version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 205
start: 1 13 116 10 10 30
data:
$ID,542
$MISSION,12
$DIVE,205
$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,-29907.168
$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,27
$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
$GPS1,130116,100327,-4303.426,836.251,78,0.8,78,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.7
$GPS2,130116,101004,-4303.433,836.368,17,1.0,17,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,283.7,16767,-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,-146.0,168,2002,1965,1923,0.0,0.0,0,65,0.00,0.00,-47.15,0.000,16386,0.000,0.000,168,2002,3230,3307,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,167,2003,3307,3154,3.1,-5.1,6,86,8.43,0.00,-5.72,0.000,18694,0.222,0.000,2341,2002,3508,3567,3449,0,0,0,0,0,0,25.29,28.83,26.24
$GC,137,-0.68,-146.0,2341,2002,3568,3450,22.9,-19.3,16,146,0.00,2.35,0.00,0.000,516,0.000,0.063,2341,583,3509,3568,3450,0,0,0,0,0,0,28.83,25.69,28.83
$GC,180,-0.68,-146.0,2341,582,3568,3451,30.2,-16.9,22,189,0.00,2.28,0.00,0.000,1030,0.000,0.052,2333,1985,3509,3568,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,327,-0.68,-146.0,2333,1985,3568,3451,54.5,-16.5,47,335,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,581,3509,3568,3451,0,0,0,0,0,0,28.83,25.75,28.83
$GC,366,-0.68,-146.0,1408,581,3561,3449,60.5,-16.7,53,372,0.00,2.25,0.00,0.000,1030,0.000,0.052,2323,2000,3509,3568,3451,0,0,0,0,0,0,28.83,25.83,28.83
$GC,694,-0.68,-146.0,2323,2000,3568,3453,118.0,-17.1,104,704,0.00,2.28,0.00,0.000,516,0.000,0.061,2323,580,3510,3568,3453,0,0,0,0,0,0,28.83,25.84,28.83
$GC,727,-0.68,-146.0,2323,580,3568,3454,123.2,-16.0,107,737,0.10,2.22,0.00,0.000,3078,0.145,0.052,2345,1997,3511,3568,3454,0,0,0,0,0,0,25.67,25.91,28.83
$GC,1036,-0.68,-146.0,2345,1997,3568,3454,166.4,-14.1,138,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1997,3511,3568,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1336,-0.68,-146.0,2345,1997,3568,3455,207.3,-13.8,168,1346,0.00,2.28,0.00,0.000,516,0.000,0.062,2345,579,3511,3568,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1378,-0.68,-146.0,2345,580,3568,3455,213.1,-13.9,172,1388,0.00,2.25,0.00,0.000,1030,0.000,0.052,2336,2001,3511,3568,3455,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1688,-0.68,-146.0,2336,2002,3568,3455,257.0,-14.6,203,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2001,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1988,-0.68,-146.0,2336,2002,3568,3455,299.7,-13.5,233,1998,0.00,2.28,0.00,0.000,516,0.000,0.063,2337,584,3511,3568,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2013,-0.68,-146.0,2336,584,3568,3456,302.8,-13.8,235,2021,0.00,2.28,0.00,0.000,1030,0.000,0.052,2327,1996,3512,3568,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2320,-0.68,-146.0,2326,1996,3568,3456,347.7,-14.7,266,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1996,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2621,-0.68,-146.0,2327,1996,3568,3456,393.4,-15.2,296,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1996,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-0.68,-146.0,2326,1996,3568,3455,439.7,-14.9,314,2934,0.00,2.28,0.00,0.000,516,0.000,0.065,2327,582,3511,3568,3455,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2971,-0.68,-146.0,2326,582,3568,3456,445.5,-15.1,316,2976,0.08,2.28,0.00,0.000,3078,0.145,0.054,2356,1990,3512,3568,3456,0,0,0,0,0,0,25.79,26.06,28.83
$GC,3289,-0.68,-146.0,2356,1991,3568,3456,484.9,-12.2,332,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1991,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.68,-146.0,2356,1991,3568,3456,521.8,-12.3,347,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1991,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3890,-0.68,-146.0,2355,1991,3568,3456,558.1,-12.0,362,3895,0.00,2.25,0.00,0.000,516,0.000,0.068,2356,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3923,-0.68,-146.0,2356,588,3568,3456,560.5,-11.9,363,3931,0.00,2.25,0.00,0.000,1030,0.000,0.056,2347,2000,3512,3568,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4230,-0.68,-146.0,2347,2000,3569,3456,599.7,-12.3,379,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2000,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4531,-0.68,-146.0,2347,2000,3568,3456,636.7,-12.3,394,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2000,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-0.68,-146.0,2347,2000,3568,3456,672.5,-11.7,409,4837,0.00,2.30,0.00,0.000,516,0.000,0.069,2347,585,3511,3568,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4853,-0.68,-146.0,2347,585,3568,3456,674.9,-11.8,410,4857,0.00,2.25,0.00,0.000,1030,0.000,0.057,2338,1994,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5171,-0.68,-146.0,2337,1995,3567,3456,715.7,-12.7,426,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1995,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5471,-0.68,-146.0,2338,1994,3567,3456,753.3,-12.4,441,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1994,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5772,-0.68,-146.0,2337,