version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 187
start: 1 10 116 2 24 16
data:
$ID,542
$MISSION,12
$DIVE,187
$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,-29884.592
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,100116,021243,-4304.021,825.275,69,5.1,89,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.9
$GPS2,100116,022350,-4304.018,825.377,20,1.4,40,-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,265.9,1863,-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,-146.0,163,2000,1963,1922,0.0,0.0,0,65,0.00,0.00,-47.45,0.000,16386,0.000,0.000,163,2001,3241,3314,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,163,2001,3315,3170,3.3,-6.3,6,87,8.32,2.30,-5.47,0.000,18692,0.217,0.069,2332,3404,3507,3566,3448,0,0,0,0,0,0,25.29,25.77,26.24
$GC,176,-0.68,-146.0,2331,3405,3567,3451,27.1,-15.2,22,185,0.00,2.28,0.00,0.000,1030,0.000,0.050,2331,1997,3508,3567,3450,0,0,0,0,0,0,28.83,25.80,28.83
$GC,324,-0.68,-146.0,2331,1996,3566,3451,52.5,-17.1,47,331,0.00,2.28,0.00,0.000,516,0.000,0.063,2331,583,3508,3566,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,429,-0.68,-146.0,1408,582,3559,3449,70.2,-17.0,65,436,0.12,2.25,0.00,0.000,3078,0.174,0.053,2351,2000,3508,3566,3451,0,0,0,0,0,0,25.66,25.87,28.83
$GC,757,-0.68,-146.0,2350,2000,3566,3452,120.4,-14.6,114,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2000,3509,3566,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.68,-146.0,2351,2000,3566,3453,163.2,-13.6,144,1066,0.00,2.28,0.00,0.000,516,0.000,0.063,2351,586,3509,3566,3453,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1098,-0.68,-146.0,2351,586,3566,3454,168.8,-13.3,148,1108,0.00,2.25,0.00,0.000,1030,0.000,0.053,2342,2006,3510,3566,3454,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1408,-0.68,-146.0,2342,2006,3566,3454,214.7,-15.2,179,1412,0.00,2.25,0.00,0.000,260,0.000,0.060,2332,3415,3510,3566,3454,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1455,-0.68,-146.0,2331,3415,3566,3454,221.4,-14.2,183,1465,0.00,2.22,0.00,0.000,1030,0.000,0.050,2332,1992,3510,3566,3454,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1765,-0.68,-146.0,2331,1991,3567,3454,267.6,-14.6,214,1774,0.00,2.25,0.00,0.000,516,0.000,0.063,2332,586,3510,3566,3454,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1849,-0.68,-146.0,1536,585,3561,3453,279.8,-14.6,222,1859,0.00,2.28,0.00,0.000,1030,0.000,0.053,2321,1997,3510,3566,3455,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2158,-0.68,-146.0,2321,1997,3566,3455,327.9,-15.6,253,2159,0.12,0.00,0.00,0.000,2054,0.178,0.000,2352,1997,3511,3567,3455,0,0,0,0,0,0,26.08,28.83,28.83
$GC,2458,-0.68,-146.0,2352,1997,3566,3455,365.7,-11.9,283,2467,0.00,2.28,0.00,0.000,516,0.000,0.065,2351,581,3511,3567,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2501,-0.68,-146.0,2352,581,3567,3455,370.8,-12.1,287,2510,0.00,2.20,0.00,0.000,1030,0.000,0.054,2343,1985,3511,3567,3455,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2809,-0.68,-146.0,2343,1985,3567,3455,408.1,-12.1,315,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1985,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3110,-0.68,-146.0,2343,1985,3567,3455,444.3,-11.9,330,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1985,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3411,-0.68,-146.0,2343,1985,3566,3455,481.2,-12.5,345,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1985,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-0.68,-146.0,2343,1985,3567,3455,519.2,-12.7,360,3716,0.00,2.25,0.00,0.