version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 153
start: 1 3 116 20 16 7
data:
$ID,542
$MISSION,12
$DIVE,153
$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,-29841.855
$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,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
$GPS1,030116,200957,-4304.319,828.459,71,1.1,72,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.8
$GPS2,030116,201541,-4304.296,828.469,18,1.0,18,-25.0
$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,267.9,6071,-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,14,begin dive
$GC,15,-0.68,-146.0,151,1995,1959,1926,0.0,0.0,0,66,0.00,0.00,-48.42,0.000,16386,0.000,0.000,151,1997,3254,3327,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,151,1996,3328,3183,3.3,-5.3,6,88,8.25,2.33,-5.28,0.000,18692,0.216,0.070,2330,3409,3508,3567,3449,0,0,0,0,0,0,25.42,25.89,26.33
$GC,102,-0.68,-146.0,2330,3409,3567,3451,14.8,-31.5,10,111,0.00,2.28,0.00,0.000,1030,0.000,0.051,2330,1999,3509,3567,3451,0,0,0,0,0,0,28.83,25.91,28.83
$GC,163,-0.68,-146.0,2330,1999,3568,3452,26.8,-19.0,19,172,0.00,2.33,0.00,0.000,516,0.000,0.066,2330,584,3510,3568,3452,0,0,0,0,0,0,28.83,25.86,28.83
$GC,212,-0.68,-146.0,2330,584,3567,3453,36.0,-18.8,26,221,0.08,2.28,0.00,0.000,3078,0.167,0.054,2343,1988,3510,3567,3453,0,0,0,0,0,0,25.73,25.94,28.83
$GC,356,-0.68,-146.0,1440,1987,3560,3451,61.7,-17.5,51,364,0.00,2.33,0.00,0.000,516,0.000,0.065,2343,578,3510,3567,3453,0,0,0,0,0,0,28.83,25.93,28.83
$GC,403,-0.68,-146.0,2342,577,3567,3454,69.9,-16.9,59,413,0.00,2.25,0.00,0.000,1030,0.000,0.054,2335,1997,3510,3567,3454,0,0,0,0,0,0,28.83,25.99,28.83
$GC,734,-0.68,-146.0,2334,1998,3567,3455,126.8,-16.5,105,742,0.00,2.28,0.00,0.000,516,0.000,0.064,2335,573,3511,3568,3454,0,0,0,0,0,0,28.83,26.02,28.83
$GC,787,-0.68,-146.0,2334,573,3567,3455,135.2,-16.3,110,794,0.00,2.30,0.00,0.000,1030,0.000,0.054,2324,1998,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1096,-0.68,-146.0,2324,1998,3567,3455,187.0,-16.8,141,1104,0.00,2.28,0.00,0.000,516,0.000,0.064,2324,578,3511,3567,3455,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1139,-0.68,-146.0,2324,578,3567,3455,194.3,-17.0,145,1149,0.15,2.25,0.00,0.000,3078,0.171,0.054,2351,2006,3511,3567,3456,0,0,0,0,0,0,25.89,26.13,28.83
$GC,1449,-0.68,-146.0,2351,2007,3567,3456,235.7,-12.7,176,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2006,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,-0.68,-146.0,2351,2007,3567,3456,273.4,-12.5,206,1757,0.00,2.28,0.00,0.000,516,0.000,0.063,2351,584,3512,3568,3457,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1813,-0.68,-146.0,2351,584,3568,3457,280.9,-11.9,212,1822,0.00,2.20,0.00,0.000,1030,0.000,0.054,2343,1996,3512,3567,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2121,-0.68,-146.0,2342,1996,3567,3457,319.8,-12.5,243,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1996,3512,3568,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2421,-0.68,-146.0,2343,1996,3568,3457,356.6,-12.1,273,2430,0.00,2.28,0.00,0.000,516,0.000,0.065,2343,574,3512,3568,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2497,-0.68,-146.0,2343,574,3568,3458,365.7,-12.1,280,2504,0.00,2.25,0.00,0.000,1030,0.000,0.055,2333,1993,3513,3569,3458,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2814,-0.68,-146.0,2333,1993,3568,3458,410.0,-14.3,309,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1994,3512,3567,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.68,-146.0,2333,1994,3567,3458,452.2,-14.2,324,3120,0.00,2.25,0.00,0.000,516,0.000,0.067,2333,580,3512,