version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 242
start: 1 20 116 6 10 57
data:
$ID,542
$MISSION,12
$DIVE,242
$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,-29953.988
$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
$GPS1,200116,060357,-4304.802,831.376,115,0.9,115,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.7
$GPS2,200116,061030,-4304.772,831.409,18,0.9,19,-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,266.1,10126,-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,-146.0,161,2012,1968,1920,0.0,0.0,0,65,0.00,0.00,-47.62,0.000,16386,0.000,0.000,161,2012,3268,3341,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,161,2012,3341,3198,3.6,-6.8,6,86,8.35,0.00,-4.70,0.000,18694,0.213,0.000,2341,2010,3507,3562,3453,0,0,0,0,0,0,25.15,28.83,26.25
$GC,138,-0.68,-146.0,2341,2011,3563,3455,24.1,-19.6,16,149,0.00,2.38,0.00,0.000,516,0.000,0.063,2341,583,3509,3564,3454,0,0,0,0,0,0,28.83,25.60,28.83
$GC,207,-0.68,-146.0,2341,583,3564,3455,37.3,-18.1,26,216,0.00,2.28,0.00,0.000,1030,0.000,0.050,2333,1988,3509,3564,3455,0,0,0,0,0,0,28.83,25.72,28.83
$GC,353,-0.68,-146.0,2333,1988,3564,3455,60.7,-15.3,51,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1988,3509,3564,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-0.68,-146.0,2333,1988,3565,3456,108.8,-13.9,106,685,0.00,2.28,0.00,0.000,516,0.000,0.060,2333,578,3510,3565,3456,0,0,0,0,0,0,28.83,25.72,28.83
$GC,717,-0.68,-146.0,2333,578,3565,3457,114.7,-14.0,110,722,0.00,2.25,0.00,0.000,1030,0.000,0.050,2323,2003,3511,3565,3457,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1024,-0.68,-146.0,2323,2003,3565,3457,160.4,-14.8,140,1033,0.00,2.28,0.00,0.000,516,0.000,0.060,2323,582,3511,3565,3457,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1067,-0.68,-146.0,2323,582,3565,3458,167.2,-15.5,144,1077,0.15,2.22,0.00,0.000,3078,0.162,0.050,2351,1999,3511,3565,3458,0,0,0,0,0,0,25.60,25.89,28.83
$GC,1377,-0.68,-146.0,2350,2000,3567,3458,204.2,-11.4,175,1389,0.00,2.28,0.00,0.000,516,0.000,0.061,2351,585,3512,3566,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1443,-0.68,-146.0,2351,585,3566,3459,211.8,-11.6,181,1452,0.00,2.22,0.00,0.000,1030,0.000,0.050,2342,2002,3512,3566,3459,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1753,-0.68,-146.0,2342,2002,3566,3459,250.6,-13.0,212,1762,0.00,2.25,0.00,0.000,516,0.000,0.061,2342,591,3512,3566,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1795,-0.68,-146.0,2342,590,3566,3459,256.4,-13.6,216,1805,0.00,2.22,0.00,0.000,1030,0.000,0.050,2333,2002,3512,3566,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2105,-0.68,-146.0,2332,2002,3566,3459,301.9,-14.8,247,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2001,3513,3567,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2406,-0.68,-146.0,2332,2002,3566,3459,345.5,-14.2,277,2415,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,584,3512,3566,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2501,-0.68,-146.0,2332,584,3566,3459,358.9,-14.4,286,2509,0.00,2.25,0.00,0.000,1030,0.000,0.052,2322,2002,3512,3566,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2819,-0.68,-146.0,2322,2002,3566,3459,406.5,-15.0,316,2825,0.00,2.28,0.00,0.000,516,0.000,0.063,2323,589,3512,3566,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2866,-0.68,-146.0,2322,588,3566,3459,412.8,-15.3,318,2871,0.15,2.22,0.00,0.000,3078,0.161,0.052,2350,1994,3512,3566,3459,0,0,0,0,0,0,25.68,25.95,28.83
