version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 161
start: 1 5 116 8 23 5
data:
$ID,542
$MISSION,12
$DIVE,161
$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,-29851.992
$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,26
$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
$GPS1,050116,081621,-4259.098,824.827,55,1.1,55,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.8
$GPS2,050116,082239,-4259.084,824.800,18,1.1,18,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,329.3,5814,-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,-146.0,160,2007,1960,1927,0.0,0.0,0,65,0.00,0.00,-47.55,0.000,16386,0.000,0.000,160,2007,3227,3300,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,160,2007,3300,3155,3.0,-4.8,6,87,8.10,2.38,-5.88,0.000,18948,0.210,0.074,2342,582,3507,3567,3448,0,0,0,0,0,0,25.39,25.83,26.30
$GC,309,-0.68,-146.0,2342,582,3567,3451,49.3,-15.4,45,319,0.00,2.28,0.00,0.000,1030,0.000,0.054,2334,1987,3509,3567,3451,0,0,0,0,0,0,28.83,25.94,28.83
$GC,646,-0.68,-146.0,2334,1987,3567,3453,105.1,-15.4,103,656,0.00,2.25,0.00,0.000,260,0.000,0.060,2323,3414,3510,3567,3453,0,0,0,0,0,0,28.83,26.01,28.83
$GC,730,-0.68,-146.0,2322,3414,3567,3454,117.1,-12.8,111,739,0.00,2.22,0.00,0.000,1030,0.000,0.050,2323,1991,3510,3567,3454,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1041,-0.68,-146.0,2323,1990,3567,3454,165.3,-15.9,142,1049,0.00,2.25,0.00,0.000,516,0.000,0.063,2323,582,3510,3567,3454,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1105,-0.68,-146.0,2323,582,3567,3455,175.7,-16.2,148,1114,0.10,2.28,0.00,0.000,3078,0.153,0.052,2344,1995,3511,3568,3455,0,0,0,0,0,0,25.86,26.10,28.83
$GC,1414,-0.68,-146.0,2344,1996,3567,3455,220.4,-14.2,179,1423,0.00,2.25,0.00,0.000,516,0.000,0.063,2344,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1518,-0.68,-146.0,2344,581,3567,3456,234.5,-13.4,189,1528,0.00,2.22,0.00,0.000,1030,0.000,0.052,2335,1995,3511,3567,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1828,-0.68,-146.0,2336,1996,3567,3456,280.6,-15.0,220,1837,0.00,2.25,0.00,0.000,516,0.000,0.064,2336,582,3511,3567,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1892,-0.68,-146.0,2336,582,3567,3455,290.1,-14.8,226,1899,0.00,2.25,0.00,0.000,1030,0.000,0.053,2326,1988,3511,3567,3456,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2200,-0.68,-146.0,2326,1988,3567,3455,337.8,-15.4,257,2209,0.00,2.25,0.00,0.000,516,0.000,0.063,2326,580,3511,3567,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2253,-0.68,-146.0,2326,579,3567,3457,346.0,-15.5,262,2262,0.08,2.20,0.00,0.000,3078,0.152,0.053,2341,1994,3511,3567,3456,0,0,0,0,0,0,25.98,26.19,28.83
$GC,2562,-0.68,-146.0,2340,1994,3567,3456,387.9,-13.0,293,2571,0.00,2.25,0.00,0.000,516,0.000,0.064,2341,585,3511,3567,3456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2605,-0.68,-146.0,2341,584,3567,3456,393.6,-13.4,297,2614,0.00,2.22,0.00,0.000,1030,0.000,0.053,2332,2005,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2915,-0.68,-146.0,2332,2005,3567,3456,435.1,-13.3,315,2921,0.00,2.28,0.00,0.000,516,0.000,0.065,2332,584,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2935,-0.68,-146.0,2332,584,3567,3456,437.8,-13.3,316,2941,0.00,2.22,0.00,0.000,1030,0.000,0.054,2322,2003,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3256,-0.68,-146.0,2322,2002,3567,3456,481.3,-13.5,332,3261,0.00,2.28,0.00,0.000,516,0.000,0.066,2322,584,3511,3567,3456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3317,-0.68,-146.0,2322,584,3567,3456,489.6,-13.8,335,3322,0.15,2.22,0.00,0.000,3078,0.169,0.054,2349,1995,3511,3567,3456,0,0,0,0,0,0,25.96,26.21,28.83
