version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 289
start: 1 29 116 1 29 51
data:
$ID,542
$MISSION,12
$DIVE,289
$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,-30013.328
$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,24
$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
$GPS1,290116,012318,-4255.722,835.868,14,0.9,15,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.1
$GPS2,290116,012924,-4255.672,836.009,22,1.9,23,-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,239.6,15424,-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,-146.0,171,2008,2003,1918,0.0,0.0,0,65,0.00,0.00,-47.28,0.000,16386,0.000,0.000,171,2008,3246,3317,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,171,2009,3317,3177,3.2,-5.6,6,87,8.40,2.33,-5.22,0.000,18692,0.216,0.067,2336,3415,3507,3562,3453,0,0,0,0,0,0,25.13,25.76,26.32
$GC,213,-0.68,-146.0,2336,3416,3563,3457,32.9,-12.7,28,222,0.00,2.30,0.00,0.000,1030,0.000,0.047,2336,1995,3510,3564,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,360,-0.68,-146.0,2335,1994,3563,3457,54.4,-15.7,53,367,0.00,2.30,0.00,0.000,516,0.000,0.060,2335,576,3509,3563,3456,0,0,0,0,0,0,28.83,25.68,28.83
$GC,423,-0.68,-146.0,2336,576,3563,3457,64.8,-16.1,64,433,0.00,2.28,0.00,0.000,1030,0.000,0.049,2325,1990,3510,3564,3457,0,0,0,0,0,0,28.83,25.81,28.83
$GC,750,-0.68,-146.0,2325,1991,3565,3457,117.4,-15.4,114,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1991,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,-0.68,-146.0,2325,1991,3566,3459,162.4,-14.8,144,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1991,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-0.68,-146.0,2325,1991,3567,3459,207.0,-14.3,174,1357,0.00,2.28,0.00,0.000,516,0.000,0.059,2326,578,3513,3567,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1393,-0.68,-146.0,2325,578,3567,3460,213.1,-14.5,178,1401,0.12,2.25,0.00,0.000,3078,0.162,0.049,2346,2007,3513,3567,3460,0,0,0,0,0,0,25.68,25.91,28.83
$GC,1702,-0.68,-146.0,2346,2007,3567,3460,250.3,-11.7,209,1710,0.00,2.28,0.00,0.000,516,0.000,0.060,2346,584,3513,3567,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1745,-0.68,-146.0,2346,584,3567,3460,255.3,-11.9,213,1754,0.00,2.17,0.00,0.000,1030,0.000,0.049,2338,1990,3513,3567,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2053,-0.68,-146.0,2337,1990,3567,3460,291.7,-11.7,244,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1990,3513,3567,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.68,-146.0,2338,1990,3568,3460,328.3,-12.3,274,2362,0.00,2.28,0.00,0.000,516,0.000,0.060,2338,575,3514,3568,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2407,-0.68,-146.0,2337,575,3568,3460,335.1,-13.0,279,2416,0.00,2.20,0.00,0.000,1030,0.000,0.050,2328,1989,3514,3568,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2715,-0.68,-146.0,2328,1990,3568,3460,376.8,-14.0,310,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1989,3514,3568,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3025,-0.68,-146.0,2328,1989,3568,3460,420.6,-14.0,334,3031,0.00,2.28,0.00,0.000,516,0.000,0.060,2328,575,3514,3568,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3088,-0.68,-146.0,1504,575,3562,3458,429.1,-13.9,337,3093,0.12,2.25,0.00,0.000,3078,0.162,0.050,2348,2005,3514,3568,3460,0,0,0,0,0,0,25.70,25.93,28.83
