version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 230
start: 1 18 116 0 42 13
data:
$ID,542
$MISSION,12
$DIVE,230
$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,-29938.826
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,180116,003534,-4257.685,836.616,84,0.9,85,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.6
$GPS2,180116,004146,-4257.661,836.594,16,1.7,16,-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,222.2,11767,-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,-146.0,168,2002,1975,1918,0.0,0.0,0,65,0.00,0.00,-47.58,0.000,16386,0.000,0.000,170,2002,3283,3356,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,169,2002,3356,3213,3.7,-6.6,6,86,8.43,0.00,-4.38,0.000,18694,0.220,0.000,2341,2002,3507,3563,3452,0,0,0,0,0,0,25.22,28.83,26.24
$GC,138,-0.68,-146.0,2341,2001,3564,3453,25.0,-21.0,16,146,0.00,2.35,0.00,0.000,516,0.000,0.063,2341,586,3508,3564,3453,0,0,0,0,0,0,28.83,25.66,28.83
$GC,229,-0.68,-146.0,2341,586,3564,3454,40.8,-14.7,30,237,0.00,2.30,0.00,0.000,1030,0.000,0.052,2333,1996,3509,3564,3454,0,0,0,0,0,0,28.83,25.76,28.83
$GC,564,-0.68,-146.0,2333,1996,3564,3456,94.8,-15.8,91,574,0.00,2.28,0.00,0.000,516,0.000,0.061,2333,582,3510,3564,3456,0,0,0,0,0,0,28.83,25.77,28.83
$GC,634,-0.68,-146.0,2332,582,3564,3456,105.9,-15.9,100,644,0.00,2.25,0.00,0.000,1030,0.000,0.050,2323,2000,3510,3564,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,942,-0.68,-146.0,2322,2000,3564,3457,157.0,-16.1,131,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2000,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.68,-146.0,2322,2000,3566,3457,204.0,-15.5,161,1252,0.00,2.30,0.00,0.000,516,0.000,0.061,2323,576,3511,3566,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1295,-0.68,-146.0,2322,577,3565,3458,212.2,-15.6,166,1305,0.15,2.22,0.00,0.000,3078,0.161,0.051,2350,1996,3511,3565,3458,0,0,0,0,0,0,25.69,25.96,28.83
$GC,1606,-0.68,-146.0,2350,1996,3566,3458,252.2,-13.2,197,1615,0.00,2.28,0.00,0.000,516,0.000,0.061,2350,586,3512,3566,3458,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1670,-0.68,-146.0,2351,586,3566,3458,260.3,-12.8,203,1678,0.00,2.28,0.00,0.000,1030,0.000,0.051,2342,1995,3511,3565,3458,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1978,-0.68,-146.0,2342,1995,3566,3458,303.3,-14.1,234,1987,0.00,2.25,0.00,0.000,516,0.000,0.061,2342,580,3512,3566,3458,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2071,-0.68,-146.0,2342,579,3566,3458,316.5,-13.8,243,2081,0.00,2.22,0.00,0.000,1030,0.000,0.052,2333,1995,3512,3566,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2381,-0.68,-146.0,2332,1995,3566,3458,361.9,-14.7,274,2385,0.00,2.25,0.00,0.000,516,0.000,0.063,2333,586,3512,3566,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2420,-0.68,-146.0,2332,586,3566,3458,367.4,-14.9,277,2428,0.00,2.20,0.00,0.000,1030,0.000,0.053,2322,1996,3512,3566,3458,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2739,-0.68,-146.0,2322,1996,3566,3458,415.2,-14.9,304,2745,0.00,2.25,0.00,0.000,516,0.000,0.063,2322,588,3512,3566,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2779,-0.68,-146.0,2322,588,3566,3458,421.3,-15.1,306,2785,0.15,2.22,0.00,0.000,3078,0.159,0.053,2351,1995,3512,3566,3459,0,0,0,0,0,0,25.75,26.00,28.83
