version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 288
start: 1 28 116 22 30 22
data:
$ID,542
$MISSION,12
$DIVE,288
$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,-30012.072
$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
$GPS1,280116,222233,-4256.861,836.765,121,1.1,121,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.7
$GPS2,280116,222942,-4256.872,836.873,18,1.0,20,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,319.0,2003,-26.0,-9.804,-28.27,1099
$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,-0.81,-70.2,173,1987,1970,1921,0.0,0.0,0,66,0.00,0.00,-46.38,0.000,16390,0.000,0.000,173,1987,3198,3274,3122,0,0,0,0,0,0,28.83,28.83,26.29
$GC,68,-0.86,-116.0,173,1986,3274,3122,3.3,-5.5,6,87,8.07,2.35,-3.80,0.000,18948,0.211,0.068,2292,574,3385,3460,3311,0,0,0,0,0,0,25.05,25.69,26.23
$GC,157,-0.86,-116.0,2292,574,3462,3312,28.0,-21.1,19,166,0.00,2.30,0.00,0.000,1030,0.000,0.049,2284,1997,3387,3462,3312,0,0,0,0,0,0,28.83,25.70,28.83
$GC,308,-0.86,-116.0,2284,1997,3462,3313,57.0,-19.3,44,316,0.00,2.30,0.00,0.000,516,0.000,0.057,2284,589,3387,3462,3313,0,0,0,0,0,0,28.83,25.65,28.83
$GC,344,-0.86,-116.0,1408,589,3453,3310,64.4,-20.4,50,353,0.00,2.22,0.00,0.000,1030,0.000,0.048,2274,1996,3387,3462,3313,0,0,0,0,0,0,28.83,25.75,28.83
$GC,673,-0.86,-116.0,2273,1996,3463,3314,127.7,-19.2,97,681,0.00,2.25,0.00,0.000,516,0.000,0.058,2274,586,3388,3462,3314,0,0,0,0,0,0,28.83,25.72,28.83
$GC,698,-0.86,-116.0,2273,586,3463,3314,132.1,-19.2,99,706,0.00,2.25,0.00,0.000,1030,0.000,0.047,2263,1989,3388,3463,3314,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1006,-0.86,-116.0,2263,1988,3463,3314,192.8,-19.4,130,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1989,3388,3462,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.86,-116.0,2263,1989,3463,3315,249.0,-18.2,160,1319,0.00,2.25,0.00,0.000,516,0.000,0.057,2264,585,3389,3463,3315,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1323,-0.86,-116.0,2263,585,3462,3315,250.5,-18.3,161,1331,0.10,2.25,0.00,0.000,3078,0.168,0.047,2283,1989,3389,3463,3315,0,0,0,0,0,0,25.53,25.91,28.83
$GC,1633,-0.86,-116.0,2283,1990,3463,3315,305.9,-17.4,192,1642,0.00,2.22,0.00,0.000,516,0.000,0.057,2284,588,3389,3463,3315,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1665,-0.86,-116.0,2283,588,3463,3315,312.0,-17.8,195,1669,0.00,2.20,0.00,0.000,1030,0.000,0.048,2275,1996,3389,3463,3315,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1970,-0.86,-116.0,2275,1997,3463,3314,367.2,-18.4,225,1979,0.00,2.28,0.00,0.000,516,0.000,0.058,2275,578,3389,3463,3315,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2023,-0.86,-116.0,2275,578,3463,3315,376.8,-18.6,230,2031,0.00,2.22,0.00,0.000,1030,0.000,0.048,2265,1997,3389,3463,3315,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2332,-0.86,-116.0,2264,1998,3463,3315,434.3,-18.5,252,2338,0.00,2.28,0.00,0.000,516,0.000,0.059,2265,581,3389,3463,3315,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2380,-0.86,-116.0,2265,581,3463,3315,441.8,-18.5,254,2385,0.15,2.22,0.00,0.000,3078,0.177,0.050,2291,1995,3389,3463,3315,0,0,0,0,0,0,25.55,25.91,28.83
