version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 331
start: 2 5 116 20 45 49
data:
$ID,542
$MISSION,12
$DIVE,331
$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,-30120.285
$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,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
$GPS1,050216,203803,-4301.069,832.059,74,0.9,74,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.6
$GPS2,050216,204509,-4301.096,832.182,39,0.9,40,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,RECOVER
$TGT_LATLONG,-4300.000,830.000
$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,315.7,3585,-18.1,-9.804,-20.87,2253
$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,-144.3,164,1981,1967,1921,0.0,0.0,0,65,0.00,0.00,-46.75,0.000,16386,0.000,0.000,162,1981,3235,3308,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,162,1981,3308,3164,3.6,-7.1,6,94,8.45,2.30,-5.30,0.000,19204,0.217,0.070,2346,586,3508,3563,3454,0,0,0,0,0,0,25.03,25.70,26.27
$GC,116,-0.68,-146.0,2346,586,3564,3454,20.2,-31.4,12,125,0.00,2.28,0.00,0.000,1030,0.000,0.045,2338,2003,3509,3564,3454,0,0,0,0,0,0,28.83,25.73,28.83
$GC,273,-0.68,-146.0,2338,2003,3565,3455,46.9,-14.4,37,279,0.00,2.28,0.00,0.000,516,0.000,0.057,2338,584,3509,3564,3455,0,0,0,0,0,0,28.83,25.67,28.83
$GC,315,-0.68,-146.0,2338,583,3565,3455,53.1,-13.2,44,324,0.00,2.25,0.00,0.000,1030,0.000,0.047,2328,1991,3510,3565,3456,0,0,0,0,0,0,28.83,25.79,28.83
$GC,653,-0.68,-146.0,2328,1991,3564,3457,103.4,-15.3,103,662,0.00,2.22,0.00,0.000,260,0.000,0.053,2317,3405,3511,3565,3457,0,0,0,0,0,0,28.83,25.81,28.83
$GC,685,-0.68,-146.0,2317,3405,3565,3458,108.2,-14.9,106,695,0.12,2.22,0.00,0.000,3078,0.152,0.045,2349,1991,3511,3565,3458,0,0,0,0,0,0,25.66,25.86,28.83
$GC,996,-0.68,-146.0,2348,1991,3567,3458,147.9,-12.4,137,1005,0.00,2.25,0.00,0.000,516,0.000,0.060,2349,589,3512,3567,3458,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1163,-0.68,-146.0,2348,589,3567,3459,167.6,-11.3,153,1170,0.00,2.20,0.00,0.000,1030,0.000,0.047,2341,1993,3513,3567,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1471,-0.68,-146.0,2341,1994,3567,3459,206.7,-13.0,184,1481,0.00,2.25,0.00,0.000,516,0.000,0.058,2341,587,3513,3567,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1494,-0.68,-146.0,2341,586,3567,3460,209.8,-13.4,186,1503,0.00,2.20,0.00,0.000,1030,0.000,0.047,2331,2000,3513,3567,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1805,-0.68,-146.0,2331,2000,3567,3459,252.1,-13.8,217,1813,0.00,2.25,0.00,0.000,516,0.000,0.058,2331,585,3513,3567,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1837,-0.68,-146.0,2331,585,3567,3460,257.0,-14.3,220,1848,0.00,2.20,0.00,0.000,1030,0.000,0.047,2321,2000,3513,3567,3460,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2148,-0.68,-146.0,2321,2000,3567,3460,301.5,-14.4,251,2157,0.00,2.22,0.00,0.000,260,0.000,0.054,2310,3413,3513,3567,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2172,-0.68,-146.0,2310,3414,3567,3460,304.5,-14.0,253,2183,0.10,2.25,0.00,0.000,3078,0.125,0.045,2344,2002,3513,3567,3460,0,0,0,0,0,0,25.71,25.94,28.83
