version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 332
start: 2 6 116 1 30 33
data:
$ID,542
$MISSION,12
$DIVE,332
$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,-30121.537
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,060216,012234,-4259.733,831.186,79,1.0,79,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.9
$GPS2,060216,012948,-4259.712,831.253,23,0.9,24,-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,266.1,1779,-19.2,-9.804,-21.89,2008
$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,-0.69,-128.5,167,1997,1975,1925,0.0,0.0,0,66,0.00,0.00,-48.90,0.000,16386,0.000,0.000,168,1997,3334,3394,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.71,-146.0,167,1997,3395,3274,3.9,-7.3,6,87,8.38,2.33,-3.28,0.000,18692,0.216,0.063,2321,3414,3508,3558,3458,0,0,0,0,0,0,25.01,25.73,26.24
$GC,134,-0.71,-146.0,2321,3414,3561,3459,25.6,-18.6,15,143,0.00,2.30,0.00,0.000,1030,0.000,0.045,2321,1989,3510,3561,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,288,-0.71,-146.0,2321,1988,3562,3460,52.0,-15.3,40,297,0.00,2.30,0.00,0.000,516,0.000,0.058,2321,590,3511,3562,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,371,-0.71,-146.0,2321,590,3563,3460,65.7,-15.4,54,378,0.00,2.25,0.00,0.000,1030,0.000,0.046,2310,2022,3511,3562,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,702,-0.71,-146.0,2310,2022,3563,3460,122.5,-16.8,102,711,0.12,2.28,0.00,0.000,2564,0.179,0.056,2346,591,3511,3563,3460,0,0,0,0,0,0,25.86,25.75,28.83
$GC,737,-0.71,-146.0,2346,591,3563,3460,127.7,-16.0,105,744,0.00,2.22,0.00,0.000,1030,0.000,0.045,2338,1988,3511,3563,3460,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1045,-0.71,-146.0,2338,1989,3565,3460,172.7,-14.6,136,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1989,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.71,-146.0,2338,1989,3566,3460,215.5,-14.0,166,1354,0.00,2.25,0.00,0.000,516,0.000,0.057,2338,585,3513,3566,3460,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1400,-0.71,-146.0,2338,585,3567,3460,223.1,-14.5,171,1407,0.00,2.22,0.00,0.000,1030,0.000,0.047,2328,2003,3513,3566,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1708,-0.71,-146.0,2328,2004,3566,3460,267.9,-14.3,202,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2004,3513,3567,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-0.71,-146.0,2328,2004,3566,3460,309.6,-13.6,232,2021,0.00,2.28,0.00,0.000,516,0.000,0.058,2328,585,3513,3566,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2073,-0.71,-146.0,2328,585,3566,3460,319.0,-14.1,238,2083,0.00,2.20,0.00,0.000,1030,0.000,0.047,2318,1994,3513,3567,3460,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2385,-0.71,-146.0,2318,1995,3566,3460,364.6,-14.6,269,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1995,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2694,-0.71,-146.0,2318,1995,3566,3460,409.9,-14.5,297,2699,0.00,2.28,0.00,0.000,516,0.000,0.060,2318,582,3513,3566,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2716,-0.71,-146.0,2318,582,3566,3460,412.9,-14.6,298,2721,0.08,2.28,0.00,0.000,3078,0.144,0.048,2333,1997,3513,3566,3460,0,0,0,0,0,0,25.70,25.94,28.83
