version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 265
start: 1 24 116 12 1 49
data:
$ID,542
$MISSION,12
$DIVE,265
$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,-29983.17
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,240116,115357,-4301.716,837.311,81,1.0,81,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.8
$GPS2,240116,120122,-4301.663,837.306,38,1.0,39,-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,233.3,4676,-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,-146.0,151,1997,1973,1921,0.0,0.0,0,65,0.00,0.00,-47.45,0.000,16386,0.000,0.000,151,1997,3276,3347,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,151,1997,3347,3206,3.7,-6.8,6,85,8.35,0.00,-4.47,0.000,18694,0.211,0.000,2337,1997,3508,3562,3454,0,0,0,0,0,0,25.05,28.83,26.21
$GC,136,-0.68,-146.0,2337,1997,3564,3455,24.2,-16.9,16,149,0.00,2.33,0.00,0.000,516,0.000,0.060,2337,585,3509,3564,3455,0,0,0,0,0,0,28.83,25.58,28.83
$GC,237,-0.68,-146.0,2337,585,3564,3455,39.5,-15.1,31,246,0.00,2.28,0.00,0.000,1030,0.000,0.050,2328,1991,3510,3564,3456,0,0,0,0,0,0,28.83,25.70,28.83
$GC,381,-0.68,-146.0,2329,1991,3564,3456,63.9,-16.5,56,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1991,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.68,-146.0,2328,1991,3565,3458,120.3,-17.1,106,721,0.00,2.25,0.00,0.000,516,0.000,0.060,2329,589,3511,3565,3458,0,0,0,0,0,0,28.83,25.70,28.83
$GC,776,-0.68,-146.0,2328,589,3565,3459,131.2,-17.3,112,787,0.12,2.22,0.00,0.000,3078,0.173,0.049,2348,2003,3511,3564,3458,0,0,0,0,0,0,25.57,25.82,28.83
$GC,1086,-0.68,-146.0,2347,2004,3566,3459,171.0,-11.8,143,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2004,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1386,-0.68,-146.0,2348,2004,3566,3459,208.6,-13.0,173,1395,0.00,2.28,0.00,0.000,516,0.000,0.060,2348,585,3513,3567,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1472,-0.68,-146.0,2348,585,3567,3459,219.3,-12.3,181,1480,0.00,2.28,0.00,0.000,1030,0.000,0.049,2340,1995,3513,3567,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1780,-0.68,-146.0,2340,1995,3567,3459,258.2,-12.8,212,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1995,3513,3567,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.68,-146.0,2339,1995,3566,3460,297.5,-13.1,242,2088,0.00,2.28,0.00,0.000,516,0.000,0.060,2340,586,3513,3567,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2152,-0.68,-146.0,2340,585,3567,3459,306.9,-13.1,249,2161,0.00,2.25,0.00,0.000,1030,0.000,0.050,2330,2003,3513,3567,3459,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2462,-0.68,-146.0,2330,2004,3567,3459,350.8,-14.5,280,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2004,3513,3567,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,-0.68,-146.0,2330,2003,3567,3459,394.2,-14.3,310,2770,0.00,2.30,0.00,0.000,516,0.000,0.061,2330,584,3513,3567,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2805,-0.68,-146.0,2330,584,3567,3459,400.3,-14.2,314,2811,0.08,2.28,0.00,0.000,3078,0.148,0.050,2344,1996,3513,3567,3459,0,0,0,0,0,0,25.67,25.92,28.83
