version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 216
start: 1 15 116 12 48 29
data:
$ID,542
$MISSION,12
$DIVE,216
$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,-29921.066
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,150116,124104,-4303.614,827.012,87,0.7,87,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.0
$GPS2,150116,124802,-4303.598,827.135,61,0.7,62,-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,247.3,4307,-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,-146.0,167,1993,1963,1921,0.0,0.0,0,65,0.00,0.00,-47.78,0.000,16386,0.000,0.000,167,1994,3265,3338,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,167,1994,3338,3193,3.6,-6.6,6,94,8.38,2.35,-4.82,0.000,18692,0.218,0.069,2329,3419,3506,3564,3449,0,0,0,0,0,0,25.27,25.78,26.28
$GC,164,-0.68,-146.0,2329,3418,3564,3451,25.7,-14.5,20,173,0.00,2.30,0.00,0.000,1030,0.000,0.050,2329,1999,3507,3564,3451,0,0,0,0,0,0,28.83,25.75,28.83
$GC,319,-0.68,-146.0,2329,1998,3564,3451,51.0,-16.5,45,326,0.00,2.35,0.00,0.000,516,0.000,0.065,2329,583,3507,3564,3451,0,0,0,0,0,0,28.83,25.70,28.83
$GC,380,-0.68,-146.0,2329,582,3564,3452,61.9,-16.0,56,390,0.08,2.28,0.00,0.000,3078,0.149,0.052,2344,1986,3508,3564,3452,0,0,0,0,0,0,25.59,25.81,28.83
$GC,720,-0.68,-146.0,2344,1987,3565,3453,112.3,-13.8,110,724,0.00,2.28,0.00,0.000,516,0.000,0.063,2344,580,3509,3565,3453,0,0,0,0,0,0,28.83,25.78,28.83
$GC,788,-0.68,-146.0,2344,579,3565,3454,121.1,-12.6,116,798,0.00,2.25,0.00,0.000,1030,0.000,0.052,2336,1995,3509,3565,3454,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1097,-0.68,-146.0,2336,1995,3565,3454,164.9,-14.0,147,1101,0.00,2.25,0.00,0.000,516,0.000,0.063,2336,587,3509,3565,3454,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1158,-0.68,-146.0,2336,586,3565,3454,173.0,-13.3,152,1168,0.00,2.22,0.00,0.000,1030,0.000,0.051,2326,1998,3510,3565,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1469,-0.68,-146.0,2326,1999,3565,3455,216.4,-14.6,183,1477,0.00,2.25,0.00,0.000,516,0.000,0.063,2326,590,3510,3565,3455,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1510,-0.68,-146.0,2325,589,3565,3455,222.7,-14.7,187,1515,0.12,2.22,0.00,0.000,3078,0.162,0.052,2346,2002,3510,3565,3455,0,0,0,0,0,0,25.75,25.96,28.83
$GC,1816,-0.68,-146.0,2346,2002,3565,3455,259.8,-12.1,217,1826,0.00,2.30,0.00,0.000,516,0.000,0.063,2347,572,3510,3565,3455,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1889,-0.68,-146.0,2346,572,3565,3456,268.9,-12.1,224,1893,0.00,2.25,0.00,0.000,1030,0.000,0.051,2338,2000,3510,3565,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2195,-0.68,-146.0,2338,2000,3565,3456,308.1,-13.1,254,2204,0.00,2.28,0.00,0.000,516,0.000,0.063,2338,586,3510,3565,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2228,-0.68,-146.0,2338,586,3565,3456,312.6,-13.6,257,2237,0.00,2.22,0.00,0.000,1030,0.000,0.052,2328,1997,3510,3565,3455,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2538,-0.68,-146.0,2329,1997,3565,3456,356.2,-14.1,288,2548,0.00,2.28,0.00,0.000,516,0.000,0.063,2329,586,3510,3565,3455,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2563,-0.68,-146.0,1536,585,3559,3454,359.7,-14.5,290,2574,0.08,2.28,0.00,0.000,3078,0.145,0.053,2344,1996,3510,3565,3456,0,0,0,0,0,0,25.79,26.00,28.83
