version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 193
start: 1 11 116 5 40 31
data:
$ID,542
$MISSION,12
$DIVE,193
$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,-29892.125
$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,22
$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
$GPS1,110116,053333,-4258.325,824.858,34,1.0,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.7
$GPS2,110116,054005,-4258.343,824.951,24,1.1,24,-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,326.8,4526,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.68,-146.0,168,1996,1964,1920,0.0,0.0,0,67,0.00,0.00,-49.08,0.000,16386,0.000,0.000,168,1996,3279,3351,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,168,1997,3352,3208,3.3,-5.7,6,89,8.27,2.35,-4.65,0.000,18948,0.216,0.072,2348,576,3507,3564,3450,0,0,0,0,0,0,25.29,25.78,26.27
$GC,183,-0.68,-146.0,2348,577,3566,3451,29.3,-15.3,23,193,0.00,2.30,0.00,0.000,1030,0.000,0.053,2340,1992,3509,3567,3451,0,0,0,0,0,0,28.83,25.81,28.83
$GC,331,-0.68,-146.0,2340,1992,3566,3451,53.7,-16.3,48,340,0.00,2.33,0.00,0.000,260,0.000,0.060,2329,3413,3508,3566,3451,0,0,0,0,0,0,28.83,25.82,28.83
$GC,358,-0.68,-146.0,2329,3413,3566,3452,57.6,-15.3,52,366,0.00,2.28,0.00,0.000,1030,0.000,0.049,2330,1994,3509,3566,3452,0,0,0,0,0,0,28.83,25.87,28.83
$GC,696,-0.68,-146.0,2329,1994,3566,3453,110.5,-15.3,108,705,0.00,2.22,0.00,0.000,516,0.000,0.063,2329,591,3510,3567,3454,0,0,0,0,0,0,28.83,25.87,28.83
$GC,792,-0.68,-146.0,2329,591,3566,3454,124.3,-13.7,117,800,0.12,2.22,0.00,0.000,3078,0.174,0.052,2348,1996,3510,3566,3454,0,0,0,0,0,0,25.73,25.96,28.83
$GC,1100,-0.68,-146.0,2348,1996,3567,3454,165.1,-12.8,148,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-0.68,-146.0,2348,1997,3568,3455,203.8,-12.9,178,1403,0.00,2.25,0.00,0.000,516,0.000,0.062,2348,588,3511,3568,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1477,-0.68,-146.0,2348,587,3568,3456,213.9,-12.9,185,1485,0.00,2.28,0.00,0.000,1030,0.000,0.052,2340,2000,3511,3567,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1786,-0.68,-146.0,2340,2000,3568,3455,256.3,-13.3,216,1795,0.00,2.25,0.00,0.000,260,0.000,0.059,2330,3418,3511,3568,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1800,-0.68,-146.0,2330,3418,3567,3455,257.4,-12.9,217,1807,0.00,2.25,0.00,0.000,1030,0.000,0.047,2329,1999,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2108,-0.68,-146.0,2329,1998,3568,3456,301.5,-14.2,248,2118,0.00,2.25,0.00,0.000,516,0.000,0.063,2329,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2216,-0.68,-146.0,2329,588,3568,3456,316.3,-13.6,258,2223,0.12,2.22,0.00,0.000,3078,0.168,0.052,2349,2001,3512,3568,3456,0,0,0,0,0,0,25.86,26.08,28.83
$GC,2522,-0.68,-146.0,2349,2001,3568,3456,352.6,-11.1,289,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2823,-0.68,-146.0,2349,2001,3568,3456,385.6,-10.9,319,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,-0.68,-146.0,2349,2002,3567,3456,418.4,-10.9,341,3125,0.00,2.30,0.00,0.000,516,0.000,0.065,2349,580,3511,3567,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3160,-0.68,-146.0,1552,580,3562,3454,422.5,-11.1,343,3165,0.00,2.28,0.00,0.000,1030,0.000,0.054,2341,1987,3512,3568,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3480,-0.68,-146.0,2340,1988,3568,3456,460.4,-12.1,359,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1988,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3779,-0.68,-146.0,2341,1988,3568,3456