version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 261
start: 1 23 116 17 38 32
data:
$ID,542
$MISSION,12
$DIVE,261
$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,-29978.154
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,230116,173104,-4255.667,836.064,81,0.9,82,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.6
$GPS2,230116,173804,-4255.612,836.030,21,1.8,21,-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,214.2,15535,-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,-146.0,152,2010,1977,1922,0.0,0.0,0,65,0.00,0.00,-47.72,0.000,16386,0.000,0.000,153,2011,3265,3336,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,153,2011,3335,3195,3.5,-6.3,6,87,8.27,2.30,-4.75,0.000,18692,0.207,0.066,2334,3411,3508,3562,3454,0,0,0,0,0,0,25.05,25.69,26.20
$GC,132,-0.68,-146.0,2334,3412,3563,3456,22.4,-17.5,15,141,0.00,2.30,0.00,0.000,1030,0.000,0.049,2334,1995,3509,3563,3456,0,0,0,0,0,0,28.83,25.67,28.83
$GC,286,-0.68,-146.0,2334,1994,3563,3456,46.0,-16.2,40,294,0.00,2.33,0.00,0.000,516,0.000,0.061,2334,589,3509,3563,3456,0,0,0,0,0,0,28.83,25.60,28.83
$GC,397,-0.68,-146.0,2334,589,3563,3457,63.7,-15.2,60,406,0.00,2.25,0.00,0.000,1030,0.000,0.049,2324,1987,3510,3563,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,731,-0.68,-146.0,2324,1987,3565,3457,118.4,-16.1,111,741,0.00,2.28,0.00,0.000,516,0.000,0.059,2324,581,3511,3565,3457,0,0,0,0,0,0,28.83,25.71,28.83
$GC,797,-0.68,-146.0,2324,580,3565,3458,128.3,-15.5,117,804,0.08,2.28,0.00,0.000,3078,0.128,0.049,2350,1990,3511,3565,3458,0,0,0,0,0,0,25.51,25.83,28.83
$GC,1105,-0.68,-146.0,2350,1991,3566,3458,165.6,-12.0,148,1114,0.00,2.25,0.00,0.000,516,0.000,0.060,2351,586,3513,3567,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1179,-0.68,-146.0,2350,586,3567,3459,174.6,-11.5,155,1189,0.00,2.22,0.00,0.000,1030,0.000,0.049,2342,2004,3512,3566,3459,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1489,-0.68,-146.0,2342,2005,3567,3459,214.2,-12.8,186,1499,0.00,2.30,0.00,0.000,516,0.000,0.060,2342,581,3513,3567,3459,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1545,-0.68,-146.0,2342,581,3567,3460,221.2,-13.6,191,1553,0.00,2.28,0.00,0.000,1030,0.000,0.049,2333,1995,3513,3567,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1853,-0.68,-146.0,2332,1995,3567,3460,264.4,-13.7,222,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1995,3513,3567,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-0.68,-146.0,2333,1995,3567,3459,305.2,-13.6,252,2163,0.00,2.25,0.00,0.000,516,0.000,0.060,2332,591,3513,3566,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2248,-0.68,-146.0,2332,590,3566,3460,318.1,-13.3,261,2258,0.08,2.17,0.00,0.000,3078,0.150,0.050,2346,1991,3513,3566,3460,0,0,0,0,0,0,25.70,25.94,28.83
$GC,2558,-0.68,-146.0,2346,1991,3566,3460,353.7,-11.0,292,2568,0.00,2.28,0.00,0.000,516,0.000,0.061,2347,582,3513,3567,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2611,-0.68,-146.0,2346,582,3567,3460,359.5,-11.1,297,2620,0.00,2.22,0.00,0.000,1030,0.000,0.050,2338,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2921,-0.68,-146.0,2338,1997,3566,3460,395.8,-11.9,328,2930,0.00,2.25,0.00,0.000,516,0.000,0.062,2338,593,3513,3567,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2964,-0.68,-146.0,2338,593,3566,3460,401.0,-12.7,332,2969,0.00,2.22,0.00,0.000,1030,0.000,0.050,2328,2011,3513,3566,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3283,-0.68,-146.0,2328,2012,3566,3460,444.7,-14.1,348,3289,0.00,2.33,0.00,0.000,516,0.000,0.063,2328,581,3513,3566,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3365,-0.68,-146.0,2328,580,3566,3460,456.2,-14.4,352,3371,0.08,2.28,0.00,0.000,3078,0.148,0.051,2343,1991,3513,3566,3460,0,0,0,0,0,0,25.68,25.93,28.83
