version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 238
start: 1 19 116 11 31 19
data:
$ID,542
$MISSION,12
$DIVE,238
$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,-29948.867
$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,20
$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
$GPS1,190116,112403,-4304.566,835.082,78,0.9,78,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.5
$GPS2,190116,113052,-4304.582,835.120,27,0.9,27,-25.1
$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,264.7,15084,-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,-146.0,152,1982,1974,1921,0.0,0.0,0,65,0.00,0.00,-47.62,0.000,16386,0.000,0.000,152,1982,3275,3349,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,152,1982,3349,3203,3.5,-6.1,6,86,8.30,2.35,-4.65,0.000,18692,0.210,0.065,2330,3422,3507,3562,3452,0,0,0,0,0,0,25.15,25.72,26.22
$GC,189,-0.68,-146.0,2330,3422,3563,3456,31.5,-15.7,24,199,0.00,2.33,0.00,0.000,1030,0.000,0.048,2330,1988,3509,3563,3455,0,0,0,0,0,0,28.83,25.72,28.83
$GC,343,-0.68,-146.0,2330,1988,3563,3456,55.8,-17.5,49,349,0.00,2.28,0.00,0.000,516,0.000,0.062,2330,584,3509,3563,3456,0,0,0,0,0,0,28.83,25.67,28.83
$GC,407,-0.68,-146.0,2330,584,3563,3456,67.6,-15.6,60,417,0.08,2.28,0.00,0.000,3078,0.153,0.050,2344,1992,3509,3563,3456,0,0,0,0,0,0,25.55,25.79,28.83
$GC,747,-0.68,-146.0,2343,1993,3565,3456,117.7,-14.2,110,756,0.00,2.28,0.00,0.000,516,0.000,0.060,2344,582,3510,3565,3456,0,0,0,0,0,0,28.83,25.76,28.83
$GC,809,-0.68,-146.0,2344,582,3565,3456,126.3,-13.5,116,819,0.00,2.25,0.00,0.000,1030,0.000,0.050,2336,2006,3510,3565,3456,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1118,-0.68,-146.0,2336,2006,3566,3456,169.6,-13.6,147,1128,0.00,2.28,0.00,0.000,516,0.000,0.060,2336,586,3511,3566,3456,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1184,-0.68,-146.0,2336,586,3566,3457,178.7,-13.9,153,1193,0.00,2.22,0.00,0.000,1030,0.000,0.050,2326,1998,3511,3566,3457,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1493,-0.68,-146.0,2326,1998,3566,3457,223.9,-14.9,184,1506,0.00,2.28,0.00,0.000,516,0.000,0.061,2326,582,3512,3566,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1570,-0.68,-146.0,2326,582,3566,3457,235.8,-15.0,191,1579,0.12,2.22,0.00,0.000,3078,0.170,0.050,2346,2000,3512,3566,3458,0,0,0,0,0,0,25.71,25.95,28.83
$GC,1879,-0.68,-146.0,2345,2001,3566,3458,277.4,-13.7,222,1888,0.00,2.28,0.00,0.000,516,0.000,0.060,2346,582,3512,3566,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1931,-0.68,-146.0,2345,582,3566,3459,284.5,-14.0,227,1935,0.00,2.22,0.00,0.000,1030,0.000,0.050,2338,2001,3513,3567,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2237,-0.68,-146.0,2337,2002,3566,3459,327.6,-14.4,257,2245,0.00,2.25,0.00,0.000,516,0.000,0.061,2337,589,3512,3566,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2272,-0.68,-146.0,2337,589,3566,3459,332.5,-14.6,260,2280,0.00,2.25,0.00,0.000,1030,0.000,0.050,2327,1990,3512,3566,3459,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2579,-0.68,-146.0,2327,1991,3566,3459,378.1,-14.6,291,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1990,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-0.68,-146.0,2327,1990,3566,3459,423.6,-14.7,314,2893,0.00,2.28,0.00,0.000,516,0.000,0.063,2327,585,3512,3566,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2955,-0.68,-146.0,2327,585,3566,3459,431.9,-14.8,317,2960,0.12,2.22,0.00,0.000,3078,0.168,0.051,2347,1996,3512,3566,3459,0,0,0,0,0,0,25.75,25.98,28.83