$GC,3125,-0.68,-146.0,2344,1996,3567,3459,439.9,-12.2,330,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1996,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3425,-0.68,-146.0,2344,1996,3566,3459,476.6,-12.0,345,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1996,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-0.68,-146.0,2344,1996,3566,3459,512.7,-12.2,360,3730,0.00,2.28,0.00,0.000,516,0.000,0.063,2344,594,3512,3566,3459,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3798,-0.68,-146.0,2344,593,3566,3459,520.4,-12.4,363,3805,0.00,2.22,0.00,0.000,1030,0.000,0.053,2336,1993,3512,3566,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4106,-0.68,-146.0,2336,1994,3566,3459,560.8,-12.8,379,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1994,3513,3567,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.68,-146.0,2336,1994,3566,3459,598.0,-12.2,394,4412,0.00,2.25,0.00,0.000,516,0.000,0.063,2336,594,3513,3567,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4440,-0.68,-146.0,2336,593,3566,3459,600.5,-12.2,395,4447,0.00,2.25,0.00,0.000,1030,0.000,0.054,2326,2003,3512,3566,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4747,-0.68,-146.0,2326,2003,3566,3459,643.0,-13.2,411,4753,0.00,2.30,0.00,0.000,516,0.000,0.064,2326,588,3512,3566,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4791,-0.68,-146.0,1544,587,3561,3457,648.7,-13.5,413,4796,0.10,2.28,0.00,0.000,3078,0.144,0.054,2348,1989,3512,3566,3459,0,0,0,0,0,0,25.59,25.88,28.83
$GC,5110,-0.68,-146.0,2347,1990,3565,3459,686.3,-11.6,429,5116,0.00,2.28,0.00,0.000,516,0.000,0.063,2348,578,3512,3565,3459,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5162,-0.68,-146.0,2347,578,3566,3459,691.0,-11.7,431,5169,0.00,2.28,0.00,0.000,1030,0.000,0.054,2340,1998,3512,3565,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5469,-0.68,-146.0,2339,1998,3565,3459,729.7,-12.3,447,5475,0.00,2.28,0.00,0.000,516,0.000,0.064,2340,590,3512,3565,3459,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5502,-0.68,-146.0,2339,589,3565,3459,732.3,-12.4,448,5510,0.00,2.25,0.00,0.000,1030,0.000,0.054,2330,1995,3511,3564,3459,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5809,-0.68,-146.0,2330,1995,3564,3459,773.9,-13.0,464,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1995,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,-0.68,-146.0,2329,1995,3564,3459,812.2,-12.5,479,6117,0.00,2.25,0.00,0.000,516,0.000,0.065,2330,594,3511,3563,3459,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6152,-0.68,-146.0,2330,594,3563,3459,817.3,-12.6,481,6157,0.08,2.28,0.00,0.000,3078,0.149,0.054,2344,1993,3511,3563,3459,0,0,0,0,0,0,25.60,25.84,28.83
$GC,6471,-0.68,-146.0,2344,1994,3563,3459,851.6,-10.4,497,6477,0.00,2.28,0.00,0.000,516,0.000,0.066,2343,589,3511,3563,3459,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6525,-0.68,-146.0,2344,589,3563,3459,855.9,-10.6,499,6532,0.00,2.28,0.00,0.000,1030,0.000,0.055,2336,2007,3510,3562,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6835,-0.68,-146.0,2336,2007,3562,3459,890.8,-10.7,515,6840,0.00,2.30,0.00,0.000,516,0.000,0.066,2336,589,3510,3562,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6901,-0.68,-146.0,2336,589,3562,3459,897.5,-10.8,518,6905,0.00,2.25,0.00,0.000,1030,0.000,0.055,2326,2000,3510,3561,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7208,-0.68,-146.0,2326,2001,3561,3459,933.0,-11.4,533,7215,0.00,2.30,0.00,0.000,516,0.000,0.066,2326,589,3510,3561,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7256,-0.68,-146.0,2326,589,3561,3459,937.7,-11.7,535,7261,0.12,2.25,0.00,0.000,3078,0.167,0.056,2346,1995,3509,3560,3459,0,0,0,0,0,0,25.59,25.81,28.83
$GC,7563,-0.68,-146.0,2346,1995,3559,3459,968.4,-9.6,550,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1996,3509,3559,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,-0.68,-146.0,2346,1996,3558,3459,996.0,-8.9,565,7872,0.00,2.28,0.00,0.000,516,0.000,0.067,2346,589,3508,3558,3459,0,0,0,0,0,0,28.83,25.64,28.83