$GC,3635,-0.68,-146.0,2349,1996,3567,3456,526.5,-11.5,351,3641,0.00,2.28,0.00,0.000,516,0.000,0.067,2349,578,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3688,-0.68,-146.0,2349,578,3567,3456,531.2,-11.7,353,3695,0.00,2.25,0.00,0.000,1030,0.000,0.056,2341,1994,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3995,-0.68,-146.0,2340,1994,3567,3456,570.0,-12.3,369,3999,0.00,2.28,0.00,0.000,516,0.000,0.067,2341,579,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4039,-0.68,-146.0,2341,580,3567,3456,574.6,-12.6,371,4043,0.00,2.25,0.00,0.000,1030,0.000,0.057,2331,1999,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4351,-0.68,-146.0,2331,1999,3567,3456,617.6,-13.9,387,4357,0.00,2.28,0.00,0.000,516,0.000,0.068,2331,587,3511,3567,3456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4384,-0.68,-146.0,2331,587,3567,3456,620.5,-14.0,388,4392,0.12,2.25,0.00,0.000,3078,0.177,0.057,2350,2003,3511,3567,3456,0,0,0,0,0,0,26.00,26.20,28.83
$GC,4692,-0.68,-146.0,2350,2004,3567,3456,658.1,-11.5,404,4697,0.00,2.30,0.00,0.000,516,0.000,0.069,2350,585,3511,3567,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4712,-0.68,-146.0,2350,585,3567,3456,660.5,-11.6,405,4718,0.00,2.22,0.00,0.000,1030,0.000,0.057,2342,1993,3512,3568,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5031,-0.68,-146.0,2341,1994,3567,3456,698.6,-11.9,421,5037,0.00,2.30,0.00,0.000,516,0.000,0.069,2342,579,3511,3567,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5061,-0.68,-146.0,2341,579,3567,3456,701.0,-12.0,422,5065,0.00,2.25,0.00,0.000,1030,0.000,0.057,2332,1997,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5367,-0.68,-146.0,2332,1998,3567,3456,741.7,-13.0,437,5373,0.00,2.28,0.00,0.000,516,0.000,0.069,2332,588,3511,3567,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5409,-0.68,-146.0,2331,588,3567,3456,747.2,-13.4,439,5414,0.00,2.28,0.00,0.000,1030,0.000,0.058,2322,1989,3511,3567,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5727,-0.68,-146.0,2322,1990,3566,3456,791.2,-13.7,455,5733,0.00,2.25,0.00,0.000,516,0.000,0.068,2321,588,3511,3566,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5768,-0.68,-146.0,2321,588,3566,3456,796.8,-14.0,457,5774,0.15,2.25,0.00,0.000,3078,0.168,0.058,2349,1998,3511,3566,3456,0,0,0,0,0,0,25.96,26.19,28.83
$GC,6087,-0.68,-146.0,2349,1998,3566,3456,832.3,-10.8,473,6091,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,588,3510,3565,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6125,-0.68,-146.0,2349,588,3565,3456,836.3,-11.0,475,6130,0.00,2.30,0.00,0.000,1030,0.000,0.059,2341,2001,3510,3565,3456,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6443,-0.68,-146.0,2341,2001,3563,3456,871.7,-10.7,491,6449,0.00,2.28,0.00,0.000,516,0.000,0.070,2341,589,3509,3563,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6484,-0.68,-146.0,2341,588,3563,3456,876.2,-10.9,493,6489,0.00,2.25,0.00,0.000,1030,0.000,0.060,2331,2000,3509,3563,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6805,-0.68,-146.0,2331,2001,3563,3456,911.6,-10.9,509,6810,0.00,2.28,0.00,0.000,516,0.000,0.070,2331,587,3509,3563,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6844,-0.68,-146.0,2331,587,3563,3456,916.2,-11.2,511,6850,0.12,2.25,0.00,0.000,3078,0.174,0.060,2350,2001,3509,3563,3456,0,0,0,0,0,0,25.98,26.17,28.83
