version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 60
start: 12 18 115 3 44 32
data:
$ID,542
$MISSION,12
$DIVE,60
$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,-29725.092
$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
$GPS1,181215,033902,-4256.718,824.546,19,1.0,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.6
$GPS2,181215,034405,-4256.665,824.596,17,1.0,17,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,306.7,1473,-27.8,-9.804,-30.00,959
$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,-0.85,-61.2,167,1992,1829,1712,0.0,0.0,0,74,0.00,0.00,-54.53,0.000,16390,0.000,0.000,168,1992,3159,3239,3080,0,0,0,0,0,0,28.83,28.83,26.44
$GC,76,-0.90,-104.4,167,1992,3238,3081,2.9,-5.2,7,95,7.97,2.35,-4.07,0.000,18948,0.230,0.080,2283,574,3338,3417,3259,0,0,0,0,0,0,25.92,26.09,26.39
$GC,208,-0.90,-104.4,2282,574,3420,3259,32.9,-21.2,27,217,0.00,2.30,0.00,0.000,1030,0.000,0.057,2274,1995,3339,3420,3259,0,0,0,0,0,0,28.83,26.15,28.83
$GC,353,-0.90,-104.4,2274,1995,3420,3260,64.1,-20.8,52,364,0.00,2.30,0.00,0.000,516,0.000,0.069,2274,587,3340,3420,3260,0,0,0,0,0,0,28.83,26.17,28.83
$GC,377,-0.90,-104.4,2274,586,3420,3260,69.4,-22.1,55,386,0.00,2.22,0.00,0.000,1030,0.000,0.057,2265,1996,3340,3420,3260,0,0,0,0,0,0,28.83,26.20,28.83
$GC,705,-0.90,-104.4,2265,1997,3420,3261,137.4,-19.8,99,713,0.00,2.28,0.00,0.000,516,0.000,0.067,2266,575,3340,3420,3261,0,0,0,0,0,0,28.83,26.25,28.83
$GC,838,-0.90,-104.4,2265,575,3421,3261,164.8,-20.2,112,842,0.00,2.22,0.00,0.000,1030,0.000,0.056,2256,1996,3340,3420,3261,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1144,-0.90,-104.4,2255,1996,3420,3262,227.1,-20.8,142,1152,0.00,2.22,0.00,0.000,260,0.000,0.063,2244,3410,3341,3420,3262,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1175,-0.90,-104.4,2244,3410,3420,3262,233.3,-20.2,145,1186,0.12,2.22,0.00,0.000,3078,0.184,0.056,2273,1983,3341,3420,3262,0,0,0,0,0,0,26.23,26.34,28.83
$GC,1485,-0.90,-104.4,2273,1983,3421,3263,289.0,-17.8,176,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1983,3342,3421,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1785,-0.90,-104.4,2273,1983,3421,3263,339.2,-16.6,206,1795,0.00,2.22,0.00,0.000,516,0.000,0.067,2274,581,3342,3421,3263,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1869,-0.90,-104.4,2274,580,3421,3263,353.5,-16.4,214,1878,0.00,2.22,0.00,0.000,1030,0.000,0.057,2265,2004,3342,3421,3263,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2190,-0.90,-104.4,2265,2003,3421,3264,407.0,-17.0,244,2196,0.00,2.22,0.00,0.000,260,0.000,0.063,2254,3416,3342,3421,3264,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2222,-0.90,-104.4,2254,3416,3421,3264,410.4,-17.0,245,2230,0.00,2.25,0.00,0.000,1030,0.000,0.055,2254,1999,3342,3421,3264,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2530,-0.90,-104.4,2254,1999,3421,3264,468.1,-19.2,261,2535,0.00,2.25,0.00,0.000,516,0.000,0.069,2254,584,3342,3421,3264,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2579,-0.90,-104.4,2254,584,3421,3265,476.0,-19.3,263,2584,0.12,2.25,0.00,0.000,3078,0.200,0.057,2272,1990,3342,3421,3264,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2892,-0.90,-104.4,2271,1990,3421,3264,532.6,-17.4,279,2898,0.00,2.25,0.00,0.000,516,0.000,0.070,2274,580,3342,3421,3264,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2912,-0.90,-104.4,2273,579,3421,3264,536.2,-17.7,280,2917,0.00,2.22,0.00,0.000,1030,0.000,0.058,2265,1999,3342,3421,3264,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3232,-0.