$GC,2481,-0.68,-146.0,2344,2001,3567,3460,341.4,-11.9,284,2491,0.00,2.28,0.00,0.000,516,0.000,0.060,2344,585,3513,3567,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2602,-0.68,-146.0,2344,585,3567,3460,355.3,-11.7,295,2608,0.00,2.22,0.00,0.000,1030,0.000,0.047,2335,1997,3513,3567,3460,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2908,-0.68,-146.0,2336,1998,3567,3460,394.5,-12.9,326,2918,0.00,2.22,0.00,0.000,260,0.000,0.055,2326,3406,3513,3566,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2930,-0.68,-146.0,2325,3406,3567,3460,397.2,-12.7,328,2940,0.00,2.20,0.00,0.000,1030,0.000,0.046,2325,1994,3513,3567,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3241,-0.68,-146.0,2325,1994,3567,3460,437.9,-13.0,345,3244,0.00,2.28,0.00,0.000,516,0.000,0.062,2325,588,3513,3567,3460,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3330,-0.68,-146.0,2325,588,3567,3460,448.6,-13.0,349,3335,0.12,2.20,0.00,0.000,3078,0.165,0.048,2346,1994,3513,3567,3460,0,0,0,0,0,0,25.70,25.95,28.83
$GC,3637,-0.68,-146.0,2345,1995,3567,3460,483.2,-10.6,364,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1995,3513,3567,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.68,-146.0,2345,1994,3567,3460,515.3,-10.8,379,3944,0.00,2.25,0.00,0.000,516,0.000,0.061,2346,584,3513,3567,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3965,-0.68,-146.0,2346,584,3567,3459,517.6,-10.9,380,3969,0.00,2.22,0.00,0.000,1030,0.000,0.050,2338,1994,3513,3567,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4272,-0.68,-146.0,2337,1995,3567,3460,553.5,-11.4,395,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1995,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.68,-146.0,2337,1995,3567,3460,589.5,-12.4,410,4579,0.00,2.25,0.00,0.000,516,0.000,0.062,2338,589,3513,3567,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4605,-0.68,-146.0,2337,589,3566,3460,592.0,-12.5,411,4611,0.00,2.22,0.00,0.000,1030,0.000,0.050,2328,1996,3513,3566,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4912,-0.68,-146.0,2328,1996,3565,3460,633.7,-13.0,427,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1996,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5214,-0.68,-146.0,2328,1996,3563,3460,672.3,-12.7,442,5219,0.00,2.25,0.00,0.000,516,0.000,0.061,2328,589,3512,3564,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5254,-0.68,-146.0,2328,589,3564,3460,677.5,-12.8,444,5260,0.08,2.28,0.00,0.000,3078,0.147,0.050,2342,1996,3512,3565,3460,0,0,0,0,0,0,25.63,25.89,28.83
$GC,5572,-0.68,-146.0,2342,1996,3563,3460,712.1,-10.7,460,5576,0.00,2.30,0.00,0.000,516,0.000,0.061,2343,581,3512,3564,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5601,-0.68,-146.0,2343,581,3563,3460,714.5,-10.8,461,5606,0.00,2.25,0.00,0.000,1030,0.000,0.051,2334,2002,3511,3563,3460,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5908,-0.68,-146.0,2334,2002,3563,3459,749.8,-11.2,476,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2002,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6212,-0.68,-146.0,2334,2002,3563,3460,783.5,-11.3,491,6217,0.00,2.28,0.00,0.000,516,0.000,0.064,2334,593,3511,3563,3460,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6237,-0.68,-146.0,2334,594,3563,3460,785.9,-11.4,492,6241,0.00,2.25,0.00,0.000,1030,0.000,0.053,2325,2005,3511,3562,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6544,-0.68,-146.0,2324,2006,3561,3460,823.4,-12.0,507,6550,0.00,2.30,0.00,0.000,516,0.000,0.063,2325,591,3511,3562,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6567,-0.68,-146.0,2324,590,3562,3460,825.9,-12.1,508,6572,0.10,2.28,0.00,0.000,3078,0.138,0.052,2347,1991,3511,3562,3460,0,0,0,0,0,0,25.56,25.84,28.83