,497.0,-12.3,374,3784,0.00,2.22,0.00,0.000,516,0.000,0.066,2341,594,3512,3568,3457,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3811,-0.68,-146.0,2341,594,3568,3456,499.6,-12.5,375,3821,0.00,2.22,0.00,0.000,1030,0.000,0.054,2331,1999,3512,3568,3456,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4118,-0.68,-146.0,2331,1999,3568,3456,541.2,-13.1,391,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1999,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.68,-146.0,2331,1999,3566,3456,580.3,-12.8,406,4424,0.00,2.25,0.00,0.000,516,0.000,0.067,2331,591,3512,3568,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4459,-0.68,-146.0,2331,591,3568,3456,585.6,-13.0,408,4465,0.00,2.22,0.00,0.000,1030,0.000,0.057,2322,1996,3511,3567,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4778,-0.68,-146.0,2321,1996,3567,3456,628.4,-13.6,424,4784,0.12,2.28,0.00,0.000,2564,0.177,0.067,2357,589,3511,3567,3456,0,0,0,0,0,0,26.08,25.98,28.83
$GC,4819,-0.68,-146.0,2357,589,3567,3456,633.4,-13.0,426,4823,0.00,2.22,0.00,0.000,1030,0.000,0.057,2349,1993,3512,3568,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5135,-0.68,-146.0,2349,1993,3567,3456,668.1,-10.9,442,5139,0.00,2.28,0.00,0.000,516,0.000,0.067,2349,587,3511,3567,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5159,-0.68,-146.0,2349,586,3567,3456,669.9,-10.9,443,5163,0.00,2.25,0.00,0.000,1030,0.000,0.057,2340,1997,3511,3567,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5472,-0.68,-146.0,2339,1998,3567,3456,707.3,-11.9,459,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1998,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.68,-146.0,2339,1998,3566,3456,743.1,-12.0,474,5778,0.00,2.28,0.00,0.000,516,0.000,0.068,2340,590,3511,3566,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5806,-0.68,-146.0,2339,589,3565,3456,745.6,-12.1,475,5814,0.00,2.25,0.00,0.000,1030,0.000,0.058,2329,1996,3511,3566,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6114,-0.68,-146.0,2330,1996,3565,3456,786.2,-12.7,491,6119,0.00,2.28,0.00,0.000,516,0.000,0.069,2330,589,3510,3565,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6146,-0.68,-146.0,2330,590,3565,3456,788.9,-12.8,492,6157,0.12,2.28,0.00,0.000,3078,0.171,0.059,2349,2006,3510,3565,3456,0,0,0,0,0,0,25.85,26.04,28.83
$GC,6453,-0.68,-146.0,2349,2006,3564,3456,825.0,-11.2,508,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2006,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6755,-0.68,-146.0,2349,2006,3563,3456,856.7,-10.4,523,6760,0.00,2.33,0.00,0.000,516,0.000,0.069,2349,583,3509,3563,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6796,-0.68,-146.0,2349,582,3563,3456,861.1,-10.7,525,6800,0.00,2.30,0.00,0.000,1030,0.000,0.059,2341,1992,3509,3562,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7114,-0.68,-146.0,2341,1992,3562,3456,896.2,-11.0,541,7120,0.00,2.28,0.00,0.000,516,0.000,0.069,2342,589,3509,3562,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7141,-0.68,-146.0,2341,589,3562,3456,898.5,-11.2,542,7145,0.00,2.28,0.00,0.000,1030,0.000,0.059,2332,2009,3509,3562,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7454,-0.68,-146.0,2332,2009,3562,3456,937.0,-12.1,558,7460,0.00,2.33,0.00,0.000,516,0.000,0.068,2332,586,3509,3562,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7498,-0.68,-146.0,2331,585,3561,3456,941.9,-12.1,560,7502,0.00,2.25,0.00,0.000,1030,0.000,0.059,2322,1994,3508,3561,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7812,-0.68,-146.0,2321,1995,3561,3456,980.9,-12.3,576,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1994,3508,3561,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7988,begin apogee