$GC,2872,-0.68,-146.0,2344,1997,3565,3456,398.5,-12.4,321,2881,0.00,2.30,0.00,0.000,516,0.000,0.064,2344,578,3510,3565,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2906,-0.68,-146.0,2344,577,3565,3456,401.4,-12.6,323,2913,0.00,2.28,0.00,0.000,1030,0.000,0.054,2335,2005,3510,3565,3456,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3213,-0.68,-146.0,2336,2006,3565,3456,442.9,-13.3,339,3217,0.00,2.30,0.00,0.000,516,0.000,0.064,2336,581,3510,3565,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3273,-0.68,-146.0,2335,581,3565,3455,450.6,-13.4,342,3278,0.00,2.22,0.00,0.000,1030,0.000,0.054,2325,2000,3510,3565,3456,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3591,-0.68,-146.0,2325,2000,3565,3456,495.0,-14.0,358,3595,0.00,2.25,0.00,0.000,260,0.000,0.061,2314,3408,3510,3565,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3611,-0.68,-146.0,2314,3408,3563,3456,497.2,-14.1,359,3616,0.10,2.28,0.00,0.000,3078,0.129,0.051,2348,1994,3510,3564,3456,0,0,0,0,0,0,25.81,26.04,28.83
$GC,3930,-0.68,-146.0,2348,1993,3565,3456,535.4,-11.6,375,3936,0.00,2.28,0.00,0.000,516,0.000,0.067,2348,587,3510,3565,3455,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4003,-0.68,-146.0,2348,587,3565,3456,542.6,-11.8,378,4010,0.00,2.25,0.00,0.000,1030,0.000,0.055,2340,1998,3510,3565,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4310,-0.68,-146.0,2340,1998,3565,3455,583.9,-13.3,394,4314,0.00,2.30,0.00,0.000,516,0.000,0.067,2340,580,3510,3565,3455,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4334,-0.68,-146.0,2340,579,3565,3456,586.1,-13.5,395,4338,0.00,2.25,0.00,0.000,1030,0.000,0.056,2330,1995,3510,3565,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4647,-0.68,-146.0,2330,1995,3565,3456,630.7,-13.9,411,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1996,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4948,-0.68,-146.0,2329,1996,3565,3456,672.3,-13.8,426,4953,0.00,2.28,0.00,0.000,516,0.000,0.067,2330,587,3510,3565,3456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4986,-0.68,-146.0,2330,586,3565,3455,677.8,-13.8,428,4991,0.12,2.25,0.00,0.000,3078,0.163,0.057,2351,1998,3510,3565,3456,0,0,0,0,0,0,25.79,25.98,28.83
$GC,5303,-0.68,-146.0,2351,1999,3564,3456,714.6,-11.5,444,5309,0.00,2.30,0.00,0.000,516,0.000,0.068,2351,585,3509,3564,3455,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5338,-0.68,-146.0,2351,585,3564,3456,717.0,-11.6,445,5345,0.00,2.25,0.00,0.000,1030,0.000,0.057,2343,1994,3510,3564,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5647,-0.68,-146.0,2343,1995,3564,3455,756.6,-12.5,461,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1995,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.68,-146.0,2343,1995,3563,3455,793.6,-12.3,476,5950,0.00,2.28,0.00,0.000,516,0.000,0.069,2343,589,3509,3564,3455,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5989,-0.68,-146.0,2343,588,3563,3455,798.7,-12.4,478,5993,0.00,2.25,0.00,0.000,1030,0.000,0.057,2333,1999,3509,3563,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6300,-0.68,-146.0,2333,1999,3563,3456,838.7,-12.7,494,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1998,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6602,-0.68,-146.0,2333,1999,3563,3455,876.1,-12.6,509,6608,0.00,2.30,0.00,0.000,516,0.000,0.069,2333,589,3509,3563,3455,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6648,-0.68,-146.0,2334,589,3563,3455,881.2,-12.7,511,6652,0.00,2.25,0.00,0.000,1030,0.000,0.058,2324,1994,3509,3562,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6961,-0.68,-146.0,2323,1994,3562,3455,921.3,-12.1,527,6967,0.00,2.28,0.00,0.000,516,0.000,0.069,2324,589,3508,3562,3455,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7014,-0.68,-146.0,2323,589,3562,3455,926.3,-12.2,529,7021,0.15,2.25,0.00,0.000,3078,0.153,0.058,2352,1994,3509,3562,3456,0,0,0,0,0,0,25.74,25.95,28.83
