version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 64
start: 12 18 115 19 48 53
data:
$ID,542
$MISSION,12
$DIVE,64
$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,-29730.119
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,181215,194205,-4255.981,833.758,32,0.9,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.6
$GPS2,181215,194825,-4255.955,833.874,19,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,155.1,2884,-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,14,-0.85,-61.2,170,1993,1962,1917,0.0,0.0,0,65,0.00,0.00,-46.15,0.000,16390,0.000,0.000,170,1993,3159,3238,3080,0,0,0,0,0,0,28.83,28.83,26.39
$GC,67,-0.90,-101.8,170,1992,3238,3080,3.1,-5.5,6,87,7.80,2.35,-3.75,0.000,18692,0.220,0.076,2264,3420,3327,3410,3244,0,0,0,0,0,0,25.87,26.03,26.32
$GC,312,-0.90,-101.8,2264,3420,3412,3247,54.0,-19.7,46,322,0.00,2.25,0.00,0.000,1030,0.000,0.056,2264,1995,3329,3412,3247,0,0,0,0,0,0,28.83,26.15,28.83
$GC,641,-0.90,-101.8,2264,1994,3412,3248,123.8,-20.8,96,651,0.00,2.25,0.00,0.000,516,0.000,0.067,2264,585,3330,3413,3248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,686,-0.90,-101.8,1488,585,3402,3245,132.8,-20.7,100,694,0.00,2.28,0.00,0.000,1030,0.000,0.055,2255,1999,3330,3412,3248,0,0,0,0,0,0,28.83,26.25,28.83
$GC,993,-0.90,-101.8,2255,1999,3412,3250,194.7,-19.5,131,997,0.00,2.22,0.00,0.000,260,0.000,0.061,2244,3413,3331,3412,3250,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1034,-0.90,-101.8,2244,3414,3411,3250,202.2,-19.8,134,1043,0.10,2.22,0.00,0.000,3078,0.194,0.054,2268,1985,3331,3412,3250,0,0,0,0,0,0,26.20,26.31,28.83
$GC,1343,-0.90,-101.8,2268,1985,3413,3250,258.6,-17.8,165,1353,0.00,2.22,0.00,0.000,516,0.000,0.067,2270,585,3331,3413,3250,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1461,-0.90,-101.8,1504,585,3403,3248,279.7,-17.7,176,1470,0.00,2.25,0.00,0.000,1030,0.000,0.055,2262,1995,3331,3413,3250,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1768,-0.90,-101.8,2262,1995,3413,3250,338.8,-19.9,207,1772,0.00,2.20,0.00,0.000,260,0.000,0.061,2251,3407,3332,3413,3251,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1795,-0.90,-101.8,2251,3407,3413,3251,343.8,-19.6,209,1805,0.00,2.20,0.00,0.000,1030,0.000,0.054,2251,1990,3332,3413,3251,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2105,-0.90,-101.8,2251,1990,3413,3251,404.5,-19.7,239,2109,0.00,2.22,0.00,0.000,516,0.000,0.067,2251,585,3332,3413,3251,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2223,-0.90,-101.8,2251,585,3413,3252,427.7,-19.7,245,2229,0.15,2.20,0.00,0.000,3078,0.203,0.056,2276,1995,3332,3413,3252,0,0,0,0,0,0,26.29,26.42,28.83
$GC,2543,-0.90,-101.8,2276,1995,3413,3252,485.3,-17.9,261,2548,0.00,2.22,0.00,0.000,260,0.000,0.063,2266,3417,3332,3412,3252,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2591,-0.90,-101.8,2266,3417,3413,3252,492.4,-17.7,263,2596,0.00,2.22,0.00,0.000,1030,0.000,0.055,2267,1988,3332,3413,3252,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2897,-0.90,-101.8,2267,1986,3413,3251,548.8,-17.7,278,2901,0.00,2.22,0.00,0.000,516,0.000,0.070,2267,587,3332,3413,3251,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2967,-0.90,-101.8,2267,586,3413,3251,559.1,-18.0,281,2977,0.00,2.22,0.00,0.000,1030,0.000,0.057,2258,1995,3332,3413,3252,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3275,-0.90,-101.8,2258,1995,3413,3251,616.6,-17.8,297,3280,0.00,2.22,0.00,0.000,516,0.000,0.070,2258,588,3331,3413,3250,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3324,-0.90,-101.8,2258,588,3412,3251,623.9,-17.8,299,3328,0.12,2.22,0.00,0.000,3078,0.199,0.059,2276,2004,3332,3413,3251,0,0,0,0,0,0,26.34,26.46,28.83