$GC,3098,-0.68,-146.0,2351,1995,3566,3458,459.8,-11.8,322,3104,0.00,2.25,0.00,0.000,516,0.000,0.063,2351,585,3512,3566,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3140,-0.68,-146.0,2351,585,3566,3458,464.9,-12.1,324,3146,0.00,2.22,0.00,0.000,1030,0.000,0.054,2343,1993,3512,3566,3458,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3460,-0.68,-146.0,2343,1994,3565,3458,503.5,-11.8,340,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1994,3511,3565,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.68,-146.0,2343,1994,3566,3458,539.0,-11.7,355,3766,0.00,2.28,0.00,0.000,516,0.000,0.066,2343,588,3512,3566,3458,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3854,-0.68,-146.0,2342,587,3566,3458,548.6,-11.8,359,3862,0.00,2.25,0.00,0.000,1030,0.000,0.055,2333,2001,3512,3566,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4161,-0.68,-146.0,2333,2001,3566,3458,590.5,-13.3,375,4167,0.00,2.30,0.00,0.000,516,0.000,0.066,2333,577,3512,3566,3458,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4215,-0.68,-146.0,2333,577,3566,3458,596.0,-13.3,377,4221,0.00,2.28,0.00,0.000,1030,0.000,0.055,2323,2003,3512,3566,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4521,-0.68,-146.0,2323,2003,3565,3458,640.6,-13.7,393,4527,0.00,2.30,0.00,0.000,516,0.000,0.066,2323,587,3512,3566,3458,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4610,-0.68,-146.0,2323,587,3565,3458,651.8,-14.0,397,4615,0.15,2.25,0.00,0.000,3078,0.160,0.056,2351,2002,3511,3565,3458,0,0,0,0,0,0,25.72,25.97,28.83
$GC,4917,-0.68,-146.0,2351,2003,3565,3458,685.5,-10.4,412,4922,0.00,2.30,0.00,0.000,516,0.000,0.067,2351,581,3511,3565,3458,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4989,-0.68,-146.0,2351,581,3565,3458,691.8,-10.5,415,4996,0.00,2.28,0.00,0.000,1030,0.000,0.057,2343,1996,3511,3564,3458,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5296,-0.68,-146.0,2342,1997,3564,3458,728.6,-12.0,431,5301,0.00,2.30,0.00,0.000,516,0.000,0.067,2343,579,3510,3563,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5331,-0.68,-146.0,2342,579,3564,3458,731.2,-12.2,432,5338,0.00,2.28,0.00,0.000,1030,0.000,0.057,2333,1994,3511,3564,3458,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5638,-0.68,-146.0,2333,1995,3563,3458,773.7,-13.6,448,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1995,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5941,-0.68,-146.0,2333,1995,3562,3458,815.8,-13.9,463,5947,0.00,2.25,0.00,0.000,516,0.000,0.067,2333,592,3510,3563,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6021,-0.68,-146.0,2333,592,3563,3458,827.0,-13.9,467,6025,0.00,2.30,0.00,0.000,1030,0.000,0.057,2323,2001,3510,3563,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6339,-0.68,-146.0,2323,2002,3562,3458,871.6,-13.7,483,6345,0.00,2.33,0.00,0.000,516,0.000,0.068,2323,578,3510,3562,3458,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6392,-0.68,-146.0,2323,578,3562,3457,877.1,-13.7,485,6400,0.15,2.28,0.00,0.000,3078,0.159,0.058,2351,1997,3509,3562,3457,0,0,0,0,0,0,25.70,25.94,28.83
$GC,6700,-0.68,-146.0,2351,1997,3562,3457,911.9,-10.2,501,6705,0.00,2.30,0.00,0.000,516,0.000,0.070,2351,588,3509,3562,3457,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6741,-0.68,-146.0,2351,587,3562,3457,916.0,-10.1,503,6746,0.00,2.30,0.00,0.000,1030,0.000,0.058,2343,1991,3509,3562,3457,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7060,-0.68,-146.0,2343,1992,3561,3456,947.1,-9.7,519,7066,0.00,2.30,0.00,0.000,516,0.000,0.069,2343,584,3508,3561,3456,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7087,-0.68,-146.0,2343,583,3560,3456,949.1,-9.8,520,7091,0.00,2.28,0.00,0.000,1030,0.000,0.058,2333,1998,3508,3561,3456,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7400,-0.68,-146.0,2333,1998,3561,3456,983.0,-10.4,536,7406,0.00,2.33,0.00,0.000,516,0.000,0.068,2333,582,3507,3560,3455,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7447,-0.68,-146.0,2333,582,3561,3456,987.4,-10.6,538,7452,0.00,2.33,0.00,0.000,1030,0.000,0.058,2323,1998,3507,3560,3455,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,7559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7559,begin apogee
