version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 171
start: 1 7 116 2 57 29
data:
$ID,542
$MISSION,12
$DIVE,171
$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,-29864.529
$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,28
$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
$GPS1,070116,025010,-4258.207,836.338,48,0.8,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.2
$GPS2,070116,025703,-4258.226,836.520,35,1.0,35,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,229.1,10717,-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,-146.0,151,2002,1964,1917,0.0,0.0,0,66,0.00,0.00,-48.38,0.000,16386,0.000,0.000,151,2003,3271,3346,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,151,2003,3347,3197,3.4,-5.8,6,88,8.27,2.33,-4.80,0.000,18692,0.214,0.072,2333,3406,3507,3566,3449,0,0,0,0,0,0,25.34,25.83,26.28
$GC,139,-0.68,-146.0,2334,3405,3567,3451,22.8,-17.9,16,148,0.00,2.28,0.00,0.000,1030,0.000,0.052,2334,1998,3509,3567,3451,0,0,0,0,0,0,28.83,25.85,28.83
$GC,292,-0.68,-146.0,2334,1996,3567,3451,47.6,-15.1,41,299,0.00,2.28,0.00,0.000,516,0.000,0.063,2334,584,3509,3567,3451,0,0,0,0,0,0,28.83,25.85,28.83
$GC,349,-0.68,-146.0,2334,584,3567,3451,57.2,-16.5,51,357,0.00,2.28,0.00,0.000,1030,0.000,0.053,2324,1991,3509,3567,3451,0,0,0,0,0,0,28.83,25.93,28.83
$GC,678,-0.68,-146.0,2323,1991,3567,3452,117.6,-18.2,103,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1992,3510,3567,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,979,-0.68,-146.0,2324,1992,3567,3454,169.3,-17.6,133,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1991,3510,3567,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1279,-0.68,-146.0,2324,1991,3567,3454,220.6,-17.1,163,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1991,3510,3567,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.68,-146.0,2324,1991,3566,3455,271.0,-16.2,193,1589,0.00,2.22,0.00,0.000,516,0.000,0.063,2324,585,3511,3567,3455,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1664,-0.68,-146.0,2323,585,3567,3455,284.5,-15.6,201,1673,0.10,2.28,0.00,0.000,3078,0.155,0.053,2345,2000,3511,3567,3455,0,0,0,0,0,0,25.89,26.14,28.83
$GC,1972,-0.68,-146.0,2344,2000,3567,3456,328.1,-14.0,232,1982,0.00,2.28,0.00,0.000,516,0.000,0.063,2345,575,3511,3567,3455,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2028,-0.68,-146.0,2345,575,3567,3456,335.7,-14.1,237,2036,0.00,2.28,0.00,0.000,1030,0.000,0.053,2336,1995,3511,3567,3456,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2337,-0.68,-146.0,2336,1996,3567,3456,380.8,-14.6,268,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1995,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,-0.68,-146.0,2336,1996,3567,3456,424.2,-14.7,290,2640,0.00,2.28,0.00,0.000,516,0.000,0.064,2336,582,3511,3567,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2721,-0.68,-146.0,2336,581,3567,3456,435.3,-14.7,294,2725,0.00,2.25,0.00,0.000,1030,0.000,0.055,2326,2005,3511,3567,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3028,-0.68,-146.0,2326,2005,3567,3455,481.9,-14.5,309,3034,0.00,2.28,0.00,0.000,516,0.000,0.065,2326,583,3511,3567,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3080,-0.68,-146.0,2326,584,3567,3455,487.8,-14.7,311,3090,0.12,2.22,0.00,0.000,3078,0.175,0.055,2346,1994,3511,3567,3456,0,0,0,0,0,0,25.96,26.17,28.83