$GC,2688,-0.86,-116.0,2291,1996,3463,3315,492.7,-15.5,269,2694,0.00,2.28,0.00,0.000,516,0.000,0.059,2291,586,3389,3463,3315,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2752,-0.86,-116.0,2291,586,3463,3315,502.3,-15.9,272,2756,0.00,2.22,0.00,0.000,1030,0.000,0.050,2282,1999,3389,3463,3315,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3065,-0.86,-116.0,2282,2000,3463,3314,550.1,-14.9,288,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2000,3388,3462,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3365,-0.86,-116.0,2282,2000,3463,3315,596.6,-15.8,303,3371,0.00,2.25,0.00,0.000,516,0.000,0.061,2282,592,3389,3463,3315,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3444,-0.86,-116.0,2282,592,3463,3315,609.8,-16.4,307,3450,0.00,2.22,0.00,0.000,1030,0.000,0.052,2273,2002,3389,3463,3315,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3765,-0.86,-116.0,2272,2002,3463,3315,665.3,-17.4,323,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2002,3389,3463,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-0.86,-116.0,2272,2002,3463,3315,716.6,-17.0,338,4071,0.00,2.28,0.00,0.000,516,0.000,0.062,2272,589,3389,3463,3315,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4146,-0.86,-116.0,2272,589,3463,3315,730.8,-17.5,342,4152,0.00,2.20,0.00,0.000,1030,0.000,0.053,2262,1992,3388,3463,3314,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4466,-0.86,-116.0,2262,1993,3463,3315,787.1,-17.6,358,4471,0.00,2.28,0.00,0.000,516,0.000,0.062,2262,588,3389,3463,3315,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4513,-0.86,-116.0,2262,588,3463,3315,794.5,-18.0,360,4518,0.15,2.25,0.00,0.000,3078,0.179,0.054,2288,2006,3389,3463,3315,0,0,0,0,0,0,25.48,25.85,28.83
$GC,4819,-0.86,-116.0,2288,2007,3462,3315,844.1,-15.6,375,4825,0.00,2.30,0.00,0.000,516,0.000,0.063,2288,587,3388,3462,3315,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4841,-0.86,-116.0,2288,586,3462,3315,847.3,-15.6,376,4846,0.00,2.22,0.00,0.000,1030,0.000,0.053,2280,1997,3388,3462,3315,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5160,-0.86,-116.0,2280,1998,3462,3315,899.6,-16.3,392,5166,0.00,2.30,0.00,0.000,516,0.000,0.064,2280,582,3388,3462,3315,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5216,-0.86,-116.0,2279,582,3461,3315,906.6,-16.6,394,5223,0.00,2.25,0.00,0.000,1030,0.000,0.054,2269,1995,3388,3461,3315,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5522,-0.86,-116.0,2269,1996,3460,3315,959.5,-16.3,410,5528,0.00,2.28,0.00,0.000,516,0.000,0.063,2269,589,3387,3460,3315,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5597,-0.86,-116.0,2269,588,3461,3315,969.8,-16.3,413,5605,0.12,2.25,0.00,0.000,3078,0.179,0.054,2288,1995,3387,3459,3315,0,0,0,0,0,0,25.54,25.82,28.83
$STATE,5804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5804,begin apogee
$GC,5809,-0.14,0.0,2288,1864,3459,3315,1000.4,-13.3,424,5918,0.75,0.00,105.28,1.787,10246,0.142,0.000,2517,1864,2909,2992,2826,0,0,0,0,0,0,25.22,28.83,22.89
$STATE,5919,end apogee,CONTROL_FINISHED_OK
$STATE,5919,begin climb
$GC,5921,0.86,116.0,2517,1864,2992,2827,1003.9,0.0,429,6046,0.93,2.65,110.62,1.749,10500,0.044,0.059,2866,3287,2434,2486,2382,0,0,0,0,0,0,24.24,23.34,22.13
$GC,6051,1.00,222.3,2866,3287,2484,2382,1005.6,-0.1,436,6169,0.00,2.47,107.28,1.737,9222,0.000,0.050,2876,1875,2000,2066,1935,0,0,0,0,0,0,28.83,23.71,22.18
$GC,6468,1.00,222.3,2876,1874,2057,1927,911.2,24.1,457,6474,0.00,2.35,0.00,0.000,260,0.000,0.060,2876,3293,1992,2057,1927,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6588,1.00,222.3,2876,3293,2054,1926,882.1,24.1,463,6594,0.00,2.33,0.00,0.000,1030,0.000,0.054,2887,1868,1990,2054,1926,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6908,1.00,222.3,2886,1868,2053,1923,807.0,23.4,479,6914,0.00,2.30,0.00,0.000,260,0.000,0.060,2887,3285,1987,2053,1922,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7028,1.00,222.3,2886,3286,2053,1922,778.3,24.2,485,7034,0.00,2.28,0.00,0.000,1030,0.000,0.054,2897,1869,1987,