version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 201
start: 1 12 116 15 56 53
data:
$ID,542
$MISSION,12
$DIVE,201
$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,-29902.156
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,120116,154921,-4257.007,835.513,79,2.3,99,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.5
$GPS2,120116,155626,-4257.059,835.516,38,1.0,59,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,213.1,12871,-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,13,begin dive
$GC,15,-0.68,-146.0,168,2004,1962,1922,0.0,0.0,0,66,0.00,0.00,-48.78,0.000,16386,0.000,0.000,168,2005,3323,3394,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,167,2005,3395,3253,3.9,-6.9,6,87,8.32,2.33,-3.65,0.000,18692,0.217,0.069,2333,3416,3507,3564,3450,0,0,0,0,0,0,25.27,25.82,26.27
$GC,176,-0.68,-146.0,2333,3415,3565,3454,28.9,-13.6,22,188,0.00,2.30,0.00,0.000,1030,0.000,0.050,2333,1994,3509,3565,3453,0,0,0,0,0,0,28.83,25.82,28.83
$GC,329,-0.68,-146.0,1440,1992,3559,3452,53.7,-16.5,47,336,0.00,2.28,0.00,0.000,516,0.000,0.064,2333,588,3509,3565,3454,0,0,0,0,0,0,28.83,25.77,28.83
$GC,436,-0.68,-146.0,1408,588,3559,3452,71.6,-16.1,65,442,0.00,2.22,0.00,0.000,1030,0.000,0.051,2323,1996,3510,3566,3454,0,0,0,0,0,0,28.83,25.89,28.83
$GC,762,-0.68,-146.0,2323,1997,3567,3454,127.3,-16.3,111,766,0.00,2.28,0.00,0.000,516,0.000,0.063,2323,584,3510,3567,3454,0,0,0,0,0,0,28.83,25.86,28.83
$GC,793,-0.68,-146.0,2323,584,3567,3455,131.7,-16.6,113,800,0.15,2.22,0.00,0.000,3078,0.166,0.050,2351,1995,3511,3567,3455,0,0,0,0,0,0,25.69,25.96,28.83
$GC,1099,-0.68,-146.0,2351,1995,3568,3455,169.4,-11.7,144,1112,0.00,2.25,0.00,0.000,516,0.000,0.062,2351,585,3511,3568,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1158,-0.68,-146.0,2351,585,3568,3455,176.0,-11.9,149,1166,0.00,2.28,0.00,0.000,1030,0.000,0.050,2342,1997,3511,3568,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1466,-0.68,-146.0,2342,1998,3568,3455,214.4,-12.6,180,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1998,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1766,-0.68,-146.0,2342,1998,3568,3456,252.7,-12.8,210,1770,0.00,2.28,0.00,0.000,516,0.000,0.063,2342,586,3512,3568,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1833,-0.68,-146.0,2342,585,3568,3456,261.0,-12.0,216,1844,0.00,2.22,0.00,0.000,1030,0.000,0.051,2333,1997,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2142,-0.68,-146.0,2332,1997,3568,3456,301.8,-13.6,247,2146,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,581,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2200,-0.68,-146.0,2332,581,3568,3456,309.9,-14.0,252,2213,0.00,2.22,0.00,0.000,1030,0.000,0.052,2322,1997,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2511,-0.68,-146.0,2322,1998,3568,3456,355.9,-14.9,283,2520,0.00,2.28,0.00,0.000,516,0.000,0.063,2323,582,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2547,-0.68,-146.0,2322,582,3567,3456,360.9,-15.4,286,2554,0.15,2.25,0.00,0.000,3078,0.161,0.052,2351,2005,3512,3568,3457,0,0,0,0,0,0,25.82,26.07,28.83
