version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 194
start: 1 11 116 10 20 22
data:
$ID,542
$MISSION,12
$DIVE,194
$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,-29893.379
$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,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
$GPS1,110116,101237,-4257.293,824.711,39,2.0,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.8
$GPS2,110116,101945,-4257.224,824.780,38,0.9,38,-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,315.0,2501,-20.1,-9.804,-22.77,1828
$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,13,begin dive
$GC,15,-0.70,-116.9,176,2007,1963,1925,0.0,0.0,0,65,0.00,0.00,-47.90,0.000,16386,0.000,0.000,176,2007,3250,3324,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.74,-146.0,176,2008,3324,3178,3.3,-5.7,6,87,8.18,2.38,-5.32,0.000,18948,0.216,0.075,2332,586,3508,3568,3449,0,0,0,0,0,0,25.26,25.75,26.25
$GC,190,-0.74,-146.0,2332,586,3568,3451,31.6,-16.0,24,199,0.00,2.28,0.00,0.000,1030,0.000,0.054,2324,1984,3509,3567,3451,0,0,0,0,0,0,28.83,25.79,28.83
$GC,339,-0.74,-146.0,2324,1985,3568,3451,56.8,-17.1,49,346,0.00,2.28,0.00,0.000,516,0.000,0.063,2324,584,3509,3568,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,376,-0.74,-146.0,2324,584,3568,3452,63.4,-17.3,55,383,0.00,2.25,0.00,0.000,1030,0.000,0.052,2314,2001,3509,3567,3452,0,0,0,0,0,0,28.83,25.85,28.83
$GC,705,-0.74,-146.0,2314,2001,3567,3453,119.2,-17.5,105,715,0.00,2.25,0.00,0.000,516,0.000,0.062,2314,589,3510,3567,3454,0,0,0,0,0,0,28.83,25.86,28.83
$GC,778,-0.74,-146.0,2314,589,3568,3454,131.7,-16.6,112,787,0.00,2.22,0.00,0.000,1030,0.000,0.052,2304,1996,3511,3568,3454,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1088,-0.74,-146.0,2304,1996,3567,3455,185.9,-18.2,143,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,1996,3511,3568,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.74,-146.0,2304,1996,3567,3456,237.6,-16.7,173,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,1996,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-0.74,-146.0,2304,1997,3568,3456,287.6,-16.3,203,1691,0.00,2.25,0.00,0.000,516,0.000,0.062,2304,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1745,-0.74,-146.0,2304,588,3567,3456,297.2,-16.7,208,1755,0.15,2.22,0.00,0.000,3078,0.173,0.052,2332,2003,3511,3567,3456,0,0,0,0,0,0,25.75,26.06,28.83
$GC,2055,-0.74,-146.0,2331,2003,3568,3456,340.4,-13.4,239,2064,0.00,2.22,0.00,0.000,260,0.000,0.059,2322,3408,3512,3568,3457,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2069,-0.74,-146.0,2322,3409,3568,3456,341.5,-13.2,240,2077,0.00,2.25,0.00,0.000,1030,0.000,0.048,2322,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2376,-0.74,-146.0,2322,1995,3568,3456,384.4,-13.2,271,2381,0.00,2.25,0.00,0.000,516,0.000,0.063,2323,582,3512,3568,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2477,-0.74,-146.0,2322,582,3568,3457,397.3,-13.0,280,2486,0.00,2.20,0.00,0.000,1030,0.000,0.053,2312,1994,3512,3568,3457,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2786,-0.74,-146.0,2312,1995,3568,3456,443.0,-15.2,297,2791,0.00,2.25,0.00,0.000,516,0.000,0.063,2312,588,3512,3568,3457,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2807,-0.74,-146.0,2312,588,3568,3457,446.1,-15.3,298,2812,0.00,2.28,0.00,0.000,1030,0.000,0.054,2302,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3126,-0.74,-146.0,2302,1996,3567,3456,497.9,-16.5,314,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,1996,3512,3568,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3426,-0.74,-146.0,2302,1996,3568,3457,547.9,-16.5,329,3432,0.00,2.28,0.00,0.000,516,0.000,0.067,2303,585,3512,3568,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3487,-0.74,-146.0,2302,585,3568,3456,557.7,-16.4,332,3493,0.10,2.20,0.00,0.000,3078,0.157,0.056,2324,1992,3511,3567,3456,0,0,0,0,0,0,25.77,26.08,28.83