2052,1922,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7348,1.00,222.3,2897,1868,2052,1921,701.0,24.3,501,7354,0.00,2.30,0.00,0.000,260,0.000,0.060,2897,3294,1987,2053,1921,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7461,1.00,222.3,2897,3294,2051,1921,675.6,25.4,506,7468,0.00,2.30,0.00,0.000,1030,0.000,0.054,2907,1867,1986,2051,1921,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7769,1.00,222.3,2907,1867,2050,1921,595.2,25.4,522,7775,0.00,2.28,0.00,0.000,260,0.000,0.060,2900,3287,1986,2051,1921,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7961,1.00,222.3,2900,3287,2049,1920,549.5,25.3,531,7969,0.00,2.28,0.00,0.000,1030,0.000,0.053,2909,1867,1985,2049,1921,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8268,1.00,222.3,2909,1867,2049,1920,471.6,23.9,547,8274,0.00,2.28,0.00,0.000,260,0.000,0.060,2909,3286,1985,2050,1920,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8391,1.00,222.3,2909,3286,2049,1920,442.0,24.3,553,8395,0.00,2.28,0.00,0.000,1030,0.000,0.053,2918,1862,1984,2049,1920,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8705,1.00,222.3,2918,1862,2049,1920,365.2,24.5,576,8714,0.00,2.25,0.00,0.000,260,0.000,0.060,2910,3278,1984,2049,1920,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8827,1.00,222.3,2910,3278,2048,1919,335.0,23.9,588,8836,0.00,2.25,0.00,0.000,1030,0.000,0.054,2919,1866,1984,2049,1919,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9136,1.00,222.3,2919,1865,2048,1919,262.0,23.8,619,9146,0.00,2.28,0.00,0.000,260,0.000,0.059,2910,3287,1983,2048,1919,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9290,1.00,222.3,2048,3286,2013,1914,225.7,23.7,634,9298,0.00,2.30,0.00,0.000,1030,0.000,0.052,2919,1873,1984,2048,1920,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9599,1.00,222.3,2918,1873,2048,1919,154.1,23.2,665,9607,0.00,2.25,0.00,0.000,260,0.000,0.058,2911,3287,1983,2048,1919,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9690,1.00,222.3,2910,3287,2047,1919,132.6,23.9,674,9699,0.00,2.25,0.00,0.000,1030,0.000,0.051,2920,1867,1983,2048,1919,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10012,1.00,222.3,1896,1865,2005,1913,60.5,20.1,721,10018,0.00,2.28,0.00,0.000,260,0.000,0.057,2911,3295,1983,2048,1919,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10135,1.00,222.3,2910,3295,2048,1919,34.1,21.0,743,10145,0.10,2.30,0.00,0.000,5126,0.220,0.050,2895,1871,1983,2048,1919,0,0,0,0,0,0,25.41,25.93,28.83
$STATE,10294,end climb,SURFACE_DEPTH_REACHED
$STATE,10294,begin surface coast
$FINISH,-0.3,1.026119
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10308,begin surface
$SM_CCo,10323,0.77,0.348,0,0,1970,230.09
$SM_GC,1.15,7.28,0.22,0.77,0.054,0.076,0.348,177,2008,1970,-7.40,-0.48,230.09,0,0,0,0,0,0,26.09,26.20,25.11
$IRIDIUM_FIX,-4239.11,830.68,241108,070745
$TT8_MAMPS,0.021721,0.021721
$HUMID,54.96
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.1,49.256
$10V_AH,9.9,39.522
$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,17.650,109.825,323.175,0.775,0.000,32.821,45.115,215.055,49.250,0.000,20.886,2132.910,5739.511,428.931,2276.886,183.477,0.000,1320.671,0.000,1775.236,0.000,298.759,0.000
$DEVICE_MAMPS,220.320,77.265,1787.040,348.075,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.451,49.152,452.786,1159.529,0.000,0.000,0.000,0.000,0.000,0.000
$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,50187,770
$CAP_FILE_SIZE,129385,0
$CFSIZE,259248128,234991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.236, 38.3,1
$GPS,290116,012318,-4255.722,835.868,14,0.9,15,-25.1