version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 239
start: 1 19 116 16 8 49
data:
$ID,542
$MISSION,12
$DIVE,239
$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,-29950.123
$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,24
$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
$GPS1,190116,160151,-4304.462,834.101,60,0.9,60,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.4
$GPS2,190116,160822,-4304.534,834.221,19,1.6,19,-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,258.9,13864,-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,-146.0,165,1979,1972,1921,0.0,0.0,0,65,0.00,0.00,-47.35,0.000,16386,0.000,0.000,165,1981,3277,3349,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,165,1980,3349,3208,3.8,-7.4,6,87,8.30,2.35,-4.47,0.000,18692,0.213,0.067,2331,3410,3507,3563,3451,0,0,0,0,0,0,25.18,25.72,26.24
$GC,138,-0.68,-146.0,2331,3410,3564,3455,22.9,-16.9,16,147,0.00,2.28,0.00,0.000,1030,0.000,0.047,2331,1999,3509,3563,3455,0,0,0,0,0,0,28.83,25.72,28.83
$GC,295,-0.68,-146.0,2331,1998,3565,3455,49.4,-16.7,41,302,0.00,2.30,0.00,0.000,516,0.000,0.063,2331,582,3510,3565,3455,0,0,0,0,0,0,28.83,25.65,28.83
$GC,335,-0.68,-146.0,1428,582,3558,3453,56.5,-16.7,48,344,0.00,2.28,0.00,0.000,1030,0.000,0.050,2321,1993,3510,3565,3455,0,0,0,0,0,0,28.83,25.77,28.83
$GC,674,-0.68,-146.0,2321,1992,3565,3457,113.9,-16.5,102,684,0.12,2.25,0.00,0.000,2564,0.171,0.060,2358,591,3511,3565,3457,0,0,0,0,0,0,25.85,25.77,28.83
$GC,740,-0.68,-146.0,2357,591,3565,3457,123.5,-13.8,108,749,0.00,2.28,0.00,0.000,1030,0.000,0.050,2349,1998,3510,3564,3457,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1049,-0.68,-146.0,2349,1998,3566,3457,164.1,-12.5,139,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1999,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-0.68,-146.0,2349,1999,3567,3457,202.2,-12.7,169,1358,0.00,2.28,0.00,0.000,516,0.000,0.060,2349,584,3512,3567,3457,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1412,-0.68,-146.0,2349,584,3567,3458,210.5,-13.0,175,1422,0.00,2.22,0.00,0.000,1030,0.000,0.050,2339,2000,3512,3567,3458,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1722,-0.68,-146.0,2339,2000,3566,3458,253.4,-13.8,206,1730,0.00,2.28,0.00,0.000,516,0.000,0.061,2339,584,3512,3567,3458,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1765,-0.68,-146.0,2339,584,3567,3459,259.6,-14.6,210,1769,0.00,2.22,0.00,0.000,1030,0.000,0.050,2329,2002,3513,3567,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2070,-0.68,-146.0,2329,2003,3567,3459,302.6,-13.9,240,2080,0.00,2.28,0.00,0.000,516,0.000,0.062,2329,585,3513,3567,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2104,-0.68,-146.0,2329,585,3567,3459,307.5,-14.5,243,2114,0.12,2.22,0.00,0.000,3078,0.162,0.050,2349,2003,3513,3567,3459,0,0,0,0,0,0,25.75,25.96,28.83
$GC,2414,-0.68,-146.0,2349,2004,3567,3459,343.5,-11.2,274,2422,0.00,2.28,0.00,0.000,516,0.000,0.062,2350,586,3512,3566,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2446,-0.68,-146.0,2349,586,3567,3459,347.2,-11.7,277,2454,0.00,2.22,0.00,0.000,1030,0.000,0.051,2341,2002,3513,3567,3459,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2756,-0.68,-146.0,2341,2002,3567,3459,382.9,-11.6,308,2765,0.00,2.28,0.00,0.000,516,0.000,0.063,2341,587,3513,3567,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2792,-0.68,-146.0,2341,586,3567,3459,387.1,-12.1,311,2800,0.00,2.22,0.00,0.000,1030,0.000,0.051,2331,1993,3513,3567,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3102,-0.68,-146.0,2331,1994,3568,3459,425.9,-12.8,332,3107,0.00,2.25,0.00,0.000,516,0.000,0.063,2331,586,3513,3567,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3140,-0.68,-146.0,2331,586,3567,3459,431.1,-12.8,334,3146,0.12,2.22,0.00,0.000,3078,0.164,0.053,2352,1999,3513,3567,3459,0,0,0,0,0,0,25.75,25.96,28.83