$GC,3401,-0.68,-146.0,2348,2006,3568,3460,466.7,-11.8,353,3407,0.00,2.30,0.00,0.000,516,0.000,0.061,2348,578,3514,3568,3460,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3443,-0.68,-146.0,2348,578,3568,3460,471.5,-12.0,355,3448,0.00,2.28,0.00,0.000,1030,0.000,0.050,2340,1991,3514,3568,3460,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3763,-0.68,-146.0,2340,1992,3568,3460,511.2,-12.4,371,3768,0.00,2.25,0.00,0.000,516,0.000,0.062,2340,585,3514,3568,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3809,-0.68,-146.0,2340,586,3568,3460,516.3,-12.5,373,3813,0.00,2.22,0.00,0.000,1030,0.000,0.052,2330,1995,3513,3567,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4116,-0.68,-146.0,2330,1995,3568,3460,558.3,-13.6,388,4122,0.00,2.28,0.00,0.000,516,0.000,0.062,2330,578,3514,3568,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4149,-0.68,-146.0,2330,578,3568,3460,561.1,-13.7,389,4156,0.12,2.25,0.00,0.000,3078,0.164,0.052,2350,1996,3514,3568,3460,0,0,0,0,0,0,25.67,25.90,28.83
$GC,4456,-0.68,-146.0,2350,1997,3568,3460,599.6,-11.8,405,4461,0.00,2.28,0.00,0.000,516,0.000,0.062,2350,584,3514,3568,3460,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4498,-0.68,-146.0,2350,584,3568,3460,604.5,-11.9,407,4503,0.00,2.22,0.00,0.000,1030,0.000,0.053,2342,1994,3514,3568,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4817,-0.68,-146.0,2342,1994,3568,3460,642.9,-12.0,423,4823,0.00,2.30,0.00,0.000,516,0.000,0.063,2342,580,3513,3567,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4848,-0.68,-146.0,2342,580,3567,3460,645.4,-12.0,424,4857,0.00,2.25,0.00,0.000,1030,0.000,0.052,2332,2001,3514,3568,3460,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5158,-0.68,-146.0,2332,2002,3567,3460,685.0,-12.0,440,5164,0.00,2.30,0.00,0.000,516,0.000,0.063,2332,577,3513,3567,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5193,-0.68,-146.0,2332,576,3567,3460,687.5,-12.1,441,5200,0.00,2.28,0.00,0.000,1030,0.000,0.053,2322,2005,3513,3567,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5500,-0.68,-146.0,2322,2005,3566,3460,727.9,-13.0,457,5505,0.00,2.30,0.00,0.000,516,0.000,0.063,2322,584,3513,3566,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5572,-0.68,-146.0,2322,584,3566,3460,735.9,-12.9,460,5577,0.15,2.25,0.00,0.000,3078,0.161,0.054,2350,1998,3513,3566,3460,0,0,0,0,0,0,25.56,25.84,28.83
$GC,5880,-0.68,-146.0,2349,1998,3565,3460,769.2,-10.1,475,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1998,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6180,-0.68,-146.0,2349,1998,3565,3460,799.7,-10.2,490,6185,0.00,2.28,0.00,0.000,516,0.000,0.064,2350,586,3512,3565,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6241,-0.68,-146.0,2350,586,3565,3460,806.0,-10.4,493,6245,0.00,2.28,0.00,0.000,1030,0.000,0.054,2342,1986,3512,3564,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6559,-0.68,-146.0,2342,1986,3563,3460,840.3,-10.9,509,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1986,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.68,-146.0,2342,1986,3563,3460,873.8,-11.3,524,6865,0.00,2.28,0.00,0.000,516,0.000,0.064,2342,586,3511,3563,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6927,-0.68,-146.0,2341,585,3563,3460,880.6,-11.3,527,6931,0.00,2.25,0.00,0.000,1030,0.000,0.055,2332,1995,3511,3563,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7237,-0.68,-146.0,2332,1996,3562,3460,916.5,-11.3,542,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3511,3562,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7535,-0.68,-146.0,2332,1996,3562,3460,949.2,-10.8,557,7540,0.00,2.28,0.00,0.000,516,0.000,0.064,2332,587,3511,3562,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7617,-0.68,-146.0,1536,586,3556,3458,958.3,-11.2,561,7622,0.00,2.30,0.00,0.000,1030,0.000,0.055,2322,1996,3510,3561,3460,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7938,-0.68,-146.0,2322,1997,3560,3460,996.1,-11.9,577,7943,0.00,2.28,0.00,0.000,516,0.000,0.064,2322,588,3510,3560,3460,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,7974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7974,begin apogee
