version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 192
start: 1 11 116 1 10 36
data:
$ID,542
$MISSION,12
$DIVE,192
$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,-29890.871
$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,21
$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
$GPS1,110116,010404,-4259.502,825.169,31,0.9,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,110116,011010,-4259.502,825.216,14,1.9,14,-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,325.7,6693,-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,-146.0,163,1998,1963,1922,0.0,0.0,0,65,0.00,0.00,-47.55,0.000,16386,0.000,0.000,162,1998,3240,3315,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,162,1998,3315,3166,3.4,-6.6,6,87,8.38,2.35,-5.40,0.000,18948,0.220,0.072,2351,581,3507,3565,3449,0,0,0,0,0,0,25.30,25.79,26.29
$GC,150,-0.68,-146.0,2350,581,3566,3450,24.2,-16.2,18,160,0.00,2.30,0.00,0.000,1030,0.000,0.054,2342,1992,3508,3566,3450,0,0,0,0,0,0,28.83,25.81,28.83
$GC,305,-0.68,-146.0,2342,1993,3566,3450,49.7,-17.1,43,313,0.00,2.28,0.00,0.000,260,0.000,0.060,2333,3413,3508,3566,3451,0,0,0,0,0,0,28.83,25.81,28.83
$GC,344,-0.68,-146.0,1408,3411,3559,3449,55.6,-15.8,49,351,0.00,2.25,0.00,0.000,1030,0.000,0.049,2332,1985,3508,3566,3451,0,0,0,0,0,0,28.83,25.87,28.83
$GC,676,-0.68,-146.0,2332,1984,3566,3452,112.9,-17.3,104,686,0.00,2.25,0.00,0.000,516,0.000,0.063,2332,585,3509,3566,3452,0,0,0,0,0,0,28.83,25.86,28.83
$GC,863,-0.68,-146.0,1536,585,3560,3451,142.7,-15.7,122,870,0.00,2.28,0.00,0.000,1030,0.000,0.053,2322,1997,3509,3566,3453,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1172,-0.68,-146.0,2321,1997,3566,3454,192.5,-16.0,153,1181,0.12,2.22,0.00,0.000,2308,0.186,0.057,2347,3410,3510,3566,3454,0,0,0,0,0,0,25.93,25.98,28.83
$GC,1185,-0.68,-146.0,2347,3410,3566,3454,193.9,-16.0,154,1196,0.00,2.25,0.00,0.000,1030,0.000,0.047,2347,1997,3510,3566,3454,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1496,-0.68,-146.0,2347,1997,3566,3454,235.3,-13.4,185,1505,0.00,2.22,0.00,0.000,516,0.000,0.063,2347,591,3510,3566,3454,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1602,-0.68,-146.0,2347,591,3566,3455,249.2,-12.5,195,1610,0.00,2.22,0.00,0.000,1030,0.000,0.052,2337,2003,3510,3566,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1908,-0.68,-146.0,2337,2003,3567,3455,293.0,-14.3,226,1912,0.00,2.22,0.00,0.000,260,0.000,0.059,2326,3407,3511,3567,3455,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1947,-0.68,-146.0,2326,3407,3567,3455,298.1,-14.1,229,1954,0.00,2.25,0.00,0.000,1030,0.000,0.048,2326,1993,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2255,-0.68,-146.0,2326,1993,3567,3455,344.6,-15.1,260,2265,0.00,2.25,0.00,0.000,516,0.000,0.064,2326,588,3511,3567,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2349,-0.68,-146.0,2326,588,3566,3456,358.2,-14.0,269,2358,0.12,2.22,0.00,0.000,3078,0.171,0.053,2346,2003,3511,3566,3456,0,0,0,0,0,0,25.86,26.08,28.83
$GC,2659,-0.68,-146.0,2346,2003,3566,3456,397.6,-12.8,300,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2003,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2960,-0.68,-146.0,2346,2003,3566,3456,436.6,-13.3,316,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2003,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,-0.68,-146.0,2346,2003,3566,3456,475.8,-13.0,331,3266,0.00,2.25,0.00,0.000,516,0.000,0.065,2346,592,3510,3566,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3299,-0.68,-146.0,2346,592,3566,3456,481.0,-12.9,333,3304,0.00,2.22,0.00,0.000,1030,0.