version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 202
start: 1 12 116 20 33 23
data:
$ID,542
$MISSION,12
$DIVE,202
$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,-29903.41
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,120116,202700,-4259.679,836.656,83,1.2,83,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.2
$GPS2,120116,203258,-4259.694,836.717,18,1.1,18,-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,234.5,8033,-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,-146.0,164,1981,1961,1924,0.0,0.0,0,65,0.00,0.00,-47.25,0.000,16386,0.000,0.000,164,1982,3252,3325,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,164,1982,3325,3179,3.5,-6.2,6,93,8.40,2.35,-5.15,0.000,18692,0.221,0.067,2332,3418,3507,3564,3450,0,0,0,0,0,0,25.28,25.82,26.29
$GC,133,-0.68,-146.0,2332,3418,3565,3452,21.4,-15.7,15,141,0.00,2.30,0.00,0.000,1030,0.000,0.050,2331,1996,3508,3565,3452,0,0,0,0,0,0,28.83,25.80,28.83
$GC,287,-0.68,-146.0,2331,1996,3566,3452,45.5,-16.5,40,297,0.00,2.33,0.00,0.000,516,0.000,0.064,2331,588,3509,3566,3452,0,0,0,0,0,0,28.83,25.75,28.83
$GC,375,-0.68,-146.0,2332,588,3566,3453,60.1,-15.5,55,382,0.00,2.22,0.00,0.000,1030,0.000,0.050,2322,2001,3509,3566,3453,0,0,0,0,0,0,28.83,25.86,28.83
$GC,710,-0.68,-146.0,2321,2001,3566,3455,115.9,-16.6,107,719,0.12,2.28,0.00,0.000,2564,0.183,0.060,2356,582,3510,3566,3454,0,0,0,0,0,0,25.85,25.84,28.83
$GC,774,-0.68,-146.0,2356,582,3566,3455,125.0,-13.3,113,783,0.00,2.28,0.00,0.000,1030,0.000,0.050,2348,1994,3510,3566,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1082,-0.68,-146.0,2347,1994,3567,3455,164.8,-12.4,144,1086,0.00,2.28,0.00,0.000,516,0.000,0.061,2348,579,3511,3567,3455,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1141,-0.68,-146.0,2348,579,3567,3455,172.1,-12.6,149,1150,0.00,2.20,0.00,0.000,1030,0.000,0.050,2338,1991,3511,3567,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1450,-0.68,-146.0,2338,1991,3568,3455,213.4,-13.7,180,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1991,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.68,-146.0,2338,1991,3568,3455,254.7,-13.9,210,1754,0.00,2.28,0.00,0.000,516,0.000,0.062,2338,577,3511,3568,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1820,-0.68,-146.0,2338,577,3568,3456,264.0,-14.0,216,1831,0.00,2.28,0.00,0.000,1030,0.000,0.051,2328,2000,3512,3568,3456,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2128,-0.68,-146.0,2328,2000,3568,3456,309.2,-14.7,247,2132,0.00,2.28,0.00,0.000,516,0.000,0.061,2328,578,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2167,-0.68,-146.0,2328,578,3568,3456,315.0,-15.2,250,2177,0.12,2.22,0.00,0.000,3078,0.174,0.051,2348,1996,3512,3568,3456,0,0,0,0,0,0,25.82,26.06,28.83
$GC,2478,-0.68,-146.0,2348,1997,3568,3456,353.5,-12.3,281,2487,0.00,2.25,0.00,0.000,516,0.000,0.063,2348,583,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2510,-0.68,-146.0,2348,584,3568,3457,357.8,-12.6,284,2514,0.00,2.22,0.00,0.000,1030,0.000,0.052,2340,2003,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2818,-0.68,-146.0,2340,2004,3568,3456,395.6,-12.5,314,2826,0.00,2.25,0.00,0.000,516,0.000,0.063,2340,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2849,-0.68,-146.0,2339,588,3568,3456,399.8,-12.9,317,2861,0.00,2.20,0.00,0.000,1030,0.000,0.052,2330,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3159,-0.68,-146.0,2329,1995,3568,3456,441.3,-13.7,333,3165,0.00,2.25,0.00,0.000,516,0.000,0.064,2329,584,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3206,-0.68,-146.0,2330,584,3568,3456,446.9,-13.9,335,3211,0.12,2.22,0.00,0.000,3078,0.171,0.054,2350,2000,3511,3567,3456,0,0,0,0,0,0,25.84,26.07,28.83
