version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 207
start: 1 13 116 19 17 1
data:
$ID,542
$MISSION,12
$DIVE,207
$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,-29909.68
$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,30
$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
$GPS1,130116,191033,-4303.715,834.447,75,1.1,76,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.7
$GPS2,130116,191635,-4303.729,834.500,17,1.4,17,-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,280.1,14215,-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,-146.0,169,2002,1964,1923,0.0,0.0,0,65,0.00,0.00,-47.17,0.000,16386,0.000,0.000,170,2002,3238,3312,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,169,2002,3312,3166,3.3,-5.7,6,87,8.40,2.38,-5.47,0.000,18948,0.221,0.076,2352,584,3507,3566,3449,0,0,0,0,0,0,25.29,25.75,26.27
$GC,176,-0.68,-146.0,2352,584,3567,3451,28.6,-15.3,22,184,0.00,2.28,0.00,0.000,1030,0.000,0.053,2344,1986,3509,3567,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,323,-0.68,-146.0,2343,1986,3568,3452,52.1,-15.6,47,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1986,3509,3567,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,653,-0.68,-146.0,2343,1986,3568,3454,103.4,-15.0,107,657,0.00,2.28,0.00,0.000,516,0.000,0.063,2344,579,3511,3568,3454,0,0,0,0,0,0,28.83,25.82,28.83
$GC,702,-0.68,-146.0,2343,579,3567,3454,110.3,-14.7,111,711,0.00,2.30,0.00,0.000,1030,0.000,0.051,2334,1999,3510,3567,3454,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1010,-0.68,-146.0,2333,1998,3568,3455,156.9,-14.7,142,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1999,3510,3567,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.68,-146.0,2333,1999,3568,3455,201.1,-14.4,172,1321,0.00,2.25,0.00,0.000,516,0.000,0.062,2334,588,3511,3568,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1374,-0.68,-146.0,2334,588,3567,3456,210.2,-14.3,178,1382,0.00,2.22,0.00,0.000,1030,0.000,0.052,2324,2003,3511,3567,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1684,-0.68,-146.0,2324,2003,3568,3456,256.9,-14.9,209,1693,0.00,2.25,0.00,0.000,516,0.000,0.062,2324,591,3512,3568,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1717,-0.68,-146.0,2324,591,3568,3456,262.0,-15.0,212,1727,0.12,2.20,0.00,0.000,3078,0.164,0.051,2345,1996,3512,3568,3456,0,0,0,0,0,0,25.80,26.02,28.83
$GC,2026,-0.68,-146.0,2345,1996,3568,3456,301.7,-12.9,243,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1996,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.68,-146.0,2345,1996,3568,3456,340.4,-13.2,273,2337,0.00,2.25,0.00,0.000,516,0.000,0.063,2345,586,3512,3568,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2391,-0.68,-146.0,2345,586,3568,3456,348.9,-12.7,279,2395,0.00,2.22,0.00,0.000,1030,0.000,0.053,2337,1997,3512,3568,3456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2700,-0.68,-146.0,2337,1998,3567,3456,391.1,-13.9,309,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1998,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3007,-0.68,-146.0,2337,1998,3568,3456,433.4,-13.3,328,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1998,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3307,-0.68,-146.0,2337,1998,3568,3457,474.0,-13.5,343,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1998,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.68,-146.0,2337,1998,3568,3456,513.5,-13.1,358,3613,0.00,2.25,0.00,0.000,516,0.000,0.067,2337,589,3512,3568,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3635,-0.68,-146.0,2337,589,3567,3456,516.2,-13.3,359,3639,0.00,2.22,0.00,0.000,1030,0.000,0.055,2327,1995,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3948,-0.68,-146.0,2327,1996,3568,3456,560.5,-13.7,375,3954,0.00,2.28,0.00,0.000,516,0.000,0.067,2328,587,3511,3567,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3975,-0.68,-146.0,2327,587,3568,3456,563.3,-13.7,376,3980,0.12,2.25,0.00,0.000,3078,0.168,0.055,2347,2001,3512,3568,3456,0,0,0,0,0,0,25.83,26.03,28.83
$GC,4282,-0.68,-146.0,2347,2002,3567,3456,599.9,-11.7,391,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2002,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.68,-146.0,2347,2002,3567,3456,633.7,-11.2,406,4589,0.00,2.30,0.00,0.000,516,0.000,0.068,2347,574,3511,3567,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4610,-0.68,-146.0,2347,574,3568,3456,636.0,-11.3,407,4614,0.00,2.28,0.00,0.000,1030,0.000,0.057,2339,2003,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4922,-0.68,-146.0,2339,2003,3567,3456,673.7,-11.9,423,4926,0.00,2.30,0.00,0.000,516,0.000,0.068,2339,586,3511,3567,3456,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4958,-0.68,-146.0,2339,585,3567,3456,678.2,-12.0,425,4963,0.00,2.25,0.00,0.000,1030,0.000,0.057,2329,2000,3511,3567,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5277,-0.68,-146.0,2329,2000,3567,3456,717.3,-12.3,441,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2000,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,-0.68,-146.0,2329,2000,3566,3456,754.9,-12.8,456,5581,0.00,2.28,0.00,0.000,516,0.000,0.069,2329,589,3511,3566,3456,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5617,-0.68,-146.0,2329,589,3566,3456,760.2,-13.1,458,5623,0.08,2.22,0.00,0.000,3078,0.148,0.057,2343,1994,3511,3566,3456,0,0,0,0,0,0,25.79,26.01,28.83