000,0.055,2338,2002,3510,3566,3455,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3618,-0.68,-146.0,2338,2002,3566,3455,523.6,-13.6,349,3624,0.00,2.25,0.00,0.000,260,0.000,0.063,2327,3411,3510,3566,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3640,-0.68,-146.0,2327,3411,3566,3456,526.3,-13.5,350,3645,0.00,2.28,0.00,0.000,1030,0.000,0.051,2327,1991,3511,3567,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3959,-0.68,-146.0,2327,1990,3566,3456,570.7,-13.8,366,3965,0.00,2.28,0.00,0.000,516,0.000,0.067,2327,587,3511,3566,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4012,-0.68,-146.0,2327,587,3566,3456,576.3,-13.9,368,4020,0.12,2.25,0.00,0.000,3078,0.173,0.055,2347,1997,3511,3566,3456,0,0,0,0,0,0,25.87,26.08,28.83
$GC,4320,-0.68,-146.0,2347,1998,3566,3455,613.8,-11.5,384,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1998,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.68,-146.0,2347,1998,3566,3455,647.7,-11.3,399,4626,0.00,2.28,0.00,0.000,516,0.000,0.067,2347,586,3510,3566,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4640,-0.68,-146.0,2347,585,3566,3456,650.0,-11.3,400,4646,0.00,2.25,0.00,0.000,1030,0.000,0.057,2339,1996,3510,3566,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4960,-0.68,-146.0,2339,1996,3565,3455,687.3,-11.9,416,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1996,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,-0.68,-146.0,2339,1996,3565,3455,722.6,-12.0,431,5266,0.00,2.28,0.00,0.000,516,0.000,0.067,2339,586,3510,3565,3455,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5288,-0.68,-146.0,2339,586,3565,3455,725.1,-12.1,432,5292,0.00,2.25,0.00,0.000,1030,0.000,0.057,2329,1994,3510,3565,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5601,-0.68,-146.0,2328,1995,3564,3455,766.4,-13.2,448,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1995,3509,3564,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.68,-146.0,2329,1995,3564,3455,808.0,-14.2,463,5907,0.00,2.28,0.00,0.000,516,0.000,0.067,2329,583,3510,3564,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5923,-0.68,-146.0,2329,583,3565,3455,810.9,-14.2,464,5929,0.08,2.30,0.00,0.000,3078,0.154,0.058,2343,1994,3509,3564,3455,0,0,0,0,0,0,25.84,26.06,28.83
$GC,6242,-0.68,-146.0,2343,1995,3563,3455,850.0,-12.0,480,6248,0.00,2.25,0.00,0.000,516,0.000,0.068,2344,591,3509,3563,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6261,-0.68,-146.0,2343,591,3563,3455,852.5,-12.1,481,6265,0.00,2.25,0.00,0.000,1030,0.000,0.059,2335,2003,3509,3563,3456,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6578,-0.68,-146.0,2335,2004,3562,3455,891.5,-12.1,497,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2004,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6881,-0.68,-146.0,2335,2004,3562,3455,926.6,-11.4,512,6886,0.00,2.28,0.00,0.000,516,0.000,0.069,2335,592,3508,3562,3455,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6912,-0.68,-146.0,2335,592,3562,3455,929.1,-11.5,513,6919,0.00,2.25,0.00,0.000,1030,0.000,0.059,2325,1994,3508,3562,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7218,-0.68,-146.0,2325,1995,3562,3454,967.7,-11.9,529,7224,0.00,2.28,0.00,0.000,516,0.000,0.069,2325,587,3508,3562,3455,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7241,-0.68,-146.0,2325,587,3561,3455,970.3,-12.1,530,7246,0.10,2.22,0.00,0.000,3078,0.145,0.059,2347,1989,3508,3562,3455,0,0,0,0,0,0,25.79,26.03,28.83
$STATE,7538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7538,begin apogee