$GC,2854,-0.68,-146.0,2350,2005,3568,3456,399.0,-12.2,317,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3164,-0.68,-146.0,2350,2006,3568,3456,436.3,-12.0,333,3170,0.00,2.28,0.00,0.000,516,0.000,0.064,2351,584,3512,3569,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3236,-0.68,-146.0,2351,584,3568,3456,443.7,-12.5,336,3247,0.00,2.22,0.00,0.000,1030,0.000,0.054,2342,1992,3512,3568,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3543,-0.68,-146.0,2342,1992,3568,3456,485.5,-13.1,352,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1993,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3844,-0.68,-146.0,2342,1992,3568,3456,524.2,-12.7,367,3849,0.00,2.28,0.00,0.000,516,0.000,0.067,2342,585,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3886,-0.68,-146.0,1552,584,3562,3454,529.4,-12.8,369,3890,0.00,2.28,0.00,0.000,1030,0.000,0.055,2333,1988,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4206,-0.68,-146.0,2332,1988,3568,3456,571.9,-13.4,385,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1988,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.68,-146.0,2332,1988,3568,3456,613.1,-13.6,400,4510,0.00,2.28,0.00,0.000,516,0.000,0.067,2333,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4565,-0.68,-146.0,2332,588,3568,3456,621.3,-13.5,403,4570,0.00,2.22,0.00,0.000,1030,0.000,0.056,2323,1994,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4884,-0.68,-146.0,2322,1995,3568,3456,664.9,-13.4,419,4890,0.00,2.30,0.00,0.000,516,0.000,0.068,2323,581,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4927,-0.68,-146.0,2322,581,3568,3456,670.6,-13.8,421,4932,0.10,2.30,0.00,0.000,3078,0.146,0.057,2344,1994,3512,3568,3456,0,0,0,0,0,0,25.80,26.06,28.83
$GC,5246,-0.68,-146.0,2344,1994,3567,3456,707.0,-11.2,437,5251,0.00,2.28,0.00,0.000,516,0.000,0.068,2345,584,3512,3568,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5285,-0.68,-146.0,2344,584,3567,3455,711.7,-11.4,439,5291,0.00,2.25,0.00,0.000,1030,0.000,0.057,2336,2000,3511,3567,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5604,-0.68,-146.0,2336,2000,3566,3456,747.7,-10.9,455,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2000,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-0.68,-146.0,2336,2000,3565,3456,780.0,-10.8,470,5912,0.00,2.28,0.00,0.000,516,0.000,0.069,2337,591,3510,3565,3456,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5981,-0.68,-146.0,2336,591,3565,3456,786.9,-11.1,473,5988,0.00,2.25,0.00,0.000,1030,0.000,0.058,2326,1994,3510,3565,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6289,-0.68,-146.0,2327,1994,3563,3456,826.4,-12.8,489,6295,0.00,2.25,0.00,0.000,516,0.000,0.068,2326,590,3509,3563,3456,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6329,-0.68,-146.0,2326,590,3563,3456,831.8,-13.0,491,6336,0.12,2.25,0.00,0.000,3078,0.173,0.058,2346,2006,3509,3563,3456,0,0,0,0,0,0,25.82,26.03,28.83
$GC,6648,-0.68,-146.0,2346,2006,3563,3456,868.0,-11.1,507,6652,0.00,2.30,0.00,0.000,516,0.000,0.067,2346,588,3509,3563,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6687,-0.68,-146.0,2346,588,3563,3456,872.1,-11.2,509,6693,0.00,2.20,0.00,0.000,1030,0.000,0.058,2338,1986,3509,3563,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7005,-0.68,-146.0,2338,1987,3562,3456,908.3,-11.3,525,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1987,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-0.68,-146.0,2338,1987,3561,3455,942.2,-11.5,540,7312,0.00,2.25,0.00,0.000,516,0.000,0.070,2338,594,3508,3561,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7365,-0.68,-146.0,2338,594,3561,3456,949.3,-11.8,543,7369,0.00,2.22,0.00,0.000,1030,0.000,0.059,2328,1995,3508,3560,3456,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7681,-0.68,-146.0,2328,1994,3560,3456,988.1,-12.5,559,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1994,3507,3559,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7780,begin apogee
