version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 197
start: 1 11 116 23 38 35
data:
$ID,542
$MISSION,12
$DIVE,197
$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,-29897.141
$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
$GPS1,110116,233133,-4255.904,831.946,68,1.2,69,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.2
$GPS2,110116,233758,-4255.943,831.978,20,1.2,20,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,138.6,5455,-25.7,-9.804,-28.00,1124
$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,-0.80,-71.8,165,1993,1961,1925,0.0,0.0,0,64,0.00,0.00,-46.10,0.000,16390,0.000,0.000,166,1994,3203,3279,3127,0,0,0,0,0,0,28.83,28.83,26.34
$GC,67,-0.86,-117.5,165,1994,3279,3128,3.4,-5.6,6,86,8.05,2.35,-3.90,0.000,18692,0.216,0.070,2269,3419,3391,3463,3320,0,0,0,0,0,0,25.29,25.81,26.27
$GC,339,-0.86,-117.5,2268,3419,3464,3322,60.2,-18.2,51,347,0.00,2.30,0.00,0.000,1030,0.000,0.052,2270,1997,3393,3464,3322,0,0,0,0,0,0,28.83,25.85,28.83
$GC,668,-0.86,-117.5,2270,1997,3467,3322,127.7,-19.2,99,676,0.00,2.25,0.00,0.000,516,0.000,0.063,2270,587,3394,3466,3322,0,0,0,0,0,0,28.83,25.85,28.83
$GC,802,-0.86,-117.5,2270,586,3466,3323,154.1,-19.2,112,815,0.12,2.22,0.00,0.000,3078,0.191,0.050,2290,2003,3394,3466,3323,0,0,0,0,0,0,25.66,25.96,28.83
$GC,1112,-0.86,-117.5,2289,2003,3468,3322,206.8,-16.7,143,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2003,3395,3468,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1413,-0.86,-117.5,2289,2003,3468,3322,257.2,-16.7,173,1422,0.00,2.28,0.00,0.000,516,0.000,0.063,2290,584,3395,3468,3322,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1446,-0.86,-117.5,1520,584,3461,3320,262.8,-17.2,176,1455,0.00,2.25,0.00,0.000,1030,0.000,0.051,2281,1990,3395,3468,3322,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1754,-0.86,-117.5,2281,1991,3468,3323,317.6,-17.7,207,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1991,3395,3468,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-0.86,-117.5,2281,1991,3469,3323,370.6,-17.3,237,2065,0.00,2.25,0.00,0.000,516,0.000,0.063,2281,578,3395,3468,3323,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2090,-0.86,-117.5,2281,578,3469,3323,376.5,-18.0,240,2098,0.00,2.28,0.00,0.000,1030,0.000,0.050,2271,1996,3395,3468,3323,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2408,-0.86,-117.5,2271,1996,3469,3323,434.5,-18.2,263,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,1996,3396,3469,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2708,-0.86,-117.5,2271,1997,3468,3323,489.0,-18.6,278,2714,0.00,2.28,0.00,0.000,516,0.000,0.065,2271,583,3395,3468,3323,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2764,-0.86,-117.5,2271,583,3468,3323,497.0,-19.1,280,2773,0.12,2.25,0.00,0.000,3078,0.181,0.054,2289,2006,3395,3468,3323,0,0,0,0,0,0,25.82,26.07,28.83
$GC,3071,-0.86,-117.5,2290,2006,3469,3323,550.7,-16.3,296,3077,0.00,2.28,0.00,0.000,516,0.000,0.065,2290,582,3396,3469,3323,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3118,-0.86,-117.5,2290,582,3468,3323,557.4,-16.6,298,3122,0.00,2.22,0.00,0.000,1030,0.000,0.054,2281,1993,3395,3468,3323,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3426,-0.86,-117.5,2281,1993,3468,3323,610.3,-16.6,313,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1993,3395,3467,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-0.86