90,-104.4,2265,1999,3421,3264,595.9,-18.8,296,3237,0.00,2.22,0.00,0.000,260,0.000,0.066,2254,3408,3342,3421,3264,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3251,-0.90,-104.4,2254,3408,3422,3264,599.6,-18.7,297,3255,0.00,2.20,0.00,0.000,1030,0.000,0.057,2254,1996,3343,3422,3264,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3567,-0.90,-104.4,2254,1996,3421,3264,660.2,-19.0,313,3573,0.00,2.25,0.00,0.000,516,0.000,0.072,2254,586,3342,3421,3264,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3629,-0.90,-104.4,2254,585,3421,3264,671.9,-19.4,316,3635,0.10,2.28,0.00,0.000,3078,0.182,0.060,2273,1997,3342,3421,3264,0,0,0,0,0,0,26.35,26.46,28.83
$GC,3948,-0.90,-104.4,2273,1997,3421,3264,727.3,-17.2,332,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,1996,3342,3421,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4247,-0.90,-104.4,2273,1996,3421,3263,777.5,-16.7,347,4253,0.00,2.28,0.00,0.000,516,0.000,0.073,2274,579,3342,3421,3263,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4295,-0.90,-104.4,2273,580,3421,3263,784.4,-16.9,349,4299,0.00,2.30,0.00,0.000,1030,0.000,0.063,2265,2000,3342,3421,3263,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4608,-0.90,-104.4,2265,2001,3421,3263,840.1,-17.6,365,4613,0.00,2.25,0.00,0.000,260,0.000,0.069,2254,3416,3342,3421,3263,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4635,-0.90,-104.4,2254,3416,3421,3263,843.6,-17.6,366,4639,0.00,2.28,0.00,0.000,1030,0.000,0.060,2254,1972,3342,3421,3264,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4948,-0.90,-104.4,2254,1971,3421,3263,899.6,-17.4,382,4953,0.00,2.22,0.00,0.000,516,0.000,0.074,2254,583,3342,3421,3263,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4989,-0.90,-104.4,2254,582,3421,3263,907.1,-17.8,384,4996,0.12,2.22,0.00,0.000,3078,0.198,0.062,2272,1995,3342,3421,3263,0,0,0,0,0,0,26.38,26.48,28.83
$GC,5309,-0.90,-104.4,2272,1997,3421,3262,958.5,-15.9,400,5313,0.00,2.25,0.00,0.000,260,0.000,0.070,2263,3409,3341,3421,3262,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5368,-0.90,-104.4,2263,3409,3421,3262,967.3,-15.3,403,5374,0.00,2.20,0.00,0.000,1030,0.000,0.061,2263,1996,3341,3421,3262,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,5588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5588,begin apogee
$GC,5592,-0.14,0.0,2263,1856,3421,3261,1000.7,-15.2,414,5689,0.85,0.00,92.68,1.753,10246,0.166,0.000,2521,1856,2909,2996,2822,0,0,0,0,0,0,26.39,28.83,23.56
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5690,begin climb
$GC,5691,0.90,104.4,2521,1856,2996,2823,1004.2,0.0,419,5795,0.93,2.60,94.62,1.717,10500,0.054,0.066,2867,3285,2482,2539,2425,0,0,0,0,0,0,24.68,24.13,23.14
$GC,5800,1.02,201.9,2867,3285,2537,2425,1004.7,-0.6,424,5899,0.00,2.45,92.70,1.694,9222,0.000,0.058,2877,1873,2085,2152,2018,0,0,0,0,0,0,28.83,24.35,22.51
$GC,6207,1.02,201.9,2877,1873,2149,2003,912.3,23.7,445,6211,0.00,2.38,0.00,0.000,260,0.000,0.067,2877,3287,2076,2149,2003,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6396,1.02,201.9,2877,3288,2148,2000,869.3,24.8,454,6403,0.00,2.35,0.00,0.000,1030,0.000,0.062,2888,1867,2073,2147,2000,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6703,1.02,201.9,2888,1867,2147,1997,792.3,23.5,470,6709,0.00,2.33,0.00,0.000,260,0.000,0.067,2888,3288,2072,2147,1997,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6765,1.02,201.9,2888,3288,2147,1997,778.0,23.8,473,6770,0.00,2.30,0.00,0.000,1030,0.000,0.062,2898,1868,2072,2147,1997,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