version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 334
start: 2 6 116 10 48 46
data:
$ID,542
$MISSION,12
$DIVE,334
$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,-30124.051
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,060216,104105,-4301.090,831.728,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.8
$GPS2,060216,104804,-4301.123,831.836,16,0.9,17,-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,316.5,3243,-19.2,-9.804,-21.95,1996
$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,-127.7,166,1992,1968,1919,0.0,0.0,0,65,0.00,0.00,-46.95,0.000,16386,0.000,0.000,166,1992,3271,3340,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.71,-146.0,166,1993,3340,3205,3.8,-7.4,6,87,8.40,2.35,-4.53,0.000,18948,0.214,0.067,2341,576,3508,3562,3455,0,0,0,0,0,0,25.03,25.70,26.25
$GC,227,-0.71,-146.0,2340,576,3563,3456,40.7,-16.1,30,235,0.00,2.28,0.00,0.000,1030,0.000,0.047,2332,2007,3509,3563,3456,0,0,0,0,0,0,28.83,25.76,28.83
$GC,564,-0.71,-146.0,2332,2007,3564,3457,94.6,-15.9,91,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2007,3510,3564,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.71,-146.0,2332,2007,3565,3458,143.3,-14.6,125,889,0.00,2.30,0.00,0.000,516,0.000,0.057,2332,581,3511,3565,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,945,-0.71,-146.0,1536,581,3560,3457,152.8,-14.7,131,953,0.00,2.25,0.00,0.000,1030,0.000,0.046,2322,1993,3512,3565,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1253,-0.71,-146.0,2322,1993,3566,3460,197.5,-13.9,162,1262,0.00,2.25,0.00,0.000,516,0.000,0.057,2322,584,3513,3566,3460,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1289,-0.71,-146.0,2322,584,3566,3460,202.2,-13.9,165,1296,0.00,2.22,0.00,0.000,1030,0.000,0.047,2312,2004,3513,3566,3460,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1597,-0.71,-146.0,2312,2005,3566,3460,246.9,-14.0,196,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2005,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1897,-0.71,-146.0,2312,2005,3566,3460,290.4,-14.8,226,1906,0.00,2.28,0.00,0.000,516,0.000,0.057,2312,581,3513,3566,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1933,-0.71,-146.0,2312,581,3566,3460,295.3,-15.6,229,1940,0.15,2.22,0.00,0.000,3078,0.161,0.047,2341,2000,3513,3566,3460,0,0,0,0,0,0,25.66,25.96,28.83
$GC,2239,-0.71,-146.0,2340,2000,3566,3460,334.7,-12.7,260,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2000,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2539,-0.71,-146.0,2340,2000,3566,3460,372.5,-12.8,290,2547,0.00,2.30,0.00,0.000,516,0.000,0.060,2341,577,3513,3566,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2603,-0.71,-146.0,2341,577,3566,3460,380.3,-12.6,296,2611,0.00,2.28,0.00,0.000,1030,0.000,0.049,2332,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2922,-0.71,-146.0,2332,1998,3566,3460,421.7,-12.8,320,2927,0.00,2.22,0.00,0.000,260,0.000,0.057,2321,3411,3513,3566,3460,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2934,-0.71,-146.0,2321,3411,3566,3460,421.7,-12.8,320,2941,0.00,2.25,0.00,0.000,1030,0.000,0.045,2321,1981,3513,3566,3460,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3241,-0.71,-146.0,2321,1981,3566,3460,463.9,-13.1,336,3247,0.00,2.25,0.00,0.000,516,0.000,0.060,2321,584,3513,3566,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3355,-0.71,-146.0,2321,583,3566,3460,477.6,-13.6,341,3362,0.00,2.22,0.00,0.000,1030,0.000,0.049,2311,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3663,-0.71,-146.0,2311,1997,3566,3460,522.7,-14.4,357,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1997,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3963,-0.71,-146.0,2310,1997,3566,3460,565.3,-14.2,372,3969,0.00,2.28,0.00,0.000,516,0.000,0.060,2312,590,3512,3565,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4022,-0.71,-146.0,2311,591,3566,3460,574.2,-14.5,375,4028,0.15,2.20,0.00,0.000,3078,0.161,0.050,2340,1993,3513,3566,3460,0,0,0,0,0,0,25.63,25.93,28.83