,-117.5,2281,1993,3468,3323,659.4,-16.3,328,3731,0.00,2.28,0.00,0.000,516,0.000,0.066,2280,585,3395,3468,3323,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3790,-0.86,-117.5,2281,584,3468,3323,669.9,-17.0,331,3794,0.00,2.25,0.00,0.000,1030,0.000,0.056,2271,2001,3395,3468,3323,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4102,-0.86,-117.5,2271,2001,3468,3323,724.5,-17.8,347,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2002,3395,3468,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,-0.86,-117.5,2271,2001,3468,3323,776.5,-17.1,362,4409,0.00,2.28,0.00,0.000,516,0.000,0.068,2272,587,3395,3468,3323,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4455,-0.86,-117.5,2271,587,3468,3323,783.3,-17.0,364,4466,0.12,2.25,0.00,0.000,3078,0.180,0.057,2290,1994,3395,3468,3323,0,0,0,0,0,0,25.82,26.06,28.83
$GC,4764,-0.86,-117.5,2290,1994,3468,3323,832.6,-15.0,380,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1994,3395,3468,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-0.86,-117.5,2290,1994,3468,3323,876.3,-14.6,395,5071,0.00,2.28,0.00,0.000,516,0.000,0.068,2290,586,3395,3468,3323,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5125,-0.86,-117.5,2290,585,3468,3323,885.2,-14.7,398,5131,0.00,2.20,0.00,0.000,1030,0.000,0.057,2281,1986,3395,3468,3323,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5444,-0.86,-117.5,2281,1987,3468,3323,931.8,-14.4,414,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1987,3395,3467,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5744,-0.86,-117.5,2281,1987,3467,3323,973.4,-13.8,429,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,1987,3395,3467,3323,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5947,-0.14,0.0,2281,1863,3466,3323,1001.7,-14.2,439,6064,0.80,0.00,108.18,1.753,10246,0.150,0.000,2522,1863,2909,2987,2831,0,0,0,0,0,0,25.58,28.83,23.25
$STATE,6065,end apogee,CONTROL_FINISHED_OK
$STATE,6065,begin climb
$GC,6067,0.86,117.5,2522,1862,2987,2831,1006.0,0.0,445,6187,0.90,2.60,113.18,1.729,11012,0.045,0.069,2870,463,2429,2482,2376,0,0,0,0,0,0,24.52,23.40,22.36
$GC,6214,0.96,196.9,2869,463,2478,2376,1006.5,2.6,452,6302,0.00,2.47,81.18,1.704,9222,0.000,0.056,2868,1867,2105,2169,2042,0,0,0,0,0,0,28.83,24.00,22.36
$GC,6601,0.96,196.9,2868,1867,2162,2029,921.8,22.3,472,6607,0.00,2.38,0.00,0.000,260,0.000,0.064,2869,3289,2095,2162,2029,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6833,0.96,196.9,2868,3289,2159,2028,870.7,23.7,483,6841,0.00,2.33,0.00,0.000,1030,0.000,0.057,2877,1876,2093,2159,2028,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7141,0.96,196.9,2877,1876,2159,2026,798.2,22.4,499,7146,0.00,2.30,0.00,0.000,260,0.000,0.064,2877,3287,2092,2159,2026,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7228,0.96,196.9,2877,3287,2158,2026,779.8,23.0,503,7233,0.00,2.30,0.00,0.000,1030,0.000,0.057,2888,1866,2092,2158,2026,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7541,0.96,196.9,2887,1865,2158,2025,707.8,22.1,519,7545,0.00,2.30,0.00,0.000,260,0.000,0.064,2888,3285,2091,2158,2025,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7726,0.96,196.9,2888,3286,2157,2025,667.1,22.9,528,7730,0.00,2.28,0.00,0.000,1030,0.000,0.056,2898,1864,2091,2157,2025,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8032,0.96,196.9,2898,1864,2157,2024,596.5,22.2,543,8038,0.00,2.30,0.00,0.000,260,0.000,0.063,2898,3290,2091,2157,2025,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8173,0.96,196.9,2898,3290,2155,2024,564.2,23.0,550,8179,0.12,2.28,0.00,0.000,5126,0.249,0.056,2885,1862,2090,2156,2024,0,0,0,0,0,0,25.62,26.01,28.83