$GC,3806,-0.74,-146.0,2323,1992,3568,3456,604.1,-14.6,348,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1992,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.74,-146.0,2323,1992,3568,3456,646.4,-13.9,363,4114,0.00,2.25,0.00,0.000,516,0.000,0.067,2324,589,3511,3567,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4148,-0.74,-146.0,2324,589,3568,3456,652.1,-13.8,365,4153,0.00,2.30,0.00,0.000,1030,0.000,0.057,2315,2004,3512,3568,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4466,-0.74,-146.0,2315,2004,3567,3456,698.0,-14.3,381,4470,0.00,2.30,0.00,0.000,516,0.000,0.067,2315,590,3512,3568,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4510,-0.74,-146.0,2315,589,3567,3456,703.2,-14.3,383,4514,0.00,2.25,0.00,0.000,1030,0.000,0.057,2305,2001,3511,3567,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4823,-0.74,-146.0,2305,2003,3568,3457,750.0,-14.6,399,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2003,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,-0.74,-146.0,2305,2003,3567,3456,794.0,-14.7,414,5129,0.00,2.30,0.00,0.000,516,0.000,0.068,2305,583,3512,3567,3457,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5175,-0.74,-146.0,2304,582,3567,3456,800.0,-14.9,416,5183,0.12,2.28,0.00,0.000,3078,0.177,0.058,2324,2003,3511,3567,3456,0,0,0,0,0,0,25.83,26.05,28.83
$GC,5484,-0.74,-146.0,2324,2003,3566,3456,842.6,-13.3,432,5489,0.00,2.30,0.00,0.000,516,0.000,0.069,2324,587,3511,3566,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5532,-0.74,-146.0,2324,586,3566,3456,848.3,-13.4,434,5536,0.00,2.25,0.00,0.000,1030,0.000,0.058,2316,1999,3511,3566,3456,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5845,-0.74,-146.0,2316,1999,3565,3456,891.6,-13.4,450,5848,0.00,2.30,0.00,0.000,516,0.000,0.069,2316,587,3510,3565,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5868,-0.74,-146.0,1536,586,3559,3454,894.5,-13.4,451,5872,0.00,2.30,0.00,0.000,1030,0.000,0.059,2306,1997,3510,3564,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6185,-0.74,-146.0,2305,1998,3563,3456,938.3,-13.6,467,6190,0.00,2.30,0.00,0.000,516,0.000,0.069,2305,581,3509,3563,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6215,-0.74,-146.0,2305,581,3563,3456,940.6,-13.6,468,6223,0.12,2.28,0.00,0.000,3078,0.174,0.059,2325,2000,3509,3563,3456,0,0,0,0,0,0,25.82,26.03,28.83
$GC,6523,-0.74,-146.0,2325,2000,3563,3456,979.5,-11.9,484,6528,0.00,2.30,0.00,0.000,516,0.000,0.068,2325,584,3509,3563,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6564,-0.74,-146.0,2325,582,3563,3456,984.6,-12.2,486,6570,0.00,2.25,0.00,0.000,1030,0.000,0.059,2316,1995,3509,3562,3456,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,6703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6703,begin apogee
$GC,6708,-0.14,0.0,2316,1858,3562,3456,1002.2,-12.8,493,6845,0.68,0.00,134.25,1.772,10246,0.138,0.000,2524,1857,2908,2981,2836,0,0,0,0,0,0,25.67,28.83,22.89
$STATE,6846,end apogee,CONTROL_FINISHED_OK
$STATE,6847,begin climb
$GC,6849,0.74,146.0,2524,1857,2982,2836,1008.7,0.0,500,7006,0.80,2.62,142.73,1.750,11012,0.050,0.063,2820,3285,2311,2370,2253,0,0,0,0,0,0,24.08,23.37,22.33
$GC,7031,0.74,146.0,2820,3285,2369,2249,1004.4,10.0,509,7035,0.00,2.47,0.00,0.000,1030,0.000,0.056,2831,1872,2309,2369,2249,0,0,0,0,0,0,28.83,24.01,28.83