$GC,6884,-0.68,-146.0,2346,1992,3561,3460,859.2,-10.4,524,6890,0.00,2.30,0.00,0.000,516,0.000,0.063,2347,582,3510,3561,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6913,-0.68,-146.0,2347,581,3561,3460,861.4,-10.5,525,6917,0.00,2.28,0.00,0.000,1030,0.000,0.054,2339,2011,3510,3560,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7226,-0.68,-146.0,2339,2011,3559,3460,896.7,-11.0,541,7232,0.00,2.30,0.00,0.000,516,0.000,0.063,2339,586,3509,3559,3460,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7253,-0.68,-146.0,2338,587,3559,3460,899.0,-11.2,542,7257,0.00,2.25,0.00,0.000,1030,0.000,0.053,2329,2000,3509,3559,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7561,-0.68,-146.0,2329,2001,3558,3459,936.7,-12.2,557,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2000,3508,3558,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7861,-0.68,-146.0,2328,2000,3558,3459,972.8,-12.0,572,7867,0.00,2.28,0.00,0.000,516,0.000,0.064,2329,591,3508,3558,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7895,-0.68,-146.0,2329,591,3558,3459,975.3,-12.1,573,7903,0.12,2.25,0.00,0.000,3078,0.163,0.054,2349,1997,3508,3557,3459,0,0,0,0,0,0,25.57,25.78,28.83
$STATE,8142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8142,begin apogee
$GC,8147,-0.14,0.0,2349,1856,3557,3458,1001.5,-9.6,586,8285,0.55,0.00,134.25,1.805,10246,0.119,0.000,2525,1856,2909,2986,2832,0,0,0,0,0,0,25.39,28.83,22.21
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8288,0.68,146.0,2525,1855,2986,2832,1008.0,0.0,593,8445,0.75,2.58,142.48,1.756,10756,0.050,0.063,2811,470,2312,2372,2252,0,0,0,0,0,0,23.69,23.25,21.89
$GC,8675,0.68,146.0,2811,469,2365,2247,971.0,17.2,612,8679,0.00,2.33,0.00,0.000,1030,0.000,0.053,2811,1875,2306,2365,2247,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8982,0.68,146.0,2810,1876,2364,2244,917.2,16.7,627,8988,0.00,2.28,0.00,0.000,260,0.000,0.060,2811,3282,2304,2364,2244,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9063,0.68,146.0,2810,3282,2362,2244,903.4,17.3,631,9070,0.12,2.25,0.00,0.000,5126,0.207,0.053,2796,1878,2303,2362,2244,0,0,0,0,0,0,25.40,25.70,28.83
$GC,9382,0.68,146.0,2795,1878,2362,2241,856.1,14.1,647,9388,0.00,2.28,0.00,0.000,260,0.000,0.060,2795,3287,2302,2363,2242,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9445,0.68,146.0,2795,3287,2362,2241,847.4,14.4,650,9449,0.00,2.30,0.00,0.000,1030,0.000,0.052,2804,1859,2301,2362,2241,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9763,0.68,146.0,2804,1859,2362,2240,804.8,13.1,666,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1859,2301,2362,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10063,0.68,146.0,2804,1859,2362,2238,766.5,12.8,681,10069,0.00,2.30,0.00,0.000,260,0.000,0.060,2804,3290,2300,2362,2239,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10145,0.68,146.0,1904,3289,2322,2233,755.8,13.3,685,10150,0.00,2.28,0.00,0.000,1030,0.000,0.051,2814,1862,2300,2362,2239,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,16442,end climb,SURFACE_DEPTH_REACHED
$STATE,16443,begin surface coast
$FINISH,0.3,1.026086
$STATE,16462,end surface coast,CONTROL_FINISHED_OK
$STATE,16463,begin surface
$SM_CCo,16480,9.52,0.194,0,0,1969,230.09
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$IRIDIUM_FIX,-4242.04,740.74,021208,050507
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.28
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.9,56.088
$10V_AH,9.9,44.961
$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
$DEVICE_SECS,17.925,172.250,304.475,9.525,0.000,22.996,42.429,210.255,49.250,0.000,41.301,3276.353,9703.219,524.384,3125.555,293.045,0.000,1800.506,0.000,2591.657,0.000,300.272,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.868,70.449,691.160,1833.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353256
$DATA_FILE_SIZE,77152,1231
$CAP_FILE_SIZE,186112,0
$CFSIZE,259248128,231329792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159, 54.6,1
$GPS,060216,012234,-4259.733,831.186,79,1.0,79,-25.0