$GC,8492,0.96,196.9,2885,1862,2156,2024,494.8,21.5,566,8498,0.00,2.30,0.00,0.000,260,0.000,0.063,2885,3292,2090,2156,2024,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8592,0.96,196.9,2885,3292,2156,2023,472.4,22.5,571,8596,0.00,2.28,0.00,0.000,1030,0.000,0.057,2894,1870,2089,2155,2024,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8908,0.96,196.9,2894,1870,2156,2024,404.1,21.4,587,8914,0.00,2.28,0.00,0.000,260,0.000,0.063,2891,3287,2090,2156,2024,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9020,0.96,196.9,2890,3287,2155,2024,379.4,22.4,597,9028,0.00,2.30,0.00,0.000,1030,0.000,0.055,2899,1871,2089,2155,2024,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9328,0.96,196.9,2899,1871,2155,2024,310.5,22.6,628,9338,0.00,2.28,0.00,0.000,260,0.000,0.063,2899,3287,2089,2155,2024,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9462,0.96,196.9,2899,3287,2154,2024,279.8,23.4,641,9471,0.10,2.22,0.00,0.000,5126,0.222,0.056,2884,1875,2088,2154,2023,0,0,0,0,0,0,25.65,26.08,28.83
$GC,9770,0.96,196.9,2884,1875,2155,2023,213.3,20.7,672,9780,0.00,2.28,0.00,0.000,260,0.000,0.063,2884,3292,2088,2153,2023,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9864,0.96,196.9,2884,3292,2154,2023,194.0,20.4,681,9871,0.00,2.30,0.00,0.000,1030,0.000,0.055,2893,1868,2088,2154,2023,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10172,0.96,196.9,2893,1867,2154,2023,132.8,19.6,712,10182,0.00,2.28,0.00,0.000,260,0.000,0.062,2893,3287,2088,2154,2023,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10265,0.96,196.9,2893,3287,2154,2023,114.8,19.1,721,10273,0.00,2.25,0.00,0.000,1030,0.000,0.054,2903,1865,2088,2154,2023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10585,0.96,196.9,1896,1863,2109,2017,55.4,18.9,774,10592,0.00,2.30,0.00,0.000,260,0.000,0.061,2903,3295,2088,2154,2023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10627,0.96,196.9,1904,3294,2109,2017,47.7,20.3,781,10634,0.15,2.25,0.00,0.000,5126,0.233,0.054,2883,1867,2088,2154,2023,0,0,0,0,0,0,25.63,26.10,28.83
$STATE,10887,end climb,SURFACE_DEPTH_REACHED
$STATE,10887,begin surface coast
$FINISH,-0.1,1.018344
$STATE,10906,end surface coast,CONTROL_FINISHED_OK
$STATE,10907,begin surface
$SM_CCo,10921,11.93,0.159,0,0,1968,230.09
$SM_GC,3.39,7.20,0.22,11.93,0.053,0.078,0.159,173,2008,1968,-7.41,-0.57,230.09,0,0,0,0,0,0,26.24,26.26,25.71
$IRIDIUM_FIX,-4239.11,824.86,071108,080827
$TT8_MAMPS,0.021721,0.021721
$HUMID,53.62
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.4,34.805
$10V_AH,10.1,27.844
$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,17.700,91.975,302.525,11.925,0.000,22.844,54.745,187.460,49.250,0.000,21.470,2262.663,6158.281,420.848,2321.309,161.462,0.000,1299.114,0.000,1858.920,0.000,298.216,0.000
$DEVICE_MAMPS,248.625,83.385,1753.380,159.120,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.599,58.648,508.377,1257.585,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352760
$DATA_FILE_SIZE,53706,827
$CAP_FILE_SIZE,128320,0
$CFSIZE,259248128,242757632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156, 38.1,1
$GPS,120116,024325,-4255.563,834.890,120,1.2,120,-25.1