000,516,0.000,0.066,2343,586,3510,3566,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3732,-0.68,-146.0,2343,585,3567,3455,521.8,-12.8,361,3736,0.00,2.28,0.00,0.000,1030,0.000,0.056,2334,1990,3511,3567,3455,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4050,-0.68,-146.0,2333,1990,3567,3455,565.9,-14.2,377,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1990,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.68,-146.0,2334,1990,3566,3455,608.5,-13.7,392,4356,0.00,2.22,0.00,0.000,516,0.000,0.066,2333,594,3510,3566,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4378,-0.68,-146.0,2333,594,3566,3455,611.4,-13.7,393,4382,0.00,2.22,0.00,0.000,1030,0.000,0.057,2323,1999,3511,3567,3455,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4690,-0.68,-146.0,2323,1999,3567,3455,658.9,-14.9,409,4694,0.00,2.28,0.00,0.000,516,0.000,0.068,2324,589,3511,3567,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4714,-0.68,-146.0,2323,589,3567,3455,661.3,-14.9,410,4719,0.15,2.25,0.00,0.000,3078,0.164,0.057,2351,2003,3510,3566,3455,0,0,0,0,0,0,25.85,26.09,28.83
$GC,5021,-0.68,-146.0,2351,2003,3566,3455,699.5,-12.0,425,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2003,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.68,-146.0,2351,2003,3565,3455,734.6,-11.4,440,5328,0.00,2.30,0.00,0.000,516,0.000,0.070,2351,586,3510,3565,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5349,-0.68,-146.0,2351,586,3565,3455,736.9,-11.4,441,5353,0.00,2.25,0.00,0.000,1030,0.000,0.059,2343,1994,3510,3565,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5656,-0.68,-146.0,2342,1994,3565,3455,773.5,-11.3,456,5662,0.00,2.28,0.00,0.000,516,0.000,0.068,2343,581,3510,3565,3455,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5686,-0.68,-146.0,2343,581,3565,3455,775.9,-11.4,457,5690,0.00,2.25,0.00,0.000,1030,0.000,0.059,2333,1994,3509,3564,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5993,-0.68,-146.0,2333,1994,3564,3456,814.4,-12.0,472,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1994,3509,3564,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,-0.68,-146.0,2333,1994,3563,3455,850.4,-11.7,487,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1994,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,-0.68,-146.0,2332,1994,3563,3455,884.8,-11.5,502,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1995,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,-0.68,-146.0,2333,1994,3562,3455,919.3,-11.4,517,6899,0.00,2.28,0.00,0.000,516,0.000,0.069,2333,586,3508,3562,3455,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6920,-0.68,-146.0,2333,585,3562,3455,921.7,-11.4,518,6924,0.00,2.28,0.00,0.000,1030,0.000,0.059,2323,2004,3508,3562,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7232,-0.68,-146.0,2323,2004,3561,3455,958.9,-11.7,534,7237,0.00,2.30,0.00,0.000,516,0.000,0.069,2323,588,3508,3561,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7257,-0.68,-146.0,2323,587,3560,3455,960.9,-11.8,535,7261,0.15,2.25,0.00,0.000,3078,0.162,0.060,2351,1993,3508,3561,3455,0,0,0,0,0,0,25.82,26.05,28.83
$GC,7569,-0.68,-146.0,2351,1994,3560,3455,993.2,-10.2,551,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1994,3507,3560,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7648,begin apogee
$GC,7652,-0.14,0.0,2351,1870,3560,3455,1001.2,-10.0,555,7790,0.55,0.00,133.77,1.775,10246,0.127,0.000,2526,1870,2909,2982,2836,0,0,0,0,0,0,25.77,28.83,22.94
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7792,0.68,146.0,2526,1869,2982,2836,1008.1,0.0,562,7944,0.73,2.58,141.98,1.748,10756,0.047,0.070,2814,466,2312,2372,2253,0,0,0,0,0,0,24.13,23.36,22.33
