version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 273
start: 1 26 116 1 9 48
data:
$ID,542
$MISSION,12
$DIVE,273
$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,-29993.221
$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,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
$GPS1,260116,010221,-4304.306,829.083,167,1.1,167,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.1
$GPS2,260116,010922,-4304.350,829.188,28,1.6,28,-25.0
$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,264.8,7050,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-146.0,150,1988,1967,1917,0.0,0.0,0,66,0.00,0.00,-48.00,0.000,16386,0.000,0.000,147,1989,3263,3335,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,147,1989,3335,3193,3.5,-6.7,6,95,8.38,2.35,-4.85,0.000,18692,0.212,0.064,2331,3428,3508,3562,3455,0,0,0,0,0,0,25.09,25.72,26.27
$GC,147,-0.68,-146.0,2331,3428,3562,3456,24.7,-16.1,17,159,0.00,2.33,0.00,0.000,1030,0.000,0.047,2331,1990,3509,3563,3456,0,0,0,0,0,0,28.83,25.70,28.83
$GC,302,-0.68,-146.0,2331,1990,3563,3456,49.8,-16.4,42,312,0.00,2.30,0.00,0.000,516,0.000,0.060,2331,578,3509,3562,3456,0,0,0,0,0,0,28.83,25.61,28.83
$GC,331,-0.68,-146.0,2331,578,3563,3456,54.7,-17.6,46,339,0.12,2.25,0.00,0.000,3078,0.174,0.049,2350,1996,3509,3563,3456,0,0,0,0,0,0,25.48,25.74,28.83
$GC,676,-0.68,-146.0,2350,1997,3564,3457,109.6,-15.2,102,685,0.00,2.28,0.00,0.000,516,0.000,0.060,2350,588,3510,3564,3457,0,0,0,0,0,0,28.83,25.68,28.83
$GC,731,-0.68,-146.0,2350,588,3564,3457,117.7,-15.7,107,738,0.00,2.22,0.00,0.000,1030,0.000,0.048,2342,1996,3511,3564,3458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1039,-0.68,-146.0,2341,1996,3564,3458,165.3,-15.3,138,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1996,3511,3564,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.68,-146.0,2342,1996,3564,3459,208.1,-14.4,168,1348,0.00,2.28,0.00,0.000,516,0.000,0.060,2342,583,3511,3564,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1394,-0.68,-146.0,2342,583,3564,3459,215.8,-14.4,173,1402,0.00,2.20,0.00,0.000,1030,0.000,0.049,2332,1998,3511,3564,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1702,-0.68,-146.0,2332,1998,3564,3459,262.1,-14.8,204,1712,0.00,2.28,0.00,0.000,516,0.000,0.060,2332,584,3511,3564,3459,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1744,-0.68,-146.0,2332,584,3564,3459,268.5,-15.4,208,1748,0.00,2.22,0.00,0.000,1030,0.000,0.050,2322,2002,3511,3564,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2050,-0.68,-146.0,2322,2002,3564,3459,314.0,-14.8,238,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2002,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-0.68,-146.0,2322,2002,3564,3459,358.0,-13.9,268,2360,0.00,2.28,0.00,0.000,516,0.000,0.060,2322,587,3511,3564,3459,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2407,-0.68,-146.0,2322,586,3564,3459,365.7,-14.5,273,2414,0.15,2.22,0.00,0.000,3078,0.163,0.050,2350,1997,3511,3564,3459,0,0,0,0,0,0,25.60,25.90,28.83
$GC,2723,-0.68,-146.0,2349,1997,3564,3459,402.4,-11.2,304,2729,0.00,2.28,0.00,0.000,516,0.000,0.061,2350,588,3511,3564,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2768,-0.68,-146.0,2349,587,3564,3459,407.0,-11.5,306,2772,0.00,2.22,0.00,0.000,1030,0.000,0.050,2341,1996,3511,3564,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3085,-0.68,-146.0,2341,1997,3564,3459,444.5,-11.8,322,3091,0.00,2.28,0.00,0.000,516,0.000,0.062,2341,588,3511,3564,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3109,-0.68,-146.