$GC,3387,-0.68,-146.0,2346,1994,3567,3455,528.6,-12.5,327,3391,0.00,2.28,0.00,0.000,516,0.000,0.067,2346,578,3511,3566,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3427,-0.68,-146.0,2346,578,3567,3455,533.3,-12.8,329,3431,0.00,2.25,0.00,0.000,1030,0.000,0.055,2338,2004,3510,3566,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3745,-0.68,-146.0,2337,2005,3566,3455,575.1,-13.2,345,3750,0.00,2.30,0.00,0.000,516,0.000,0.067,2338,575,3511,3567,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3792,-0.68,-146.0,2337,575,3566,3455,580.6,-13.4,347,3796,0.00,2.25,0.00,0.000,1030,0.000,0.057,2327,1994,3510,3566,3455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4105,-0.68,-146.0,2327,1994,3566,3455,625.3,-14.1,363,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1994,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-0.68,-146.0,2327,1994,3567,3456,666.6,-13.7,378,4411,0.00,2.25,0.00,0.000,516,0.000,0.067,2327,584,3511,3567,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4458,-0.68,-146.0,2327,584,3567,3456,672.1,-13.7,380,4466,0.12,2.25,0.00,0.000,3078,0.174,0.057,2347,2001,3510,3566,3455,0,0,0,0,0,0,25.96,26.17,28.83
$GC,4765,-0.68,-146.0,2347,2001,3568,3455,708.8,-11.3,396,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2002,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.68,-146.0,2347,2002,3566,3456,741.8,-11.0,411,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2001,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.68,-146.0,2347,2001,3565,3455,774.0,-10.6,426,5371,0.00,2.30,0.00,0.000,516,0.000,0.069,2347,578,3510,3565,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5453,-0.68,-146.0,2347,578,3565,3456,782.7,-10.8,430,5457,0.00,2.28,0.00,0.000,1030,0.000,0.059,2339,2003,3510,3565,3455,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5761,-0.68,-146.0,2339,2004,3564,3455,816.7,-10.5,445,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2004,3509,3564,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,-0.68,-146.0,2338,2004,3564,3455,848.6,-10.8,460,6067,0.00,2.28,0.00,0.000,516,0.000,0.070,2339,588,3509,3563,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6110,-0.68,-146.0,2338,588,3563,3455,853.5,-11.2,462,6114,0.00,2.25,0.00,0.000,1030,0.000,0.060,2329,1997,3509,3563,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6422,-0.68,-146.0,2329,1997,3562,3455,891.6,-12.0,478,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1997,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.68,-146.0,2328,1997,3562,3455,927.5,-11.8,493,6728,0.00,2.30,0.00,0.000,516,0.000,0.070,2329,581,3508,3562,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6788,-0.68,-146.0,2329,580,3562,3455,935.0,-12.0,496,6793,0.05,2.30,0.00,0.000,3078,0.164,0.060,2349,1987,3508,3562,3455,0,0,0,0,0,0,25.91,26.15,28.83
$GC,7106,-0.68,-146.0,2349,1987,3561,3455,967.1,-9.9,512,7112,0.00,2.28,0.00,0.000,516,0.000,0.070,2349,585,3508,3561,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7139,-0.68,-146.0,2349,585,3561,3455,969.1,-9.9,513,7146,0.00,2.28,0.00,0.000,1030,0.000,0.060,2341,2000,3508,3561,3455,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,7426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7426,begin apogee
$GC,7430,-0.14,0.0,2341,1863,3560,3455,1000.5,-11.0,528,7567,0.57,0.00,133.45,1.783,10246,0.137,0.000,2518,1863,2908,2981,2836,0,0,0,0,0,0,25.82,28.83,23.05
$STATE,7568,end apogee,CONTROL_FINISHED_OK
$STATE,7568,begin climb
$GC,7570,0.68,146.0,2518,1863,2981,2836,1006.9,0.0,535,7720,0.75,2.60,141.05,1.750,10756,0.052,0.070,2807,459,2312,2374,2251,0,0,0,0,0,0,24.20,23.37,22.37