$GC,4342,-0.71,-146.0,2339,1994,3566,3460,613.3,-12.2,391,4347,0.00,2.28,0.00,0.000,516,0.000,0.061,2340,592,3512,3565,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4375,-0.71,-146.0,2340,591,3565,3460,615.8,-12.3,392,4382,0.00,2.22,0.00,0.000,1030,0.000,0.051,2332,1999,3513,3566,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4683,-0.71,-146.0,2331,1999,3564,3460,658.0,-13.4,408,4688,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,592,3512,3564,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4717,-0.71,-146.0,2331,592,3564,3460,660.7,-13.4,409,4724,0.00,2.22,0.00,0.000,1030,0.000,0.051,2322,1997,3512,3564,3460,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5024,-0.71,-146.0,2321,1997,3564,3460,703.4,-13.1,425,5029,0.00,2.28,0.00,0.000,516,0.000,0.062,2322,585,3512,3564,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5065,-0.71,-146.0,2321,585,3564,3460,708.9,-13.0,427,5071,0.00,2.22,0.00,0.000,1030,0.000,0.051,2312,1996,3512,3564,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5388,-0.71,-146.0,2312,1996,3563,3460,752.3,-13.5,443,5393,0.00,2.25,0.00,0.000,516,0.000,0.061,2312,589,3511,3563,3460,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5410,-0.71,-146.0,2312,589,3563,3460,755.1,-13.7,444,5415,0.10,2.28,0.00,0.000,3078,0.141,0.051,2334,1993,3511,3563,3460,0,0,0,0,0,0,25.58,25.88,28.83
$GC,5731,-0.71,-146.0,2334,1994,3563,3460,791.7,-11.1,460,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1994,3511,3563,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-0.71,-146.0,2333,1995,3562,3460,824.6,-10.7,475,6035,0.00,2.25,0.00,0.000,516,0.000,0.063,2334,589,3511,3562,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6079,-0.71,-146.0,2334,588,3562,3460,829.1,-10.9,477,6088,0.00,2.22,0.00,0.000,1030,0.000,0.052,2326,1996,3511,3562,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6390,-0.71,-146.0,2325,1997,3561,3460,865.2,-11.2,493,6395,0.00,2.25,0.00,0.000,516,0.000,0.063,2326,596,3510,3561,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6422,-0.71,-146.0,2325,596,3561,3460,867.5,-11.3,494,6428,0.00,2.22,0.00,0.000,1030,0.000,0.052,2316,1997,3510,3561,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6729,-0.71,-146.0,2316,1997,3559,3460,905.2,-11.8,510,6735,0.00,2.28,0.00,0.000,516,0.000,0.063,2316,592,3509,3559,3460,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6749,-0.71,-146.0,2315,592,3559,3460,907.7,-11.9,511,6755,0.12,2.22,0.00,0.000,3078,0.166,0.052,2336,1998,3509,3559,3460,0,0,0,0,0,0,25.60,25.84,28.83
$GC,7069,-0.71,-146.0,2336,1999,3558,3460,940.5,-10.0,527,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1999,3509,3558,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,-0.71,-146.0,2336,1999,3558,3459,969.9,-9.9,542,7374,0.00,2.28,0.00,0.000,516,0.000,0.063,2337,592,3508,3558,3459,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7422,-0.71,-146.0,2336,592,3557,3459,974.0,-10.0,544,7429,0.00,2.25,0.00,0.000,1030,0.000,0.053,2328,2002,3508,3557,3459,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,7669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7675,-0.14,0.0,2327,1862,3557,3458,1000.9,-10.4,557,7813,0.62,0.00,134.18,1.810,10246,0.123,0.000,2524,1861,2909,2987,2831,0,0,0,0,0,0,25.34,28.83,22.19
