version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 42
start: 12 14 115 22 10 43
data:
$ID,542
$MISSION,12
$DIVE,42
$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,-29702.512
$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,21
$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
$GPS1,141215,220357,-4302.870,836.323,136,0.9,136,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.3
$GPS2,141215,221004,-4302.834,836.503,16,1.0,17,-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,238.1,2264,-25.6,-9.804,-27.91,1132
$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,-0.80,-72.3,144,1984,1959,1923,0.0,0.0,0,66,0.00,0.00,-48.10,0.000,16390,0.000,0.000,141,1983,3204,3281,3128,0,0,0,0,0,0,28.83,28.83,26.36
$GC,69,-0.88,-135.0,141,1983,3281,3129,2.8,-4.1,6,94,7.97,2.35,-5.40,0.000,18692,0.223,0.080,2266,3405,3462,3529,3395,0,0,0,0,0,0,25.86,26.02,26.32
$GC,190,-0.88,-135.0,2266,3406,3529,3398,34.6,-19.5,24,201,0.00,2.28,0.00,0.000,1030,0.000,0.057,2267,1997,3463,3529,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,338,-0.88,-135.0,2266,1997,3529,3399,65.2,-22.3,49,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1997,3463,3529,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,664,-0.88,-135.0,2267,1997,3529,3401,136.6,-21.7,94,673,0.00,2.28,0.00,0.000,516,0.000,0.070,2267,567,3464,3529,3400,0,0,0,0,0,0,28.83,26.21,28.83
$GC,708,-0.88,-135.0,2267,567,3529,3401,146.0,-21.9,98,716,0.00,2.30,0.00,0.000,1030,0.000,0.057,2258,1993,3465,3529,3401,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1018,-0.88,-135.0,2258,1994,3529,3402,215.1,-22.6,129,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1994,3465,3529,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1326,-0.88,-135.0,2258,1994,3529,3402,285.1,-21.4,160,1336,0.00,2.25,0.00,0.000,260,0.000,0.063,2247,3409,3465,3529,3402,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1370,-0.88,-135.0,1472,3408,3523,3400,294.1,-21.5,164,1380,0.10,2.28,0.00,0.000,3078,0.165,0.055,2278,1988,3465,3529,3402,0,0,0,0,0,0,26.25,26.34,28.83
$GC,1677,-0.88,-135.0,2277,1986,3529,3402,353.7,-18.9,195,1682,0.00,2.25,0.00,0.000,516,0.000,0.070,2278,575,3466,3529,3403,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1734,-0.88,-135.0,2278,575,3529,3403,364.4,-18.5,200,1738,0.00,2.25,0.00,0.000,1030,0.000,0.058,2269,2003,3466,3529,3403,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2040,-0.88,-135.0,2269,2004,3529,3403,427.7,-21.5,224,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3466,3529,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2341,-0.88,-135.0,2269,2003,3529,3403,491.1,-21.3,239,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3465,3529,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,-0.88,-135.0,2268,2004,3529,3403,553.6,-21.3,254,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3466,3529,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2941,-0.88,-135.0,2269,2004,3529,3402,615.3,-20.3,269,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3466,3530,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.88,-135.0,2269,2004,3529,3402,673.0,-18.9,284,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3466,3529,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.88,-135.0,2269,2004,3529,3402,728.3,-18.5,299,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2003,3466,3529,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-0.88,-135.0,2269,2004,3529,3402,783.9,-18.4,314,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3466,3529,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4141,-0.88,-135.0,2269,2004,3529,3402,840.5,-18.9,329,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3465,3529,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4441,-0.88,-135.0,2269,2003,3529,3402,896.8,-18.6,344,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2004,3465,3529,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.88,-135.0,2269,2004,3530,3402,949.9,-17.0,359,4745,0.00,2.25,0.00,0.000,260,0.000,0.072,2258,3414,3465,3529,3402,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4789,-0.88,-135.0,2258,3414,3529,3402,957.0,-17.0,361,4794,0.00,2.28,0.00,0.000,1030,0.000,0.063,2258,2001,3465,3529,3402,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5041,begin apogee
$GC,5045,-0.14,0.0,2258,1861,3528,3402,1001.3,-16.7,374,5169,0.88,0.00,119.95,1.772,10246,0.167,0.000,2522,1861,2909,2985,2834,0,0,0,0,0,0,26.40,28.83,23.39
$STATE,5170,end apogee,CONTROL_FINISHED_OK
$STATE,5170,begin climb
$GC,5171,0.88,135.0,2522,1861,2985,2835,1006.3,0.0,380,5303,0.93,2.53,123.07,1.736,11012,0.049,0.073,2880,468,2358,2411,2305,0,0,0,0,0,0,24.53,23.84,22.90
$GC,5419,0.88,135.0,2880,468,2406,2300,984.2,20.0,392,5426,0.00,2.40,0.00,0.000,1030,0.000,0.063,2880,1868,2352,2406,2299,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5726,0.88,135.0,2880,1869,2406,2293,920.4,20.0,408,5730,0.00,2.35,0.00,0.000,260,0.000,0.070,2880,3285,2349,2406,2293,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5770,0.88,135.0,2880,3285,2406,2293,913.1,20.3,410,5775,0.15,2.33,0.00,0.000,5126,0.242,0.061,2860,1866,2349,2406,2293,0,0,0,0,0,0,25.42,25.56,28.83