$GC,7343,0.74,146.0,2831,1872,2368,2242,951.0,17.0,525,7349,0.00,2.35,0.00,0.000,260,0.000,0.064,2831,3285,2304,2367,2242,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7356,0.74,146.0,2831,3285,2366,2242,951.0,17.0,525,7364,0.15,2.35,0.00,0.000,5126,0.233,0.055,2811,1862,2304,2366,2242,0,0,0,0,0,0,24.94,25.29,28.83
$GC,7663,0.74,146.0,2811,1863,2366,2239,899.2,16.2,541,7669,0.00,2.33,0.00,0.000,260,0.000,0.063,2811,3285,2303,2367,2240,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7756,0.74,146.0,2811,3285,2366,2239,885.9,16.7,545,7763,0.00,2.30,0.00,0.000,1030,0.000,0.056,2820,1870,2302,2366,2239,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8063,0.74,146.0,2820,1870,2366,2237,835.9,15.0,561,8067,0.00,2.30,0.00,0.000,260,0.000,0.063,2820,3287,2302,2366,2238,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8079,0.74,146.0,2820,3287,2366,2237,833.4,15.2,562,8085,0.00,2.28,0.00,0.000,1030,0.000,0.056,2830,1871,2302,2366,2238,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8399,0.74,146.0,2830,1870,2365,2237,784.7,14.9,578,8403,0.00,2.30,0.00,0.000,260,0.000,0.064,2830,3290,2301,2365,2237,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8415,0.74,146.0,2830,3290,2365,2236,782.2,15.0,579,8422,0.12,2.30,0.00,0.000,5126,0.233,0.056,2816,1861,2300,2364,2237,0,0,0,0,0,0,25.58,25.94,28.83
$GC,8735,0.74,146.0,2816,1860,2365,2236,736.0,14.4,595,8741,0.00,2.33,0.00,0.000,260,0.000,0.063,2815,3294,2300,2365,2236,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8803,0.74,146.0,2815,3293,2364,2236,727.2,14.6,598,8807,0.00,2.28,0.00,0.000,1030,0.000,0.056,2825,1870,2300,2364,2236,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9115,0.74,146.0,2824,1869,2364,2235,680.8,14.2,614,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1870,2299,2364,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,0.74,146.0,2824,1869,2363,2234,638.3,14.0,629,9419,0.00,2.30,0.00,0.000,260,0.000,0.065,2825,3291,2300,2365,2235,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9453,0.74,146.0,2825,3291,2363,2235,633.0,14.4,631,9458,0.00,2.25,0.00,0.000,1030,0.000,0.056,2835,1868,2299,2364,2235,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9772,0.74,146.0,2835,1868,2363,2235,585.8,14.8,647,9777,0.00,2.30,0.00,0.000,260,0.000,0.064,2827,3291,2299,2363,2235,0,0,0,0,0,0,28.83,26.04,28.83
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$GC,10902,0.74,146.0,2837,1862,2362,2235,420.6,13.8,703,10907,0.00,2.30,0.00,0.000,260,0.000,0.063,2827,3294,2298,2362,2234,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,14262,end climb,SURFACE_DEPTH_REACHED
$STATE,14262,begin surface coast
$FINISH,-0.1,1.026335
$STATE,14295,end surface coast,CONTROL_FINISHED_OK
$STATE,14295,begin surface
$SM_CCo,14310,33.38,0.152,0,0,1970,230.09
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$IRIDIUM_FIX,-4239.11,821.95,061108,191939
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.04
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,34.323
$10V_AH,10.1,27.492
$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
$DEVICE_SECS,17.700,151.250,276.975,33.375,0.000,26.471,44.755,217.774,49.250,0.000,39.509,2959.963,8274.190,476.384,2872.316,193.673,0.000,1580.007,0.000,2331.636,0.000,298.290,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.102,77.838,684.744,1667.196,0.000,0.000,0.000,0.000,0.000,0.000
$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,70162,1100
$CAP_FILE_SIZE,166653,0
$CFSIZE,259248128,242950144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.223, 63.3,1
$GPS,110116,142033,-4256.068,824.432,32,1.0,32,-25.0