058,2341,2001,3511,3566,3457,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4968,-0.68,-146.0,2341,2001,3566,3457,676.8,-11.9,418,4974,0.00,2.28,0.00,0.000,516,0.000,0.070,2341,589,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5016,-0.68,-146.0,2341,588,3566,3457,681.9,-12.2,420,5020,0.00,2.25,0.00,0.000,1030,0.000,0.058,2330,2012,3511,3566,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5329,-0.68,-146.0,2330,2013,3566,3457,722.4,-12.7,436,5335,0.00,2.30,0.00,0.000,516,0.000,0.070,2331,581,3511,3566,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5381,-0.68,-146.0,2330,581,3566,3457,727.7,-13.0,438,5390,0.12,2.28,0.00,0.000,3078,0.174,0.059,2350,2017,3511,3566,3456,0,0,0,0,0,0,26.17,26.32,28.83
$GC,5689,-0.68,-146.0,2350,2017,3566,3457,763.3,-11.3,454,5694,0.00,2.30,0.00,0.000,516,0.000,0.070,2351,586,3511,3566,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5731,-0.68,-146.0,1552,586,3561,3454,767.9,-11.5,456,5735,0.00,2.28,0.00,0.000,1030,0.000,0.060,2342,1994,3511,3566,3457,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6049,-0.68,-146.0,2342,1995,3565,3457,804.1,-11.2,472,6054,0.00,2.25,0.00,0.000,516,0.000,0.070,2342,586,3511,3565,3457,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6078,-0.68,-146.0,2342,586,3565,3457,806.5,-11.4,473,6083,0.00,2.25,0.00,0.000,1030,0.000,0.059,2333,2005,3511,3565,3457,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6392,-0.68,-146.0,2332,2006,3565,3456,845.7,-12.1,489,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2006,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6691,-0.68,-146.0,2332,2006,3564,3457,883.1,-12.6,504,6697,0.00,2.30,0.00,0.000,516,0.000,0.071,2333,588,3510,3564,3456,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6759,-0.68,-146.0,2332,588,3564,3456,891.1,-12.9,507,6763,0.00,2.22,0.00,0.000,1030,0.000,0.060,2322,1994,3510,3565,3456,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7066,-0.68,-146.0,2322,1994,3563,3456,932.9,-13.2,522,7070,0.00,2.28,0.00,0.000,516,0.000,0.071,2322,586,3509,3563,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7132,-0.68,-146.0,2322,585,3563,3456,940.4,-13.3,525,7137,0.15,2.22,0.00,0.000,3078,0.167,0.060,2351,1994,3509,3563,3456,0,0,0,0,0,0,26.13,26.32,28.83
$GC,7438,-0.68,-146.0,2350,1994,3563,3456,974.5,-10.6,540,7442,0.00,2.28,0.00,0.000,516,0.000,0.072,2351,584,3509,3563,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7474,-0.68,-146.0,2351,584,3563,3456,978.5,-10.9,542,7478,0.00,2.25,0.00,0.000,1030,0.000,0.060,2342,2004,3509,3563,3456,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,7690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7690,begin apogee
$GC,7695,-0.14,0.0,2342,1866,3562,3456,1002.0,-10.9,553,7831,0.57,0.00,133.02,1.779,10246,0.131,0.000,2524,1866,2908,2983,2834,0,0,0,0,0,0,26.13,28.83,23.27
$STATE,7832,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7834,0.68,146.0,2524,1865,2983,2835,1008.4,0.0,560,7984,0.73,2.62,141.00,1.750,10500,0.051,0.064,2797,3276,2312,2375,2250,0,0,0,0,0,0,24.35,23.37,22.42
$GC,8291,0.68,146.0,2796,3275,2371,2239,956.5,16.6,583,8297,0.00,2.33,0.00,0.000,1030,0.000,0.059,2807,1872,2305,2371,2239,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8611,0.68,146.0,2807,1872,2371,2235,906.9,15.0,599,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1872,2303,2371,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,0.68,146.0,2807,1872,2371,2234,862.0,14.8,614,8917,0.00,2.30,0.00,0.000,260,0.000,0.067,2807,3285,2302,2371,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9004,0.68,146.0,2807,3285,2370,2234,849.4,15.7,618,9011,0.00,2.30,0.00,0.000,1030,0.000,0.060,2818,1863,2302,2370,2234,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9311,0.68,146.0,2817,1864,2370,2233,799.9,15.4,634,9317,0.00,2.30,0.00,0.000,260,0.000,0.066,2818,3285,2301,2370,2233,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9544,0.68,146.0,2817,3285,2370,2233,764.0,16.3,645,9552,0.15,2.30,0.00,0.000,5126,0.221,0.060,2796,1858,2301,2370,2233,0,0,0,0,0,0,25.84,26.10,28.83
$GC,9851,0.68,146.0,2795,1858,2370,2231,718.4,14.1,661,9857,0.00,2.30,0.00,0.000,260,0.000,0.066,2794,3283,2301,2370,2232,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9914,0.68,146.0,2794,3283,2369,2232,709.4,14.8,664,9918,0.00,2.25,0.00,0.000,1030,0.000,0.058,2803,1869,2300,2369,2232,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10231,0.68,146.0,2802,1869,2369,2231,663.2,14.8,680,10235,0.00,2.28,0.00,0.000,260,0.000,0.067,2803,3287,2300,2369,2231,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10300,0.68,146.0,2802,3287,2369,2231,654.6,15.2,683,10307,0.00,2.28,0.00,0.000,1030,0.000,0.058,2813,1864,2300,2369,2231,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10607,0.68,146.0,2813,1864,2369,2231,607.3,14.6,699,10611,0.00,2.28,0.00,0.000,260,0.000,0.067,2812,3284,2300,2369,2231,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10696,0.68,146.0,2813,3284,2369,2231,595.8,15.2,703,10704,0.15,2.25,0.00,0.000,5126,0.220,0.059,2791,1869,2300,2369,2231,0,0,0,0,0,0,25.96,26.23,28.83
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$STATE,15336,end climb,SURFACE_DEPTH_REACHED
$STATE,15336,begin surface coast
$FINISH,-0.2,1.026511
$STATE,15368,end surface coast,CONTROL_FINISHED_OK
$STATE,15368,begin surface
$SM_CCo,15381,32.97,0.148,0,0,1967,230.09
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$IRIDIUM_FIX,-4242.04,819.04,261008,101055
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.10
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,24.597
$10V_AH,10.1,19.849
$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,17.525,141.075,274.025,32.975,0.000,31.343,17.731,149.236,49.250,0.000,20.519,3128.761,8896.134,452.710,3074.430,176.504,0.000,1668.159,0.000,2629.017,0.000,298.037,0.000
$DEVICE_MAMPS,221.085,81.090,1779.390,148.410,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.975,80.386,708.041,1755.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352704
$DATA_FILE_SIZE,73564,1157
$CAP_FILE_SIZE,173354,0
$CFSIZE,259248128,248029184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.178, 36.4,1
$GPS,311215,042803,-4255.368,827.459,60,0.8,60,-25.0