$STATE,7924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7924,begin apogee
$GC,7930,-0.14,0.0,2338,1873,3558,3459,1001.6,-9.2,568,8067,0.60,0.00,132.85,1.781,10246,0.129,0.000,2525,1873,2909,2982,2836,0,0,0,0,0,0,25.41,28.83,22.51
$STATE,8068,end apogee,CONTROL_FINISHED_OK
$STATE,8068,begin climb
$GC,8069,0.68,146.0,2524,1873,2982,2836,1006.9,0.0,575,8219,0.77,2.58,140.82,1.746,10500,0.044,0.061,2812,3285,2313,2372,2254,0,0,0,0,0,0,23.84,23.32,22.14
$GC,8462,0.68,146.0,2811,3286,2370,2244,963.6,17.4,594,8469,0.15,2.38,0.00,0.000,5126,0.214,0.054,2792,1866,2306,2369,2243,0,0,0,0,0,0,24.60,24.96,28.83
$GC,8782,0.68,146.0,2792,1866,2369,2239,918.2,13.7,610,8788,0.00,2.33,0.00,0.000,260,0.000,0.063,2785,3281,2304,2369,2240,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8911,0.68,146.0,2785,3282,2368,2239,901.3,14.1,616,8915,0.00,2.30,0.00,0.000,1030,0.000,0.054,2794,1861,2303,2368,2239,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9217,0.68,146.0,2793,1861,2368,2237,861.5,12.7,631,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1861,2302,2368,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,0.68,146.0,2794,1861,2367,2237,823.1,13.1,646,9522,0.00,2.33,0.00,0.000,260,0.000,0.063,2794,3291,2301,2366,2237,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9572,0.68,146.0,2794,3291,2366,2237,817.5,13.7,648,9579,0.00,2.30,0.00,0.000,1030,0.000,0.055,2804,1867,2301,2366,2237,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9877,0.68,146.0,2803,1867,2366,2236,774.4,13.0,664,9883,0.00,2.30,0.00,0.000,260,0.000,0.063,2804,3287,2301,2366,2236,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9985,0.68,146.0,2803,3287,2365,2236,760.5,14.0,669,9989,0.00,2.28,0.00,0.000,1030,0.000,0.054,2814,1864,2301,2366,2236,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10292,0.68,146.0,2814,1864,2365,2235,718.2,13.3,684,10298,0.00,2.30,0.00,0.000,260,0.000,0.062,2814,3287,2300,2365,2235,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10352,0.68,146.0,2814,3287,2365,2236,709.8,13.9,687,10359,0.15,2.28,0.00,0.000,5126,0.209,0.054,2792,1864,2300,2365,2235,0,0,0,0,0,0,25.43,25.85,28.83
$GC,10672,0.68,146.0,2792,1864,2365,2235,671.1,11.7,703,10678,0.00,2.30,0.00,0.000,260,0.000,0.062,2782,3288,2300,2365,2235,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10732,0.68,146.0,2781,3288,2365,2235,663.9,11.9,706,10737,0.00,2.28,0.00,0.000,1030,0.000,0.054,2791,1863,2300,2365,2235,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,16441,end climb,SURFACE_DEPTH_REACHED
$STATE,16441,begin surface coast
$FINISH,-0.1,1.025971
$STATE,16473,end surface coast,CONTROL_FINISHED_OK
$STATE,16473,begin surface
$SM_CCo,16489,22.62,0.152,0,0,1970,230.09
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$IRIDIUM_FIX,-4244.98,834.47,191108,202008
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.75
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.1,45.607
$10V_AH,10.0,36.496
$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,18.400,137.025,286.200,22.625,0.000,22.739,48.238,226.828,49.250,0.000,39.429,3279.619,9705.164,490.739,3246.498,229.029,0.000,1762.017,0.000,2685.275,0.000,297.628,0.000
$DEVICE_MAMPS,214.200,69.615,1780.920,152.235,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.871,75.725,715.850,1847.848,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352720
$DATA_FILE_SIZE,76921,1227
$CAP_FILE_SIZE,180353,0
$CFSIZE,259248128,236933120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099, 28.8,1
$GPS,240116,163903,-4302.862,836.889,86,0.8,86,-25.1