$GC,3033,-0.71,-146.0,2332,1998,3566,3460,453.5,-12.4,314,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1998,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3336,-0.71,-146.0,2332,1998,3566,3460,490.7,-12.5,329,3341,0.00,2.25,0.00,0.000,516,0.000,0.061,2333,589,3513,3566,3460,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3407,-0.71,-146.0,2333,589,3566,3460,498.5,-13.0,332,3418,0.00,2.22,0.00,0.000,1030,0.000,0.050,2325,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3714,-0.71,-146.0,2324,1997,3566,3460,540.4,-12.9,348,3720,0.00,2.28,0.00,0.000,516,0.000,0.061,2325,588,3513,3566,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3755,-0.71,-146.0,2324,588,3566,3460,545.8,-13.2,350,3760,0.00,2.20,0.00,0.000,1030,0.000,0.050,2314,2000,3513,3566,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4074,-0.71,-146.0,2314,2000,3565,3460,590.8,-14.2,366,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2000,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4376,-0.71,-146.0,2314,2000,3565,3460,633.4,-14.3,381,4381,0.00,2.28,0.00,0.000,516,0.000,0.063,2314,588,3512,3565,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4402,-0.71,-146.0,2314,588,3565,3460,636.4,-14.5,382,4407,0.12,2.22,0.00,0.000,3078,0.167,0.051,2335,1995,3512,3565,3460,0,0,0,0,0,0,25.65,25.89,28.83
$GC,4709,-0.71,-146.0,2335,1995,3564,3460,677.7,-13.1,397,4715,0.00,2.28,0.00,0.000,516,0.000,0.063,2335,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4739,-0.71,-146.0,2335,585,3563,3460,680.4,-13.2,398,4743,0.00,2.25,0.00,0.000,1030,0.000,0.052,2327,2003,3512,3565,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5046,-0.71,-146.0,2326,2004,3563,3460,722.9,-13.3,413,5052,0.00,2.30,0.00,0.000,516,0.000,0.063,2327,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5075,-0.71,-146.0,2326,585,3564,3460,725.6,-13.3,414,5079,0.00,2.22,0.00,0.000,1030,0.000,0.052,2316,1995,3512,3564,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5383,-0.71,-146.0,2317,1995,3563,3460,768.0,-13.0,429,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1994,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,-0.71,-146.0,2316,1995,3563,3460,807.1,-13.2,444,5690,0.00,2.28,0.00,0.000,516,0.000,0.063,2316,589,3511,3563,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5711,-0.71,-146.0,2316,589,3563,3460,809.7,-13.1,445,5716,0.12,2.22,0.00,0.000,3078,0.164,0.052,2337,1993,3511,3563,3460,0,0,0,0,0,0,25.62,25.85,28.83
$GC,6018,-0.71,-146.0,2336,1995,3562,3460,845.4,-11.2,460,6024,0.00,2.28,0.00,0.000,516,0.000,0.063,2337,589,3511,3562,3460,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6040,-0.71,-146.0,1536,589,3556,3457,847.7,-11.2,461,6044,0.00,2.25,0.00,0.000,1030,0.000,0.053,2329,2006,3511,3562,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6353,-0.71,-146.0,2328,2006,3561,3459,883.4,-11.1,477,6358,0.00,2.30,0.00,0.000,516,0.000,0.063,2329,589,3510,3561,3460,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6394,-0.71,-146.0,2328,589,3561,3460,888.2,-11.3,479,6400,0.00,2.22,0.00,0.000,1030,0.000,0.053,2319,1994,3510,3561,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6714,-0.71,-146.0,2318,1995,3559,3460,925.0,-11.6,495,6720,0.00,2.28,0.00,0.000,516,0.000,0.064,2318,587,3509,3559,3460,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6736,-0.71,-146.0,2318,588,3559,3460,927.4,-11.8,496,6741,0.05,2.28,0.00,0.000,3078,0.153,0.053,2340,1987,3509,3558,3460,0,0,0,0,0,0,25.53,25.82,28.83
$GC,7054,-0.71,-146.0,2339,1988,3558,3460,959.3,-9.6,512,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1988,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,-0.71,-146.0,2339,1988,3558,3460,985.8,-8.7,527,7362,0.00,2.30,0.00,0.000,516,0.000,0.065,2339,582,3508,3558,3459,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7416,-0.71,-146.0,2339,582,3557,3459,991.5,-9.1,530,7421,0.00,2.25,0.00,0.000,1030,0.000,0.054,2331,2000,3508,3557,3459,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,7514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7514,begin apogee
