version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 215
start: 1 15 116 8 10 15
data:
$ID,542
$MISSION,12
$DIVE,215
$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,-29919.811
$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,28
$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
$GPS1,150116,080134,-4304.330,827.616,83,1.0,84,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.8
$GPS2,150116,080948,-4304.340,827.748,17,1.8,17,-25.0
$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,274.8,5110,-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,-146.0,167,2003,1964,1921,0.0,0.0,0,66,0.00,0.00,-48.90,0.000,16386,0.000,0.000,167,2004,3292,3363,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,167,2003,3363,3224,3.5,-5.8,6,87,8.38,2.33,-4.28,0.000,18692,0.218,0.069,2330,3408,3507,3564,3450,0,0,0,0,0,0,25.22,25.74,26.22
$GC,132,-0.68,-146.0,2329,3408,3564,3453,21.4,-16.0,15,141,0.00,2.30,0.00,0.000,1030,0.000,0.050,2329,1995,3509,3565,3453,0,0,0,0,0,0,28.83,25.71,28.83
$GC,288,-0.68,-146.0,2329,1995,3565,3453,47.6,-17.4,40,297,0.00,2.33,0.00,0.000,516,0.000,0.064,2329,588,3509,3565,3454,0,0,0,0,0,0,28.83,25.67,28.83
$GC,344,-0.68,-146.0,2329,587,3565,3454,56.7,-15.9,49,351,0.12,2.22,0.00,0.000,3078,0.168,0.052,2349,1989,3509,3565,3454,0,0,0,0,0,0,25.56,25.78,28.83
$GC,682,-0.68,-146.0,2349,1990,3567,3454,107.3,-13.9,105,691,0.00,2.25,0.00,0.000,516,0.000,0.062,2349,587,3510,3567,3454,0,0,0,0,0,0,28.83,25.77,28.83
$GC,737,-0.68,-146.0,2349,587,3567,3455,114.5,-13.5,110,745,0.00,2.25,0.00,0.000,1030,0.000,0.051,2341,1999,3511,3567,3455,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1047,-0.68,-146.0,2340,1999,3567,3455,160.8,-15.1,141,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1999,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1355,-0.68,-146.0,2341,1999,3567,3456,205.8,-14.1,172,1365,0.00,2.28,0.00,0.000,516,0.000,0.063,2341,586,3511,3567,3456,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1429,-0.68,-146.0,2341,585,3567,3456,216.0,-13.8,179,1437,0.00,2.22,0.00,0.000,1030,0.000,0.052,2331,1996,3511,3567,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1738,-0.68,-146.0,2330,1996,3567,3456,258.4,-13.7,210,1747,0.00,2.28,0.00,0.000,516,0.000,0.063,2331,583,3511,3567,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1772,-0.68,-146.0,2331,583,3567,3456,262.9,-13.9,213,1780,0.00,2.20,0.00,0.000,1030,0.000,0.052,2321,1989,3511,3566,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2080,-0.68,-146.0,2321,1989,3568,3457,306.6,-14.4,244,2092,0.12,2.28,0.00,0.000,2564,0.170,0.062,2358,578,3511,3567,3456,0,0,0,0,0,0,26.02,25.89,28.83
$GC,2118,-0.68,-146.0,2358,578,3567,3457,310.9,-13.3,247,2125,0.00,2.30,0.00,0.000,1030,0.000,0.053,2349,2000,3511,3566,3457,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2426,-0.68,-146.0,2349,2000,3567,3457,347.1,-12.1,278,2434,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,586,3512,3567,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2480,-0.68,-146.0,1552,586,3561,3454,353.6,-12.4,283,2488,0.00,2.28,0.00,0.000,1030,0.000,0.053,2340,1992,3512,3567,3457,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2788,-0.68,-146.0,2340,1992,3567,3457,392.5,-12.6,314,2797,0.00,2.28,0.00,0.000,516,0.000,0.064,2340,581,3512,3567,3457,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2812,-0.68,-146.0,2340,581,3567,3457,395.2,-12.7,316,2822,0.00,2.30,0.00,0.000,1030,0.000,0.054,2330,2002,3511,3567,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3131,-0.68,-146.0,2330,2002,3567,3456,437.0,-12.7,334,3137,0.00,2.30,0.00,0.000,516,0.000,0.065,2330,578,3512,3567,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3173,-0.68,-146.0,2330,578,3567,3456,442.3,-13.0,336,3178,0.08,2.30,0.00,0.000,3078,0.143,0.054,2345,1995,3511,3567,3456,0,0,0,0,0,0,25.79,26.00,28.83
