version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 133
start: 12 31 115 4 33 59
data:
$ID,542
$MISSION,12
$DIVE,133
$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,-29816.76
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,311215,042803,-4255.368,827.459,60,0.8,60,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.9
$GPS2,311215,043334,-4255.355,827.515,16,1.0,16,-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,157.5,11567,-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,-146.0,157,2004,1954,1928,0.0,0.0,0,72,0.00,0.00,-55.20,0.000,16386,0.000,0.000,156,2004,3491,3539,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.68,-146.0,156,2004,3540,3445,4.2,-7.5,7,92,8.30,2.30,-0.25,0.000,18948,0.223,0.067,2349,578,3506,3552,3460,0,0,0,0,0,0,25.56,25.97,26.08
$GC,164,-0.68,-146.0,2349,578,3555,3460,30.9,-16.5,20,172,0.00,2.28,0.00,0.000,1030,0.000,0.054,2341,1987,3507,3555,3460,0,0,0,0,0,0,28.83,25.99,28.83
$GC,315,-0.68,-146.0,2340,1987,3555,3460,55.8,-16.9,45,323,0.00,2.30,0.00,0.000,260,0.000,0.060,2330,3407,3508,3556,3460,0,0,0,0,0,0,28.83,26.03,28.83
$GC,343,-0.68,-146.0,1392,3405,3548,3458,60.5,-16.2,49,351,0.00,2.22,0.00,0.000,1030,0.000,0.051,2330,1986,3508,3556,3460,0,0,0,0,0,0,28.83,26.06,28.83
$GC,672,-0.68,-146.0,2330,1986,3557,3460,115.8,-16.8,101,681,0.00,2.20,0.00,0.000,516,0.000,0.065,2330,593,3508,3557,3460,0,0,0,0,0,0,28.83,26.10,28.83
$GC,799,-0.68,-146.0,2330,594,3557,3460,137.0,-16.3,113,808,0.08,2.25,0.00,0.000,3078,0.163,0.053,2344,1993,3508,3557,3460,0,0,0,0,0,0,25.97,26.16,28.83
$GC,1106,-0.68,-146.0,2344,1994,3558,3460,184.0,-14.7,144,1110,0.00,2.25,0.00,0.000,516,0.000,0.063,2343,581,3509,3558,3460,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1166,-0.68,-146.0,2344,581,3558,3460,192.3,-14.1,149,1175,0.00,2.28,0.00,0.000,1030,0.000,0.053,2336,1998,3509,3558,3460,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1474,-0.68,-146.0,2335,1998,3558,3460,239.8,-15.8,180,1478,0.00,2.25,0.00,0.000,516,0.000,0.063,2335,584,3509,3558,3460,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1520,-0.68,-146.0,2335,584,3558,3460,247.2,-15.7,184,1524,0.00,2.20,0.00,0.000,1030,0.000,0.053,2326,1996,3509,3558,3460,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1826,-0.68,-146.0,2325,1997,3558,3460,294.0,-15.2,214,1836,0.00,2.25,0.00,0.000,516,0.000,0.063,2325,581,3509,3558,3460,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1870,-0.68,-146.0,2325,581,3559,3460,300.6,-15.9,218,1879,0.10,2.20,0.00,0.000,3078,0.156,0.054,2346,2002,3509,3559,3460,0,0,0,0,0,0,26.08,26.27,28.83
$GC,2178,-0.68,-146.0,2345,2003,3559,3460,339.2,-12.2,249,2189,0.00,2.28,0.00,0.000,516,0.000,0.064,2347,578,3509,3559,3460,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2213,-0.68,-146.0,1552,578,3554,3458,343.3,-12.3,252,2222,0.00,2.28,0.00,0.000,1030,0.000,0.053,2338,1999,3509,3559,3460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2521,-0.68,-146.0,2338,2000,3560,3460,385.1,-13.8,283,2530,0.00,2.28,0.00,0.000,516,0.000,0.065,2338,578,3510,3560,3460,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2575,-0.68,-146.0,2338,578,3560,3460,392.3,-14.0,288,2583,0.00,2.28,0.00,0.000,1030,0.000,0.054,2328,1998,3510,3560,3460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2893,-0.68,-146.0,2328,1998,3560,3460,440.6,-15.3,307,2898,0.00,2.28,0.00,0.000,516,0.000,0.065,2328,581,3510,3560,3460,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2940,-0.68,-146.0,2328,581,3560,3460,446.9,-15.6,309,2945,0.12,2.22,0.00,0.000,3078,0.177,0.054,2347,2001,3510,3560,3460,0,0,0,0,0,0,26.12,26.31,28.83