$GC,3460,-0.68,-146.0,2351,1999,3567,3459,465.9,-10.8,350,3466,0.00,2.30,0.00,0.000,516,0.000,0.065,2352,578,3513,3567,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3501,-0.68,-146.0,2352,577,3566,3459,470.3,-11.0,352,3506,0.00,2.25,0.00,0.000,1030,0.000,0.054,2343,1995,3512,3566,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3820,-0.68,-146.0,2343,1995,3567,3459,507.8,-12.0,368,3825,0.00,2.28,0.00,0.000,516,0.000,0.065,2343,586,3513,3567,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3860,-0.68,-146.0,2343,586,3567,3459,512.7,-12.3,370,3865,0.00,2.22,0.00,0.000,1030,0.000,0.054,2333,1994,3513,3567,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4179,-0.68,-146.0,2333,1995,3567,3459,553.1,-12.6,386,4183,0.00,2.28,0.00,0.000,516,0.000,0.065,2333,580,3513,3567,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4229,-0.68,-146.0,2333,580,3567,3459,557.9,-12.9,388,4236,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,1995,3513,3567,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4537,-0.68,-146.0,2323,1995,3567,3459,601.7,-13.9,404,4542,0.00,2.25,0.00,0.000,516,0.000,0.065,2323,585,3513,3567,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4597,-0.68,-146.0,2323,585,3567,3459,610.2,-14.1,407,4603,0.15,2.22,0.00,0.000,3078,0.158,0.054,2351,1995,3512,3566,3459,0,0,0,0,0,0,25.69,25.94,28.83
$GC,4915,-0.68,-146.0,2351,1995,3566,3459,647.5,-11.6,423,4920,0.00,2.28,0.00,0.000,516,0.000,0.066,2351,584,3512,3566,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4945,-0.68,-146.0,2351,584,3565,3459,649.5,-11.6,424,4952,0.00,2.25,0.00,0.000,1030,0.000,0.055,2343,1994,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5252,-0.68,-146.0,2342,1994,3565,3459,688.6,-12.4,440,5258,0.00,2.28,0.00,0.000,516,0.000,0.067,2343,584,3512,3565,3459,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5287,-0.68,-146.0,2343,585,3565,3459,691.1,-12.4,441,5293,0.00,2.25,0.00,0.000,1030,0.000,0.055,2333,1999,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5593,-0.68,-146.0,2333,1999,3564,3459,733.5,-13.4,457,5599,0.00,2.30,0.00,0.000,516,0.000,0.067,2333,583,3511,3564,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5628,-0.68,-146.0,2334,583,3564,3459,736.3,-13.6,458,5635,0.00,2.25,0.00,0.000,1030,0.000,0.055,2323,1994,3511,3564,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5936,-0.68,-146.0,2323,1994,3563,3459,781.3,-13.7,474,5941,0.00,2.30,0.00,0.000,516,0.000,0.067,2323,580,3511,3563,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6004,-0.68,-146.0,2323,580,3563,3459,789.8,-13.8,477,6009,0.15,2.25,0.00,0.000,3078,0.160,0.056,2351,1994,3511,3563,3459,0,0,0,0,0,0,25.66,25.91,28.83
$GC,6311,-0.68,-146.0,2351,1995,3563,3459,824.8,-10.9,492,6316,0.00,2.28,0.00,0.000,516,0.000,0.067,2351,587,3510,3563,3458,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6364,-0.68,-146.0,2351,587,3563,3459,829.3,-11.0,494,6371,0.00,2.25,0.00,0.000,1030,0.000,0.057,2343,1995,3511,3563,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6672,-0.68,-146.0,2342,1995,3562,3459,864.5,-11.1,510,6677,0.00,2.28,0.00,0.000,516,0.000,0.067,2343,582,3510,3562,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6699,-0.68,-146.0,2342,582,3562,3458,866.8,-11.1,511,6703,0.00,2.25,0.