$GC,3491,-0.68,-146.0,2344,1996,3567,3456,478.2,-11.2,352,3495,0.00,2.28,0.00,0.000,516,0.000,0.066,2345,587,3512,3567,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3517,-0.68,-146.0,2344,587,3567,3456,480.0,-11.1,353,3521,0.00,2.25,0.00,0.000,1030,0.000,0.055,2337,2001,3511,3567,3456,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3831,-0.68,-146.0,2336,2001,3567,3456,516.9,-11.6,369,3837,0.00,2.28,0.00,0.000,516,0.000,0.067,2336,586,3511,3567,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3858,-0.68,-146.0,2336,586,3566,3456,519.3,-11.7,370,3862,0.00,2.25,0.00,0.000,1030,0.000,0.056,2327,2003,3512,3567,3457,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4165,-0.68,-146.0,2326,2003,3567,3457,559.1,-12.8,385,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2003,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,-0.68,-146.0,2326,2003,3567,3456,599.1,-13.5,400,4470,0.00,2.30,0.00,0.000,516,0.000,0.067,2327,586,3511,3566,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4525,-0.68,-146.0,2327,585,3567,3456,607.3,-13.7,403,4531,0.12,2.25,0.00,0.000,3078,0.162,0.057,2347,1999,3511,3567,3456,0,0,0,0,0,0,25.80,25.98,28.83
$GC,4845,-0.68,-146.0,2347,2000,3566,3456,646.1,-12.5,419,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2000,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5146,-0.68,-146.0,2347,2000,3566,3456,683.5,-12.3,434,5151,0.00,2.30,0.00,0.000,516,0.000,0.069,2348,588,3510,3565,3456,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5173,-0.68,-146.0,2347,587,3566,3456,686.1,-12.4,435,5177,0.00,2.25,0.00,0.000,1030,0.000,0.057,2340,1994,3511,3566,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5485,-0.68,-146.0,2339,1994,3565,3456,726.9,-12.9,451,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.68,-146.0,2339,1994,3565,3456,764.3,-11.8,466,5792,0.00,2.28,0.00,0.000,516,0.000,0.069,2339,588,3510,3564,3456,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5861,-0.68,-146.0,2339,588,3564,3456,771.6,-11.9,469,5868,0.00,2.25,0.00,0.000,1030,0.000,0.058,2330,1995,3510,3564,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6169,-0.68,-146.0,2330,1994,3564,3456,811.3,-12.7,485,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1994,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.68,-146.0,2330,1995,3563,3456,849.6,-12.6,500,6475,0.00,2.30,0.00,0.000,516,0.000,0.069,2330,583,3509,3563,3456,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6532,-0.68,-146.0,2330,582,3563,3456,857.2,-12.5,503,6537,0.12,2.28,0.00,0.000,3078,0.161,0.059,2351,2002,3509,3563,3456,0,0,0,0,0,0,25.77,25.94,28.83
$GC,6846,-0.68,-146.0,2350,2003,3563,3456,890.0,-10.1,519,6852,0.00,2.30,0.00,0.000,516,0.000,0.070,2350,586,3509,3563,3456,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6886,-0.68,-146.0,1568,586,3557,3454,894.2,-10.2,521,6891,0.00,2.30,0.00,0.000,1030,0.000,0.060,2343,1987,3509,3563,3456,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7205,-0.68,-146.0,2342,1988,3562,3456,927.7,-10.3,537,7210,0.00,2.30,0.00,0.000,516,0.000,0.069,2342,584,3509,3562,3456,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7247,-0.68,-146.0,2342,584,3562,3457,932.1,-10.9,539,7251,0.00,2.33,0.00,0.000,1030,0.000,0.059,2333,2000,3509,3562,3456,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7564,-0.68,-146.0,2333,2001,3561,3456,968.3,-11.6,555,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2002,3508,3560,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7846,begin apogee