$GC,7322,-0.68,-146.0,2352,1994,3562,3455,954.9,-8.7,545,7328,0.00,2.28,0.00,0.000,516,0.000,0.070,2352,589,3508,3561,3455,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7349,-0.68,-146.0,2352,589,3561,3455,956.8,-8.9,546,7353,0.00,2.25,0.00,0.000,1030,0.000,0.059,2345,1994,3508,3561,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7657,-0.68,-146.0,2344,1995,3561,3455,987.5,-9.5,561,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1995,3507,3560,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7800,-0.14,0.0,2344,1859,3560,3455,1000.9,-9.6,568,7938,0.55,0.00,134.27,1.754,10246,0.121,0.000,2519,1858,2909,2981,2837,0,0,0,0,0,0,25.69,28.83,22.75
$STATE,7939,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7940,0.68,146.0,2519,1858,2981,2837,1006.4,0.0,575,8092,0.77,2.60,142.70,1.720,10500,0.052,0.063,2801,3281,2312,2374,2251,0,0,0,0,0,0,23.96,23.34,22.26
$GC,8415,0.68,146.0,2800,3281,2370,2241,953.5,16.3,598,8421,0.00,2.33,0.00,0.000,1030,0.000,0.057,2811,1876,2305,2370,2241,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8734,0.68,146.0,2810,1876,2369,2237,903.8,15.1,614,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1876,2303,2369,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9035,0.68,146.0,2810,1877,2369,2235,859.8,14.6,629,9041,0.00,2.30,0.00,0.000,260,0.000,0.065,2811,3287,2302,2369,2235,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9102,0.68,146.0,2811,3287,2368,2236,850.2,15.7,632,9107,0.12,2.30,0.00,0.000,5126,0.216,0.057,2796,1867,2301,2368,2235,0,0,0,0,0,0,25.45,25.77,28.83
$GC,9409,0.68,146.0,2796,1867,2368,2234,804.9,14.1,647,9415,0.00,2.30,0.00,0.000,260,0.000,0.065,2796,3285,2301,2368,2234,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9463,0.68,146.0,2796,3285,2368,2235,799.2,14.3,649,9469,0.00,2.30,0.00,0.000,1030,0.000,0.056,2805,1862,2301,2368,2234,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9770,0.68,146.0,2805,1863,2368,2234,755.1,13.7,665,9776,0.00,2.30,0.00,0.000,260,0.000,0.063,2805,3285,2301,2368,2234,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9898,0.68,146.0,2805,3285,2367,2234,737.7,14.5,671,9903,0.00,2.28,0.00,0.000,1030,0.000,0.056,2815,1865,2300,2367,2234,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10205,0.68,146.0,2815,1865,2367,2234,693.6,14.0,686,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1865,2300,2367,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16074,end climb,SURFACE_DEPTH_REACHED
$STATE,16074,begin surface coast
$FINISH,-0.1,1.017217
$STATE,16112,end surface coast,CONTROL_FINISHED_OK
$STATE,16113,begin surface
$SM_CCo,16127,25.10,0.151,0,0,1969,230.09
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$IRIDIUM_FIX,-4250.85,826.16,101108,212142
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.65
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,37.806
$10V_AH,10.0,30.284
$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
$DEVICE_SECS,17.775,141.900,285.375,25.100,0.000,35.387,17.216,202.268,49.250,0.000,62.704,3276.430,9415.152,475.862,3183.171,214.321,0.000,1709.262,0.000,2644.937,0.000,297.375,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.704,85.642,762.459,1865.659,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352732
$DATA_FILE_SIZE,76881,1233
$CAP_FILE_SIZE,178553,0
$CFSIZE,259248128,241119232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.169, 25.5,1
$GPS,150116,171936,-4303.935,826.307,78,0.8,79,-25.0