00,0.000,1030,0.000,0.057,2333,1993,3510,3562,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7006,-0.68,-146.0,2333,1994,3561,3458,901.9,-11.0,526,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1994,3509,3561,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7307,-0.68,-146.0,2333,1994,3561,3457,934.1,-10.7,541,7312,0.00,2.28,0.00,0.000,516,0.000,0.068,2333,589,3509,3561,3457,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7389,-0.68,-146.0,2333,589,3560,3457,943.3,-10.9,545,7393,0.00,2.25,0.00,0.000,1030,0.000,0.057,2323,1995,3508,3560,3457,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7705,-0.68,-146.0,2323,1996,3559,3456,979.8,-11.7,561,7711,0.00,2.30,0.00,0.000,516,0.000,0.067,2323,581,3507,3559,3456,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7754,-0.68,-146.0,2323,580,3559,3456,984.7,-11.9,563,7759,0.15,2.28,0.00,0.000,3078,0.160,0.057,2351,1997,3507,3559,3456,0,0,0,0,0,0,25.63,25.88,28.83
$STATE,7899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7900,begin apogee
$GC,7904,-0.14,0.0,2351,1859,3559,3456,1000.2,-9.7,570,8041,0.55,0.00,131.98,1.770,10246,0.124,0.000,2526,1859,2908,2984,2833,0,0,0,0,0,0,25.59,28.83,22.66
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8044,0.68,146.0,2526,1859,2984,2834,1006.7,0.0,577,8193,0.73,2.62,139.77,1.738,11012,0.044,0.068,2809,469,2312,2375,2249,0,0,0,0,0,0,23.96,23.33,22.22
$GC,8304,0.68,146.0,1920,468,2327,2241,990.8,15.5,590,8308,0.00,2.45,0.00,0.000,1030,0.000,0.057,2809,1867,2307,2368,2247,0,0,0,0,0,0,28.83,24.45,28.83
$GC,8622,0.68,146.0,2808,1867,2368,2241,941.7,15.4,606,8627,0.00,2.33,0.00,0.000,260,0.000,0.063,2808,3284,2304,2368,2241,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8735,0.68,146.0,2808,3284,2366,2241,925.8,15.9,611,8743,0.12,2.30,0.00,0.000,5126,0.216,0.056,2794,1877,2303,2366,2241,0,0,0,0,0,0,25.20,25.51,28.83
$GC,9042,0.68,146.0,2794,1877,2366,2238,880.0,14.0,627,9047,0.00,2.30,0.00,0.000,260,0.000,0.063,2794,3287,2302,2366,2238,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9122,0.68,146.0,2793,3287,2366,2238,868.1,14.8,631,9128,0.00,2.30,0.00,0.000,1030,0.000,0.055,2802,1866,2301,2365,2238,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9442,0.68,146.0,2802,1865,2366,2237,822.2,14.0,647,9447,0.00,2.30,0.00,0.000,260,0.000,0.062,2802,3287,2301,2366,2237,0,0,0,0,0,0,28.83,25.81,28.83
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$STATE,16112,end climb,SURFACE_DEPTH_REACHED
$STATE,16113,begin surface coast
$FINISH,-0.2,1.026253
$STATE,16139,end surface coast,CONTROL_FINISHED_OK
$STATE,16139,begin surface
$SM_CCo,16155,19.38,0.152,0,0,1967,230.09
$SM_GC,3.43,6.82,2.10,19.38,0.034,0.048,0.152,164,1996,1967,-7.41,0.68,230.09,0,0,0,0,0,0,26.09,25.89,25.57
$IRIDIUM_FIX,-4247.91,837.82,151108,000009
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.00
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,41.500
$10V_AH,10.0,33.151
$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,17.800,177.950,285.700,19.375,0.000,24.139,42.299,193.846,49.250,0.000,20.805,3303.366,9260.353,512.828,3228.193,255.154,0.000,1821.671,0.000,2725.285,0.000,297.107,0.000
$DEVICE_MAMPS,216.495,78.030,1770.210,152.235,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.375,76.996,716.714,1832.449,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352700
$DATA_FILE_SIZE,77021,1227
$CAP_FILE_SIZE,187026,0
$CFSIZE,259248128,239181824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204, 31.5,1
$GPS,190116,204026,-4304.476,833.430,86,1.3,87,-25.1