0,2341,587,3564,3459,447.0,-11.9,323,3113,0.00,2.28,0.00,0.000,1030,0.000,0.051,2332,1996,3511,3564,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3427,-0.68,-146.0,2332,1996,3564,3459,488.6,-13.5,339,3432,0.00,2.28,0.00,0.000,516,0.000,0.062,2332,586,3511,3564,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3476,-0.68,-146.0,2332,586,3564,3459,494.4,-13.8,341,3480,0.00,2.22,0.00,0.000,1030,0.000,0.051,2322,1997,3511,3564,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3783,-0.68,-146.0,2321,1998,3564,3459,539.5,-14.4,356,3785,0.12,0.00,0.00,0.000,2054,0.174,0.000,2352,1998,3512,3565,3459,0,0,0,0,0,0,26.09,28.83,28.83
$GC,4084,-0.68,-146.0,2352,1997,3564,3459,576.2,-12.1,371,4090,0.00,2.30,0.00,0.000,516,0.000,0.064,2352,580,3511,3564,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4144,-0.68,-146.0,2352,580,3564,3459,583.6,-12.2,374,4149,0.00,2.25,0.00,0.000,1030,0.000,0.054,2344,1998,3511,3563,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4464,-0.68,-146.0,2344,1998,3564,3459,621.6,-11.7,390,4470,0.00,2.30,0.00,0.000,516,0.000,0.063,2344,583,3511,3563,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4497,-0.68,-146.0,2344,584,3564,3459,624.0,-11.7,391,4507,0.00,2.25,0.00,0.000,1030,0.000,0.054,2334,1995,3511,3564,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4804,-0.68,-146.0,2334,1995,3563,3459,662.9,-12.3,407,4810,0.00,2.28,0.00,0.000,516,0.000,0.064,2334,586,3511,3563,3459,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4832,-0.68,-146.0,2334,585,3563,3459,665.5,-12.5,408,4836,0.00,2.25,0.00,0.000,1030,0.000,0.054,2324,2002,3511,3563,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5139,-0.68,-146.0,2324,2002,3563,3459,708.0,-13.9,423,5145,0.00,2.30,0.00,0.000,516,0.000,0.065,2324,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5179,-0.68,-146.0,2324,587,3563,3459,713.7,-14.2,425,5186,0.12,2.25,0.00,0.000,3078,0.165,0.054,2345,1996,3511,3563,3459,0,0,0,0,0,0,25.61,25.84,28.83
$GC,5500,-0.68,-146.0,2344,1996,3563,3458,752.7,-12.0,441,5505,0.00,2.30,0.00,0.000,516,0.000,0.065,2345,582,3511,3563,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5548,-0.68,-146.0,2345,582,3563,3458,757.8,-12.1,443,5553,0.00,2.25,0.00,0.000,1030,0.000,0.054,2337,1993,3511,3563,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5857,-0.68,-146.0,2336,1994,3562,3459,796.6,-12.3,458,5862,0.00,2.28,0.00,0.000,516,0.000,0.065,2336,586,3510,3562,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5916,-0.68,-146.0,2336,585,3562,3459,804.2,-12.7,461,5922,0.00,2.25,0.00,0.000,1030,0.000,0.055,2326,1997,3510,3562,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6237,-0.68,-146.0,2326,1997,3561,3459,846.1,-13.3,477,6243,0.00,2.30,0.00,0.000,516,0.000,0.066,2327,584,3510,3561,3459,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6278,-0.68,-146.0,2327,583,3561,3459,851.6,-13.4,479,6283,0.10,2.30,0.00,0.000,3078,0.142,0.055,2349,1993,3510,3561,3460,0,0,0,0,0,0,25.55,25.82,28.83
$GC,6597,-0.68,-146.0,2348,1995,3559,3459,887.0,-10.9,495,6603,0.00,2.28,0.00,0.000,516,0.000,0.066,2348,583,3509,3559,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6629,-0.68,-146.0,2348,583,3559,3459,889.3,-11.1,496,6638,0.00,2.28,0.00,0.000,1030,0.000,0.056,2341,1999,3509,3559,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6937,-0.68,-146.0,2341,1999,3558,3459,926.1,-11.6,512,6942,0.00,2.30,0.00,0.000,516,0.000,0.065,2341,589,3508,3558,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6996,-0.68,-146.0,2341,589,3557,3459,933.2,-11.9,515,7002,0.00,2.25,0.00,0.000,1030,0.000,0.056,2331,1997,3508,3557,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7317,-0.68,-146.0,2331,1998,3557,3458,971.9,-12.0,531,7323,0.00,2.30,0.00,0.000,516,0.000,0.065,2331,585,3507,3557,3458,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7377,-0.68,-146.0,2331,584,3556,3458,979.4,-12.3,534,7383,0.12,2.25,0.00,0.000,3078,0.164,0.056,2351,1995,3507,3556,3458,0,0,0,0,0,0,25.58,25.79,28.83
