version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 156
start: 1 4 116 9 52 55
data:
$ID,542
$MISSION,12
$DIVE,156
$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,-29845.619
$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,19
$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
$GPS1,040116,094608,-4304.220,825.773,35,1.3,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.0
$GPS2,040116,095229,-4304.182,825.856,14,1.3,14,-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,267.1,2533,-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,-146.0,148,1989,1959,1925,0.0,0.0,0,66,0.00,0.00,-48.75,0.000,16386,0.000,0.000,147,1989,3270,3344,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,146,1989,3344,3197,3.3,-5.6,6,87,8.25,2.35,-4.90,0.000,18692,0.214,0.072,2330,3412,3506,3565,3447,0,0,0,0,0,0,25.40,25.86,26.29
$GC,113,-0.68,-146.0,2331,3412,3565,3449,17.6,-29.1,12,123,0.00,2.28,0.00,0.000,1030,0.000,0.051,2330,2003,3507,3565,3449,0,0,0,0,0,0,28.83,25.88,28.83
$GC,176,-0.68,-146.0,2330,2002,3565,3450,28.8,-19.0,21,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2002,3507,3565,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,327,-0.68,-146.0,2330,2002,3565,3450,55.0,-17.1,46,333,0.00,2.30,0.00,0.000,516,0.000,0.065,2330,584,3508,3565,3451,0,0,0,0,0,0,28.83,25.89,28.83
$GC,414,-0.68,-146.0,2330,584,3565,3451,70.3,-17.0,61,422,0.12,2.25,0.00,0.000,3078,0.180,0.053,2349,2007,3508,3565,3451,0,0,0,0,0,0,25.77,25.97,28.83
$GC,742,-0.68,-146.0,2349,2007,3566,3451,118.8,-13.8,109,751,0.00,2.28,0.00,0.000,516,0.000,0.063,2349,581,3508,3565,3452,0,0,0,0,0,0,28.83,25.99,28.83
$GC,814,-0.68,-146.0,2349,581,3565,3452,128.8,-13.0,116,818,0.00,2.22,0.00,0.000,1030,0.000,0.053,2341,1993,3508,3565,3452,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1119,-0.68,-146.0,2341,1993,3565,3453,172.8,-14.5,146,1123,0.00,2.25,0.00,0.000,516,0.000,0.063,2341,586,3509,3565,3453,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1148,-0.68,-146.0,1536,586,3559,3451,176.8,-14.9,148,1157,0.00,2.28,0.00,0.000,1030,0.000,0.053,2331,2001,3508,3564,3453,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1456,-0.68,-146.0,2331,2002,3565,3454,225.5,-16.3,179,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2002,3509,3565,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1756,-0.68,-146.0,2331,2002,3565,3454,271.9,-15.0,209,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2002,3509,3565,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.68,-146.0,2331,2002,3565,3455,317.6,-14.9,239,2059,0.00,2.28,0.00,0.000,516,0.000,0.064,2331,579,3509,3565,3454,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2116,-0.68,-146.0,2331,579,3565,3455,326.0,-14.8,244,2124,0.12,2.25,0.00,0.000,3078,0.174,0.054,2351,2000,3510,3565,3455,0,0,0,0,0,0,25.99,26.20,28.83
$GC,2422,-0.68,-146.0,2350,2000,3565,3455,363.8,-11.7,275,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2000,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.68,-146.0,2350,2000,3565,3455,399.0,-11.8,305,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2000,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,-0.68,-146.0,2350,2000,3565,3455,435.2,-11.8,321,3039,0.00,2.25,0.00,0.000,516,0.000,0.067,2351,584,3510,3565,3455,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3086,-0.68,-146.0,2350,585,3565,3455,439.8,-11.8,323,3094,0.00,2.25,0.00,0.000,1030,0.000,0.057,2342,2005,3510,3565,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3392,-0.68,-146.0,2342,2006,3565,3455,478.5,-12.2,339,3398,0.00,2.28,0.00,0.000,516,0.000,0.067,2342,587,3510,3565,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3421,-0.68,-146.0,2342,586,3565,3455,481.1,-12.3,340,3425,0.00,2.22,0.00,0.000,1030,0.000,0.056,2332,1995,3510,3565,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3734,-0.68,-146.0,2332,1996,3565,3455,522.2,-12.7,356,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3509,3565,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.68,-146.0,2333,1995,3565,3454,559.9,-12.5,371,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4335,-0.68,-146.0,2332,1996,3564,3455,596.6,-12.2,386,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4635,-0.68,-146.0,2332,1996,3565,3455,632.6,-11.9,401,4640,0.00,2.22,0.00,0.000,516,0.000,0.068,2332,589,3510,3565,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4657,-0.68,-146.0,2332,588,3565,3455,635.1,-12.0,402,4662,0.00,2.28,0.00,0.000,1030,0.000,0.057,2322,1992,3510,3565,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4976,-0.68,-146.0,2322,1992,3565,3454,675.3,-12.4,418,4981,0.00,2.28,0.00,0.000,260,0.000,0.065,2311,3418,3509,3565,3454,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4997,-0.68,-146.0,1536,3417,3559,3453,677.8,-12.4,419,5002,0.10,2.28,0.00,0.000,3078,0.140,0.054,2345,2000,3510,3565,3455,0,0,0,0,0,0,26.03,26.23,28.83
