version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 185
start: 1 9 116 17 8 54
data:
$ID,542
$MISSION,12
$DIVE,185
$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,-29882.082
$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,29
$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
$GPS1,090116,170233,-4304.688,826.373,67,0.9,68,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.8
$GPS2,090116,170828,-4304.725,826.429,16,1.3,16,-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,287.5,3550,-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,-146.0,154,2009,1961,1922,0.0,0.0,0,66,0.00,0.00,-48.33,0.000,16386,0.000,0.000,154,2009,3248,3326,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,153,2009,3326,3172,3.0,-4.5,6,87,8.25,0.00,-5.47,0.000,18438,0.213,0.000,2345,2008,3508,3567,3449,0,0,0,0,0,0,25.31,28.83,26.30
$GC,138,-0.68,-146.0,2344,2008,3568,3450,22.0,-19.4,16,147,0.00,2.35,0.00,0.000,516,0.000,0.065,2344,592,3509,3568,3450,0,0,0,0,0,0,28.83,25.75,28.83
$GC,180,-0.68,-146.0,2344,592,3568,3451,29.4,-16.9,22,190,0.00,2.25,0.00,0.000,1030,0.000,0.053,2336,1984,3509,3568,3451,0,0,0,0,0,0,28.83,25.84,28.83
$GC,330,-0.68,-146.0,1440,1982,3561,3449,54.1,-16.2,47,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1984,3509,3568,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,660,-0.68,-146.0,2336,1984,3568,3453,110.7,-16.9,102,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1984,3510,3568,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.68,-146.0,2336,1984,3568,3454,158.0,-15.5,132,968,0.00,2.28,0.00,0.000,260,0.000,0.059,2325,3416,3511,3568,3454,0,0,0,0,0,0,28.83,25.98,28.83
$GC,982,-0.68,-146.0,2325,3417,3568,3454,161.3,-15.2,134,990,0.00,2.28,0.00,0.000,1030,0.000,0.049,2325,1996,3511,3568,3454,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1291,-0.68,-146.0,2325,1995,3566,3455,209.3,-15.2,165,1301,0.00,2.22,0.00,0.000,516,0.000,0.063,2325,589,3511,3568,3455,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1392,-0.68,-146.0,2325,589,3568,3455,224.0,-14.9,174,1400,0.12,2.22,0.00,0.000,3078,0.176,0.052,2344,2002,3511,3567,3455,0,0,0,0,0,0,25.83,26.06,28.83
$GC,1698,-0.68,-146.0,2344,2003,3568,3455,264.0,-12.5,205,1706,0.00,2.22,0.00,0.000,260,0.000,0.059,2335,3410,3511,3568,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1721,-0.68,-146.0,2335,3410,3568,3455,266.6,-12.2,207,1729,0.00,2.25,0.00,0.000,1030,0.000,0.049,2335,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2031,-0.68,-146.0,2335,1994,3568,3456,305.7,-12.2,238,2039,0.00,2.25,0.00,0.000,516,0.000,0.064,2335,582,3512,3568,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2121,-0.68,-146.0,2335,582,3568,3456,317.2,-12.0,247,2131,0.00,2.22,0.00,0.000,1030,0.000,0.052,2326,2004,3512,3568,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2431,-0.68,-146.0,2325,2004,3567,3456,357.2,-13.0,278,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2004,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2731,-0.68,-146.0,2325,2004,3568,3456,398.6,-14.1,308,2741,0.00,2.28,0.00,0.000,516,0.000,0.064,2325,585,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2781,-0.68,-146.0,2325,585,3567,3457,404.7,-14.4,311,2786,0.12,2.22,0.00,0.000,3078,0.177,0.053,2345,1997,3512,3568,3456,0,0,0,0,0,0,25.89,26.12,28.83
$GC,3088,-0.68,-146.0,2344,1997,3568,3456,443.8,-12.3,326,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1997,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.68,-146.0,2344,1997,3567,3456,482.1,-12.9,341,3395,0.00,2.25,0.00,0.000,516,0.000,0.067,2344,589,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3411,-0.68,-146.0,2344,589,3568,3456,484.7,-12.9,342,3415,0.00,2.22,0.00,0.000,1030,0.000,0.054,2336,1996,3512,3568,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3728,-0.68,-146.0,2335,1997,3568,3456,527.8,-13.4,358,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1997,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.68,-146.0,2336,1997,3568,3456,568.1,-13.4,373,4035,0.00,2.28,0.00,0.000,516,0.000,0.067,2336,587,3511,3567,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4051,-0.68,-146.0,2336,587,3568,3456,571.0,-13.6,374,4055,0.00,2.28,0.00,0.000,1030,0.000,0.056,2326,1994,3512,3568,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4369,-0.68,-146.0,2326,1995,3568,3456,616.3,-14.3,390,4375,0.00,2.25,0.00,0.000,260,0.000,0.063,2315,3412,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4391,-0.68,-146.0,1536,3412,3562,3454,619.1,-14.2,391,4396,0.10,2.28,0.00,0.000,3078,0.143,0.053,2347,1999,3512,3568,3456,0,0,0,0,0,0,25.89,26.13,28.83