$GC,7164,-0.68,-146.0,2350,2002,3562,3456,945.7,-9.2,527,7169,0.00,2.30,0.00,0.000,516,0.000,0.070,2351,584,3508,3562,3455,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7184,-0.68,-146.0,2350,584,3562,3456,947.7,-9.4,528,7190,0.00,2.22,0.00,0.000,1030,0.000,0.060,2342,1991,3508,3562,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7503,-0.68,-146.0,2342,1992,3561,3456,978.0,-9.6,544,7509,0.00,2.28,0.00,0.000,516,0.000,0.071,2342,587,3508,3561,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7553,-0.68,-146.0,2342,587,3561,3456,982.2,-9.7,546,7557,0.00,2.25,0.00,0.000,1030,0.000,0.060,2333,2000,3508,3561,3455,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,7719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7719,begin apogee
$GC,7723,-0.14,0.0,2332,1863,3560,3456,1000.3,-10.6,554,7860,0.60,0.00,133.45,1.812,10246,0.136,0.000,2518,1862,2909,2981,2837,0,0,0,0,0,0,25.88,28.83,23.06
$STATE,7861,end apogee,CONTROL_FINISHED_OK
$STATE,7861,begin climb
$GC,7863,0.68,146.0,2518,1862,2982,2837,1005.3,0.0,561,8014,0.75,2.60,142.45,1.797,11012,0.049,0.063,2802,3284,2312,2371,2253,0,0,0,0,0,0,24.20,23.36,22.34
$GC,8119,0.68,146.0,1920,3283,2328,2240,987.0,16.1,573,8124,0.00,2.45,0.00,0.000,1030,0.000,0.057,2813,1878,2307,2369,2246,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8437,0.68,146.0,2812,1878,2368,2240,938.8,14.5,589,8443,0.00,2.35,0.00,0.000,260,0.000,0.067,2812,3291,2304,2369,2240,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8449,0.68,146.0,2812,3291,2368,2240,938.8,14.5,589,8458,0.10,2.40,0.00,0.000,5126,0.203,0.058,2797,1861,2304,2368,2240,0,0,0,0,0,0,25.19,25.44,28.83
$GC,8757,0.68,146.0,2797,1861,2367,2238,896.7,12.9,605,8763,0.00,2.33,0.00,0.000,260,0.000,0.067,2794,3284,2302,2367,2238,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8859,0.68,146.0,1928,3283,2328,2232,883.2,13.5,610,8863,0.00,2.33,0.00,0.000,1030,0.000,0.060,2803,1875,2302,2367,2238,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9177,0.68,146.0,2802,1875,2367,2236,843.1,12.5,626,9183,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3292,2301,2366,2237,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9256,0.68,146.0,2803,3292,2366,2236,832.7,13.0,630,9261,0.00,2.28,0.00,0.000,1030,0.000,0.058,2813,1869,2301,2366,2236,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9573,0.68,146.0,2813,1869,2366,2235,792.3,13.1,646,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1869,2300,2366,2235,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15701,end climb,SURFACE_DEPTH_REACHED
$STATE,15701,begin surface coast
$FINISH,-0.2,1.020981
$STATE,15739,end surface coast,CONTROL_FINISHED_OK
$STATE,15739,begin surface
$SM_CCo,15755,29.27,0.149,0,0,1968,230.09
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$IRIDIUM_FIX,-4242.04,825.29,311008,171756
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.41
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,29.148
$10V_AH,10.1,23.414
$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
$DEVICE_SECS,17.800,173.025,279.425,29.275,0.000,24.400,47.069,185.636,49.250,0.000,19.602,3201.113,9175.774,501.892,3076.105,203.550,0.000,1723.708,0.000,2576.549,0.000,296.111,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.408,85.033,734.131,1808.677,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352696
$DATA_FILE_SIZE,76996,1192
$CAP_FILE_SIZE,180281,0
$CFSIZE,259248128,245653504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182, 66.9,1
$GPS,050116,124759,-4257.791,824.451,73,1.0,74,-25.0