$GC,3173,-0.68,-146.0,2350,1994,3566,3459,452.9,-12.5,333,3177,0.00,2.28,0.00,0.000,516,0.000,0.064,2351,586,3512,3566,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3222,-0.68,-146.0,2350,586,3566,3459,457.4,-12.5,335,3230,0.00,2.25,0.00,0.000,1030,0.000,0.053,2342,1999,3512,3566,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3530,-0.68,-146.0,2342,1999,3566,3459,497.3,-12.4,351,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1999,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.68,-146.0,2342,1999,3566,3459,533.6,-11.8,366,3836,0.00,2.30,0.00,0.000,516,0.000,0.066,2342,582,3512,3566,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3895,-0.68,-146.0,2342,582,3566,3459,541.0,-12.1,369,3899,0.00,2.28,0.00,0.000,1030,0.000,0.054,2332,1988,3512,3566,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4213,-0.68,-146.0,2332,1988,3566,3459,580.2,-12.3,385,4219,0.00,2.28,0.00,0.000,516,0.000,0.066,2333,587,3512,3566,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4273,-0.68,-146.0,2332,586,3566,3459,587.7,-12.4,388,4279,0.00,2.22,0.00,0.000,1030,0.000,0.054,2322,1995,3512,3566,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4593,-0.68,-146.0,2322,1995,3565,3459,628.3,-12.7,404,4599,0.00,2.28,0.00,0.000,516,0.000,0.066,2322,586,3512,3565,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4641,-0.68,-146.0,2322,585,3565,3459,633.5,-12.8,406,4646,0.15,2.25,0.00,0.000,3078,0.164,0.055,2350,2003,3512,3565,3459,0,0,0,0,0,0,25.65,25.93,28.83
$GC,4948,-0.68,-146.0,2350,2003,3565,3459,666.2,-10.2,421,4954,0.00,2.30,0.00,0.000,516,0.000,0.067,2350,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4997,-0.68,-146.0,2350,588,3565,3459,670.5,-10.5,423,5002,0.00,2.25,0.00,0.000,1030,0.000,0.056,2342,2002,3511,3564,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5306,-0.68,-146.0,2341,2002,3564,3459,705.0,-10.8,438,5311,0.00,2.30,0.00,0.000,516,0.000,0.067,2341,584,3511,3563,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5357,-0.68,-146.0,2341,584,3564,3459,709.6,-11.1,440,5365,0.00,2.25,0.00,0.000,1030,0.000,0.056,2332,1993,3511,3564,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5665,-0.68,-146.0,2332,1994,3563,3459,747.3,-11.9,456,5671,0.00,2.28,0.00,0.000,516,0.000,0.067,2332,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5719,-0.68,-146.0,2332,588,3563,3459,752.4,-12.2,458,5725,0.00,2.25,0.00,0.000,1030,0.000,0.056,2322,1996,3511,3563,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6027,-0.68,-146.0,2322,1997,3563,3459,792.3,-12.7,474,6032,0.00,2.28,0.00,0.000,516,0.000,0.067,2322,591,3511,3563,3459,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6073,-0.68,-146.0,2322,591,3562,3459,797.6,-13.1,476,6078,0.15,2.25,0.00,0.000,3078,0.161,0.057,2350,2004,3511,3563,3459,0,0,0,0,0,0,25.65,25.89,28.83
$GC,6380,-0.68,-146.0,2349,2005,3562,3459,832.2,-10.9,491,6386,0.00,2.33,0.00,0.000,516,0.000,0.067,2349,578,3510,3562,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6428,-0.68,-146.0,2349,578,3562,3459,836.8,-11.2,493,6432,0.00,2.28,0.00,0.000,1030,0.000,0.057,2341,1997,3510,3562,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6740,-0.68,-146.0,2341,1998,3561,3459,873.2,-11.0,509,6744,0.00,2.30,0.00,0.000,516,0.000,0.068,2341,588,3510,3561,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6779,-0.68,-146.0,2341,587,3561,3459,877.5,-11.4,511,6783,0.00,2.30,0.00,0.000,1030,0.000,0.057,2332,1994,3510,3561,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7098,-0.68,-146.0,2331,1995,3559,3458,916.0,-12.0,527,7104,0.00,2.28,0.00,0.000,516,0.000,0.068,2332,584,3508,3559,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7144,-0.68,-146.0,2331,584,3559,3458,921.1,-12.3,529,7148,0.00,2.28,0.00,0.000,1030,0.000,0.057,2322,2004,3509,3559,3459,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7452,-0.68,-146.0,2322,2004,3558,3457,960.4,-12.5,544,7458,0.12,2.30,0.00,0.000,2564,0.170,0.067,2358,589,3508,3559,3457,0,0,0,0,0,0,26.03,25.75,28.83
