version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 162
start: 1 5 116 12 54 38
data:
$ID,542
$MISSION,12
$DIVE,162
$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,-29853.244
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,050116,124759,-4257.791,824.451,73,1.0,74,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.7
$GPS2,050116,125410,-4257.851,824.426,20,1.0,20,-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,330.4,3476,-27.8,-9.804,-30.00,959
$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,-0.85,-61.2,175,1989,1960,1923,0.0,0.0,0,65,0.00,0.00,-45.15,0.000,16390,0.000,0.000,175,1989,3159,3234,3085,0,0,0,0,0,0,28.83,28.83,26.36
$GC,68,-0.89,-92.6,174,1989,3235,3085,3.6,-6.5,6,86,7.97,2.28,-2.70,0.000,18948,0.218,0.073,2282,579,3289,3369,3209,0,0,0,0,0,0,25.40,25.84,26.28
$GC,344,-0.89,-92.6,2282,579,3373,3209,67.8,-20.3,52,353,0.00,2.30,0.00,0.000,1030,0.000,0.054,2274,2004,3291,3373,3209,0,0,0,0,0,0,28.83,25.96,28.83
$GC,670,-0.89,-92.6,2273,2005,3375,3209,131.7,-19.1,97,679,0.00,2.20,0.00,0.000,260,0.000,0.057,2263,3414,3292,3375,3209,0,0,0,0,0,0,28.83,26.03,28.83
$GC,683,-0.89,-92.6,2263,3414,3375,3209,133.6,-19.2,98,691,0.00,2.28,0.00,0.000,1030,0.000,0.047,2263,1984,3292,3375,3209,0,0,0,0,0,0,28.83,26.06,28.83
$GC,992,-0.89,-92.6,2263,1984,3376,3209,196.0,-19.8,129,1001,0.00,2.22,0.00,0.000,516,0.000,0.062,2263,582,3292,3376,3209,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1108,-0.89,-92.6,2263,582,3376,3210,220.0,-20.7,140,1117,0.00,2.22,0.00,0.000,1030,0.000,0.051,2255,2003,3293,3376,3210,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1417,-0.89,-92.6,2254,2003,3376,3210,282.1,-19.5,171,1422,0.12,2.28,0.00,0.000,2564,0.191,0.060,2290,580,3293,3376,3210,0,0,0,0,0,0,25.98,26.08,28.83
$GC,1485,-0.89,-92.6,2290,580,3376,3210,294.0,-17.0,177,1494,0.00,2.22,0.00,0.000,1030,0.000,0.051,2281,2003,3293,3376,3210,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1795,-0.89,-92.6,2281,2003,3376,3210,347.8,-17.8,208,1804,0.00,2.25,0.00,0.000,516,0.000,0.063,2281,587,3293,3376,3210,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1839,-0.89,-92.6,2281,588,3376,3211,355.7,-18.1,212,1848,0.00,2.20,0.00,0.000,1030,0.000,0.051,2271,1996,3293,3376,3210,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2149,-0.89,-92.6,2271,1996,3377,3210,412.3,-18.2,240,2155,0.00,2.22,0.00,0.000,516,0.000,0.063,2271,589,3293,3377,3210,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2201,-0.89,-92.6,2271,589,3377,3211,419.8,-18.7,242,2209,0.00,2.22,0.00,0.000,1030,0.000,0.053,2261,2005,3293,3376,3211,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2508,-0.89,-92.6,2261,2005,3377,3211,479.2,-18.6,258,2512,0.00,2.28,0.00,0.000,516,0.000,0.063,2262,588,3293,3376,3210,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2578,-0.89,-92.6,2261,588,3376,3210,489.9,-18.9,261,2586,0.12,2.22,0.00,0.000,3078,0.197,0.054,2279,2000,3293,3376,3210,0,0,0,0,0,0,25.93,26.20,28.83