$GC,7785,-0.14,0.0,2328,1857,3559,3456,1000.6,-12.4,564,7922,0.62,0.00,133.98,1.764,10246,0.134,0.000,2522,1857,2909,2982,2836,0,0,0,0,0,0,25.66,28.83,22.86
$STATE,7923,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7925,0.68,146.0,2522,1857,2982,2836,1008.3,0.0,571,8076,0.73,2.60,142.40,1.734,10500,0.044,0.063,2800,3281,2312,2374,2251,0,0,0,0,0,0,24.08,23.37,22.32
$GC,8487,0.68,146.0,2800,3281,2371,2239,946.2,15.8,598,8491,0.00,2.33,0.00,0.000,1030,0.000,0.057,2810,1871,2305,2371,2239,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8799,0.68,146.0,2810,1870,2370,2235,894.7,16.2,614,8803,0.00,2.33,0.00,0.000,260,0.000,0.064,2810,3290,2302,2370,2235,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8905,0.68,146.0,2810,3290,2370,2235,878.5,16.8,619,8910,0.12,2.30,0.00,0.000,5126,0.216,0.057,2796,1867,2302,2370,2235,0,0,0,0,0,0,25.44,25.74,28.83
$GC,9210,0.68,146.0,2796,1868,2370,2234,831.5,14.6,634,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1868,2302,2370,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9511,0.68,146.0,2796,1867,2370,2233,787.6,14.2,649,9517,0.00,2.28,0.00,0.000,260,0.000,0.066,2794,3281,2302,2370,2234,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9610,0.68,146.0,2794,3281,2369,2233,773.2,14.4,654,9614,0.00,2.28,0.00,0.000,1030,0.000,0.057,2803,1862,2301,2369,2233,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9927,0.68,146.0,2803,1862,2369,2233,729.6,13.4,670,9932,0.00,2.30,0.00,0.000,260,0.000,0.063,2803,3287,2300,2369,2232,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10089,0.68,146.0,2802,3287,2369,2233,707.0,13.8,678,10093,0.00,2.28,0.00,0.000,1030,0.000,0.056,2813,1868,2301,2369,2233,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10406,0.68,146.0,2813,1868,2369,2232,666.4,12.3,694,10412,0.00,2.30,0.00,0.000,260,0.000,0.064,2813,3293,2300,2368,2232,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10494,0.68,146.0,2813,3293,2368,2232,656.0,13.0,698,10499,0.15,2.28,0.00,0.000,5126,0.210,0.057,2791,1870,2300,2368,2232,0,0,0,0,0,0,25.63,26.01,28.83
$GC,10802,0.68,146.0,2790,1870,2367,2232,619.8,11.8,713,10808,0.00,2.30,0.00,0.000,260,0.000,0.064,2787,3295,2300,2368,2232,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,16008,end climb,SURFACE_DEPTH_REACHED
$STATE,16008,begin surface coast
$FINISH,-0.1,1.025275
$STATE,16040,end surface coast,CONTROL_FINISHED_OK
$STATE,16040,begin surface
$SM_CCo,16056,31.50,0.150,0,0,1970,230.09
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$IRIDIUM_FIX,-4236.17,836.50,081108,000025
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.41
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,35.403
$10V_AH,10.1,28.349
$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
$DEVICE_SECS,17.600,141.150,277.975,31.500,0.000,23.373,41.964,198.006,49.250,0.000,59.776,3287.386,9251.732,461.123,3290.700,216.946,0.000,1729.201,0.000,2735.724,0.000,299.519,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.462,81.851,747.910,1845.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352712
$DATA_FILE_SIZE,77105,1222
$CAP_FILE_SIZE,179103,0
$CFSIZE,259248128,242364416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,122.7,1
$GPS,120116,202700,-4259.679,836.656,83,1.2,83,-25.1