$GC,5937,-0.68,-146.0,2344,1994,3565,3456,796.8,-11.3,474,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-0.68,-146.0,2344,1994,3565,3456,829.4,-10.8,489,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1995,3510,3564,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6538,-0.68,-146.0,2344,1994,3563,3456,862.1,-10.7,504,6543,0.00,2.30,0.00,0.000,516,0.000,0.070,2344,584,3509,3563,3456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6576,-0.68,-146.0,2344,584,3563,3456,866.5,-10.8,506,6582,0.00,2.25,0.00,0.000,1030,0.000,0.058,2335,1996,3509,3563,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6897,-0.68,-146.0,2336,1996,3563,3456,901.1,-10.7,522,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,-0.68,-146.0,2335,1997,3562,3456,933.7,-10.6,537,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1996,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,-0.68,-146.0,2335,1997,3562,3456,967.1,-11.4,552,7503,0.00,2.28,0.00,0.000,516,0.000,0.070,2336,590,3508,3561,3456,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7544,-0.68,-146.0,2336,590,3561,3456,971.7,-11.4,554,7548,0.00,2.28,0.00,0.000,1030,0.000,0.060,2326,1996,3508,3561,3456,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7800,-0.14,0.0,2326,1859,3561,3456,1001.9,-11.6,567,7938,0.62,0.00,134.65,1.774,10246,0.134,0.000,2519,1859,2908,2981,2836,0,0,0,0,0,0,25.62,28.83,22.80
$STATE,7939,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7941,0.68,146.0,2519,1858,2981,2836,1007.7,0.0,574,8097,0.75,2.65,143.27,1.737,10500,0.050,0.064,2797,3276,2311,2373,2250,0,0,0,0,0,0,23.99,23.35,22.27
$GC,8183,0.68,146.0,2797,3277,2371,2244,993.4,15.8,586,8187,0.00,2.42,0.00,0.000,1030,0.000,0.056,2807,1871,2307,2371,2244,0,0,0,0,0,0,28.83,24.38,28.83
$GC,8494,0.68,146.0,2807,1870,2371,2237,944.3,15.3,602,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1870,2304,2371,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8795,0.68,146.0,2807,1870,2370,2235,899.6,14.5,617,8801,0.00,2.33,0.00,0.000,260,0.000,0.065,2807,3285,2302,2370,2234,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8814,0.68,146.0,2807,3285,2370,2235,896.6,14.6,618,8818,0.00,2.30,0.00,0.000,1030,0.000,0.056,2818,1866,2302,2370,2234,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9130,0.68,146.0,2817,1866,2370,2234,847.6,15.7,634,9135,0.00,2.33,0.00,0.000,260,0.000,0.064,2817,3290,2302,2370,2234,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9235,0.68,146.0,2817,3290,2369,2234,832.0,16.2,639,9240,0.15,2.30,0.00,0.000,5126,0.221,0.057,2796,1866,2301,2369,2234,0,0,0,0,0,0,25.44,25.82,28.83
$GC,9542,0.68,146.0,2795,1866,2369,2233,784.9,15.2,654,9547,0.00,2.33,0.00,0.000,260,0.000,0.064,2794,3288,2301,2369,2234,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9605,0.68,146.0,2794,3288,2369,2233,775.2,15.9,657,9609,0.00,2.28,0.00,0.000,1030,0.000,0.057,2803,1869,2301,2369,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9917,0.68,146.0,2802,1868,2369,2233,727.4,14.8,673,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1868,2301,2369,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10217,0.68,146.0,2803,1868,2369,2232,685.4,13.4,688,10223,0.00,2.30,0.00,0.000,260,0.000,0.064,2803,3291,2301,2369,2233,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10325,0.68,146.0,2802,3291,2369,2232,671.2,14.2,693,10329,0.00,2.28,0.00,0.000,1030,0.000,0.057,2813,1869,2300,2369,2232,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10632,0.68,146.0,2813,1869,2368,2232,628.7,13.3,708,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1869,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10932,0.68,146.0,2813,1869,2368,2232,591.4,12.0,723,10938,0.00,2.30,0.00,0.000,260,0.000,0.065,2813,3292,2299,2368,2231,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10995,0.68,146.0,2813,3293,2368,2232,583.5,13.0,726,11000,0.15,2.28,0.00,0.000,5126,0.213,0.057,2791,1868,2300,2368,2232,0,0,0,0,0,0,25.61,26.00,28.83
$GC,11307,0.68,146.0,2791,1868,2368,2231,547.3,11.1,742,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1868,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15990,end climb,SURFACE_DEPTH_REACHED
$STATE,15990,begin surface coast
$FINISH,-0.1,1.012960
$STATE,16022,end surface coast,CONTROL_FINISHED_OK
$STATE,16022,begin surface
$SM_CCo,16037,25.95,0.152,0,0,1967,230.09
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$IRIDIUM_FIX,-4244.98,831.55,091108,040401
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.61
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,36.368
$10V_AH,10.1,29.115
$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,17.650,119.275,285.025,25.950,0.000,24.585,18.565,193.890,49.250,0.000,18.874,3213.613,9560.196,455.013,2969.511,221.447,0.000,1598.743,0.000,2506.910,0.000,298.739,0.000
$DEVICE_MAMPS,221.085,80.325,1774.035,152.235,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.753,86.060,748.155,1850.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352736
$DATA_FILE_SIZE,76863,1223
$CAP_FILE_SIZE,167877,0
$CFSIZE,259248128,241885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165, 61.7,1
$GPS,130116,234633,-4303.809,833.589,72,1.0,73,-25.1