$GC,7981,-0.14,0.0,2313,1873,3559,3460,1001.1,-12.2,579,8118,0.68,0.00,133.43,1.802,10246,0.132,0.000,2521,1873,2909,2982,2836,0,0,0,0,0,0,25.31,28.83,22.42
$STATE,8119,end apogee,CONTROL_FINISHED_OK
$STATE,8119,begin climb
$GC,8121,0.68,146.0,2521,1873,2981,2836,1007.7,0.0,586,8271,0.77,2.60,141.10,1.753,10756,0.049,0.064,2810,458,2312,2374,2250,0,0,0,0,0,0,23.77,23.29,22.11
$GC,8402,0.68,146.0,2810,458,2366,2248,990.4,15.6,599,8406,0.00,2.40,0.00,0.000,1030,0.000,0.054,2810,1868,2306,2366,2247,0,0,0,0,0,0,28.83,24.58,28.83
$GC,8708,0.68,146.0,2810,1869,2366,2242,941.7,15.6,614,8714,0.00,2.33,0.00,0.000,260,0.000,0.060,2810,3291,2303,2365,2242,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8791,0.68,146.0,2809,3291,2364,2242,928.5,16.5,618,8796,0.12,2.30,0.00,0.000,5126,0.216,0.054,2795,1868,2303,2364,2242,0,0,0,0,0,0,25.22,25.55,28.83
$GC,9104,0.68,146.0,2795,1868,2364,2240,881.5,14.8,634,9109,0.00,2.30,0.00,0.000,260,0.000,0.062,2795,3286,2302,2364,2240,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9186,0.68,146.0,2794,3286,2363,2240,869.1,15.5,638,9191,0.00,2.28,0.00,0.000,1030,0.000,0.054,2803,1867,2301,2363,2240,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9499,0.68,146.0,2803,1867,2363,2238,821.5,14.9,654,9505,0.00,2.30,0.00,0.000,260,0.000,0.061,2804,3287,2300,2363,2238,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9571,0.68,146.0,2803,3288,2363,2238,812.2,15.3,657,9578,0.00,2.28,0.00,0.000,1030,0.000,0.054,2813,1871,2300,2363,2238,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9879,0.68,146.0,2813,1871,2362,2237,765.2,14.1,673,9885,0.00,2.30,0.00,0.000,260,0.000,0.062,2814,3293,2299,2362,2237,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10021,0.68,146.0,1920,3291,2322,2231,744.0,15.1,680,10026,0.15,2.28,0.00,0.000,5126,0.208,0.054,2792,1870,2299,2362,2237,0,0,0,0,0,0,25.45,25.86,28.83
$GC,10335,0.68,146.0,2791,1870,2362,2236,703.7,12.8,696,10340,0.00,2.28,0.00,0.000,260,0.000,0.061,2788,3290,2299,2362,2236,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10414,0.68,146.0,2788,3290,2362,2236,693.3,13.1,700,10420,0.00,2.28,0.00,0.000,1030,0.000,0.054,2798,1865,2299,2362,2236,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,16247,end climb,SURFACE_DEPTH_REACHED
$STATE,16247,begin surface coast
$FINISH,-0.3,1.003658
$STATE,16267,end surface coast,CONTROL_FINISHED_OK
$STATE,16267,begin surface
$SM_CCo,16342,0.00,0.000,0,0,1945,236.47
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$IRIDIUM_FIX,-4242.04,836.94,241108,111146
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.32
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.1,49.424
$10V_AH,9.9,39.650
$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
$DEVICE_SECS,18.000,155.075,313.100,0.000,0.000,22.523,22.344,198.138,49.250,0.000,23.818,3287.526,9558.061,467.723,3150.217,247.452,0.000,1727.343,0.000,2652.196,0.000,298.248,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.780,72.988,689.244,1820.189,0.000,0.000,0.000,0.000,0.000,0.000
$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,76954,1228
$CAP_FILE_SIZE,180008,0
$CFSIZE,259248128,234848256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077, 10.0,1
$GPS,290116,060450,-4256.861,834.836,107,1.1,123,-25.1