$GC,3519,-0.68,-146.0,2349,2001,3568,3455,485.1,-12.0,351,3525,0.00,2.28,0.00,0.000,516,0.000,0.064,2350,586,3512,3568,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3582,-0.68,-146.0,2350,585,3567,3456,492.6,-12.4,354,3586,0.00,2.22,0.00,0.000,1030,0.000,0.054,2341,1994,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3899,-0.68,-146.0,2341,1994,3568,3456,533.1,-12.7,370,3905,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,585,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3939,-0.68,-146.0,2341,585,3568,3456,538.4,-13.0,372,3943,0.00,2.22,0.00,0.000,1030,0.000,0.054,2332,1997,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4258,-0.68,-146.0,2332,1997,3568,3456,581.4,-13.7,388,4263,0.00,2.28,0.00,0.000,516,0.000,0.067,2332,581,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4297,-0.68,-146.0,2332,581,3568,3456,587.1,-14.0,390,4302,0.00,2.30,0.00,0.000,1030,0.000,0.055,2322,1999,3512,3568,3456,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4615,-0.68,-146.0,2321,1998,3568,3456,633.5,-14.5,406,4622,0.12,2.30,0.00,0.000,2564,0.176,0.066,2358,585,3512,3568,3456,0,0,0,0,0,0,26.08,25.94,28.83
$GC,4668,-0.68,-146.0,2358,585,3567,3456,638.7,-13.7,408,4679,0.00,2.25,0.00,0.000,1030,0.000,0.056,2350,1996,3512,3568,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4976,-0.68,-146.0,2349,1995,3568,3456,676.6,-11.7,424,4982,0.00,2.28,0.00,0.000,516,0.000,0.067,2350,586,3512,3568,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5035,-0.68,-146.0,2349,586,3568,3456,683.6,-11.6,427,5039,0.00,2.25,0.00,0.000,1030,0.000,0.056,2340,2004,3512,3568,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5352,-0.68,-146.0,2340,2005,3567,3456,722.1,-12.2,443,5358,0.00,2.30,0.00,0.000,516,0.000,0.067,2340,585,3511,3567,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5405,-0.68,-146.0,2340,585,3567,3456,727.0,-12.2,445,5412,0.00,2.25,0.00,0.000,1030,0.000,0.056,2330,1994,3511,3567,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5713,-0.68,-146.0,2330,1995,3567,3456,767.0,-12.7,461,5719,0.00,2.25,0.00,0.000,516,0.000,0.068,2330,589,3511,3567,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5766,-0.68,-146.0,2330,589,3566,3456,772.2,-12.8,463,5774,0.12,2.25,0.00,0.000,3078,0.168,0.057,2350,2001,3511,3566,3456,0,0,0,0,0,0,25.83,26.03,28.83
$GC,6072,-0.68,-146.0,2350,2001,3565,3456,807.7,-11.0,479,6078,0.00,2.30,0.00,0.000,516,0.000,0.069,2350,586,3510,3565,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6113,-0.68,-146.0,2350,586,3565,3456,812.2,-11.1,481,6119,0.00,2.22,0.00,0.000,1030,0.000,0.057,2342,1992,3510,3565,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6433,-0.68,-146.0,2342,1993,3563,3456,848.1,-11.2,497,6438,0.00,2.30,0.00,0.000,516,0.000,0.069,2342,577,3509,3563,3456,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6460,-0.68,-146.0,2342,577,3563,3456,850.5,-11.3,498,6464,0.00,2.28,0.00,0.000,1030,0.000,0.057,2332,2006,3509,3563,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6772,-0.68,-146.0,2332,2006,3563,3456,888.1,-11.4,514,6776,0.00,2.30,0.00,0.000,516,0.000,0.067,2332,585,3509,3562,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6822,-0.68,-146.0,2332,584,3562,3456,892.3,-11.5,516,6829,0.00,2.28,0.00,0.000,1030,0.000,0.057,2322,2004,3509,3562,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7128,-0.68,-146.0,2322,2005,3562,3455,929.7,-11.6,532,7133,0.00,2.30,0.00,0.000,516,0.000,0.069,2322,587,3509,3562,3456,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7197,-0.68,-146.0,2322,586,3562,3455,936.7,-12.0,535,7201,0.15,2.25,0.00,0.000,3078,0.160,0.057,2350,2000,3509,3562,3456,0,0,0,0,0,0,25.78,26.01,28.83
