version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 279
start: 1 27 116 4 41 49
data:
$ID,542
$MISSION,12
$DIVE,279
$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,-30000.766
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,270116,043251,-4304.239,823.785,140,1.1,140,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.6
$GPS2,270116,044122,-4304.202,823.809,15,1.6,15,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,9.5,15192,-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,-146.0,157,2003,1968,1921,0.0,0.0,0,67,0.00,0.00,-49.25,0.000,16386,0.000,0.000,157,2004,3286,3354,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,157,2004,3354,3220,3.1,-6.1,6,95,8.43,2.38,-4.43,0.000,18948,0.213,0.072,2353,580,3508,3563,3454,0,0,0,0,0,0,25.07,25.64,26.22
$GC,179,-0.68,-146.0,2352,579,3563,3454,30.1,-16.4,22,188,0.00,2.30,0.00,0.000,1030,0.000,0.049,2344,1998,3508,3563,3454,0,0,0,0,0,0,28.83,25.69,28.83
$GC,328,-0.68,-146.0,2344,1998,3564,3454,52.5,-12.8,47,334,0.00,2.25,0.00,0.000,260,0.000,0.056,2333,3408,3509,3564,3454,0,0,0,0,0,0,28.83,25.66,28.83
$GC,402,-0.68,-146.0,2333,3408,3565,3455,61.4,-10.9,60,410,0.00,2.25,0.00,0.000,1030,0.000,0.047,2333,2002,3509,3564,3455,0,0,0,0,0,0,28.83,25.74,28.83
$GC,736,-0.68,-146.0,2333,2002,3564,3456,107.4,-13.9,116,745,0.00,2.28,0.00,0.000,516,0.000,0.060,2333,588,3510,3564,3456,0,0,0,0,0,0,28.83,25.69,28.83
$GC,821,-0.68,-146.0,2333,588,3564,3456,119.3,-14.2,124,831,0.00,2.22,0.00,0.000,1030,0.000,0.048,2323,2007,3510,3564,3456,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1131,-0.68,-146.0,2323,2007,3564,3456,166.3,-16.4,155,1140,0.00,2.28,0.00,0.000,516,0.000,0.059,2323,589,3510,3564,3457,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1163,-0.68,-146.0,2323,589,3565,3457,171.4,-16.3,158,1172,0.10,2.22,0.00,0.000,3078,0.151,0.048,2344,2004,3510,3564,3457,0,0,0,0,0,0,25.56,25.86,28.83
$GC,1473,-0.68,-146.0,2344,2005,3565,3457,214.0,-13.5,189,1483,0.00,2.25,0.00,0.000,516,0.000,0.059,2344,591,3511,3565,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1518,-0.68,-146.0,2344,591,3565,3458,220.3,-14.3,193,1527,0.00,2.17,0.00,0.000,1030,0.000,0.049,2336,1990,3511,3565,3457,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1826,-0.68,-146.0,2336,1990,3565,3458,266.3,-15.3,224,1836,0.00,2.25,0.00,0.000,516,0.000,0.060,2336,584,3511,3564,3458,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1848,-0.68,-146.0,2336,584,3565,3458,269.9,-15.9,226,1860,0.00,2.22,0.00,0.000,1030,0.000,0.049,2326,2002,3511,3565,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2159,-0.68,-146.0,2326,2002,3564,3458,316.9,-15.0,257,2168,0.00,2.28,0.00,0.000,516,0.000,0.060,2326,586,3511,3565,3457,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2193,-0.68,-146.0,2325,586,3565,3458,322.1,-15.6,260,2202,0.10,2.28,0.00,0.000,3078,0.146,0.049,2347,1997,3511,3564,3458,0,0,0,0,0,0,25.59,25.90,28.83
$GC,2500,-0.68,-146.0,2347,1997,3565,3458,361.7,-12.4,291,2509,0.00,2.28,0.00,0.000,516,0.000,0.060,2347,584,3510,3564,3457,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2552,-0.68,-146.0,2347,584,3565,3458,368.0,-12.6,296,2556,0.00,2.22,0.00,0.000,1030,0.000,0.050,2339,1997,3511,3564,3458,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2858,-0.68,-146.0,2339,1997,3565,3458,405.9,-12.7,324,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1997,3511,3565,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.68,-146.0,2339,1997,3565,3458,443.9,-12.8,339,3164,0.00,2.28,0.00,0.000,516,0.000,0.062,2339,586,3511,3565,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3197,-0.68,-146.0,2339,585,3565,3458,449.2,-13.0,341,3201,0.00,2.22,0.00,0.000,1030,0.000,0.050,2329,1995,3511,3565,3458,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3514,-0.68,-146.0,2329,1996,3564,3458,492.5,-13.7,357,3519,0.00,2.28,0.00,0.000,516,0.000,0.062,2329,586,3511,3565,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3546,-0.68,-146.0,2329,585,3565,3458,495.4,-13.8,358,3554,0.12,2.25,0.00,0.000,3078,0.171,0.051,2349,2004,3510,3564,3457,0,0,0,0,0,0,25.63,25.89,28.83
