version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 165
start: 1 6 116 0 59 2
data:
$ID,542
$MISSION,12
$DIVE,165
$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,-29857.002
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,060116,005235,-4254.793,827.509,33,1.9,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.4
$GPS2,060116,005836,-4254.760,827.578,22,1.9,22,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,159.8,11649,-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,-146.0,164,2000,1960,1925,0.0,0.0,0,65,0.00,0.00,-47.92,0.000,16386,0.000,0.000,164,2000,3251,3323,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,164,2000,3323,3180,3.2,-5.1,6,87,8.18,2.33,-5.30,0.000,18692,0.214,0.071,2331,3408,3507,3567,3448,0,0,0,0,0,0,25.43,25.87,26.31
$GC,231,-0.68,-146.0,2331,3408,3567,3451,36.0,-14.4,31,240,0.00,2.28,0.00,0.000,1030,0.000,0.051,2331,1998,3509,3567,3451,0,0,0,0,0,0,28.83,25.93,28.83
$GC,376,-0.68,-146.0,2331,1998,3567,3451,60.6,-17.5,56,384,0.00,2.33,0.00,0.000,516,0.000,0.064,2331,585,3509,3567,3451,0,0,0,0,0,0,28.83,25.91,28.83
$GC,440,-0.68,-146.0,1456,585,3560,3449,71.0,-15.0,67,448,0.12,2.22,0.00,0.000,3078,0.181,0.053,2349,1993,3509,3567,3451,0,0,0,0,0,0,25.77,25.98,28.83
$GC,764,-0.68,-146.0,2349,1993,3567,3453,118.6,-14.8,116,773,0.00,2.25,0.00,0.000,260,0.000,0.060,2340,3412,3510,3567,3453,0,0,0,0,0,0,28.83,26.03,28.83
$GC,800,-0.68,-146.0,2340,3413,3567,3453,123.3,-14.0,119,808,0.00,2.25,0.00,0.000,1030,0.000,0.049,2340,1980,3510,3567,3453,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1107,-0.68,-146.0,2340,1979,3567,3454,169.7,-15.4,150,1117,0.00,2.22,0.00,0.000,516,0.000,0.064,2340,589,3510,3567,3454,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1216,-0.68,-146.0,2340,589,3567,3454,185.2,-14.4,160,1224,0.00,2.25,0.00,0.000,1030,0.000,0.052,2330,1994,3510,3567,3454,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1523,-0.68,-146.0,2330,1994,3567,3455,234.1,-15.6,191,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1994,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.68,-146.0,2330,1994,3567,3455,281.8,-15.6,221,1833,0.00,2.25,0.00,0.000,516,0.000,0.063,2330,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1897,-0.68,-146.0,2330,581,3567,3455,292.8,-14.7,228,1908,0.12,2.25,0.00,0.000,3078,0.177,0.052,2349,2006,3511,3567,3456,0,0,0,0,0,0,25.96,26.18,28.83
$GC,2207,-0.68,-146.0,2350,2007,3567,3455,332.4,-12.2,259,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2007,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2507,-0.68,-146.0,2349,2007,3567,3456,369.5,-13.0,289,2517,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,582,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2563,-0.68,-146.0,2349,582,3567,3456,376.6,-13.5,294,2570,0.00,2.22,0.00,0.000,1030,0.000,0.053,2341,1994,3511,3567,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2881,-0.68,-146.0,2341,1994,3567,3456,420.1,-13.9,319,2886,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,588,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2920,-0.68,-146.0,2341,587,3567,3456,425.7,-14.0,321,2927,0.00,2.22,0.00,0.000,1030,0.000,0.054,2331,2002,3511,3567,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3241,-0.68,-146.0,2331,2003,3567,3456,470.4,-14.0,337,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2003,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-0.68,-146.0,2331,2003,3567,3456,513.5,-14.5,352,3547,0.00,2.25,0.00,0.000,516,0.000,0.067,2331,588,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3604,-0.68,-146.0,2331,588,3567,3456,522.5,-14.8,355,3609,0.00,2.20,0.00,0.000,1030,0.000,0.056,2321,1998,3511,3567,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3921,-0.68,-146.0,2321,1998,3567,3456,569.3,-14.3,371,3926,0.12,2.28,0.00,0.000,2564,0.180,0.067,2358,586,3511,3567,3456,0,0,0,0,0,0,26.15,26.15,28.83
$GC,3952,-0.68,-146.0,2357,586,3567,3456,571.6,-14.1,372,3959,0.00,2.25,0.00,0.000,1030,0.000,0.057,2349,2002,3511,3567,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4261,-0.68,-146.0,2349,2001,3566,3455,606.2,-10.3,388,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4560,-0.68,-146.0,2349,2001,3567,3456,637.7,-10.9,403,4566,0.00,2.28,0.00,0.000,516,0.000,0.068,2349,588,3511,3567,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4607,-0.68,-146.0,2349,588,3567,3456,642.3,-11.2,405,4611,0.00,2.22,0.00,0.000,1030,0.000,0.057,2339,1992,3511,3567,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4920,-0.68,-146.0,2339,1993,3567,3455,681.1,-12.5,421,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1993,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.68,-146.0,2339,1993,3566,3455,719.5,-12.8,436,5226,0.00,2.25,0.00,0.000,516,0.000,0.069,2339,588,3510,3566,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5291,-0.68,-146.0,2339,588,3566,3455,727.5,-13.0,439,5295,0.00,2.22,0.00,0.000,1030,0.000,0.058,2330,1996,3511,3566,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5598,-0.68,-146.0,2329,1996,3565,3455,770.5,-13.6,454,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1996,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.68,-146.0,2329,1996,3564,3455,810.0,-12.9,469,5906,0.00,2.25,0.00,0.000,516,0.000,0.070,2330,591,3509,3564,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5941,-0.68,-146.0,2329,591,3564,3456,815.4,-13.2,471,5946,0.08,2.28,0.00,0.000,3078,0.154,0.059,2343,1994,3510,3564,3456,0,0,0,0,0,0,26.00,26.19,28.83
