version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 148
start: 1 2 116 22 0 56
data:
$ID,542
$MISSION,12
$DIVE,148
$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,-29835.58
$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,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
$GPS1,020116,215403,-4303.704,832.876,91,0.9,92,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.6
$GPS2,020116,220030,-4303.639,833.039,15,0.8,16,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,259.4,12249,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-146.0,142,2008,1964,1920,0.0,0.0,0,73,0.00,0.00,-55.50,0.000,16390,0.000,0.000,138,2008,3506,3552,3460,0,0,0,0,0,0,28.83,28.83,26.36
$GC,76,-0.68,-146.0,138,2008,3552,3461,4.5,-9.2,7,92,8.45,2.25,0.00,0.000,2308,0.223,0.050,2330,3411,3507,3552,3463,0,0,0,0,0,0,25.40,25.91,28.83
$GC,108,-0.68,-146.0,2330,3411,3554,3463,20.4,-45.0,11,116,0.00,2.30,0.00,0.000,1030,0.000,0.053,2330,1995,3509,3554,3464,0,0,0,0,0,0,28.83,25.89,28.83
$GC,262,-0.68,-146.0,2330,1994,3555,3463,50.3,-16.2,36,271,0.00,2.30,0.00,0.000,516,0.000,0.064,2331,594,3509,3555,3464,0,0,0,0,0,0,28.83,25.91,28.83
$GC,364,-0.68,-146.0,1424,592,3548,3461,67.9,-16.5,54,372,0.12,2.25,0.00,0.000,3078,0.187,0.054,2349,2008,3509,3556,3463,0,0,0,0,0,0,25.77,25.98,28.83
$GC,686,-0.68,-146.0,2349,2008,3557,3463,116.9,-15.5,104,696,0.00,2.30,0.00,0.000,516,0.000,0.064,2349,578,3510,3557,3463,0,0,0,0,0,0,28.83,26.02,28.83
$GC,823,-0.68,-146.0,2349,578,3557,3464,137.4,-14.6,117,832,0.00,2.25,0.00,0.000,1030,0.000,0.055,2341,2005,3510,3557,3463,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1133,-0.68,-146.0,2340,2005,3558,3464,186.1,-15.2,148,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2006,3510,3558,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1435,-0.68,-146.0,2340,2005,3558,3463,230.4,-14.7,178,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2005,3511,3558,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1743,-0.68,-146.0,2340,2005,3559,3464,276.5,-14.7,209,1752,0.00,2.28,0.00,0.000,516,0.000,0.065,2341,580,3511,3559,3463,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1827,-0.68,-146.0,2341,580,3559,3463,288.5,-14.4,217,1836,0.00,2.28,0.00,0.000,1030,0.000,0.055,2330,1993,3511,3559,3464,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2135,-0.68,-146.0,2330,1994,3559,3464,334.9,-15.0,248,2139,0.00,2.25,0.00,0.000,516,0.000,0.065,2331,583,3511,3559,3464,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2174,-0.68,-146.0,2330,583,3560,3464,340.6,-15.2,251,2182,0.08,2.28,0.00,0.000,3078,0.162,0.055,2344,2000,3511,3560,3463,0,0,0,0,0,0,26.03,26.22,28.83
$GC,2482,-0.68,-146.0,2343,2001,3560,3464,383.4,-14.0,282,2491,0.00,2.28,0.00,0.000,516,0.000,0.066,2344,588,3512,3560,3464,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2555,-0.68,-146.0,2344,588,3560,3464,393.6,-13.6,289,2565,0.00,2.22,0.00,0.000,1030,0.000,0.055,2335,1996,3511,3560,3463,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2864,-0.68,-146.0,2335,1996,3560,3464,438.6,-14.6,307,2868,0.00,2.25,0.00,0.000,516,0.000,0.067,2335,588,3511,3560,3463,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2901,-0.68,-146.0,2335,588,3560,3463,444.0,-14.7,309,2907,0.00,2.22,0.00,0.000,1030,0.000,0.057,2325,2001,3511,3559,3463,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3221,-0.68,-146.0,2325,2002,3559,3464,491.1,-14.4,325,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2002,3511,3559,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.68,-146.0,2325,2002,3559,3463,531.5,-13.1,340,3527,0.00,2.25,0.00,0.000,516,0.000,0.068,2325,589,3512,3560,3464,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3604,-0.68,-146.0,2325,589,3560,3463,541.8,-12.8,344,3609,0.10,2.28,0.00,0.000,3078,0.155,0.057,2346,2000,3511,3559,3463,0,0,0,0,0,0,26.03,26.25,28.83
