version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 229
start: 1 17 116 20 0 52
data:
$ID,542
$MISSION,12
$DIVE,229
$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,-29937.57
$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,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
$GPS1,170116,195458,-4256.078,835.895,36,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-71.7
$GPS2,170116,200025,-4256.026,835.937,19,0.8,20,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,213.6,14768,-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,-146.0,167,2007,1595,1490,0.0,0.0,0,82,0.00,0.00,-65.05,0.000,16386,0.000,0.000,166,2008,3274,3344,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.68,-146.0,166,2008,3344,3206,3.4,-4.7,8,104,8.27,2.30,-4.65,0.000,18692,0.216,0.067,2330,3407,3507,3561,3453,0,0,0,0,0,0,25.32,25.84,26.33
$GC,131,-0.68,-146.0,2331,3407,3561,3456,18.5,-28.7,14,140,0.00,2.30,0.00,0.000,1030,0.000,0.050,2331,1986,3508,3561,3455,0,0,0,0,0,0,28.83,25.84,28.83
$GC,193,-0.68,-146.0,2330,1985,3562,3455,28.8,-17.4,23,203,0.00,2.30,0.00,0.000,516,0.000,0.063,2331,589,3509,3562,3456,0,0,0,0,0,0,28.83,25.77,28.83
$GC,224,-0.68,-146.0,2330,589,3562,3456,34.3,-17.7,27,234,0.08,2.25,0.00,0.000,3078,0.157,0.052,2344,1984,3509,3562,3456,0,0,0,0,0,0,25.62,25.85,28.83
$GC,372,-0.68,-146.0,2344,1984,3562,3456,58.2,-15.6,52,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1984,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.68,-146.0,2344,1984,3563,3456,108.2,-15.1,108,711,0.00,2.25,0.00,0.000,516,0.000,0.060,2344,580,3509,3563,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,786,-0.68,-146.0,2344,580,3563,3457,120.4,-14.8,116,796,0.00,2.25,0.00,0.000,1030,0.000,0.052,2336,2005,3509,3563,3456,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1095,-0.68,-146.0,2336,2005,3563,3458,168.2,-15.4,147,1099,0.00,2.28,0.00,0.000,516,0.000,0.062,2336,583,3510,3564,3457,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1187,-0.68,-146.0,2336,582,3563,3459,181.3,-14.5,155,1194,0.00,2.25,0.00,0.000,1030,0.000,0.052,2326,2000,3510,3563,3458,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1495,-0.68,-146.0,2325,2002,3564,3459,229.6,-15.1,186,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2002,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.68,-146.0,2325,2002,3564,3459,274.2,-14.7,216,1798,0.00,2.28,0.00,0.000,516,0.000,0.063,2326,585,3511,3564,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1843,-0.68,-146.0,2325,585,3564,3459,281.2,-14.8,220,1852,0.10,2.28,0.00,0.000,3078,0.142,0.052,2347,1995,3511,3564,3459,0,0,0,0,0,0,25.79,26.03,28.83
$GC,2151,-0.68,-146.0,2347,1996,3564,3459,320.0,-12.2,251,2164,0.00,2.28,0.00,0.000,516,0.000,0.063,2348,580,3511,3564,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2218,-0.68,-146.0,2347,581,3563,3459,328.1,-11.9,257,2227,0.00,2.28,0.00,0.000,1030,0.000,0.053,2339,1991,3511,3564,3459,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2527,-0.68,-146.0,2339,1991,3564,3459,370.1,-13.8,288,2537,0.00,2.28,0.00,0.000,516,0.000,0.063,2340,578,3511,3564,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2613,-0.68,-146.0,1488,578,3558,3457,381.3,-13.2,296,2620,0.00,2.25,0.00,0.000,1030,0.000,0.053,2330,1996,3511,3564,3459,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2930,-0.68,-146.0,2329,1997,3564,3459,426.5,-14.1,319,2935,0.00,2.28,0.00,0.000,516,0.000,0.063,2330,583,3511,3564,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2990,-0.68,-146.0,2330,583,3564,3459,435.0,-14.2,322,2996,0.12,2.22,0.00,0.000,3078,0.164,0.054,2350,1996,3511,3564,3459,0,0,0,0,0,0,25.84,26.04,28.83