$GC,7512,-0.68,-146.0,2358,589,3559,3457,967.0,-11.4,547,7517,0.00,2.25,0.00,0.000,1030,0.000,0.057,2350,1996,3508,3559,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7831,-0.68,-146.0,2350,1997,3558,3456,999.4,-10.0,563,7837,0.00,2.30,0.00,0.000,516,0.000,0.068,2350,588,3507,3558,3456,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,7851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7857,-0.14,0.0,2341,1871,3559,3456,1001.6,-10.1,564,7993,0.57,0.00,132.02,1.762,10246,0.125,0.000,2522,1871,2909,2984,2834,0,0,0,0,0,0,25.60,28.83,22.65
$STATE,7994,end apogee,CONTROL_FINISHED_OK
$STATE,7994,begin climb
$GC,7995,0.68,146.0,2522,1871,2984,2834,1008.5,0.0,571,8144,0.77,2.60,139.90,1.729,11012,0.051,0.061,2798,3274,2312,2373,2251,0,0,0,0,0,0,23.92,23.34,22.21
$GC,8295,0.68,146.0,1888,3273,2328,2238,986.3,15.9,586,8299,0.00,2.38,0.00,0.000,1030,0.000,0.055,2808,1873,2307,2370,2245,0,0,0,0,0,0,28.83,24.60,28.83
$GC,8613,0.68,146.0,2808,1873,2368,2240,937.0,15.4,602,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1873,2304,2369,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8913,0.68,146.0,2808,1873,2368,2238,891.4,15.0,617,8919,0.00,2.30,0.00,0.000,260,0.000,0.063,2808,3286,2303,2368,2238,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9006,0.68,146.0,2808,3285,2367,2238,878.7,15.9,621,9013,0.12,2.30,0.00,0.000,5126,0.214,0.056,2794,1867,2302,2367,2238,0,0,0,0,0,0,25.38,25.70,28.83
$GC,9313,0.68,146.0,2794,1867,2367,2236,831.9,14.3,637,9319,0.00,2.33,0.00,0.000,260,0.000,0.063,2786,3289,2301,2367,2236,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9447,0.68,146.0,2785,3290,2366,2237,813.8,15.1,643,9453,0.00,2.30,0.00,0.000,1030,0.000,0.055,2794,1864,2301,2366,2236,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9753,0.68,146.0,2794,1864,2366,2235,767.5,14.5,659,9758,0.00,2.33,0.00,0.000,260,0.000,0.063,2794,3292,2300,2366,2235,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9795,0.68,146.0,2794,3292,2366,2235,761.4,14.8,661,9799,0.00,2.28,0.00,0.000,1030,0.000,0.056,2805,1870,2300,2366,2235,0,0,0,0,0,0,28.83,25.85,28.83
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$STATE,16234,end climb,SURFACE_DEPTH_REACHED
$STATE,16234,begin surface coast
$FINISH,-0.1,1.026037
$STATE,16254,end surface coast,CONTROL_FINISHED_OK
$STATE,16254,begin surface
$SM_CCo,16271,0.43,0.438,0,0,1967,230.09
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$IRIDIUM_FIX,-4247.91,829.08,151108,141448
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.45
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.2,41.981
$10V_AH,10.0,33.555
$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
$DEVICE_SECS,18.025,173.350,304.525,0.425,0.000,25.368,43.018,196.329,49.250,0.000,20.030,3298.880,9417.522,493.097,3223.680,225.053,0.000,1786.187,0.000,2709.665,0.000,296.735,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.621,79.106,733.435,1853.065,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352672
$DATA_FILE_SIZE,80178,1234
$CAP_FILE_SIZE,185873,0
$CFSIZE,259248128,238907392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.193, 33.4,1
$GPS,200116,104334,-4304.676,830.367,48,1.1,49,-25.1