$GC,3921,-0.68,-146.0,2346,2000,3560,3463,575.0,-10.5,360,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1999,3511,3560,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-0.68,-146.0,2346,2000,3559,3463,607.4,-11.0,375,4228,0.00,2.28,0.00,0.000,516,0.000,0.070,2347,586,3511,3559,3463,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4289,-0.68,-146.0,2346,587,3559,3463,614.2,-11.2,378,4294,0.00,2.28,0.00,0.000,1030,0.000,0.060,2338,1989,3511,3559,3463,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4602,-0.68,-146.0,2338,1990,3559,3463,652.6,-12.5,394,4606,0.00,2.28,0.00,0.000,516,0.000,0.070,2338,585,3511,3559,3463,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4646,-0.68,-146.0,2338,585,3559,3463,658.0,-12.9,396,4650,0.00,2.25,0.00,0.000,1030,0.000,0.059,2329,2001,3511,3559,3463,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4964,-0.68,-146.0,2328,2001,3559,3463,700.6,-13.3,412,4969,0.00,2.28,0.00,0.000,516,0.000,0.070,2329,588,3511,3559,3463,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4996,-0.68,-146.0,2328,588,3559,3463,703.3,-13.3,413,5007,0.12,2.25,0.00,0.000,3078,0.180,0.060,2348,1997,3511,3559,3463,0,0,0,0,0,0,26.06,26.25,28.83
$GC,5304,-0.68,-146.0,2348,1997,3559,3462,740.1,-11.3,429,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1997,3510,3559,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5603,-0.68,-146.0,2348,1997,3560,3462,773.8,-11.1,444,5609,0.00,2.30,0.00,0.000,516,0.000,0.071,2348,581,3510,3559,3461,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5672,-0.68,-146.0,2347,581,3559,3461,780.5,-11.3,447,5676,0.00,2.25,0.00,0.000,1030,0.000,0.060,2339,1995,3510,3559,3462,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5980,-0.68,-146.0,2339,1995,3559,3460,817.1,-11.8,462,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1996,3509,3559,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6279,-0.68,-146.0,2339,1996,3559,3460,853.3,-11.9,477,6285,0.00,2.28,0.00,0.000,516,0.000,0.071,2340,587,3509,3559,3460,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6301,-0.68,-146.0,2339,586,3559,3460,855.8,-12.1,478,6306,0.00,2.28,0.00,0.000,1030,0.000,0.060,2330,1989,3509,3559,3460,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6620,-0.68,-146.0,2330,1990,3558,3460,896.0,-12.2,494,6626,0.00,2.25,0.00,0.000,516,0.000,0.070,2331,589,3509,3558,3460,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6667,-0.68,-146.0,2330,589,3559,3460,901.1,-12.4,496,6672,0.12,2.25,0.00,0.000,3078,0.179,0.060,2349,2003,3509,3558,3460,0,0,0,0,0,0,26.05,26.24,28.83
$GC,6974,-0.68,-146.0,2349,2004,3558,3459,934.9,-10.6,511,6978,0.00,2.30,0.00,0.000,516,0.000,0.071,2349,581,3509,3558,3460,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7013,-0.68,-146.0,2349,581,3558,3459,939.0,-11.0,513,7017,0.00,2.30,0.00,0.000,1030,0.000,0.061,2341,1993,3508,3558,3459,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7333,-0.68,-146.0,2341,1993,3557,3459,975.3,-11.2,529,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7569,begin apogee
$GC,7574,-0.14,0.0,2341,1868,3558,3459,1002.1,-11.2,541,7711,0.57,0.00,132.98,1.795,10246,0.138,0.000,2518,1868,2908,2981,2836,0,0,0,0,0,0,25.97,28.83,23.17
$STATE,7712,end apogee,CONTROL_FINISHED_OK
$STATE,7712,begin climb
$GC,7714,0.68,146.0,2518,1868,2981,2837,1009.0,0.0,548,7864,0.75,2.65,140.52,1.759,11012,0.049,0.072,2812,470,2312,2374,2251,0,0,0,0,0,0,24.28,23.37,22.39