$GC,5315,-0.68,-146.0,2345,1999,3565,3455,712.8,-11.0,435,5319,0.00,2.28,0.00,0.000,516,0.000,0.070,2345,588,3510,3565,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5380,-0.68,-146.0,2345,587,3565,3455,719.1,-11.2,438,5384,0.00,2.25,0.00,0.000,1030,0.000,0.058,2337,2003,3509,3565,3454,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5688,-0.68,-146.0,2337,2004,3565,3455,756.1,-12.0,453,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2004,3509,3565,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.68,-146.0,2337,2004,3565,3455,793.4,-12.7,468,5993,0.00,2.30,0.00,0.000,516,0.000,0.070,2337,581,3509,3564,3454,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6021,-0.68,-146.0,2337,581,3564,3454,796.1,-12.9,469,6028,0.00,2.25,0.00,0.000,1030,0.000,0.060,2327,1994,3509,3564,3455,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6329,-0.68,-146.0,2327,1994,3563,3455,839.6,-13.6,485,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1994,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,-0.68,-146.0,2327,1994,3563,3454,881.2,-13.7,500,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1994,3509,3564,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-0.68,-146.0,2326,1994,3562,3454,920.7,-12.9,515,6936,0.00,2.28,0.00,0.000,516,0.000,0.071,2327,582,3508,3562,3454,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6971,-0.68,-146.0,2326,582,3562,3454,926.1,-13.1,517,6977,0.08,2.30,0.00,0.000,3078,0.157,0.060,2341,1994,3508,3562,3455,0,0,0,0,0,0,26.01,26.20,28.83
$GC,7290,-0.68,-146.0,2341,1995,3561,3454,962.8,-11.3,533,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3507,3561,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7592,-0.68,-146.0,2341,1995,3561,3454,997.0,-11.3,548,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3507,3561,3454,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7628,begin apogee
$GC,7633,-0.14,0.0,2341,1858,3560,3454,1001.5,-11.3,550,7770,0.57,0.00,132.68,1.801,10246,0.129,0.000,2524,1857,2909,2981,2837,0,0,0,0,0,0,25.96,28.83,23.11
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7771,begin climb
$GC,7773,0.68,146.0,2524,1857,2981,2836,1008.0,0.0,557,7923,0.73,2.58,141.10,1.767,11012,0.046,0.072,2811,460,2313,2374,2252,0,0,0,0,0,0,24.27,23.34,22.38
$GC,8172,0.68,146.0,1952,460,2327,2240,967.0,16.4,577,8177,0.00,2.42,0.00,0.000,1030,0.000,0.060,2811,1874,2305,2365,2246,0,0,0,0,0,0,28.83,25.07,28.83
$GC,8490,0.68,146.0,2811,1875,2365,2241,916.1,15.8,593,8496,0.00,2.33,0.00,0.000,260,0.000,0.067,2811,3289,2303,2365,2241,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8530,0.68,146.0,2811,3290,2364,2241,909.4,16.3,595,8536,0.15,2.30,0.00,0.000,5126,0.222,0.059,2791,1877,2302,2364,2241,0,0,0,0,0,0,25.37,25.64,28.83
$GC,8850,0.68,146.0,2790,1877,2364,2239,860.8,15.0,611,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2302,2364,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9150,0.68,146.0,2790,1877,2364,2238,816.7,14.1,626,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2301,2364,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9450,0.68,146.0,2791,1877,2364,2237,774.3,13.8,641,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2300,2364,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9750,0.68,146.0,2790,1877,2364,2236,733.0,13.7,656,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2300,2364,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10050,0.68,146.0,2791,1877,2364,2236,692.7,13.4,671,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2299,2364,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10350,0.68,146.0,2791,1877,2364,2235,652.1,13.5,686,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1877,2299,2363,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10651,0.68,146.0,2791,1877,2363,2234,612.5,13.3,701,10657,0.00,2.33,0.00,0.000,516,0.000,0.076,2800,454,2298,2363,2234,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10678,0.68,146.0,2800,454,2363,2234,609.9,13.4,702,10682,0.00,2.28,0.00,0.000,1030,0.000,0.061,2800,1874,2298,2362,2234,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10985,0.68,146.0,2799,1875,2362,2234,566.5,13.8,717,10991,0.00,2.28,0.00,0.000,260,0.000,0.067,2800,3293,2298,2362,2234,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11028,0.68,146.0,2800,3292,2362,2234,560.8,14.0,719,11032,0.00,2.28,0.00,0.000,1030,0.000,0.059,2809,1867,2298,2362,2234,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11340,0.68,146.0,2809,1866,2362,2234,521.6,11.8,735,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1866,2298,2362,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15894,end climb,SURFACE_DEPTH_REACHED
$STATE,15894,begin surface coast
$FINISH,-0.1,1.015502
$STATE,15921,end surface coast,CONTROL_FINISHED_OK
$STATE,15921,begin surface
$SM_CCo,15934,20.75,0.152,0,0,1970,230.09
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$IRIDIUM_FIX,-4247.91,826.16,301008,181827
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.85
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,28.342
$10V_AH,10.1,22.781
$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
$DEVICE_SECS,17.450,114.375,287.050,20.750,0.000,25.539,41.038,197.686,49.250,0.000,15.527,3177.175,9605.472,446.422,2923.178,180.260,0.000,1583.169,0.000,2413.620,0.000,298.112,0.000
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$SENSOR_SECS,840.641,70.857,675.691,1781.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352684
$DATA_FILE_SIZE,76867,1197
$CAP_FILE_SIZE,168345,0
$CFSIZE,259248128,246091776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157, 34.4,1
$GPS,040116,142052,-4304.143,824.538,85,1.4,85,-25.0