$GC,2885,-0.89,-92.6,2279,2000,3376,3210,545.0,-17.0,277,2889,0.00,2.28,0.00,0.000,516,0.000,0.066,2279,581,3293,3376,3210,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2935,-0.89,-92.6,2278,581,3377,3210,551.3,-17.2,279,2943,0.00,2.22,0.00,0.000,1030,0.000,0.055,2270,1994,3293,3376,3210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3243,-0.89,-92.6,2270,1994,3376,3210,606.7,-17.1,295,3249,0.00,2.25,0.00,0.000,516,0.000,0.066,2270,582,3293,3377,3210,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3271,-0.89,-92.6,2270,582,3376,3210,610.3,-17.2,296,3275,0.00,2.22,0.00,0.000,1030,0.000,0.055,2261,1993,3293,3376,3210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3584,-0.89,-92.6,2260,1994,3377,3210,666.1,-17.1,312,3590,0.00,2.25,0.00,0.000,516,0.000,0.067,2261,589,3293,3376,3210,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3605,-0.89,-92.6,1504,589,3366,3207,669.5,-17.2,313,3610,0.10,2.28,0.00,0.000,3078,0.177,0.055,2279,1997,3293,3376,3211,0,0,0,0,0,0,25.91,26.21,28.83
$GC,3923,-0.89,-92.6,2279,1997,3376,3210,718.6,-15.2,329,3927,0.00,2.28,0.00,0.000,516,0.000,0.067,2279,582,3293,3376,3210,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3941,-0.89,-92.6,2279,582,3376,3210,721.1,-15.2,330,3946,0.00,2.30,0.00,0.000,1030,0.000,0.057,2271,2003,3293,3376,3210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4261,-0.89,-92.6,2270,2004,3376,3210,771.6,-16.0,346,4266,0.00,2.25,0.00,0.000,516,0.000,0.068,2270,595,3293,3376,3210,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4334,-0.89,-92.6,2270,595,3376,3210,781.4,-16.3,349,4341,0.00,2.22,0.00,0.000,1030,0.000,0.057,2261,1996,3293,3377,3210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4641,-0.89,-92.6,2261,1996,3376,3210,834.9,-17.1,365,4645,0.00,2.28,0.00,0.000,516,0.000,0.068,2261,585,3293,3376,3210,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4700,-0.89,-92.6,2261,584,3376,3210,845.2,-17.7,368,4706,0.10,2.22,0.00,0.000,3078,0.174,0.057,2279,1997,3293,3376,3210,0,0,0,0,0,0,25.90,26.20,28.83
$GC,5020,-0.89,-92.6,2279,1998,3377,3210,896.7,-16.1,384,5025,0.00,2.25,0.00,0.000,516,0.000,0.070,2279,593,3293,3376,3210,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5048,-0.89,-92.6,2279,592,3377,3210,900.0,-16.2,385,5053,0.00,2.22,0.00,0.000,1030,0.000,0.057,2271,1997,3293,3377,3210,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5357,-0.89,-92.6,2271,1997,3376,3210,951.7,-16.0,400,5362,0.00,2.25,0.00,0.000,516,0.000,0.070,2271,593,3293,3376,3210,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5369,-0.89,-92.6,2271,593,3376,3210,951.7,-16.0,400,5375,0.00,2.25,0.00,0.000,1030,0.000,0.058,2262,2003,3292,3375,3210,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5659,-0.14,0.0,2261,1864,3374,3210,1001.7,-16.8,415,5747,0.85,0.00,84.30,1.798,10246,0.154,0.000,2517,1864,2909,2995,2823,0,0,0,0,0,0,25.82,28.83,23.53
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5750,0.89,92.6,2516,1864,2995,2823,1005.5,0.0,419,5845,0.93,2.55,87.55,1.766,10500,0.053,0.063,2863,3282,2530,2595,2466,0,0,0,0,0,0,24.70,23.63,22.63
$GC,5860,1.03,205.7,2863,3281,2593,2466,1008.2,-2.3,425,5980,0.00,2.45,113.22,1.759,9222,0.000,0.054,2873,1876,2070,2134,2006,0,0,0,0,0,0,28.83,23.99,22.38
$GC,6288,1.03,205.7,2873,1876,2126,1994,918.2,23.4,447,6292,0.00,2.35,0.00,0.000,260,0.000,0.064,2873,3283,2060,2126,1994,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6464,1.03,205.7,2873,3283,2124,1991,875.4,24.2,456,6471,0.00,2.33,0.00,0.000,1030,0.000,0.058,2884,1863,2057,2124,1991,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6784,1.03,205.7,2884,1863,2124,1988,800.2,23.2,472,6788,0.00,2.30,0.00,0.000,260,0.000,0.063,2884,3285,2056,2124,1989,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6909,1.03,205.7,2883,3285,2124,1987,772.0,24.1,478,6913,0.00,2.28,0.00,0.000,1030,0.000,0.057