7083,1.02,201.9,2898,1868,2146,1996,702.7,23.6,489,7087,0.00,2.30,0.00,0.000,260,0.000,0.067,2898,3288,2071,2147,1996,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7139,1.02,201.9,2897,3288,2146,1996,688.9,24.3,492,7143,0.00,2.28,0.00,0.000,1030,0.000,0.062,2907,1871,2071,2146,1996,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7455,1.02,201.9,2907,1871,2145,1995,614.2,23.5,508,7461,0.00,2.28,0.00,0.000,260,0.000,0.067,2907,3284,2070,2145,1995,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7583,1.02,201.9,2907,3284,2145,1995,585.3,23.9,514,7587,0.00,2.28,0.00,0.000,1030,0.000,0.062,2918,1868,2070,2145,1995,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7890,1.02,201.9,2917,1868,2144,1995,511.5,23.5,529,7894,0.00,2.30,0.00,0.000,260,0.000,0.068,2918,3291,2069,2144,1995,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8016,1.02,201.9,2917,3291,2144,1995,484.2,23.6,535,8020,0.00,2.28,0.00,0.000,1030,0.000,0.062,2928,1866,2069,2144,1995,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8321,1.02,201.9,2928,1865,2144,1995,411.2,23.0,550,8327,0.00,2.28,0.00,0.000,260,0.000,0.067,2924,3286,2069,2144,1995,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8651,1.02,201.9,2923,3286,2143,1994,332.8,22.9,580,8656,0.15,2.25,0.00,0.000,5126,0.249,0.062,2902,1867,2069,2143,1995,0,0,0,0,0,0,26.17,26.33,28.83
$GC,8957,1.02,201.9,2902,1867,2143,1994,266.9,21.1,610,8966,0.00,2.28,0.00,0.000,260,0.000,0.068,2898,3292,2069,2143,1995,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9038,1.02,201.9,2898,3292,2143,1994,248.4,23.2,618,9047,0.00,2.25,0.00,0.000,1030,0.000,0.062,2907,1872,2068,2143,1994,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9348,1.02,201.9,2907,1872,2143,1995,179.2,21.6,649,9358,0.00,2.25,0.00,0.000,260,0.000,0.067,2904,3285,2068,2143,1994,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9580,1.02,201.9,2904,3285,2142,1995,128.7,21.7,672,9584,0.00,2.25,0.00,0.000,1030,0.000,0.060,2913,1861,2068,2142,1994,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9896,1.02,201.9,2913,1860,2142,1995,64.6,20.6,718,9903,0.00,2.28,0.00,0.000,516,0.000,0.074,2924,449,2068,2143,1994,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9921,1.02,201.9,2924,449,2143,1994,59.2,21.0,722,9928,0.00,2.25,0.00,0.000,1030,0.000,0.059,2923,1873,2068,2142,1995,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,10174,end climb,SURFACE_DEPTH_REACHED
$STATE,10174,begin surface coast
$FINISH,0.0,1.026495
$STATE,10188,end surface coast,CONTROL_FINISHED_OK
$STATE,10188,begin surface
$SM_CCo,10203,9.40,0.158,0,0,1969,230.09
$SM_GC,2.53,7.20,0.20,9.40,0.051,0.086,0.158,176,1999,1969,-7.40,-0.74,230.09,0,0,0,0,0,0,26.46,26.44,26.30
$IRIDIUM_FIX,-4242.04,824.86,131008,131334
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.99
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,22.5,13.391
$10V_AH,10.2,11.226
$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,17.575,109.575,280.000,9.400,0.000,25.423,19.555,156.185,49.250,0.000,17.832,2132.845,5703.621,395.418,2174.989,113.384,0.000,1262.200,0.000,1771.925,0.000,296.349,0.000
$DEVICE_MAMPS,248.625,86.445,1752.615,157.590,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.055,50.426,457.394,1162.727,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352816
$DATA_FILE_SIZE,50345,767
$CAP_FILE_SIZE,128681,0
$CFSIZE,259248128,253804544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.227, 37.3,1
$GPS,181215,063559,-4255.648,823.660,39,1.6,39,-25.0