$GC,7993,-0.14,0.0,2321,1869,3560,3456,1002.0,-11.6,585,8131,0.65,0.00,134.40,1.774,10246,0.138,0.000,2522,1867,2909,2981,2837,0,0,0,0,0,0,25.66,28.83,22.89
$STATE,8132,end apogee,CONTROL_FINISHED_OK
$STATE,8132,begin climb
$GC,8133,0.68,146.0,2521,1867,2981,2837,1007.4,0.0,592,8282,0.75,0.00,142.50,1.741,11014,0.044,0.000,2803,1867,2312,2374,2251,0,0,0,0,0,0,24.08,28.83,22.32
$GC,8569,0.68,146.0,2803,1867,2370,2239,962.1,15.4,614,8575,0.00,2.38,0.00,0.000,260,0.000,0.066,2804,3281,2304,2370,2239,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8662,0.68,146.0,2803,3281,2369,2239,949.2,16.1,618,8669,0.00,2.33,0.00,0.000,1030,0.000,0.057,2813,1876,2304,2369,2239,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8969,0.68,146.0,2813,1876,2369,2236,901.2,14.9,634,8975,0.00,2.30,0.00,0.000,260,0.000,0.064,2813,3284,2302,2369,2236,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8982,0.68,146.0,2813,3284,2369,2236,901.2,14.9,634,8990,0.10,2.35,0.00,0.000,5126,0.200,0.057,2797,1868,2302,2369,2236,0,0,0,0,0,0,25.37,25.66,28.83
$GC,9289,0.68,146.0,2797,1868,2368,2235,856.1,13.7,650,9295,0.00,2.30,0.00,0.000,260,0.000,0.066,2794,3284,2302,2369,2235,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9337,0.68,146.0,2794,3284,2368,2235,850.3,14.2,652,9341,0.00,2.33,0.00,0.000,1030,0.000,0.057,2802,1872,2301,2368,2235,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9650,0.68,146.0,2802,1873,2368,2234,805.0,14.2,668,9656,0.00,2.30,0.00,0.000,260,0.000,0.064,2803,3292,2301,2368,2234,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9722,0.68,146.0,2803,3292,2367,2234,796.0,14.9,671,9730,0.00,2.30,0.00,0.000,1030,0.000,0.057,2813,1868,2300,2367,2234,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10029,0.68,146.0,2813,1868,2367,2234,748.9,14.7,687,10033,0.00,2.30,0.00,0.000,260,0.000,0.064,2813,3291,2300,2367,2234,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10048,0.68,146.0,1920,3290,2326,2228,746.5,14.8,688,10053,0.15,2.28,0.00,0.000,5126,0.213,0.057,2791,1868,2300,2366,2234,0,0,0,0,0,0,25.61,25.97,28.83
$GC,10361,0.68,146.0,2790,1868,2367,2233,703.4,13.5,704,10366,0.00,2.30,0.00,0.000,260,0.000,0.064,2785,3284,2300,2367,2233,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,16182,end climb,SURFACE_DEPTH_REACHED
$STATE,16182,begin surface coast
$FINISH,-0.1,1.018746
$STATE,16214,end surface coast,CONTROL_FINISHED_OK
$STATE,16214,begin surface
$SM_CCo,16228,22.38,0.152,0,0,1967,230.09
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$IRIDIUM_FIX,-4244.98,822.38,061108,141404
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.40
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,34.161
$10V_AH,10.1,27.374
$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
$DEVICE_SECS,17.725,155.500,287.525,22.375,0.000,25.598,49.857,190.341,49.250,0.000,25.610,3293.012,9524.470,489.778,3113.955,216.742,0.000,1711.698,0.000,2596.064,0.000,298.014,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.117,82.692,755.091,1869.918,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,80294,1238
$CAP_FILE_SIZE,179693,0
$CFSIZE,259248128,243015680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194, 78.3,1
$GPS,110116,101237,-4257.293,824.711,39,2.0,39,-25.0