$GC,6259,-0.68,-146.0,2343,1994,3563,3455,851.6,-11.0,487,6265,0.00,2.28,0.00,0.000,516,0.000,0.070,2344,590,3509,3563,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6291,-0.68,-146.0,2343,590,3564,3456,853.8,-11.1,488,6301,0.00,2.25,0.00,0.000,1030,0.000,0.059,2335,2001,3509,3563,3456,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6599,-0.68,-146.0,2335,2001,3562,3455,890.4,-11.3,504,6605,0.00,2.30,0.00,0.000,516,0.000,0.070,2335,581,3509,3563,3455,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6626,-0.68,-146.0,2335,581,3563,3455,892.7,-11.3,505,6630,0.00,2.25,0.00,0.000,1030,0.000,0.059,2325,1995,3509,3563,3456,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6939,-0.68,-146.0,2325,1996,3562,3455,932.0,-12.6,521,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1996,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7241,-0.68,-146.0,2325,1996,3562,3455,970.5,-13.1,536,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1996,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7480,begin apogee
$GC,7484,-0.14,0.0,2325,1859,3561,3455,1001.2,-12.6,548,7621,0.62,0.00,132.68,1.792,10246,0.136,0.000,2519,1858,2908,2981,2836,0,0,0,0,0,0,25.89,28.83,23.10
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7622,begin climb
$GC,7623,0.68,146.0,2519,1858,2982,2836,1008.2,0.0,555,7773,0.75,2.62,140.98,1.759,10500,0.050,0.064,2800,3288,2312,2373,2251,0,0,0,0,0,0,24.23,23.39,22.38
$GC,8023,0.68,146.0,2800,3288,2371,2241,970.5,15.5,574,8028,0.00,2.38,0.00,0.000,1030,0.000,0.057,2810,1869,2306,2371,2241,0,0,0,0,0,0,28.83,25.07,28.83
$GC,8336,0.68,146.0,2810,1869,2371,2236,921.4,15.6,590,8342,0.00,2.33,0.00,0.000,260,0.000,0.065,2810,3284,2303,2371,2236,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8444,0.68,146.0,2810,3284,2370,2236,905.3,16.2,595,8448,0.12,2.30,0.00,0.000,5126,0.217,0.059,2796,1870,2303,2370,2236,0,0,0,0,0,0,25.46,25.70,28.83
$GC,8756,0.68,146.0,2795,1869,2370,2234,857.9,14.4,611,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1869,2302,2371,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9056,0.68,146.0,2795,1869,2370,2233,814.3,14.3,626,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1869,2301,2370,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,0.68,146.0,2795,1869,2370,2232,770.2,15.1,641,9362,0.00,2.30,0.00,0.000,260,0.000,0.066,2795,3293,2301,2370,2232,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9404,0.68,146.0,2795,3293,2370,2232,764.1,15.2,643,9408,0.00,2.30,0.00,0.000,1030,0.000,0.057,2804,1862,2301,2370,2232,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9711,0.68,146.0,2804,1861,2369,2232,716.4,15.3,658,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1861,2301,2370,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10011,0.68,146.0,2804,1861,2369,2231,670.5,15.1,673,10017,0.00,2.30,0.00,0.000,260,0.000,0.065,2804,3290,2300,2369,2231,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10079,0.68,146.0,2804,3291,2369,2231,661.0,15.7,676,10083,0.00,2.28,0.00,0.000,1030,0.000,0.058,2814,1864,2300,2369,2231,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10391,0.68,146.0,2814,1865,2369,2231,614.8,13.6,692,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1864,2300,2369,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10691,0.68,146.0,2814,1864,2369,2231,574.6,13.2,707,10697,0.00,2.28,0.00,0.000,260,0.000,0.065,2814,3285,2300,2369,2231,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10799,0.68,146.0,2814,3286,2368,2231,560.6,14.1,712,10803,0.15,2.25,0.00,0.000,5126,0.212,0.057,2792,1870,2299,2368,2231,0,0,0,0,0,0,25.84,26.17,28.83
$GC,11111,0.68,146.0,2792,1870,2368,2232,523.8,11.1,728,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1870,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15478,end climb,SURFACE_DEPTH_REACHED
$STATE,15478,begin surface coast
$FINISH,-0.1,1.017509
$STATE,15517,end surface coast,CONTROL_FINISHED_OK
$STATE,15517,begin surface
$SM_CCo,15531,14.20,0.155,0,0,1969,230.09
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$IRIDIUM_FIX,-4242.04,821.95,011108,090937
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.14
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,29.743
$10V_AH,10.1,23.877
$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
$DEVICE_SECS,17.450,122.975,291.700,14.200,0.000,23.643,39.984,179.449,49.250,0.000,23.247,3124.587,9171.993,442.601,2971.133,193.265,0.000,1603.785,0.000,2496.601,0.000,297.019,0.000
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$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,73832,1173
$CAP_FILE_SIZE,168020,0
$CFSIZE,259248128,245346304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 64.7,1
$GPS,060116,051933,-4255.588,831.202,48,0.8,49,-25.0