$GC,3854,-0.68,-146.0,2348,2005,3565,3458,533.5,-11.7,374,3860,0.00,2.30,0.00,0.000,516,0.000,0.063,2348,582,3511,3564,3458,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3896,-0.68,-146.0,1544,582,3558,3455,538.3,-11.8,376,3900,0.00,2.28,0.00,0.000,1030,0.000,0.052,2340,1992,3511,3564,3458,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4216,-0.68,-146.0,2340,1993,3565,3457,576.0,-11.7,392,4221,0.00,2.25,0.00,0.000,516,0.000,0.063,2340,592,3511,3564,3458,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4247,-0.68,-146.0,2340,592,3565,3457,578.5,-11.8,393,4255,0.00,2.22,0.00,0.000,1030,0.000,0.053,2331,1995,3511,3565,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4557,-0.68,-146.0,2330,1995,3564,3458,617.1,-12.1,409,4562,0.00,2.25,0.00,0.000,516,0.000,0.063,2330,586,3510,3564,3457,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4619,-0.68,-146.0,2330,586,3564,3457,624.7,-12.4,412,4626,0.12,2.25,0.00,0.000,3078,0.170,0.053,2350,2003,3511,3564,3458,0,0,0,0,0,0,25.61,25.85,28.83
$GC,4936,-0.68,-146.0,2350,2004,3563,3457,660.1,-11.2,428,4941,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,588,3510,3563,3457,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5004,-0.68,-146.0,2350,587,3563,3457,667.2,-11.8,431,5008,0.00,2.25,0.00,0.000,1030,0.000,0.054,2342,2000,3510,3563,3457,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5314,-0.68,-146.0,2341,2001,3563,3457,706.5,-12.7,446,5319,0.00,2.28,0.00,0.000,516,0.000,0.064,2342,591,3510,3563,3457,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5359,-0.68,-146.0,2342,590,3563,3457,711.8,-12.8,448,5364,0.00,2.25,0.00,0.000,1030,0.000,0.054,2332,2006,3510,3563,3457,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5666,-0.68,-146.0,2332,2006,3562,3457,753.5,-13.5,463,5672,0.00,2.30,0.00,0.000,516,0.000,0.064,2332,588,3510,3563,3457,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5715,-0.68,-146.0,2331,588,3563,3457,759.2,-13.9,465,5719,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1998,3509,3562,3457,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6022,-0.68,-146.0,2322,1998,3562,3457,803.8,-14.0,480,6028,0.10,2.30,0.00,0.000,2564,0.187,0.064,2345,588,3509,3562,3457,0,0,0,0,0,0,26.19,25.67,28.83
$GC,6051,-0.68,-146.0,2345,588,3562,3457,806.6,-13.9,481,6055,0.00,2.25,0.00,0.000,1030,0.000,0.055,2337,1999,3509,3561,3457,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6361,-0.68,-146.0,2337,2000,3561,3457,846.9,-12.7,496,6366,0.00,2.28,0.00,0.000,516,0.000,0.064,2337,590,3509,3561,3457,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6399,-0.68,-146.0,2337,589,3560,3457,852.1,-13.0,498,6405,0.00,2.22,0.00,0.000,1030,0.000,0.055,2327,1996,3508,3560,3457,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6720,-0.68,-146.0,2327,1997,3558,3457,894.2,-13.1,514,6725,0.00,2.28,0.00,0.000,516,0.000,0.065,2327,588,3507,3558,3457,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6746,-0.68,-146.0,2327,588,3559,3457,896.9,-13.2,515,6751,0.12,2.25,0.00,0.000,3078,0.170,0.055,2347,1997,3507,3558,3457,0,0,0,0,0,0,25.58,25.80,28.83