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7599,begin apogee
$GC,7604,-0.14,0.0,2351,1866,3556,3457,1001.9,-10.2,545,7741,0.55,0.00,133.60,1.794,10246,0.124,0.000,2525,1865,2909,2982,2836,0,0,0,0,0,0,25.46,28.83,22.44
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7742,begin climb
$GC,7744,0.68,146.0,2525,1865,2982,2836,1009.7,0.0,552,7899,0.75,2.65,141.27,1.761,10500,0.045,0.060,2801,3281,2311,2372,2251,0,0,0,0,0,0,23.79,23.30,22.11
$GC,8195,0.68,146.0,2801,3281,2371,2240,967.8,15.1,574,8202,0.00,2.33,0.00,0.000,1030,0.000,0.054,2811,1871,2305,2371,2240,0,0,0,0,0,0,28.83,25.14,28.83
$GC,8503,0.68,146.0,2811,1871,2370,2237,920.1,14.4,590,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1871,2303,2370,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,0.68,146.0,2811,1871,2369,2236,875.7,15.0,605,8808,0.00,2.30,0.00,0.000,260,0.000,0.062,2811,3288,2302,2369,2236,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8964,0.68,146.0,1936,3287,2329,2230,850.4,15.7,613,8969,0.10,2.33,0.00,0.000,5126,0.194,0.053,2795,1867,2302,2369,2236,0,0,0,0,0,0,25.38,25.77,28.83
$GC,9282,0.68,146.0,2795,1867,2369,2234,804.2,15.1,629,9287,0.00,2.30,0.00,0.000,260,0.000,0.062,2794,3288,2301,2369,2234,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9416,0.68,146.0,2793,3288,2369,2234,785.1,15.9,635,9422,0.00,2.28,0.00,0.000,1030,0.000,0.053,2803,1870,2301,2368,2234,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9722,0.68,146.0,2802,1870,2368,2234,737.8,14.2,651,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1870,2301,2368,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10022,0.68,146.0,2802,1870,2367,2234,696.1,14.1,666,10028,0.00,2.30,0.00,0.000,260,0.000,0.063,2803,3291,2300,2366,2234,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10130,0.68,146.0,2802,3291,2367,2234,681.7,14.4,671,10134,0.00,2.28,0.00,0.000,1030,0.000,0.054,2813,1867,2300,2367,2234,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,15934,end climb,SURFACE_DEPTH_REACHED
$STATE,15934,begin surface coast
$FINISH,-0.2,1.026187
$STATE,15954,end surface coast,CONTROL_FINISHED_OK
$STATE,15954,begin surface
$SM_CCo,16032,0.00,0.000,0,0,1925,241.37
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$IRIDIUM_FIX,-4247.91,831.99,211108,090912
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.16
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.1,46.910
$10V_AH,9.9,37.557
$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
$DEVICE_SECS,17.950,160.100,313.900,0.000,0.000,25.774,21.718,237.400,49.250,0.000,29.830,3221.820,9267.518,479.680,3242.051,232.274,0.000,1777.040,0.000,2702.430,0.000,299.716,0.000
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$SENSOR_SECS,841.127,75.715,698.915,1799.398,0.000,0.000,0.000,0.000,0.000,0.000
$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,76817,1202
$CAP_FILE_SIZE,180867,0
$CFSIZE,259248128,236228608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.177, 30.6,1
$GPS,260116,053852,-4304.382,827.977,78,0.9,78,-25.0