$GC,7944,0.68,146.0,2812,470,2368,2247,997.6,14.8,559,7952,0.00,2.45,0.00,0.000,1030,0.000,0.060,2813,1864,2306,2367,2245,0,0,0,0,0,0,28.83,24.43,28.83
$GC,8252,0.68,146.0,2813,1864,2367,2241,941.8,18.0,575,8257,0.00,2.38,0.00,0.000,260,0.000,0.067,2812,3292,2304,2367,2241,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8299,0.68,146.0,2812,3292,2366,2241,934.4,18.2,577,8304,0.10,2.38,0.00,0.000,5126,0.207,0.060,2797,1882,2303,2366,2241,0,0,0,0,0,0,25.21,25.44,28.83
$GC,8612,0.68,146.0,2797,1882,2366,2238,879.7,16.7,593,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1882,2302,2366,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,0.68,146.0,2797,1882,2366,2237,831.2,16.0,608,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1882,2301,2366,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9211,0.68,146.0,2797,1882,2366,2235,785.7,14.8,623,9216,0.00,2.28,0.00,0.000,260,0.000,0.067,2794,3285,2300,2366,2235,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9276,0.68,146.0,2794,3285,2365,2235,777.3,14.9,626,9280,0.00,2.30,0.00,0.000,1030,0.000,0.060,2803,1859,2300,2365,2235,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9582,0.68,146.0,2802,1859,2365,2234,734.9,13.1,641,9587,0.00,2.30,0.00,0.000,516,0.000,0.075,2814,457,2300,2365,2235,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9633,0.68,146.0,2813,457,2365,2235,730.0,13.2,643,9640,0.00,2.28,0.00,0.000,1030,0.000,0.061,2813,1872,2299,2365,2234,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9939,0.68,146.0,2813,1872,2365,2234,689.3,12.3,659,9945,0.00,2.28,0.00,0.000,260,0.000,0.068,2814,3285,2299,2365,2234,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10011,0.68,146.0,2813,3285,2364,2234,681.3,12.9,662,10019,0.15,2.28,0.00,0.000,5126,0.221,0.059,2792,1864,2299,2364,2234,0,0,0,0,0,0,25.84,26.13,28.83
$GC,10319,0.68,146.0,2792,1864,2364,2234,643.4,11.8,678,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1864,2299,2364,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10619,0.68,146.0,2792,1864,2364,2234,607.7,11.9,693,10623,0.00,2.28,0.00,0.000,260,0.000,0.067,2792,3283,2299,2364,2234,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10669,0.68,146.0,2792,3283,2363,2234,603.2,12.1,695,10676,0.00,2.25,0.00,0.000,1030,0.000,0.060,2800,1871,2298,2363,2234,0,0,0,0,0,0,28.83,26.19,28.83
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$GC,12953,0.68,146.0,2802,1869,2362,2233,308.4,12.8,844,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1869,2297,2362,2233,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15617,end climb,SURFACE_DEPTH_REACHED
$STATE,15618,begin surface coast
$FINISH,-0.2,1.026465
$STATE,15650,end surface coast,CONTROL_FINISHED_OK
$STATE,15650,begin surface
$SM_CCo,15664,32.85,0.148,0,0,1970,230.09
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$IRIDIUM_FIX,-4244.98,831.55,291008,070716
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.29
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,27.059
$10V_AH,10.1,21.792
$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
$DEVICE_SECS,17.800,137.400,273.500,32.850,0.000,24.540,44.663,203.579,49.250,0.000,17.665,3139.009,9304.503,480.863,2959.583,197.080,0.000,1620.289,0.000,2453.402,0.000,297.588,0.000
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$SENSOR_SECS,826.204,76.987,687.607,1770.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352700
$DATA_FILE_SIZE,73808,1181
$CAP_FILE_SIZE,169084,0
$CFSIZE,259248128,246747136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138, 34.0,1
$GPS,030116,022421,-4304.056,831.872,72,0.9,73,-25.1