$GC,3253,-0.68,-146.0,2347,2001,3559,3460,490.2,-13.4,325,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2001,3510,3560,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.68,-146.0,2347,2001,3560,3460,530.3,-13.0,340,3559,0.00,2.25,0.00,0.000,516,0.000,0.068,2348,584,3509,3559,3460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3626,-0.68,-146.0,2347,584,3560,3460,538.2,-13.1,343,3634,0.00,2.25,0.00,0.000,1030,0.000,0.057,2339,2004,3510,3560,3460,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3934,-0.68,-146.0,2339,2004,3560,3460,580.2,-13.3,359,3939,0.00,2.28,0.00,0.000,516,0.000,0.067,2339,582,3510,3560,3460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3986,-0.68,-146.0,2339,582,3560,3460,585.6,-13.4,361,3994,0.00,2.25,0.00,0.000,1030,0.000,0.057,2329,1999,3510,3560,3460,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4293,-0.68,-146.0,2329,2000,3559,3460,629.8,-14.0,377,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2000,3510,3560,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-0.68,-146.0,2329,2000,3560,3460,671.6,-13.6,392,4600,0.00,2.28,0.00,0.000,516,0.000,0.069,2329,584,3509,3559,3460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4636,-0.68,-146.0,2329,584,3559,3460,677.1,-13.8,394,4641,0.08,2.28,0.00,0.000,3078,0.163,0.057,2343,1997,3510,3560,3460,0,0,0,0,0,0,26.14,26.32,28.83
$GC,4954,-0.68,-146.0,2343,1998,3560,3460,714.0,-11.3,410,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1998,3510,3560,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.68,-146.0,2343,1998,3559,3460,747.6,-11.2,425,5260,0.00,2.28,0.00,0.000,516,0.000,0.071,2343,583,3509,3559,3460,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5303,-0.68,-146.0,2343,583,3559,3460,752.1,-11.3,427,5307,0.00,2.25,0.00,0.000,1030,0.000,0.059,2335,2002,3509,3559,3460,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5616,-0.68,-146.0,2335,2002,3559,3460,790.7,-12.1,443,5622,0.00,2.28,0.00,0.000,516,0.000,0.070,2335,587,3509,3559,3460,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5676,-0.68,-146.0,2335,587,3559,3460,798.1,-12.4,446,5682,0.00,2.22,0.00,0.000,1030,0.000,0.059,2325,1995,3509,3559,3460,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5996,-0.68,-146.0,2325,1997,3558,3460,839.8,-13.2,462,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1997,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.68,-146.0,2325,1997,3558,3459,879.5,-13.1,477,6302,0.00,2.28,0.00,0.000,516,0.000,0.071,2326,589,3508,3558,3459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6357,-0.68,-146.0,2325,589,3558,3459,887.5,-13.1,480,6364,0.12,2.22,0.00,0.000,3078,0.181,0.060,2345,1996,3508,3558,3459,0,0,0,0,0,0,26.13,26.31,28.83
$GC,6676,-0.68,-146.0,2344,1996,3558,3458,922.3,-11.0,496,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1996,3508,3558,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6979,-0.68,-146.0,2344,1996,3558,3456,955.8,-11.2,511,6985,0.00,2.25,0.00,0.000,516,0.000,0.071,2345,591,3507,3558,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7017,-0.68,-146.0,2345,591,3558,3456,960.4,-11.4,513,7023,0.00,2.22,0.00,0.000,1030,0.000,0.060,2337,1995,3507,3558,3456,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7337,-0.68,-146.0,2336,1996,3557,3456,997.2,-11.4,529,7343,0.00,2.28,0.00,0.000,516,0.000,0.071,2337,585,3506,3557,3456,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,7376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7376,begin apogee