$GC,7054,-0.68,-146.0,2346,1997,3557,3457,933.0,-11.0,530,7060,0.00,2.30,0.00,0.000,516,0.000,0.065,2347,583,3507,3557,3457,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7088,-0.68,-146.0,2346,583,3557,3457,935.2,-11.0,531,7095,0.00,2.28,0.00,0.000,1030,0.000,0.055,2339,2001,3507,3557,3457,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7398,-0.68,-146.0,2339,2000,3557,3456,971.0,-11.0,547,7403,0.00,2.28,0.00,0.000,516,0.000,0.065,2339,592,3506,3557,3456,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7444,-0.68,-146.0,2338,592,3557,3456,975.6,-11.2,549,7448,0.00,2.25,0.00,0.000,1030,0.000,0.056,2329,2001,3506,3556,3456,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,7671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7671,begin apogee
$GC,7676,-0.14,0.0,2329,1862,3557,3456,1002.3,-11.6,560,7812,0.62,0.00,132.75,1.810,10246,0.134,0.000,2521,1861,2909,2981,2837,0,0,0,0,0,0,25.34,28.83,22.42
$STATE,7813,end apogee,CONTROL_FINISHED_OK
$STATE,7813,begin climb
$GC,7815,0.68,146.0,2521,1861,2981,2837,1009.8,0.0,567,7965,0.77,2.58,141.00,1.755,10756,0.048,0.067,2809,467,2313,2371,2255,0,0,0,0,0,0,23.78,23.30,22.11
$GC,8088,0.68,146.0,2809,467,2363,2251,992.9,14.7,580,8094,0.00,2.40,0.00,0.000,1030,0.000,0.055,2809,1877,2306,2363,2250,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8407,0.68,146.0,2809,1877,2362,2246,946.2,14.5,596,8413,0.00,2.30,0.00,0.000,260,0.000,0.062,2809,3284,2304,2362,2246,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8450,0.68,146.0,1936,3283,2323,2240,940.1,15.0,598,8455,0.10,2.33,0.00,0.000,5126,0.194,0.054,2794,1878,2303,2361,2246,0,0,0,0,0,0,25.13,25.48,28.83
$GC,8768,0.68,146.0,2793,1878,2361,2244,896.7,13.2,614,8774,0.00,2.30,0.00,0.000,260,0.000,0.063,2793,3292,2302,2361,2244,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8795,0.68,146.0,2793,3292,2361,2244,893.9,13.3,615,8800,0.00,2.30,0.00,0.000,1030,0.000,0.055,2802,1867,2302,2361,2244,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9104,0.68,146.0,2802,1867,2361,2243,850.6,13.5,630,9109,0.00,2.28,0.00,0.000,260,0.000,0.063,2802,3282,2302,2361,2243,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9170,0.68,146.0,2802,3282,2360,2243,842.1,14.1,633,9174,0.00,2.33,0.00,0.000,1030,0.000,0.057,2812,1870,2301,2360,2243,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9483,0.68,146.0,2812,1870,2361,2242,798.0,13.9,649,9488,0.00,2.30,0.00,0.000,260,0.000,0.063,2812,3286,2301,2360,2242,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,15950,end climb,SURFACE_DEPTH_REACHED
$STATE,15950,begin surface coast
$FINISH,-0.2,1.011964
$STATE,15978,end surface coast,CONTROL_FINISHED_OK
$STATE,15978,begin surface
$SM_CCo,15992,14.70,0.205,0,0,1969,230.09
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$IRIDIUM_FIX,-4244.98,729.06,221108,131331
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.91
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.1,47.835
$10V_AH,9.9,38.354
$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
$DEVICE_SECS,18.125,191.750,294.650,14.700,0.000,48.907,45.254,224.618,49.250,0.000,16.430,3256.199,9307.881,503.317,3195.569,250.994,0.000,1788.414,0.000,2618.633,0.000,299.519,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.271,78.891,715.708,1813.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352668
$DATA_FILE_SIZE,76930,1215
$CAP_FILE_SIZE,187883,0
$CFSIZE,259248128,235696128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150, 79.6,1
$GPS,270116,091033,-4302.415,824.158,81,1.4,81,-25.0