$GC,3684,-0.68,-146.0,2342,1991,3566,3460,496.4,-12.4,368,3690,0.00,2.30,0.00,0.000,516,0.000,0.063,2343,581,3513,3566,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3751,-0.68,-146.0,2343,581,3566,3460,504.1,-12.7,371,3756,0.00,2.28,0.00,0.000,1030,0.000,0.053,2334,2008,3513,3566,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4066,-0.68,-146.0,2334,2009,3566,3460,545.7,-13.0,387,4071,0.00,2.28,0.00,0.000,516,0.000,0.063,2335,594,3513,3566,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4167,-0.68,-146.0,1512,593,3561,3458,559.1,-13.3,392,4171,0.00,2.22,0.00,0.000,1030,0.000,0.052,2325,1998,3512,3566,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4479,-0.68,-146.0,2324,1999,3566,3460,604.7,-14.9,408,4485,0.00,2.30,0.00,0.000,516,0.000,0.064,2325,580,3513,3567,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4523,-0.68,-146.0,2324,579,3566,3460,611.0,-15.0,410,4528,0.12,2.25,0.00,0.000,3078,0.164,0.053,2345,1996,3513,3566,3460,0,0,0,0,0,0,25.68,25.90,28.83
$GC,4841,-0.68,-146.0,2345,1996,3565,3460,651.1,-12.4,426,4847,0.00,2.30,0.00,0.000,516,0.000,0.064,2345,586,3512,3565,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4904,-0.68,-146.0,2345,586,3565,3460,659.0,-12.9,429,4908,0.00,2.22,0.00,0.000,1030,0.000,0.054,2338,1995,3512,3565,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5216,-0.68,-146.0,2337,1995,3564,3460,699.6,-12.8,445,5222,0.00,2.28,0.00,0.000,516,0.000,0.064,2338,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5290,-0.68,-146.0,2337,585,3564,3460,707.2,-12.7,448,5296,0.00,2.25,0.00,0.000,1030,0.000,0.054,2327,1995,3511,3564,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5597,-0.68,-146.0,2327,1995,3564,3460,747.8,-12.6,464,5603,0.00,2.28,0.00,0.000,516,0.000,0.065,2327,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5650,-0.68,-146.0,2327,588,3563,3459,752.9,-12.5,466,5658,0.12,2.25,0.00,0.000,3078,0.164,0.054,2348,1999,3511,3563,3460,0,0,0,0,0,0,25.66,25.87,28.83
$GC,5957,-0.68,-146.0,2347,1999,3562,3459,784.7,-9.6,482,5963,0.00,2.30,0.00,0.000,516,0.000,0.066,2348,588,3511,3563,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6018,-0.68,-146.0,2347,588,3563,3459,790.7,-9.7,485,6024,0.00,2.22,0.00,0.000,1030,0.000,0.055,2340,1999,3511,3563,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6337,-0.68,-146.0,2340,1999,3562,3459,823.6,-10.4,501,6342,0.00,2.30,0.00,0.000,516,0.000,0.067,2340,588,3510,3562,3459,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6377,-0.68,-146.0,2340,588,3562,3459,828.0,-10.8,503,6383,0.00,2.25,0.00,0.000,1030,0.000,0.055,2330,1996,3511,3562,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6697,-0.68,-146.0,2330,1997,3561,3459,862.9,-10.7,519,6703,0.00,2.30,0.00,0.000,516,0.000,0.066,2330,589,3510,3561,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6750,-0.68,-146.0,2330,589,3561,3459,867.4,-11.0,521,6758,0.12,2.25,0.00,0.000,3078,0.164,0.055,2350,1997,3510,3561,3460,0,0,0,0,0,0,25.65,25.85,28.83
