version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 220
start: 1 16 116 6 53 21
data:
$ID,542
$MISSION,12
$DIVE,220
$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,-29926.18
$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,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
$GPS1,160116,064422,-4301.908,825.244,54,0.9,55,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.2
$GPS2,160116,065254,-4301.887,825.318,23,0.9,24,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,330.7,11048,-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,-146.0,182,1998,1966,1921,0.0,0.0,0,64,0.00,0.00,-47.03,0.000,16386,0.000,0.000,181,1998,3267,3340,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.68,-146.0,181,1998,3340,3195,3.7,-7.0,6,93,8.32,2.38,-4.75,0.000,18948,0.218,0.074,2342,582,3507,3563,3451,0,0,0,0,0,0,25.22,25.70,26.23
$GC,188,-0.68,-146.0,2342,582,3565,3452,33.6,-16.2,24,198,0.00,2.30,0.00,0.000,1030,0.000,0.052,2334,1995,3508,3565,3452,0,0,0,0,0,0,28.83,25.74,28.83
$GC,336,-0.68,-146.0,2334,1995,3565,3453,57.3,-16.3,49,343,0.00,2.25,0.00,0.000,260,0.000,0.058,2323,3409,3509,3565,3453,0,0,0,0,0,0,28.83,25.73,28.83
$GC,349,-0.68,-146.0,2323,3408,3565,3453,59.8,-16.3,51,357,0.00,2.28,0.00,0.000,1030,0.000,0.047,2323,1995,3509,3565,3454,0,0,0,0,0,0,28.83,25.81,28.83
$GC,683,-0.68,-146.0,2323,1995,3565,3455,116.1,-16.9,103,691,0.00,2.25,0.00,0.000,516,0.000,0.063,2323,585,3510,3565,3455,0,0,0,0,0,0,28.83,25.76,28.83
$GC,853,-0.68,-146.0,2323,585,3565,3455,143.8,-14.9,119,864,0.15,2.25,0.00,0.000,3078,0.163,0.052,2351,1999,3510,3565,3455,0,0,0,0,0,0,25.62,25.89,28.83
$GC,1161,-0.68,-146.0,2351,1999,3566,3455,184.2,-12.1,150,1171,0.00,2.28,0.00,0.000,516,0.000,0.062,2351,587,3510,3566,3455,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1186,-0.68,-146.0,2351,587,3566,3456,187.1,-12.7,152,1194,0.00,2.28,0.00,0.000,1030,0.000,0.052,2343,1997,3510,3566,3455,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1493,-0.68,-146.0,2342,1997,3566,3456,227.1,-12.7,183,1502,0.00,2.28,0.00,0.000,516,0.000,0.063,2343,586,3511,3567,3456,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1558,-0.68,-146.0,2342,586,3566,3456,235.2,-13.2,189,1566,0.00,2.20,0.00,0.000,1030,0.000,0.051,2333,1992,3511,3567,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1864,-0.68,-146.0,2333,1992,3566,3456,277.1,-13.5,220,1868,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,580,3511,3566,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1934,-0.68,-146.0,2333,578,3566,3456,287.0,-13.9,226,1938,0.00,2.25,0.00,0.000,1030,0.000,0.052,2323,2006,3511,3566,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2239,-0.68,-146.0,2323,2007,3567,3456,332.6,-15.3,256,2249,0.00,2.30,0.00,0.000,516,0.000,0.063,2323,580,3511,3566,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2297,-0.68,-146.0,2323,580,3567,3456,341.1,-15.6,261,2305,0.08,2.28,0.00,0.000,3078,0.145,0.052,2349,1989,3511,3566,3456,0,0,0,0,0,0,25.72,25.98,28.83