$GC,7851,-0.14,0.0,2333,1863,3560,3456,1001.0,-11.8,569,7989,0.60,0.00,134.27,1.753,10246,0.125,0.000,2522,1863,2908,2981,2836,0,0,0,0,0,0,25.63,28.83,22.76
$STATE,7990,end apogee,CONTROL_FINISHED_OK
$STATE,7990,begin climb
$GC,7991,0.68,146.0,2522,1863,2982,2836,1008.1,0.0,576,8146,0.77,2.60,142.52,1.721,10756,0.052,0.070,2808,473,2313,2372,2254,0,0,0,0,0,0,23.96,23.34,22.27
$GC,8291,0.68,146.0,2808,474,2365,2249,985.5,16.4,591,8296,0.00,2.38,0.00,0.000,1030,0.000,0.058,2809,1869,2306,2365,2248,0,0,0,0,0,0,28.83,24.62,28.83
$GC,8603,0.68,146.0,2808,1869,2365,2244,935.1,16.3,607,8609,0.00,2.35,0.00,0.000,260,0.000,0.065,2809,3290,2304,2365,2244,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8678,0.68,146.0,2808,3290,2363,2244,924.6,17.2,610,8685,0.12,2.33,0.00,0.000,5126,0.220,0.057,2794,1872,2303,2362,2244,0,0,0,0,0,0,25.18,25.48,28.83
$GC,8984,0.68,146.0,2794,1872,2362,2242,874.2,15.0,626,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1872,2303,2363,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9283,0.68,146.0,2794,1872,2362,2241,830.5,14.9,641,9289,0.00,2.35,0.00,0.000,516,0.000,0.073,2804,451,2301,2362,2241,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9304,0.68,146.0,2804,451,2362,2241,827.5,14.9,642,9310,0.00,2.30,0.00,0.000,1030,0.000,0.059,2802,1875,2301,2362,2241,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9624,0.68,146.0,2801,1875,2362,2240,778.9,15.2,658,9630,0.00,2.28,0.00,0.000,260,0.000,0.065,2801,3283,2301,2362,2240,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9726,0.68,146.0,2801,3283,2362,2240,763.4,15.4,663,9730,0.00,2.28,0.00,0.000,1030,0.000,0.056,2810,1867,2300,2361,2240,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10044,0.68,146.0,2810,1867,2362,2239,718.5,13.7,679,10049,0.00,2.30,0.00,0.000,260,0.000,0.064,2810,3285,2300,2362,2239,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10086,0.68,146.0,2810,3285,2361,2239,712.8,13.9,681,10091,0.12,2.28,0.00,0.000,5126,0.216,0.055,2795,1868,2300,2361,2239,0,0,0,0,0,0,25.59,25.92,28.83
$GC,10399,0.68,146.0,2795,1867,2361,2239,671.7,12.6,697,10404,0.00,2.33,0.00,0.000,516,0.000,0.072,2804,448,2300,2361,2239,0,0,0,0,0,0,28.83,25.87,28.83
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$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16058,begin surface coast
$FINISH,-0.0,1.026229
$STATE,16083,end surface coast,CONTROL_FINISHED_OK
$STATE,16083,begin surface
$SM_CCo,16099,26.70,0.151,0,0,1968,230.09
$SM_GC,2.80,6.88,2.08,26.70,0.043,0.050,0.151,172,1998,1968,-7.40,0.82,230.09,0,0,0,0,0,0,26.15,26.02,25.70
$IRIDIUM_FIX,-4247.91,829.08,101108,212134
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.44
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,37.647
$10V_AH,10.0,30.151
$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,17.850,160.225,283.225,26.700,0.000,47.179,64.729,192.767,49.250,0.000,19.260,3271.268,9490.659,502.139,3127.141,225.891,0.000,1719.747,0.000,2580.291,0.000,298.111,0.000
$DEVICE_MAMPS,220.320,79.560,1752.615,151.470,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.634,79.946,739.520,1843.338,0.000,0.000,0.000,0.000,0.000,0.000
$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,77143,1228
$CAP_FILE_SIZE,180219,0
$CFSIZE,259248128,241205248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.243, 39.4,1
$GPS,150116,124104,-4303.614,827.012,87,0.7,87,-25.0