$GC,7382,-0.14,0.0,2327,1876,3557,3456,1001.9,-11.6,531,7518,0.62,0.00,132.95,1.784,10246,0.139,0.000,2522,1876,2909,2982,2836,0,0,0,0,0,0,26.09,28.83,23.27
$STATE,7519,end apogee,CONTROL_FINISHED_OK
$STATE,7519,begin climb
$GC,7521,0.68,146.0,2522,1876,2982,2836,1008.4,0.0,538,7671,0.73,2.62,141.18,1.750,10756,0.045,0.071,2810,466,2313,2376,2250,0,0,0,0,0,0,24.37,23.36,22.40
$GC,7913,0.68,146.0,2809,465,2368,2244,968.1,15.9,557,7917,0.00,2.35,0.00,0.000,1030,0.000,0.060,2804,1870,2306,2368,2244,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8229,0.68,146.0,2804,1871,2368,2239,921.1,14.6,573,8233,0.00,2.33,0.00,0.000,260,0.000,0.067,2804,3287,2303,2368,2239,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8418,0.68,146.0,2804,3287,2366,2238,893.9,15.5,582,8425,0.00,2.30,0.00,0.000,1030,0.000,0.060,2813,1875,2302,2367,2238,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8725,0.68,146.0,2813,1875,2366,2236,846.2,14.6,598,8732,0.00,2.30,0.00,0.000,260,0.000,0.067,2813,3286,2301,2366,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8868,0.68,146.0,2813,3286,2366,2236,824.3,15.7,605,8873,0.15,2.28,0.00,0.000,5126,0.221,0.059,2792,1869,2301,2366,2236,0,0,0,0,0,0,25.75,26.00,28.83
$GC,9180,0.68,146.0,2791,1868,2366,2235,779.0,14.4,621,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1868,2300,2366,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9480,0.68,146.0,2791,1869,2366,2234,736.7,13.7,636,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1868,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,0.68,146.0,2791,1869,2366,2234,695.4,13.8,651,9786,0.00,2.28,0.00,0.000,260,0.000,0.067,2786,3285,2300,2366,2234,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9863,0.68,146.0,2785,3285,2365,2234,684.2,14.1,655,9867,0.00,2.25,0.00,0.000,1030,0.000,0.059,2794,1868,2299,2365,2234,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10180,0.68,146.0,2794,1868,2366,2234,640.1,13.6,671,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1868,2299,2366,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,0.68,146.0,2794,1868,2365,2233,598.2,13.8,686,10487,0.00,2.28,0.00,0.000,260,0.000,0.067,2795,3285,2299,2365,2233,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10662,0.68,146.0,2794,3286,2365,2233,572.8,14.0,695,10667,0.00,2.22,0.00,0.000,1030,0.000,0.060,2805,1870,2299,2365,2233,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,15420,end climb,SURFACE_DEPTH_REACHED
$STATE,15420,begin surface coast
$FINISH,-0.1,1.026434
$STATE,15452,end surface coast,CONTROL_FINISHED_OK
$STATE,15452,begin surface
$SM_CCo,15468,30.05,0.148,0,0,1966,230.09
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$IRIDIUM_FIX,-4239.11,821.95,261008,131350
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.06
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$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,24.754
$10V_AH,10.1,19.972
$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
$DEVICE_SECS,17.325,125.525,276.100,30.050,0.000,24.051,21.360,174.004,49.250,0.000,17.761,3116.024,9071.903,465.147,3009.920,162.544,0.000,1657.575,0.000,2541.064,0.000,297.361,0.000
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352684
$DATA_FILE_SIZE,73753,1169
$CAP_FILE_SIZE,168956,0
$CFSIZE,259248128,247947264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.146, 55.3,1
$GPS,311215,085404,-4255.829,831.182,70,1.1,70,-25.0