$GC,7822,0.68,146.0,2807,459,2368,2247,990.9,15.7,547,7828,0.00,2.42,0.00,0.000,1030,0.000,0.060,2807,1870,2307,2368,2246,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8142,0.68,146.0,2807,1870,2368,2240,941.1,15.1,563,8146,0.00,2.35,0.00,0.000,260,0.000,0.066,2807,3291,2304,2368,2240,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8298,0.68,146.0,2807,3291,2366,2240,916.1,15.9,571,8302,0.00,2.33,0.00,0.000,1030,0.000,0.060,2817,1868,2303,2366,2240,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8614,0.68,146.0,2817,1868,2366,2237,868.9,15.1,587,8620,0.00,2.33,0.00,0.000,260,0.000,0.067,2817,3291,2301,2366,2237,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8674,0.68,146.0,2817,3290,2366,2237,859.4,15.9,590,8681,0.15,2.30,0.00,0.000,5126,0.221,0.060,2796,1865,2301,2365,2237,0,0,0,0,0,0,25.53,25.85,28.83
$GC,8994,0.68,146.0,2795,1865,2366,2236,811.4,14.9,606,8998,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3285,2301,2366,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9173,0.68,146.0,1928,3284,2327,2230,784.1,15.5,615,9177,0.00,2.33,0.00,0.000,1030,0.000,0.059,2803,1866,2300,2365,2236,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9491,0.68,146.0,2802,1866,2365,2234,737.8,14.2,631,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1866,2299,2365,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,0.68,146.0,2802,1866,2365,2234,695.3,14.0,646,9794,0.00,2.30,0.00,0.000,260,0.000,0.066,2802,3292,2299,2365,2234,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9915,0.68,146.0,2802,3292,2365,2234,678.2,14.7,652,9920,0.00,2.28,0.00,0.000,1030,0.000,0.059,2813,1867,2299,2365,2234,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10222,0.68,146.0,2813,1867,2365,2234,634.1,13.8,667,10226,0.00,2.30,0.00,0.000,260,0.000,0.065,2812,3291,2299,2365,2233,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10328,0.68,146.0,2812,3291,2364,2234,619.7,15.0,672,10333,0.15,2.28,0.00,0.000,5126,0.216,0.058,2790,1866,2299,2364,2234,0,0,0,0,0,0,25.77,26.11,28.83
$GC,10633,0.68,146.0,2790,1866,2364,2233,578.3,13.0,687,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1866,2298,2364,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10933,0.68,146.0,2790,1866,2364,2233,539.5,12.8,702,10939,0.00,2.30,0.00,0.000,260,0.000,0.065,2781,3296,2298,2364,2233,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10993,0.68,146.0,2781,3296,2364,2233,531.4,13.4,705,10999,0.00,2.28,0.00,0.000,1030,0.000,0.059,2790,1869,2298,2364,2233,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,15385,end climb,SURFACE_DEPTH_REACHED
$STATE,15385,begin surface coast
$FINISH,0.0,1.026440
$STATE,15411,end surface coast,CONTROL_FINISHED_OK
$STATE,15412,begin surface
$SM_CCo,15427,27.75,0.150,0,0,1968,230.09
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$IRIDIUM_FIX,-4239.11,836.94,021108,111158
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.32
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,30.668
$10V_AH,10.1,24.613
$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
$DEVICE_SECS,17.475,132.975,279.625,27.750,0.000,25.624,43.571,208.863,49.250,0.000,36.595,3112.777,9045.543,435.615,3061.770,209.998,0.000,1598.976,0.000,2529.279,0.000,300.185,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.202,78.691,697.253,1749.033,0.000,0.000,0.000,0.000,0.000,0.000
$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,73754,1157
$CAP_FILE_SIZE,168854,0
$CFSIZE,259248128,244854784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 53.6,1
$GPS,070116,071651,-4259.829,836.289,70,0.9,71,-25.1