,2894,1869,2056,2124,1988,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7216,1.03,205.7,2894,1869,2124,1987,696.5,24.3,493,7222,0.00,2.28,0.00,0.000,260,0.000,0.064,2894,3285,2056,2125,1987,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7329,1.03,205.7,2894,3285,2124,1986,672.4,24.2,498,7336,0.00,2.28,0.00,0.000,1030,0.000,0.057,2904,1868,2055,2124,1987,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7636,1.03,205.7,2904,1868,2124,1986,596.8,23.4,514,7642,0.00,2.28,0.00,0.000,260,0.000,0.064,2900,3285,2055,2124,1986,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7788,1.03,205.7,2900,3285,2123,1985,564.2,22.6,521,7795,0.00,2.30,0.00,0.000,1030,0.000,0.057,2909,1853,2054,2123,1985,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8096,1.03,205.7,2909,1853,2123,1985,490.9,22.9,537,8102,0.00,2.30,0.00,0.000,260,0.000,0.064,2910,3287,2054,2123,1985,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8229,1.03,205.7,2909,3287,2122,1984,462.9,23.4,543,8236,0.00,2.28,0.00,0.000,1030,0.000,0.057,2918,1862,2053,2122,1985,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8537,1.03,205.7,2918,1862,2122,1984,388.5,23.2,561,8545,0.00,2.25,0.00,0.000,260,0.000,0.063,2910,3283,2053,2122,1984,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8598,1.03,205.7,2910,3283,2121,1983,374.0,22.9,567,8607,0.00,2.25,0.00,0.000,1030,0.000,0.057,2919,1864,2052,2121,1983,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8908,1.03,205.7,2919,1864,2121,1983,302.8,22.7,598,8912,0.00,2.28,0.00,0.000,260,0.000,0.063,2910,3286,2052,2121,1983,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9086,1.03,205.7,2911,3286,2120,1982,261.0,22.8,615,9091,0.00,2.25,0.00,0.000,1030,0.000,0.057,2920,1862,2051,2121,1982,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9393,1.03,205.7,2919,1862,2121,1983,191.1,23.5,645,9401,0.00,2.25,0.00,0.000,260,0.000,0.063,2911,3286,2052,2121,1983,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9556,1.03,205.7,2911,3287,2120,1982,152.3,24.4,661,9565,0.00,2.25,0.00,0.000,1030,0.000,0.057,2920,1861,2052,2121,1983,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9875,1.03,205.7,1936,1859,2077,1977,78.8,23.8,700,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1861,2051,2121,1982,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10221,end climb,SURFACE_DEPTH_REACHED
$STATE,10222,begin surface coast
$FINISH,-0.2,1.005588
$STATE,10242,end surface coast,CONTROL_FINISHED_OK
$STATE,10242,begin surface
$SM_CCo,10256,8.05,0.162,0,0,1967,230.09
$SM_GC,2.69,7.30,0.22,8.05,0.055,0.080,0.162,166,2000,1967,-7.41,-0.79,230.09,0,0,0,0,0,0,26.33,26.30,25.91
$IRIDIUM_FIX,-4242.04,822.38,311008,212123
$TT8_MAMPS,0.021721,0.021721
$HUMID,53.66
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,22.4,29.310
$10V_AH,10.1,23.502
$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,17.500,109.350,285.075,8.050,0.000,26.257,19.357,201.943,49.250,0.000,21.477,2104.094,5766.681,405.804,2211.717,144.736,0.000,1265.107,0.000,1757.125,0.000,297.341,0.000
$DEVICE_MAMPS,218.025,80.325,1797.750,162.180,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.381,49.581,443.664,1152.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352688
$DATA_FILE_SIZE,50313,762
$CAP_FILE_SIZE,127880,0
$CFSIZE,259248128,245649408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 61.2,1
$GPS,050116,154703,-4257.121,823.728,44,1.0,44,-25.0