3567,3458,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3174,-0.68,-146.0,2333,580,3567,3458,461.0,-14.6,327,3180,0.00,2.22,0.00,0.000,1030,0.000,0.057,2323,1996,3513,3568,3458,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3494,-0.68,-146.0,2323,1997,3567,3457,510.4,-15.7,343,3500,0.00,2.28,0.00,0.000,516,0.000,0.067,2323,577,3512,3567,3458,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3516,-0.68,-146.0,1512,577,3562,3455,513.6,-15.8,344,3521,0.15,2.25,0.00,0.000,3078,0.171,0.057,2350,2001,3512,3567,3458,0,0,0,0,0,0,26.01,26.24,28.83
$GC,3829,-0.68,-146.0,2350,2002,3567,3458,555.9,-13.6,360,3835,0.00,2.28,0.00,0.000,516,0.000,0.068,2350,585,3512,3567,3458,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3877,-0.68,-146.0,2350,585,3567,3458,561.6,-14.0,362,3881,0.00,2.28,0.00,0.000,1030,0.000,0.057,2342,1994,3512,3567,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4191,-0.68,-146.0,2342,1994,3567,3457,607.2,-14.1,378,4196,0.00,2.25,0.00,0.000,516,0.000,0.068,2342,585,3512,3567,3458,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4211,-0.68,-146.0,2342,585,3567,3458,610.1,-14.1,379,4216,0.00,2.28,0.00,0.000,1030,0.000,0.058,2332,2018,3512,3567,3458,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4529,-0.68,-146.0,2332,2019,3567,3458,656.2,-14.3,395,4535,0.00,2.33,0.00,0.000,516,0.000,0.070,2332,577,3512,3567,3458,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4562,-0.68,-146.0,2332,577,3567,3457,659.2,-14.5,396,4572,0.00,2.28,0.00,0.000,1030,0.000,0.059,2322,2003,3512,3567,3458,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4872,-0.68,-146.0,2322,2003,3567,3458,706.8,-14.9,412,4877,0.00,2.28,0.00,0.000,516,0.000,0.069,2322,582,3512,3567,3458,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4917,-0.68,-146.0,2322,583,3567,3458,712.9,-15.1,414,4922,0.15,2.25,0.00,0.000,3078,0.173,0.059,2349,1997,3512,3567,3458,0,0,0,0,0,0,26.00,26.22,28.83
$GC,5224,-0.68,-146.0,2349,1997,3567,3458,752.6,-12.2,429,5228,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,585,3512,3567,3458,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5270,-0.68,-146.0,2349,585,3567,3457,757.1,-12.3,431,5274,0.00,2.25,0.00,0.000,1030,0.000,0.060,2341,2000,3512,3567,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5576,-0.68,-146.0,2341,2001,3567,3457,796.8,-12.4,446,5582,0.00,2.30,0.00,0.000,516,0.000,0.069,2341,578,3512,3567,3458,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5617,-0.68,-146.0,2341,578,3566,3457,801.9,-12.5,448,5622,0.00,2.22,0.00,0.000,1030,0.000,0.060,2331,1991,3512,3567,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5937,-0.68,-146.0,2331,1992,3566,3457,842.4,-12.4,464,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1992,3512,3566,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6238,-0.68,-146.0,2331,1991,3565,3457,879.9,-12.4,479,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1992,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,-0.68,-146.0,2331,1991,3564,3457,916.1,-11.8,494,6542,0.00,2.25,0.00,0.000,516,0.000,0.071,2331,587,3510,3563,3457,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6596,-0.68,-146.0,2331,586,3563,3457,923.2,-11.9,497,6603,0.12,2.25,0.00,0.000,3078,0.175,0.060,2351,2000,3510,3563,3457,0,0,0,0,0,0,26.03,26.22,28.83
$GC,6916,-0.68,-146.0,2351,2000,3563,3457,954.1,-9.5,513,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2001,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,-0.68,-146.0,2351,2000,3563,3457,983.1,-9.8,528,7223,0.00,2.28,0.00,0.000,516,0.000,0.071,2351,585,3509,3562,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7276,-0.68,-146.0,2350,585,3562,3457,989.4,-10.4,531,7280,0.00,2.25,0.00,0.000,1030,0.000,0.061,2343,1996,3509,3562,3457,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,7391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7391,begin apogee