$GC,7504,-0.68,-146.0,2350,2000,3561,3455,966.8,-9.6,550,7510,0.00,2.30,0.00,0.000,516,0.000,0.069,2350,587,3508,3561,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7546,-0.68,-146.0,2350,587,3561,3455,970.9,-9.9,552,7551,0.00,2.30,0.00,0.000,1030,0.000,0.059,2342,1994,3508,3561,3455,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7828,-0.14,0.0,2342,1857,3560,3455,1001.1,-10.9,566,7966,0.57,0.00,134.25,1.758,10246,0.128,0.000,2523,1856,2909,2981,2837,0,0,0,0,0,0,25.70,28.83,22.86
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7969,0.68,146.0,2523,1856,2982,2837,1008.5,0.0,573,8120,0.75,2.60,142.20,1.727,10500,0.047,0.063,2798,3282,2312,2374,2250,0,0,0,0,0,0,24.06,23.37,22.32
$GC,8182,0.68,146.0,2798,3282,2371,2245,1000.7,11.8,583,8188,0.00,2.42,0.00,0.000,1030,0.000,0.056,2809,1876,2308,2371,2245,0,0,0,0,0,0,28.83,24.25,28.83
$GC,8502,0.68,146.0,2809,1876,2371,2237,953.3,14.8,599,8508,0.00,2.35,0.00,0.000,260,0.000,0.064,2808,3288,2303,2370,2237,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8570,0.68,146.0,2808,3288,2371,2237,944.3,14.9,602,8575,0.12,2.33,0.00,0.000,5126,0.220,0.057,2795,1869,2303,2370,2237,0,0,0,0,0,0,25.13,25.42,28.83
$GC,8877,0.68,146.0,2795,1869,2370,2234,899.0,14.6,617,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1869,2302,2370,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,0.68,146.0,2794,1869,2370,2234,853.8,15.3,632,9181,0.00,2.30,0.00,0.000,260,0.000,0.064,2794,3287,2302,2370,2234,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9236,0.68,146.0,2794,3287,2369,2234,844.8,15.7,635,9241,0.00,2.30,0.00,0.000,1030,0.000,0.057,2803,1866,2301,2370,2233,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9553,0.68,146.0,2802,1866,2369,2233,793.1,16.3,651,9559,0.00,2.30,0.00,0.000,260,0.000,0.064,2803,3287,2301,2369,2233,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,15952,end climb,SURFACE_DEPTH_REACHED
$STATE,15952,begin surface coast
$FINISH,-0.1,1.026240
$STATE,15978,end surface coast,CONTROL_FINISHED_OK
$STATE,15978,begin surface
$SM_CCo,15993,23.95,0.151,0,0,1969,230.09
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$IRIDIUM_FIX,-4239.11,836.50,081108,050520
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.53
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.3,35.562
$10V_AH,10.1,28.480
$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
$DEVICE_SECS,18.125,182.800,285.800,23.950,0.000,22.196,28.995,182.805,49.250,0.000,19.595,3260.813,9186.984,496.151,3200.873,223.795,0.000,1806.326,0.000,2720.471,0.000,299.528,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.400,76.773,716.085,1815.400,0.000,0.000,0.000,0.000,0.000,0.000
$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,76946,1206
$CAP_FILE_SIZE,188799,0
$CFSIZE,259248128,242270208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069, 50.5,1
$GPS,130116,010224,-4301.329,836.280,87,1.0,88,-25.1