$GC,7564,-0.14,0.0,2323,1859,3560,3455,1000.6,-11.3,544,7702,0.62,0.00,134.80,1.774,10246,0.131,0.000,2518,1858,2909,2987,2832,0,0,0,0,0,0,25.57,28.83,22.67
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7704,begin climb
$GC,7705,0.68,146.0,2517,1858,2987,2832,1006.4,0.0,551,7861,0.80,2.65,143.25,1.744,10500,0.050,0.063,2804,3276,2312,2376,2248,0,0,0,0,0,0,23.90,23.34,22.24
$GC,7932,0.68,146.0,2804,3277,2373,2245,994.2,14.9,562,7936,0.00,2.42,0.00,0.000,1030,0.000,0.054,2815,1873,2309,2373,2245,0,0,0,0,0,0,28.83,24.27,28.83
$GC,8240,0.68,146.0,2815,1873,2371,2238,940.3,16.6,577,8245,0.00,2.35,0.00,0.000,260,0.000,0.063,2815,3288,2304,2371,2238,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8319,0.68,146.0,2814,3288,2370,2238,926.5,17.2,581,8326,0.15,2.33,0.00,0.000,5126,0.214,0.056,2794,1868,2304,2371,2238,0,0,0,0,0,0,25.08,25.43,28.83
$GC,8640,0.68,146.0,2793,1867,2370,2235,878.0,14.9,597,8645,0.00,2.33,0.00,0.000,260,0.000,0.063,2793,3291,2302,2370,2235,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8772,0.68,146.0,2793,3291,2370,2235,858.9,16.0,603,8779,0.00,2.33,0.00,0.000,1030,0.000,0.057,2802,1862,2302,2370,2235,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9079,0.68,146.0,2802,1862,2370,2234,811.8,14.2,619,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1861,2302,2370,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9379,0.68,146.0,2802,1862,2370,2233,770.9,13.2,634,9384,0.00,2.33,0.00,0.000,260,0.000,0.063,2802,3292,2302,2370,2234,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9572,0.68,146.0,2802,3292,2369,2234,745.3,14.7,643,9579,0.00,2.30,0.00,0.000,1030,0.000,0.056,2813,1869,2301,2369,2234,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9879,0.68,146.0,2812,1869,2369,2233,702.0,12.9,659,9885,0.00,2.30,0.00,0.000,260,0.000,0.063,2812,3289,2300,2369,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9941,0.68,146.0,1920,3288,2327,2227,693.8,13.4,662,9946,0.15,2.28,0.00,0.000,5126,0.210,0.056,2791,1870,2301,2369,2233,0,0,0,0,0,0,25.54,25.93,28.83
$GC,10259,0.68,146.0,2790,1869,2369,2233,655.2,12.1,678,10264,0.00,2.30,0.00,0.000,260,0.000,0.063,2786,3292,2300,2369,2232,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,16104,end climb,SURFACE_DEPTH_REACHED
$STATE,16104,begin surface coast
$FINISH,-0.1,1.026170
$STATE,16130,end surface coast,CONTROL_FINISHED_OK
$STATE,16130,begin surface
$SM_CCo,16147,8.80,0.158,0,0,1968,230.09
$SM_GC,2.49,6.95,2.10,8.80,0.046,0.050,0.158,163,1993,1968,-7.41,0.82,230.09,0,0,0,0,0,0,26.07,25.91,25.63
$IRIDIUM_FIX,-4242.04,834.03,131108,090948
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.96
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.2,40.092
$10V_AH,10.0,32.009
$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,18.150,164.825,302.300,8.800,0.000,22.920,20.969,207.157,49.250,0.000,18.329,3275.013,9326.118,518.632,3163.869,237.981,0.000,1789.681,0.000,2676.434,0.000,296.737,0.000
$DEVICE_MAMPS,220.320,77.265,1774.035,158.355,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.500,80.148,730.081,1836.843,0.000,0.000,0.000,0.000,0.000,0.000
$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,76942,1222
$CAP_FILE_SIZE,183002,0
$CFSIZE,259248128,239955968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090, 39.4,1
$GPS,180116,051334,-4259.141,836.825,89,1.2,90,-25.1