$GC,7542,-0.14,0.0,2347,1865,3561,3455,1000.8,-10.1,545,7680,0.55,0.00,133.85,1.770,10246,0.128,0.000,2522,1864,2909,2982,2837,0,0,0,0,0,0,25.75,28.83,22.92
$STATE,7681,end apogee,CONTROL_FINISHED_OK
$STATE,7681,begin climb
$GC,7683,0.68,146.0,2522,1864,2981,2837,1006.9,0.0,552,7834,0.73,2.58,142.60,1.741,11012,0.045,0.069,2813,468,2313,2373,2254,0,0,0,0,0,0,24.11,23.36,22.33
$GC,7926,0.68,146.0,2813,467,2366,2250,993.6,14.8,563,7930,0.00,2.42,0.00,0.000,1030,0.000,0.058,2813,1875,2307,2365,2249,0,0,0,0,0,0,28.83,24.44,28.83
$GC,8231,0.68,146.0,2813,1875,2365,2244,943.9,15.4,578,8235,0.00,2.35,0.00,0.000,260,0.000,0.065,2813,3291,2305,2366,2244,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8247,0.68,146.0,2813,3291,2365,2244,941.3,15.4,579,8254,0.15,2.33,0.00,0.000,5126,0.214,0.057,2792,1877,2304,2364,2244,0,0,0,0,0,0,25.07,25.37,28.83
$GC,8568,0.68,146.0,2792,1877,2365,2242,894.6,14.3,595,8574,0.00,2.33,0.00,0.000,260,0.000,0.065,2788,3289,2303,2364,2242,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8610,0.68,146.0,1920,3288,2324,2236,888.8,14.4,597,8614,0.00,2.35,0.00,0.000,1030,0.000,0.057,2797,1872,2303,2364,2242,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8928,0.68,146.0,2797,1872,2364,2240,842.4,14.3,613,8933,0.00,2.30,0.00,0.000,260,0.000,0.066,2797,3285,2302,2364,2240,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8950,0.68,146.0,1920,3284,2324,2234,839.4,14.4,614,8954,0.00,2.33,0.00,0.000,1030,0.000,0.057,2807,1873,2301,2363,2240,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9267,0.68,146.0,2807,1872,2363,2239,792.8,14.5,630,9272,0.00,2.30,0.00,0.000,260,0.000,0.066,2807,3287,2301,2363,2239,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9346,0.68,146.0,1920,3285,2322,2233,781.4,15.0,634,9351,0.00,2.33,0.00,0.000,1030,0.000,0.057,2817,1868,2300,2362,2239,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9664,0.68,146.0,2817,1868,2362,2238,735.0,14.3,650,9668,0.00,2.30,0.00,0.000,260,0.000,0.064,2817,3288,2300,2362,2238,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9733,0.68,146.0,2817,3288,2361,2238,726.5,15.0,653,9741,0.15,2.30,0.00,0.000,5126,0.212,0.057,2795,1861,2300,2362,2238,0,0,0,0,0,0,25.63,25.98,28.83
$GC,10040,0.68,146.0,2795,1861,2361,2238,683.7,13.3,669,10044,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3284,2300,2362,2238,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10079,0.68,146.0,2793,3284,2361,2238,678.7,13.6,671,10083,0.00,2.28,0.00,0.000,1030,0.000,0.056,2803,1864,2300,2362,2238,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,15626,end climb,SURFACE_DEPTH_REACHED
$STATE,15626,begin surface coast
$FINISH,0.1,1.026353
$STATE,15659,end surface coast,CONTROL_FINISHED_OK
$STATE,15659,begin surface
$SM_CCo,15676,30.10,0.151,0,0,1966,230.09
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$IRIDIUM_FIX,-4244.98,822.38,061108,090932
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.33
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,34.000
$10V_AH,10.1,27.244
$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
$DEVICE_SECS,17.975,169.275,279.600,30.100,0.000,24.099,24.507,201.542,49.250,0.000,15.751,3186.062,9183.054,491.407,3002.349,203.903,0.000,1683.527,0.000,2519.089,0.000,297.612,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.421,83.327,728.880,1806.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352732
$DATA_FILE_SIZE,77102,1195
$CAP_FILE_SIZE,178551,0
$CFSIZE,259248128,243101696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172, 75.9,1
$GPS,110116,053333,-4258.325,824.858,34,1.0,35,-25.0