$GC,3261,-0.68,-146.0,2347,1997,3566,3459,471.1,-12.3,332,3267,0.00,2.30,0.00,0.000,516,0.000,0.064,2348,584,3512,3566,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3303,-0.68,-146.0,2347,584,3566,3459,476.2,-12.5,334,3308,0.00,2.28,0.00,0.000,1030,0.000,0.053,2339,1990,3512,3566,3459,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3622,-0.68,-146.0,2339,1991,3566,3459,516.8,-12.6,350,3627,0.00,2.28,0.00,0.000,516,0.000,0.063,2339,583,3512,3566,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3662,-0.68,-146.0,2339,583,3566,3459,522.1,-12.9,352,3668,0.00,2.25,0.00,0.000,1030,0.000,0.054,2329,2006,3512,3566,3458,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3981,-0.68,-146.0,2329,2006,3566,3458,564.6,-13.2,368,3985,0.00,2.30,0.00,0.000,516,0.000,0.064,2329,585,3512,3566,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4011,-0.68,-146.0,2329,585,3566,3458,566.7,-13.2,369,4018,0.12,2.25,0.00,0.000,3078,0.167,0.053,2349,1998,3512,3566,3459,0,0,0,0,0,0,25.75,25.96,28.83
$GC,4318,-0.68,-146.0,2349,1998,3566,3459,604.2,-11.7,385,4324,0.00,2.30,0.00,0.000,516,0.000,0.066,2349,580,3512,3566,3458,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4347,-0.68,-146.0,2349,580,3566,3458,606.6,-11.8,386,4352,0.00,2.25,0.00,0.000,1030,0.000,0.054,2341,1996,3512,3566,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4657,-0.68,-146.0,2341,1996,3565,3458,646.8,-12.8,401,4663,0.00,2.28,0.00,0.000,516,0.000,0.066,2341,582,3511,3565,3458,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4688,-0.68,-146.0,2341,582,3565,3458,649.4,-12.9,402,4695,0.00,2.25,0.00,0.000,1030,0.000,0.055,2331,1995,3511,3565,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4995,-0.68,-146.0,2331,1995,3564,3458,691.6,-13.1,418,5001,0.00,2.28,0.00,0.000,516,0.000,0.066,2331,583,3511,3564,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5043,-0.68,-146.0,2331,584,3564,3458,697.1,-13.3,420,5047,0.00,2.30,0.00,0.000,1030,0.000,0.056,2321,1995,3511,3565,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5357,-0.68,-146.0,2321,1996,3564,3458,741.1,-13.9,436,5359,0.12,0.00,0.00,0.000,2054,0.171,0.000,2352,1995,3511,3564,3458,0,0,0,0,0,0,26.11,28.83,28.83
$GC,5656,-0.68,-146.0,2352,1996,3564,3458,774.5,-10.9,451,5661,0.00,2.30,0.00,0.000,516,0.000,0.067,2352,580,3510,3563,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5724,-0.68,-146.0,2352,580,3563,3458,781.2,-11.0,454,5728,0.00,2.28,0.00,0.000,1030,0.000,0.057,2344,2003,3510,3563,3458,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6033,-0.68,-146.0,2343,2003,3563,3458,816.2,-11.3,469,6038,0.00,2.28,0.00,0.000,516,0.000,0.067,2344,594,3510,3563,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6079,-0.68,-146.0,2344,594,3563,3458,820.8,-11.4,471,6083,0.00,2.22,0.00,0.000,1030,0.000,0.056,2334,1996,3510,3563,3458,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6385,-0.68,-146.0,2334,1997,3562,3458,857.8,-11.5,486,6391,0.00,2.30,0.00,0.000,516,0.000,0.067,2334,580,3510,3562,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6420,-0.68,-146.0,2334,579,3562,3458,860.1,-11.5,487,6427,0.00,2.28,0.00,0.000,1030,0.000,0.057,2324,2002,3510,3562,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6727,-0.68,-146.0,2324,2003,3561,3458,897.4,-11.5,503,6733,0.00,2.30,0.00,0.000,516,0.000,0.067,2324,587,3509,3561,3458,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6755,-0.68,-146.0,2324,588,3561,3458,899.8,-11.6,504,6760,0.12,2.25,0.00,0.000,3078,0.162,0.057,2345,1996,3509,3561,3458,0,0,0,0,0,0,25.71,25.91,28.83