$GC,2605,-0.68,-146.0,2349,1989,3566,3456,381.5,-12.6,292,2615,0.00,2.28,0.00,0.000,516,0.000,0.063,2349,578,3511,3567,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2638,-0.68,-146.0,2349,578,3567,3456,385.8,-13.1,295,2646,0.00,2.25,0.00,0.000,1030,0.000,0.053,2340,2004,3511,3566,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2949,-0.68,-146.0,2340,2004,3566,3456,426.6,-13.3,316,2955,0.00,2.28,0.00,0.000,516,0.000,0.064,2340,584,3511,3566,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3020,-0.68,-146.0,2340,584,3566,3456,434.7,-13.5,319,3028,0.00,2.25,0.00,0.000,1030,0.000,0.054,2330,2003,3511,3566,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3328,-0.68,-146.0,2330,2004,3567,3456,477.8,-13.5,335,3333,0.00,2.30,0.00,0.000,516,0.000,0.064,2331,580,3511,3566,3456,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3349,-0.68,-146.0,2330,578,3567,3456,480.7,-13.7,336,3355,0.00,2.22,0.00,0.000,1030,0.000,0.054,2321,1999,3511,3566,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3668,-0.68,-146.0,2320,2000,3566,3456,525.4,-14.0,352,3674,0.12,2.30,0.00,0.000,2564,0.169,0.064,2358,582,3511,3566,3456,0,0,0,0,0,0,26.05,25.88,28.83
$GC,3741,-0.68,-146.0,2357,582,3567,3456,532.3,-12.1,355,3748,0.00,2.25,0.00,0.000,1030,0.000,0.055,2349,1995,3511,3566,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4050,-0.68,-146.0,2349,1994,3566,3456,566.8,-11.0,371,4055,0.00,2.25,0.00,0.000,516,0.000,0.067,2349,591,3511,3567,3456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4076,-0.68,-146.0,2349,591,3566,3456,569.1,-11.1,372,4080,0.00,2.25,0.00,0.000,1030,0.000,0.055,2340,2005,3511,3566,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4389,-0.68,-146.0,2339,2005,3567,3456,606.8,-11.9,388,4394,0.00,2.30,0.00,0.000,516,0.000,0.066,2340,586,3511,3566,3456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4442,-0.68,-146.0,2339,586,3566,3456,611.8,-12.1,390,4448,0.00,2.25,0.00,0.000,1030,0.000,0.055,2330,1996,3511,3566,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4749,-0.68,-146.0,2330,1996,3566,3456,652.9,-13.2,406,4755,0.00,2.28,0.00,0.000,516,0.000,0.067,2330,585,3510,3566,3455,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4815,-0.68,-146.0,2329,585,3566,3456,661.2,-13.5,409,4820,0.12,2.25,0.00,0.000,3078,0.164,0.055,2350,1996,3511,3566,3456,0,0,0,0,0,0,25.79,25.98,28.83
$GC,5133,-0.68,-146.0,2350,1996,3566,3456,698.9,-11.6,425,5138,0.00,2.30,0.00,0.000,516,0.000,0.067,2350,581,3511,3566,3456,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5197,-0.68,-146.0,2350,581,3565,3456,706.2,-11.8,428,5202,0.00,2.25,0.00,0.000,1030,0.000,0.057,2343,1997,3510,3565,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5515,-0.68,-146.0,2342,1997,3565,3456,746.7,-13.0,444,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1997,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-0.68,-146.0,2342,1998,3564,3456,787.4,-13.4,459,5823,0.00,2.28,0.00,0.000,516,0.000,0.069,2342,592,3510,3564,3456,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5900,-0.68,-146.0,2342,592,3564,3456,798.3,-13.1,463,5905,0.00,2.25,0.00,0.000,1030,0.000,0.057,2332,2004,3510,3564,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6213,-0.68,-146.0,2332,2004,3563,3456,842.0,-13.8,479,6218,0.00,2.33,0.00,0.000,516,0.000,0.068,2332,582,3509,3563,3456,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6256,-0.68,-146.0,2332,582,3563,3456,847.7,-13.9,481,6260,0.00,2.28,0.00,0.000,1030,0.000,0.057,2322,2004,3509,3563,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6574,-0.68,-146.0,2322,2004,3563,3456,891.3,-13.2,497,6580,0.00,2.30,0.00,0.000,516,0.000,0.068,2323,583,3509,3563,3456,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6601,-0.68,-146.0,2322,584,3563,3456,894.0,-13.3,498,6606,0.15,2.28,0.00,0.000,3078,0.158,0.058,2351,2003,3509,3562,3456,0,0,0,0,0,0,25.72,25.94,28.83