$GC,7396,-0.14,0.0,2342,1859,3562,3457,1001.8,-10.9,537,7533,0.57,0.00,133.27,1.798,10246,0.130,0.000,2524,1859,2909,2982,2836,0,0,0,0,0,0,25.96,28.83,23.12
$STATE,7534,end apogee,CONTROL_FINISHED_OK
$STATE,7535,begin climb
$GC,7536,0.68,146.0,2524,1859,2982,2836,1009.0,0.0,544,7686,0.75,2.58,141.15,1.764,10756,0.047,0.070,2807,461,2312,2374,2250,0,0,0,0,0,0,24.25,23.35,22.37
$GC,7836,0.68,146.0,2806,460,2367,2246,987.7,15.1,559,7840,0.00,2.42,0.00,0.000,1030,0.000,0.060,2806,1877,2306,2367,2246,0,0,0,0,0,0,28.83,24.75,28.83
$GC,8153,0.68,146.0,2806,1877,2366,2240,941.2,14.4,575,8157,0.00,2.33,0.00,0.000,260,0.000,0.067,2807,3284,2303,2366,2240,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8211,0.68,146.0,2806,3284,2366,2240,932.7,14.9,578,8216,0.00,2.28,0.00,0.000,1030,0.000,0.060,2817,1879,2302,2365,2240,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8530,0.68,146.0,2817,1880,2365,2238,886.5,14.3,594,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1879,2301,2365,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,0.68,146.0,2817,1880,2365,2236,843.5,14.5,609,8835,0.00,2.30,0.00,0.000,260,0.000,0.067,2817,3293,2300,2365,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8912,0.68,146.0,1936,3291,2325,2231,830.8,15.8,613,8917,0.12,2.35,0.00,0.000,5126,0.207,0.060,2794,1864,2301,2365,2237,0,0,0,0,0,0,25.67,25.96,28.83
$GC,9230,0.68,146.0,2794,1864,2365,2236,786.6,13.6,629,9235,0.00,2.30,0.00,0.000,260,0.000,0.067,2794,3284,2300,2365,2235,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9269,0.68,146.0,2794,3284,2364,2236,780.6,14.3,631,9274,0.00,2.28,0.00,0.000,1030,0.000,0.059,2803,1863,2299,2364,2235,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9586,0.68,146.0,2803,1863,2365,2235,735.4,14.5,647,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1863,2299,2364,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9886,0.68,146.0,2802,1863,2364,2234,694.5,13.5,662,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1862,2299,2364,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10186,0.68,146.0,2803,1863,2365,2234,654.2,13.3,677,10190,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3290,2299,2364,2234,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,15662,end climb,SURFACE_DEPTH_REACHED
$STATE,15662,begin surface coast
$FINISH,-0.2,1.015172
$STATE,15694,end surface coast,CONTROL_FINISHED_OK
$STATE,15694,begin surface
$SM_CCo,15709,32.90,0.150,0,0,1969,230.09
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$IRIDIUM_FIX,-4247.91,826.16,301008,050557
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.22
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,27.862
$10V_AH,10.1,22.408
$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,17.575,150.250,274.425,32.900,0.000,28.744,16.586,182.608,49.250,0.000,20.067,3180.360,9266.288,483.162,2965.037,188.504,0.000,1657.099,0.000,2500.024,0.000,298.707,0.000
$DEVICE_MAMPS,217.260,80.325,1797.750,149.940,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.835,77.840,712.583,1795.753,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352728
$DATA_FILE_SIZE,76979,1195
$CAP_FILE_SIZE,174251,0
$CFSIZE,259248128,246333440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143, 44.5,1
$GPS,040116,003933,-4304.570,827.270,28,1.6,29,-25.0