1995,3566,3456,791.9,-13.0,456,5777,0.00,2.25,0.00,0.000,516,0.000,0.070,2338,591,3511,3566,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5803,-0.68,-146.0,2338,591,3566,3456,794.6,-13.0,457,5813,0.00,2.25,0.00,0.000,1030,0.000,0.058,2328,1995,3510,3566,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6111,-0.68,-146.0,2328,1994,3565,3455,835.3,-12.4,473,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,-0.68,-146.0,2328,1994,3564,3456,871.8,-12.1,488,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1994,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6711,-0.68,-146.0,2328,1994,3563,3456,907.6,-11.8,503,6717,0.00,2.30,0.00,0.000,516,0.000,0.070,2328,589,3509,3563,3455,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6740,-0.68,-146.0,2328,589,3563,3455,910.1,-11.9,504,6745,0.12,2.25,0.00,0.000,3078,0.164,0.058,2349,1996,3509,3563,3456,0,0,0,0,0,0,25.82,26.00,28.83
$GC,7045,-0.68,-146.0,2348,1996,3563,3456,943.0,-10.3,519,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1996,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,-0.68,-146.0,2349,1996,3561,3455,973.3,-10.1,534,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7627,begin apogee
$GC,7632,-0.14,0.0,2348,1858,3562,3455,1001.9,-10.0,548,7769,0.55,0.00,134.12,1.776,10246,0.123,0.000,2525,1858,2909,2982,2836,0,0,0,0,0,0,25.70,28.83,22.83
$STATE,7770,end apogee,CONTROL_FINISHED_OK
$STATE,7770,begin climb
$GC,7772,0.68,146.0,2524,1858,2982,2835,1008.0,0.0,555,7928,0.77,2.65,142.75,1.739,10500,0.048,0.063,2809,3277,2311,2370,2253,0,0,0,0,0,0,24.02,23.37,22.30
$GC,8099,0.68,146.0,2808,3277,2368,2246,979.9,16.8,571,8104,0.12,2.38,0.00,0.000,5126,0.216,0.057,2795,1874,2307,2368,2246,0,0,0,0,0,0,24.49,24.74,28.83
$GC,8405,0.68,146.0,2796,1873,2368,2241,933.1,14.5,586,8411,0.00,2.33,0.00,0.000,260,0.000,0.063,2795,3284,2304,2368,2241,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8505,0.68,146.0,2795,3284,2367,2241,917.7,15.4,591,8511,0.00,2.30,0.00,0.000,1030,0.000,0.055,2804,1868,2304,2367,2241,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8825,0.68,146.0,2804,1868,2367,2238,870.4,14.1,607,8829,0.00,2.30,0.00,0.000,260,0.000,0.061,2804,3285,2302,2367,2238,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8844,0.68,146.0,2804,3285,2366,2238,868.0,14.1,608,8848,0.00,2.30,0.00,0.000,1030,0.000,0.055,2814,1862,2302,2366,2238,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9156,0.68,146.0,2814,1862,2366,2237,822.1,14.4,624,9160,0.00,2.33,0.00,0.000,260,0.000,0.062,2814,3294,2302,2366,2238,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9215,0.68,146.0,2814,3294,2366,2237,813.6,15.1,627,9220,0.15,2.30,0.00,0.000,5126,0.214,0.056,2793,1865,2301,2365,2237,0,0,0,0,0,0,25.51,25.88,28.83
$GC,9527,0.68,146.0,2793,1865,2365,2236,772.3,13.0,643,9533,0.00,2.30,0.00,0.000,260,0.000,0.063,2788,3287,2300,2365,2236,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9560,0.68,146.0,2787,3287,2365,2236,769.6,13.1,644,9568,0.00,2.30,0.00,0.000,1030,0.000,0.056,2797,1864,2300,2365,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9867,0.68,146.0,2796,1864,2364,2235,727.7,13.0,660,9873,0.00,2.30,0.00,0.000,260,0.000,0.062,2797,3290,2300,2365,2235,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9890,0.68,146.0,1920,3288,2326,2230,725.0,13.1,661,9894,0.00,2.33,0.00,0.000,1030,0.000,0.055,2807,1868,2300,2365,2235,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10207,0.68,146.0,2806,1868,2365,2235,680.7,13.9,677,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1868,2299,2364,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10507,0.68,146.0,2807,1868,2364,2235,638.5,14.2,692,10513,0.00,2.28,0.00,0.000,260,0.000,0.062,2807,3285,2300,2365,2235,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10636,0.68,146.0,2807,3285,2364,2235,620.6,15.0,698,10640,0.00,2.25,0.00,0.000,1030,0.000,0.056,2817,1870,2300,2365,2235,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10943,0.68,146.0,2817,1870,2364,2234,575.7,14.2,713,10949,0.00,2.28,0.00,0.000,260,0.000,0.063,2817,3285,2299,2364,2235,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11002,0.68,146.0,2817,3285,2363,2235,566.7,14.8,716,11008,0.15,2.25,0.00,0.000,5126,0.210,0.056,2795,1870,2299,2363,2235,0,0,0,0,0,0,25.63,26.02,28.83
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$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15830,begin surface coast
$FINISH,-0.1,1.004655
$STATE,15862,end surface coast,CONTROL_FINISHED_OK
$STATE,15863,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,51.92
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,36.049
$10V_AH,10.1,28.858
$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
$DEVICE_SECS,17.550,119.175,284.325,25.325,0.000,24.529,43.132,212.058,49.250,0.000,18.627,3178.453,9493.499,447.757,2974.039,202.852,0.000,1575.037,0.000,2456.890,0.000,298.446,0.000
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352744
$DATA_FILE_SIZE,76984,1199
$CAP_FILE_SIZE,167207,0
$CFSIZE,259248128,242044928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 54.3,1
$GPS,130116,143803,-4303.104,835.540,112,1.2,113,-25.1