$GC,4708,-0.68,-146.0,2348,1998,3568,3456,657.8,-12.1,407,4713,0.00,2.30,0.00,0.000,516,0.000,0.069,2348,577,3512,3568,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4773,-0.68,-146.0,2347,577,3568,3456,664.6,-12.2,410,4777,0.00,2.25,0.00,0.000,1030,0.000,0.057,2339,1997,3511,3567,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5085,-0.68,-146.0,2339,1998,3568,3456,705.4,-12.7,426,5091,0.00,2.30,0.00,0.000,516,0.000,0.069,2339,578,3512,3568,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5126,-0.68,-146.0,2339,578,3567,3456,710.4,-12.7,428,5132,0.00,2.25,0.00,0.000,1030,0.000,0.057,2329,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5446,-0.68,-146.0,2329,1995,3567,3456,752.6,-13.4,444,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5746,-0.68,-146.0,2329,1995,3566,3455,792.2,-13.1,459,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6046,-0.68,-146.0,2329,1995,3566,3456,831.1,-13.1,474,6052,0.00,2.25,0.00,0.000,516,0.000,0.069,2329,588,3510,3565,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6073,-0.68,-146.0,2329,588,3565,3456,833.8,-13.3,475,6077,0.12,2.25,0.00,0.000,3078,0.174,0.058,2348,2003,3510,3565,3455,0,0,0,0,0,0,25.87,26.08,28.83
$GC,6385,-0.68,-146.0,2348,2004,3565,3456,870.8,-11.6,491,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2004,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.68,-146.0,2348,2004,3563,3456,904.9,-11.2,506,6692,0.00,2.30,0.00,0.000,516,0.000,0.070,2349,581,3509,3563,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6727,-0.68,-146.0,2348,581,3563,3456,909.7,-11.3,508,6733,0.00,2.25,0.00,0.000,1030,0.000,0.060,2340,1994,3509,3563,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7050,-0.68,-146.0,2340,1994,3563,3456,946.0,-11.4,524,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1994,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.68,-146.0,2340,1994,3562,3456,979.9,-11.2,539,7353,0.00,2.30,0.00,0.000,516,0.000,0.071,2340,575,3509,3562,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7408,-0.68,-146.0,2340,575,3562,3455,986.7,-11.4,542,7414,0.00,2.28,0.00,0.000,1030,0.000,0.060,2330,2000,3509,3562,3456,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,7527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7527,begin apogee
$GC,7531,-0.14,0.0,2330,1863,3562,3456,1000.1,-11.3,548,7669,0.62,0.00,133.80,1.764,10246,0.138,0.000,2523,1863,2908,2981,2836,0,0,0,0,0,0,25.72,28.83,22.97
$STATE,7670,end apogee,CONTROL_FINISHED_OK
$STATE,7670,begin climb
$GC,7671,0.68,146.0,2522,1863,2981,2836,1006.3,0.0,555,7822,0.75,2.60,141.73,1.733,11012,0.046,0.064,2806,3280,2313,2372,2254,0,0,0,0,0,0,24.14,23.37,22.33
$GC,8325,0.68,146.0,2805,3280,2369,2241,921.7,15.9,587,8329,0.00,2.30,0.00,0.000,1030,0.000,0.057,2816,1874,2305,2369,2241,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8642,0.68,146.0,2816,1874,2368,2238,873.1,15.5,603,8647,0.00,2.33,0.00,0.000,260,0.000,0.065,2816,3291,2303,2368,2238,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8842,0.68,146.0,2816,3291,2368,2238,840.6,16.1,613,8848,0.15,2.30,0.00,0.000,5126,0.220,0.057,2795,1864,2302,2367,2238,0,0,0,0,0,0,25.50,25.84,28.83
$GC,9162,0.68,146.0,2795,1864,2367,2236,795.0,14.2,629,9168,0.00,2.30,0.00,0.000,260,0.000,0.064,2794,3284,2301,2367,2236,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9221,0.68,146.0,2793,3284,2367,2236,786.1,14.7,632,9225,0.00,2.28,0.00,0.000,1030,0.000,0.057,2803,1865,2301,2367,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9538,0.68,146.0,2802,1865,2366,2235,741.5,14.1,648,9543,0.00,2.30,0.00,0.000,260,0.000,0.064,2803,3286,2301,2367,2235,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9590,0.68,146.0,2802,3287,2366,2235,735.6,14.3,650,9597,0.00,2.28,0.00,0.000,1030,0.000,0.057,2813,1868,2301,2367,2235,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9897,0.68,146.0,2812,1869,2366,2235,690.7,13.6,666,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1868,2300,2366,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10198,0.68,146.0,2813,1868,2366,2234,649.9,13.9,681,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1868,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10497,0.68,146.0,2813,1868,2365,2234,609.8,13.7,696,10503,0.00,2.30,0.00,0.000,260,0.000,0.065,2813,3294,2299,2365,2234,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10557,0.68,146.0,2813,3294,2365,2234,601.1,14.5,699,10564,0.15,2.28,0.00,0.000,5126,0.216,0.057,2791,1866,2299,2365,2234,0,0,0,0,0,0,25.70,26.08,28.83
$GC,10877,0.68,146.0,2791,1866,2365,2234,561.6,12.2,715,10881,0.00,2.30,0.00,0.000,260,0.000,0.065,2786,3292,2299,2365,2234,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,15820,end climb,SURFACE_DEPTH_REACHED
$STATE,15820,begin surface coast
$FINISH,-0.1,1.013735
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15852,begin surface
$SM_CCo,15868,33.42,0.153,0,0,1966,230.09
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$IRIDIUM_FIX,-4244.98,822.81,051108,010157
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.12
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,32.873
$10V_AH,10.1,26.353
$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
$DEVICE_SECS,17.400,132.525,275.525,33.425,0.000,25.952,16.747,189.562,49.250,0.000,17.626,3247.798,9230.006,453.336,3127.785,194.772,0.000,1665.987,0.000,2637.356,0.000,300.302,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.609,82.690,742.717,1833.409,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352740
$DATA_FILE_SIZE,77010,1213
$CAP_FILE_SIZE,173502,0
$CFSIZE,259248128,243699712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.184, 61.5,1
$GPS,090116,213533,-4304.455,825.792,60,1.2,61,-25.0