$GC,7062,-0.68,-146.0,2345,1996,3560,3456,929.7,-9.1,519,7068,0.00,2.30,0.00,0.000,516,0.000,0.067,2346,589,3509,3561,3457,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7095,-0.68,-146.0,2346,589,3561,3456,931.6,-9.2,520,7103,0.00,2.25,0.00,0.000,1030,0.000,0.057,2338,1995,3508,3560,3456,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7404,-0.68,-146.0,2338,1995,3560,3456,963.4,-10.1,536,7409,0.00,2.28,0.00,0.000,516,0.000,0.066,2338,586,3508,3560,3456,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7437,-0.68,-146.0,2338,586,3560,3456,965.5,-10.2,537,7444,0.00,2.28,0.00,0.000,1030,0.000,0.057,2329,2000,3508,3560,3456,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,7747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7747,begin apogee
$GC,7752,-0.14,0.0,2328,1863,3559,3456,1000.2,-10.8,553,7887,0.62,0.00,131.93,1.770,10246,0.129,0.000,2523,1863,2909,2985,2833,0,0,0,0,0,0,25.53,28.83,22.67
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7890,0.68,146.0,2523,1863,2985,2833,1006.0,0.0,560,8039,0.77,2.60,139.62,1.735,10756,0.047,0.067,2819,468,2312,2373,2252,0,0,0,0,0,0,23.94,23.33,22.23
$GC,8179,0.68,146.0,2819,467,2365,2248,984.5,16.8,574,8187,0.12,2.40,0.00,0.000,5126,0.214,0.057,2796,1871,2306,2365,2247,0,0,0,0,0,0,24.30,24.59,28.83
$GC,8487,0.68,146.0,2795,1871,2366,2243,935.8,15.2,590,8493,0.00,2.35,0.00,0.000,260,0.000,0.063,2795,3293,2304,2365,2243,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8639,0.68,146.0,2795,3293,2363,2243,913.9,15.6,597,8647,0.00,2.33,0.00,0.000,1030,0.000,0.057,2804,1875,2302,2363,2242,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8947,0.68,146.0,2804,1875,2363,2240,867.3,14.6,613,8953,0.00,2.30,0.00,0.000,260,0.000,0.063,2804,3287,2301,2363,2240,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8974,0.68,146.0,2804,3288,2362,2240,864.3,14.8,614,8978,0.00,2.30,0.00,0.000,1030,0.000,0.056,2814,1866,2301,2363,2240,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9281,0.68,146.0,2814,1866,2363,2239,818.8,14.2,629,9287,0.00,2.30,0.00,0.000,260,0.000,0.063,2814,3285,2301,2363,2239,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9365,0.68,146.0,2814,3285,2362,2238,806.5,15.4,633,9369,0.15,2.28,0.00,0.000,5126,0.211,0.057,2792,1870,2300,2362,2239,0,0,0,0,0,0,25.44,25.82,28.83
$GC,9676,0.68,146.0,2792,1869,2362,2238,764.1,13.2,649,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1869,2300,2362,2238,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16063,end climb,SURFACE_DEPTH_REACHED
$STATE,16063,begin surface coast
$FINISH,-0.2,1.026105
$STATE,16096,end surface coast,CONTROL_FINISHED_OK
$STATE,16096,begin surface
$SM_CCo,16113,22.92,0.153,0,0,1969,230.09
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$IRIDIUM_FIX,-4302.64,1646.78,141108,202012
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.69
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,41.340
$10V_AH,10.0,33.018
$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
$DEVICE_SECS,18.050,164.675,281.975,22.925,0.000,23.409,46.639,205.428,49.250,0.000,28.375,3260.960,9372.740,490.068,3179.100,236.335,0.000,1744.891,0.000,2641.726,0.000,296.497,0.000
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$SENSOR_SECS,856.669,82.061,741.353,1841.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352680
$DATA_FILE_SIZE,76925,1220
$CAP_FILE_SIZE,182261,0
$CFSIZE,259248128,239276032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.193, 34.2,1
$GPS,190116,160151,-4304.462,834.101,60,0.9,60,-25.1