$GC,6083,0.88,135.0,2859,1867,2405,2291,853.0,18.1,426,6088,0.00,2.33,0.00,0.000,260,0.000,0.071,2853,3284,2348,2406,2291,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6184,0.88,135.0,1984,3282,2365,2285,834.0,19.0,431,6189,0.00,2.35,0.00,0.000,1030,0.000,0.062,2863,1867,2348,2406,2291,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6502,0.88,135.0,2862,1867,2406,2290,778.6,16.4,447,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1867,2348,2406,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6802,0.88,135.0,2862,1867,2405,2289,728.3,16.8,462,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1867,2347,2406,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,0.88,135.0,2862,1867,2405,2288,677.8,16.9,477,7106,0.00,2.30,0.00,0.000,260,0.000,0.070,2863,3289,2346,2405,2288,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7146,0.88,135.0,2862,3289,2405,2288,671.5,17.1,479,7150,0.00,2.33,0.00,0.000,1030,0.000,0.063,2873,1864,2346,2405,2288,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7458,0.88,135.0,2872,1864,2405,2287,619.2,16.1,495,7462,0.00,2.30,0.00,0.000,260,0.000,0.070,2873,3290,2346,2405,2287,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7508,0.88,135.0,2872,3291,2405,2287,613.1,16.5,497,7516,0.12,2.28,0.00,0.000,5126,0.239,0.062,2859,1867,2346,2405,2287,0,0,0,0,0,0,26.14,26.27,28.83
$GC,7814,0.88,135.0,2858,1867,2405,2286,565.1,14.5,513,7818,0.00,2.28,0.00,0.000,260,0.000,0.070,2853,3285,2345,2405,2286,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7903,0.88,135.0,2853,3285,2405,2286,553.8,14.9,517,7911,0.00,2.30,0.00,0.000,1030,0.000,0.062,2862,1872,2345,2405,2286,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8210,0.88,135.0,2862,1872,2405,2286,507.8,14.3,533,8214,0.00,2.28,0.00,0.000,260,0.000,0.070,2863,3288,2345,2405,2286,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8289,0.88,135.0,2862,3288,2405,2286,496.8,14.4,537,8293,0.00,2.28,0.00,0.000,1030,0.000,0.061,2873,1859,2345,2405,2286,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8606,0.88,135.0,2873,1858,2405,2286,452.3,14.2,553,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1859,2345,2405,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8906,0.88,135.0,2872,1858,2404,2285,409.5,14.2,568,8912,0.00,2.30,0.00,0.000,260,0.000,0.070,2873,3292,2345,2404,2286,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9047,0.88,135.0,2872,3292,2404,2285,388.2,15.2,578,9056,0.00,2.25,0.00,0.000,1030,0.000,0.062,2882,1868,2345,2404,2286,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9356,0.88,135.0,2882,1868,2404,2286,343.1,15.4,609,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1868,2345,2404,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9658,0.88,135.0,2882,1868,2404,2286,297.2,15.3,639,9666,0.00,2.25,0.00,0.000,260,0.000,0.070,2882,3285,2345,2404,2286,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9738,0.88,135.0,2882,3285,2404,2286,283.8,16.1,647,9743,0.17,2.25,0.00,0.000,5126,0.233,0.061,2854,1870,2345,2404,2286,0,0,0,0,0,0,26.29,26.44,28.83
$GC,10046,0.88,135.0,2853,1869,2404,2286,240.4,14.3,677,10055,0.00,2.22,0.00,0.000,260,0.000,0.070,2844,3281,2345,2404,2286,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10116,0.88,135.0,2844,3281,2404,2286,229.5,15.0,684,10121,0.00,2.22,0.00,0.000,1030,0.000,0.060,2853,1867,2345,2404,2286,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10422,0.88,135.0,2853,1867,2404,2286,187.2,13.1,714,10431,0.00,2.28,0.00,0.000,516,0.000,0.076,2864,450,2345,2404,2286,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10454,0.88,135.0,2864,450,2404,2286,183.1,13.2,717,10464,0.00,2.25,0.00,0.000,1030,0.000,0.062,2864,1873,2345,2404,2286,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10763,0.88,135.0,2864,1873,2404,2286,142.0,13.5,748,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1873,2344,2403,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11064,0.88,135.0,2864,1873,2404,2286,102.7,13.1,778,11072,0.00,2.22,0.00,0.000,260,0.000,0.069,2864,3283,2344,2404,2285,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11238,0.88,135.0,1856,3282,2355,2279,79.5,13.1,809,11246,0.00,2.22,0.00,0.000,1030,0.000,0.059,2873,1863,2345,2404,2286,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11572,0.88,135.0,2873,1863,2404,2286,38.7,11.8,870,11580,0.00,2.30,0.00,0.000,516,0.000,0.073,2884,452,2345,2404,2286,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,11806,end climb,SURFACE_DEPTH_REACHED
$STATE,11806,begin surface coast
$FINISH,-0.2,1.026455
$STATE,11826,end surface coast,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$SM_CCo,11843,36.70,0.148,0,0,1968,230.09
$SM_GC,2.16,7.10,2.50,36.70,0.054,0.062,0.148,169,1993,1968,-7.41,-0.85,230.09,0,0,0,0,0,0,26.53,26.49,26.29
$IRIDIUM_FIX,-4244.98,837.38,101008,070752
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.85
$INTERNAL_PRESSURE,9.02345
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.9,10.614
$10V_AH,10.2,9.085
$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,17.425,82.850,243.025,36.700,0.000,24.667,46.194,186.564,49.250,0.000,18.132,2451.621,6940.829,404.889,2341.062,123.188,0.000,1258.370,0.000,1865.890,0.000,296.060,0.000
$DEVICE_MAMPS,241.740,87.210,1771.740,147.645,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.305,62.452,556.876,1374.585,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352732
$DATA_FILE_SIZE,57093,911
$CAP_FILE_SIZE,129241,0
$CFSIZE,259248128,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143, 39.2,1
$GPS,151215,012944,-4303.452,836.194,22,0.9,25,-25.1