$GC,7519,-0.14,0.0,2331,1860,3557,3460,1000.7,-9.3,535,7657,0.60,0.00,134.43,1.800,10246,0.125,0.000,2518,1859,2909,2982,2836,0,0,0,0,0,0,25.32,28.83,22.20
$STATE,7658,end apogee,CONTROL_FINISHED_OK
$STATE,7658,begin climb
$GC,7660,0.71,146.0,2518,1859,2982,2836,1005.8,0.0,542,7817,0.80,2.62,142.65,1.760,10756,0.049,0.064,2822,469,2312,2371,2254,0,0,0,0,0,0,23.69,23.24,21.87
$GC,7853,0.71,147.3,2822,469,2366,2253,1000.3,9.7,551,7859,0.00,2.45,0.00,0.000,1030,0.000,0.053,2822,1872,2308,2366,2251,0,0,0,0,0,0,28.83,24.02,28.83
$GC,8159,0.71,147.3,2822,1871,2365,2245,948.3,16.0,567,8165,0.00,2.33,0.00,0.000,260,0.000,0.060,2822,3289,2305,2365,2245,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8282,0.71,147.3,1920,3287,2323,2239,928.5,16.5,573,8287,0.12,2.30,0.00,0.000,5126,0.220,0.052,2808,1868,2304,2363,2245,0,0,0,0,0,0,25.25,25.58,28.83
$GC,8595,0.71,147.3,2808,1868,2363,2243,882.5,14.1,589,8600,0.00,2.30,0.00,0.000,260,0.000,0.060,2807,3291,2302,2363,2242,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8708,0.71,147.3,2807,3291,2363,2242,867.2,15.3,594,8714,0.00,2.30,0.00,0.000,1030,0.000,0.053,2816,1863,2302,2363,2242,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9014,0.71,147.3,2816,1864,2363,2241,820.8,14.5,610,9020,0.00,2.30,0.00,0.000,260,0.000,0.059,2816,3293,2301,2362,2241,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9054,0.71,147.3,2816,3293,2363,2241,814.8,14.8,612,9060,0.00,2.28,0.00,0.000,1030,0.000,0.052,2827,1869,2302,2363,2241,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9375,0.71,147.3,2826,1868,2362,2240,767.2,15.1,628,9381,0.00,2.28,0.00,0.000,260,0.000,0.059,2826,3287,2301,2362,2240,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9482,0.71,147.3,2826,3286,2362,2240,751.5,15.7,633,9487,0.15,2.25,0.00,0.000,5126,0.213,0.051,2804,1869,2301,2362,2240,0,0,0,0,0,0,25.49,25.92,28.83
$GC,9789,0.71,147.3,2804,1868,2362,2238,708.0,13.7,648,9795,0.00,2.28,0.00,0.000,260,0.000,0.059,2804,3288,2300,2362,2238,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9852,0.71,147.3,2804,3288,2362,2239,699.6,14.0,651,9856,0.00,2.28,0.00,0.000,1030,0.000,0.052,2813,1864,2300,2362,2239,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10169,0.71,147.3,2813,1863,2362,2237,656.1,13.3,667,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1863,2300,2362,2238,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,-0.2,1.026249
$STATE,15767,end surface coast,CONTROL_FINISHED_OK
$STATE,15768,begin surface
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$IRIDIUM_FIX,-4244.98,828.64,021208,101008
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.91
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.9,56.254
$10V_AH,9.9,45.087
$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
$DEVICE_SECS,17.750,132.400,293.425,19.550,0.000,22.894,48.624,223.053,49.250,0.000,24.909,3187.407,9322.928,461.619,3016.690,258.472,0.000,1638.247,0.000,2483.134,0.000,300.468,0.000
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$SENSOR_SECS,836.595,72.578,678.062,1774.729,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353244
$DATA_FILE_SIZE,77087,1195
$CAP_FILE_SIZE,171417,0
$CFSIZE,259248128,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.130, 17.4,1
$GPS,060216,055647,-4259.840,829.414,114,2.5,134,-25.0