$GC,7060,-0.68,-146.0,2350,1997,3559,3460,896.8,-9.4,537,7065,0.00,2.30,0.00,0.000,516,0.000,0.067,2350,590,3509,3559,3459,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7099,-0.68,-146.0,2350,589,3559,3459,900.9,-9.7,539,7104,0.00,2.22,0.00,0.000,1030,0.000,0.055,2343,1994,3509,3559,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7417,-0.68,-146.0,2343,1994,3559,3458,934.0,-10.6,555,7423,0.00,2.30,0.00,0.000,516,0.000,0.067,2343,586,3508,3559,3458,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7468,-0.68,-146.0,2342,585,3558,3458,938.7,-11.1,557,7472,0.00,2.25,0.00,0.000,1030,0.000,0.056,2333,1995,3508,3558,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7775,-0.68,-146.0,2333,1996,3558,3457,975.4,-11.8,572,7781,0.00,2.28,0.00,0.000,516,0.000,0.066,2333,588,3507,3557,3457,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7815,-0.68,-146.0,2333,588,3558,3457,980.3,-12.1,574,7821,0.00,2.28,0.00,0.000,1030,0.000,0.056,2323,2003,3507,3557,3458,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7973,begin apogee
$GC,7978,-0.14,0.0,2323,1864,3557,3457,1000.2,-12.5,582,8115,0.65,0.00,132.65,1.786,10246,0.132,0.000,2524,1864,2909,2987,2831,0,0,0,0,0,0,25.42,28.83,22.54
$STATE,8116,end apogee,CONTROL_FINISHED_OK
$STATE,8116,begin climb
$GC,8118,0.68,146.0,2524,1864,2987,2831,1007.4,0.0,589,8268,0.75,2.62,140.62,1.754,10756,0.052,0.067,2808,472,2312,2374,2251,0,0,0,0,0,0,23.85,23.32,22.17
$GC,8419,0.68,146.0,1872,471,2323,2241,986.7,15.3,604,8423,0.00,2.38,0.00,0.000,1030,0.000,0.056,2808,1873,2306,2366,2247,0,0,0,0,0,0,28.83,24.64,28.83
$GC,8731,0.68,146.0,2808,1873,2365,2242,938.3,14.9,620,8737,0.00,2.33,0.00,0.000,260,0.000,0.062,2807,3292,2304,2366,2242,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8911,0.68,146.0,2808,3292,2363,2242,910.2,15.5,629,8917,0.00,2.30,0.00,0.000,1030,0.000,0.056,2818,1874,2302,2363,2242,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9230,0.68,146.0,2818,1874,2363,2240,864.1,14.4,645,9236,0.00,2.30,0.00,0.000,260,0.000,0.062,2818,3287,2301,2363,2240,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9331,0.68,146.0,2818,3287,2362,2240,848.8,15.3,650,9337,0.15,2.28,0.00,0.000,5126,0.212,0.054,2795,1868,2301,2362,2240,0,0,0,0,0,0,25.37,25.77,28.83
$GC,9650,0.68,146.0,2795,1868,2362,2238,805.9,13.6,666,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1868,2300,2363,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,0.68,146.0,2795,1868,2362,2237,766.1,13.3,681,9956,0.00,2.30,0.00,0.000,260,0.000,0.062,2794,3290,2299,2362,2237,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,16314,end climb,SURFACE_DEPTH_REACHED
$STATE,16314,begin surface coast
$FINISH,0.9,1.025971
$STATE,16328,end surface coast,CONTROL_FINISHED_OK
$STATE,16328,begin surface
$SM_CCo,16405,0.00,0.000,0,0,1940,237.69
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$TT8_MAMPS,0.021721,0.021721
$HUMID,51.77
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.2,44.947
$10V_AH,10.0,35.974
$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
$DEVICE_SECS,17.800,164.800,309.575,0.000,0.000,25.727,41.850,223.374,49.250,0.000,22.847,3330.596,9434.069,470.248,3343.684,238.331,0.000,1815.359,0.000,2795.333,0.000,298.004,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.816,77.413,738.535,1862.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352716
$DATA_FILE_SIZE,80279,1246
$CAP_FILE_SIZE,186900,0
$CFSIZE,259248128,237273088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080, 56.1,1
$GPS,230116,221303,-4257.341,836.828,32,1.2,32,-25.1