$GC,3309,-0.68,-146.0,2349,1996,3564,3459,473.4,-12.0,338,3315,0.00,2.28,0.00,0.000,516,0.000,0.064,2350,585,3511,3564,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3377,-0.68,-146.0,2350,585,3564,3459,480.6,-12.0,341,3381,0.00,2.25,0.00,0.000,1030,0.000,0.055,2342,2003,3511,3564,3459,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3684,-0.68,-146.0,2342,2004,3564,3459,518.9,-12.2,356,3690,0.00,2.30,0.00,0.000,516,0.000,0.065,2342,580,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3749,-0.68,-146.0,2342,579,3564,3459,526.4,-12.1,359,3754,0.00,2.22,0.00,0.000,1030,0.000,0.054,2332,1995,3511,3564,3459,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4067,-0.68,-146.0,2332,1995,3564,3459,565.7,-12.3,375,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1995,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.68,-146.0,2331,1995,3564,3459,601.8,-11.8,390,4376,0.00,2.25,0.00,0.000,516,0.000,0.066,2332,587,3511,3564,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4416,-0.68,-146.0,2332,586,3564,3459,606.8,-11.9,392,4420,0.00,2.25,0.00,0.000,1030,0.000,0.056,2322,2004,3511,3564,3459,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4723,-0.68,-146.0,2322,2005,3564,3459,646.8,-13.0,407,4729,0.00,2.30,0.00,0.000,516,0.000,0.066,2322,584,3511,3563,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4776,-0.68,-146.0,2322,584,3564,3459,652.4,-13.7,409,4785,0.15,2.25,0.00,0.000,3078,0.157,0.056,2351,1995,3511,3564,3459,0,0,0,0,0,0,25.78,26.01,28.83
$GC,5083,-0.68,-146.0,2351,1995,3564,3459,687.4,-10.8,425,5087,0.00,2.28,0.00,0.000,516,0.000,0.066,2351,579,3511,3564,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5119,-0.68,-146.0,2351,579,3564,3459,691.4,-11.0,427,5125,0.00,2.25,0.00,0.000,1030,0.000,0.056,2343,1995,3511,3564,3459,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5439,-0.68,-146.0,2342,1994,3564,3459,728.2,-11.5,443,5443,0.00,2.28,0.00,0.000,516,0.000,0.065,2343,578,3512,3565,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5498,-0.68,-146.0,2342,577,3564,3459,735.0,-11.9,446,5502,0.00,2.30,0.00,0.000,1030,0.000,0.057,2333,1992,3511,3564,3459,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5817,-0.68,-146.0,2333,1992,3563,3459,775.6,-12.6,462,5822,0.00,2.28,0.00,0.000,516,0.000,0.067,2333,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5869,-0.68,-146.0,2333,587,3563,3459,780.8,-12.7,464,5876,0.00,2.28,0.00,0.000,1030,0.000,0.057,2323,2006,3511,3563,3459,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6177,-0.68,-146.0,2323,2006,3563,3459,822.6,-13.1,480,6182,0.00,2.30,0.00,0.000,516,0.000,0.067,2323,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6244,-0.68,-146.0,2323,588,3563,3459,830.6,-13.4,483,6249,0.15,2.25,0.00,0.000,3078,0.159,0.057,2351,1995,3511,3563,3459,0,0,0,0,0,0,25.74,25.98,28.83
$GC,6552,-0.68,-146.0,2351,1994,3563,3459,864.5,-10.7,498,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1994,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,-0.68,-146.0,2351,1995,3562,3459,896.8,-10.7,513,6858,0.00,2.25,0.00,0.000,516,0.000,0.067,2351,592,3510,3562,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6921,-0.68,-146.0,2351,592,3562,3459,903.5,-11.0,516,6925,0.00,2.25,0.00,0.000,1030,0.000,0.058,2343,1995,3510,3562,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7228,-0.68,-146.0,2343,1996,3562,3457,937.3,-10.7,531,7234,0.00,2.30,0.00,0.000,516,0.000,0.067,2343,580,3509,3562,