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7816,0.71,146.0,2524,1861,2987,2831,1006.9,0.0,564,7972,0.80,2.60,142.50,1.755,11012,0.047,0.058,2820,3281,2312,2373,2251,0,0,0,0,0,0,23.70,23.26,21.89
$GC,8476,0.71,146.0,2820,3281,2371,2237,924.6,15.8,597,8482,0.00,2.28,0.00,0.000,1030,0.000,0.053,2830,1871,2304,2371,2237,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8795,0.71,146.0,2830,1871,2371,2235,877.3,14.5,613,8801,0.00,2.28,0.00,0.000,260,0.000,0.059,2827,3286,2302,2370,2234,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9168,0.71,146.0,2826,3286,2370,2234,821.3,15.8,631,9176,0.15,2.28,0.00,0.000,5126,0.219,0.051,2803,1865,2302,2370,2234,0,0,0,0,0,0,25.46,25.90,28.83
$GC,9476,0.71,146.0,2803,1865,2370,2233,777.4,13.7,647,9482,0.00,2.30,0.00,0.000,260,0.000,0.057,2800,3296,2301,2370,2233,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9609,0.71,146.0,2800,3296,2370,2233,760.9,13.8,653,9616,0.00,2.30,0.00,0.000,1030,0.000,0.051,2809,1862,2301,2370,2233,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9916,0.71,146.0,2808,1862,2370,2232,718.9,12.8,669,9922,0.00,2.28,0.00,0.000,260,0.000,0.058,2809,3287,2301,2370,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9958,0.71,146.0,2809,3287,2371,2232,713.5,13.1,671,9963,0.00,2.28,0.00,0.000,1030,0.000,0.051,2819,1863,2301,2370,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10271,0.71,146.0,2819,1863,2369,2232,673.0,12.5,687,10276,0.00,2.30,0.00,0.000,516,0.000,0.067,2830,458,2300,2369,2232,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10293,0.71,146.0,2830,458,2368,2232,670.4,12.6,688,10299,0.08,2.22,0.00,0.000,5126,0.200,0.053,2809,1873,2299,2367,2232,0,0,0,0,0,0,25.61,25.99,28.83
$GC,10613,0.71,146.0,2809,1873,2367,2232,633.1,11.4,704,10618,0.00,2.22,0.00,0.000,260,0.000,0.059,2809,3285,2299,2367,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10660,0.71,146.0,2809,3285,2367,2232,628.2,11.7,706,10664,0.00,2.25,0.00,0.000,1030,0.000,0.051,2817,1867,2300,2367,2233,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10966,0.71,146.0,2817,1867,2367,2232,590.9,11.8,721,10972,0.00,2.28,0.00,0.000,260,0.000,0.057,2814,3287,2299,2367,2232,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11074,0.71,146.0,2815,3287,2367,2232,578.4,12.6,726,11078,0.00,2.28,0.00,0.000,1030,0.000,0.051,2824,1870,2299,2366,2232,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,16036,0.80,217.4,2820,462,2161,2020,11.7,8.8,1220,16053,0.00,2.25,7.68,0.689,9222,0.000,0.048,2820,1867,2017,2088,1946,0,0,0,0,0,0,28.83,25.98,24.77
$STATE,16104,end climb,SURFACE_DEPTH_REACHED
$STATE,16104,begin surface coast
$FINISH,-0.1,1.007615
$STATE,16131,end surface coast,CONTROL_FINISHED_OK
$STATE,16131,begin surface
$SM_CCo,16147,3.62,0.216,0,0,1969,230.09
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$IRIDIUM_FIX,-4244.98,831.55,021208,191959
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.24
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,21.9,56.552
$10V_AH,9.9,45.359
$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
$DEVICE_SECS,17.875,150.150,314.325,3.625,0.000,26.174,27.115,230.974,49.250,0.000,17.613,3290.757,9250.065,482.962,3277.362,277.692,0.000,1774.761,0.000,2745.965,0.000,298.356,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.211,83.964,759.146,1869.450,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,80155,1234
$CAP_FILE_SIZE,181148,0
$CFSIZE,259248128,231071744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.175, 48.2,1
$GPS,060216,152203,-4259.753,830.958,209,1.1,209,-25.0