$GC,6910,-0.68,-146.0,2350,2003,3562,3456,926.8,-10.1,513,6915,0.00,2.30,0.00,0.000,516,0.000,0.069,2351,586,3509,3562,3456,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6968,-0.68,-146.0,2351,586,3562,3456,932.8,-10.0,516,6974,0.00,2.25,0.00,0.000,1030,0.000,0.058,2343,1993,3509,3562,3456,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7289,-0.68,-146.0,2342,1993,3561,3456,962.4,-8.8,532,7294,0.00,2.30,0.00,0.000,516,0.000,0.069,2342,584,3509,3562,3456,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7322,-0.68,-146.0,2342,584,3562,3456,964.2,-8.8,533,7329,0.00,2.28,0.00,0.000,1030,0.000,0.058,2333,2000,3508,3561,3456,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7631,-0.68,-146.0,2333,2000,3560,3456,991.4,-8.8,549,7637,0.00,2.30,0.00,0.000,516,0.000,0.069,2333,584,3508,3561,3456,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7699,-0.68,-146.0,2333,584,3560,3456,997.3,-9.4,552,7703,0.00,2.28,0.00,0.000,1030,0.000,0.058,2323,2002,3508,3560,3456,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7730,-0.14,0.0,2323,1865,3560,3456,1000.5,-9.4,553,7868,0.62,0.00,134.35,1.760,10246,0.127,0.000,2519,1864,2908,2981,2836,0,0,0,0,0,0,25.63,28.83,22.70
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7871,0.68,146.0,2518,1864,2981,2836,1004.4,0.0,560,8027,0.77,2.62,142.48,1.724,10500,0.047,0.063,2804,3288,2311,2370,2253,0,0,0,0,0,0,23.95,23.34,22.25
$GC,8251,0.68,146.0,1936,3287,2329,2239,964.0,16.7,579,8256,0.00,2.42,0.00,0.000,1030,0.000,0.056,2814,1874,2306,2368,2245,0,0,0,0,0,0,28.83,24.90,28.83
$GC,8570,0.68,146.0,2814,1874,2366,2241,914.7,15.0,595,8575,0.00,2.33,0.00,0.000,260,0.000,0.064,2814,3285,2304,2367,2241,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8649,0.68,146.0,2813,3285,2366,2241,902.3,15.5,599,8656,0.15,2.30,0.00,0.000,5126,0.217,0.056,2793,1866,2303,2366,2241,0,0,0,0,0,0,25.21,25.58,28.83
$GC,8969,0.68,146.0,2793,1866,2366,2238,859.5,13.1,615,8975,0.00,2.33,0.00,0.000,260,0.000,0.063,2788,3291,2302,2366,2238,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9031,0.68,146.0,2788,3291,2366,2238,851.5,13.3,618,9036,0.00,2.28,0.00,0.000,1030,0.000,0.057,2797,1872,2302,2366,2238,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9350,0.68,146.0,2796,1872,2365,2237,809.2,13.2,634,9356,0.00,2.28,0.00,0.000,260,0.000,0.063,2797,3283,2301,2365,2237,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9457,0.68,146.0,2797,3283,2365,2237,795.5,14.0,639,9461,0.00,2.28,0.00,0.000,1030,0.000,0.056,2807,1868,2301,2365,2237,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,16096,end climb,SURFACE_DEPTH_REACHED
$STATE,16097,begin surface coast
$FINISH,-0.1,1.026337
$STATE,16129,end surface coast,CONTROL_FINISHED_OK
$STATE,16129,begin surface
$SM_CCo,16143,18.67,0.154,0,0,1970,230.09
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$IRIDIUM_FIX,-4247.91,822.81,111108,202025
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.59
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.2,38.450
$10V_AH,10.0,30.799
$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
$DEVICE_SECS,18.000,178.925,291.550,18.675,0.000,48.981,62.913,200.906,49.250,0.000,25.847,3283.548,9354.813,516.380,3270.054,245.172,0.000,1818.342,0.000,2706.896,0.000,299.233,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.673,79.717,730.695,1838.311,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352684
$DATA_FILE_SIZE,80355,1224
$CAP_FILE_SIZE,188943,0
$CFSIZE,259248128,240762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218, 50.1,1
$GPS,160116,112433,-4259.948,825.036,74,1.1,74,-25.0