$GC,8126,0.68,146.0,2814,466,2367,2245,980.1,15.5,578,8132,0.00,2.38,0.00,0.000,1030,0.000,0.059,2814,1870,2305,2367,2244,0,0,0,0,0,0,28.83,24.82,28.83
$GC,8446,0.68,146.0,2814,1870,2367,2239,930.9,15.1,594,8452,0.00,2.33,0.00,0.000,260,0.000,0.066,2814,3284,2303,2367,2239,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8546,0.68,146.0,2814,3284,2366,2239,914.7,16.3,599,8552,0.15,2.30,0.00,0.000,5126,0.216,0.057,2793,1876,2302,2366,2239,0,0,0,0,0,0,25.29,25.60,28.83
$GC,8866,0.68,146.0,2793,1876,2366,2237,872.0,13.2,615,8872,0.00,2.30,0.00,0.000,260,0.000,0.064,2788,3286,2301,2366,2237,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8946,0.68,146.0,2788,3287,2366,2236,860.6,14.2,619,8952,0.00,2.30,0.00,0.000,1030,0.000,0.058,2797,1862,2301,2366,2236,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9266,0.68,146.0,2797,1862,2365,2235,817.0,13.5,635,9272,0.00,2.33,0.00,0.000,260,0.000,0.065,2797,3288,2300,2366,2235,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9329,0.68,146.0,2797,3288,2365,2235,808.2,14.3,638,9333,0.00,2.28,0.00,0.000,1030,0.000,0.057,2807,1868,2300,2366,2235,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9646,0.68,146.0,2807,1868,2366,2234,762.3,14.6,654,9650,0.00,2.30,0.00,0.000,260,0.000,0.064,2808,3288,2299,2365,2234,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9690,0.68,146.0,2807,3288,2365,2234,756.8,15.0,656,9694,0.00,2.30,0.00,0.000,1030,0.000,0.057,2818,1866,2299,2365,2234,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10003,0.68,146.0,2818,1866,2365,2234,708.3,15.6,672,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1866,2299,2365,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,0.68,146.0,2817,1866,2365,2234,661.1,15.5,687,10308,0.00,2.30,0.00,0.000,260,0.000,0.065,2818,3287,2299,2365,2233,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10350,0.68,146.0,2818,3287,2365,2233,654.6,15.9,689,10355,0.15,2.28,0.00,0.000,5126,0.213,0.057,2796,1866,2299,2365,2234,0,0,0,0,0,0,25.69,26.04,28.83
$GC,10658,0.68,146.0,2796,1866,2365,2233,609.4,14.0,704,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1865,2299,2365,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10957,0.68,146.0,2796,1865,2365,2232,569.0,12.8,719,10963,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3287,2299,2365,2233,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,15760,end climb,SURFACE_DEPTH_REACHED
$STATE,15760,begin surface coast
$FINISH,-0.2,1.026402
$STATE,15792,end surface coast,CONTROL_FINISHED_OK
$STATE,15792,begin surface
$SM_CCo,15806,33.05,0.149,0,0,1967,230.09
$SM_GC,1.64,6.72,0.22,33.05,0.033,0.079,0.149,156,2010,1967,-7.40,-0.51,230.09,0,0,0,0,0,0,26.29,26.29,25.78
$IRIDIUM_FIX,-4247.91,822.81,051108,151503
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.61
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,33.196
$10V_AH,10.0,26.608
$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
$DEVICE_SECS,17.475,128.200,275.750,33.050,0.000,86.787,111.842,197.909,49.250,0.000,41.525,3201.326,9475.414,451.195,3155.971,217.655,0.000,1612.699,0.000,2499.837,0.000,299.027,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.234,82.480,730.062,1818.872,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352744
$DATA_FILE_SIZE,76757,1202
$CAP_FILE_SIZE,171573,0
$CFSIZE,259248128,243539968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125, 44.9,1
$GPS,100116,065033,-4304.392,824.083,101,0.8,102,-25.0