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7261,-0.68,-146.0,2343,579,3562,3457,939.6,-10.8,532,7269,0.00,2.28,0.00,0.000,1030,0.000,0.058,2333,1997,3509,3562,3457,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7568,-0.68,-146.0,2333,1997,3561,3457,975.8,-11.4,548,7574,0.00,2.30,0.00,0.000,516,0.000,0.068,2333,585,3509,3561,3457,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7617,-0.68,-146.0,2333,584,3561,3457,980.6,-11.8,550,7621,0.00,2.30,0.00,0.000,1030,0.000,0.059,2323,2004,3509,3561,3457,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7788,begin apogee
$GC,7792,-0.14,0.0,2323,1864,3561,3457,1002.2,-12.0,559,7930,0.62,0.00,134.30,1.776,10246,0.132,0.000,2518,1864,2909,2987,2831,0,0,0,0,0,0,25.57,28.83,22.70
$STATE,7931,end apogee,CONTROL_FINISHED_OK
$STATE,7931,begin climb
$GC,7933,0.68,146.0,2517,1864,2987,2832,1008.3,0.0,566,8083,0.80,2.60,143.02,1.747,10500,0.050,0.062,2805,3288,2312,2379,2246,0,0,0,0,0,0,23.90,23.34,22.26
$GC,8215,0.68,146.0,2805,3288,2374,2239,988.2,16.5,579,8219,0.00,2.42,0.00,0.000,1030,0.000,0.055,2815,1874,2306,2374,2239,0,0,0,0,0,0,28.83,24.55,28.83
$GC,8527,0.68,146.0,2815,1874,2374,2234,938.5,15.3,595,8533,0.00,2.35,0.00,0.000,260,0.000,0.063,2815,3291,2303,2373,2234,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8607,0.68,146.0,2815,3291,2372,2233,925.5,16.2,599,8614,0.15,2.35,0.00,0.000,5126,0.218,0.057,2794,1862,2302,2372,2233,0,0,0,0,0,0,25.18,25.53,28.83
$GC,8927,0.68,146.0,2794,1862,2372,2232,880.4,14.2,615,8933,0.00,2.33,0.00,0.000,260,0.000,0.063,2794,3286,2302,2372,2232,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9030,0.68,146.0,2794,3286,2371,2232,865.3,15.1,620,9034,0.00,2.30,0.00,0.000,1030,0.000,0.057,2803,1867,2301,2371,2232,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9347,0.68,146.0,2803,1866,2371,2230,818.3,14.4,636,9353,0.00,2.30,0.00,0.000,260,0.000,0.063,2803,3285,2301,2371,2231,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9488,0.68,146.0,2803,3286,2371,2231,797.4,14.9,643,9494,0.00,2.28,0.00,0.000,1030,0.000,0.057,2813,1868,2301,2371,2231,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9807,0.68,146.0,2813,1868,2371,2229,751.7,14.1,659,9813,0.00,2.30,0.00,0.000,260,0.000,0.063,2813,3288,2300,2371,2229,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9868,0.68,146.0,2813,3289,2370,2230,742.8,14.6,662,9874,0.15,2.28,0.00,0.000,5126,0.211,0.057,2791,1868,2300,2370,2230,0,0,0,0,0,0,25.56,25.93,28.83
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$STATE,16315,end climb,SURFACE_DEPTH_REACHED
$STATE,16316,begin surface coast
$FINISH,1.5,1.026146
$STATE,16323,end surface coast,CONTROL_FINISHED_OK
$STATE,16323,begin surface
$SM_CCo,16340,21.23,0.149,0,0,1969,230.09
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$IRIDIUM_FIX,-4239.11,834.03,131108,060626
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.79
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,39.928
$10V_AH,9.9,31.877
$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,18.075,160.450,289.825,21.225,0.000,23.142,39.715,149.034,49.250,0.000,21.922,3335.392,9406.277,511.288,3195.217,243.984,0.000,1812.562,0.000,2739.253,0.000,296.832,0.000
$DEVICE_MAMPS,218.025,78.030,1776.330,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.356,78.442,734.449,1856.483,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352632
$DATA_FILE_SIZE,80250,1243
$CAP_FILE_SIZE,184076,0
$CFSIZE,259248128,240041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.078, 52.5,1
$GPS,180116,003534,-4257.685,836.616,84,0.9,85,-25.1