$GC,3630,-0.90,-101.8,2276,2004,3413,3251,675.9,-16.4,314,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2004,3332,3413,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.90,-101.8,2276,2005,3413,3250,724.5,-16.1,329,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2005,3332,3413,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.90,-101.8,2276,2005,3412,3250,773.3,-16.5,344,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2005,3331,3413,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4529,-0.90,-101.8,2276,2004,3412,3249,823.6,-16.7,359,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2005,3331,3413,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.90,-101.8,2276,2005,3413,3249,871.6,-15.8,374,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2005,3330,3412,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5130,-0.90,-101.8,2276,2005,3413,3248,917.7,-14.8,389,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2005,3330,3413,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5432,-0.90,-101.8,2276,2005,3413,3247,960.3,-13.8,404,5438,0.00,2.28,0.00,0.000,516,0.000,0.073,2277,585,3330,3413,3247,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5472,-0.90,-101.8,2276,585,3413,3247,966.1,-13.9,406,5477,0.00,2.28,0.00,0.000,1030,0.000,0.063,2268,1991,3330,3413,3247,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5710,begin apogee
$GC,5713,-0.14,0.0,2268,1870,3413,3246,1001.5,-14.8,418,5810,0.82,0.00,90.20,1.752,10246,0.164,0.000,2518,1869,2910,2998,2822,0,0,0,0,0,0,26.39,28.83,23.58
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5813,0.90,101.8,2517,1869,2998,2822,1005.1,0.0,423,5914,0.95,2.55,92.53,1.716,10756,0.057,0.072,2878,466,2494,2550,2438,0,0,0,0,0,0,24.75,24.14,23.17
$GC,5951,0.94,137.6,2878,466,2545,2438,1001.9,6.0,430,5992,0.00,2.40,34.00,1.672,9222,0.000,0.061,2878,1871,2348,2400,2296,0,0,0,0,0,0,28.83,24.68,23.13
$GC,6291,0.94,137.6,2878,1871,2398,2284,941.0,18.7,447,6297,0.00,2.35,0.00,0.000,260,0.000,0.068,2878,3285,2340,2397,2283,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6441,0.94,137.6,2878,3285,2395,2283,914.4,18.6,454,6445,0.00,2.33,0.00,0.000,1030,0.000,0.062,2888,1868,2339,2395,2284,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6746,0.94,137.6,2888,1868,2395,2281,858.2,17.4,469,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1868,2338,2395,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,0.94,137.6,2888,1868,2395,2280,804.6,18.2,484,7050,0.00,2.30,0.00,0.000,260,0.000,0.070,2888,3285,2337,2395,2279,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7175,0.94,137.6,2888,3285,2394,2280,782.8,18.9,490,7182,0.00,2.30,0.00,0.000,1030,0.000,0.061,2898,1861,2337,2394,2280,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7482,0.94,137.6,2898,1861,2394,2279,721.9,19.0,506,7486,0.00,2.30,0.00,0.000,260,0.000,0.068,2898,3286,2337,2394,2280,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7540,0.94,137.6,2048,3285,2355,2274,711.2,19.1,509,7545,0.10,2.30,0.00,0.000,5126,0.242,0.060,2884,1874,2336,2393,2279,0,0,0,0,0,0,26.02,26.18,28.83
$GC,7859,0.94,137.6,2883,1873,2393,2279,653.6,17.5,525,7864,0.00,2.28,0.00,0.000,260,0.000,0.069,2883,3288,2336,2393,2279,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8098,0.94,137.6,2882,3288,2392,2279,611.7,17.0,537,8104,0.00,2.25,0.00,0.000,1030,0.000,0.060,2892,1868,2335,2392,2279,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8418,0.94,137.6,2892,1868,2392,2278,559.1,16.1,553,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1868,2335,2392,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,0.94,137.6,2892,1868,2392,2278,511.2,15.5,568,8722,0.00,2.28,0.00,0.000,260,0.000,0.069,2892,3289,2335,2392,2278,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8801,0.94,137.6,2892,3289,2392,2278,498.9,16.1,572,8806,0.00,2.25,0.00,0.000,1030,0.000,0.060,2902,1867,2335,2392,2278,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9114,0.94,137.6,2902,1867,2391,2278,447.4,15.1,588,9118,0.00,2.28,0.00,0.000,260,0.000,0.069,2902,3292,2335,2392,2278,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9358,0.94,137.6,2902,3292,2391,2278,408.2,16.7,600,9362,0.15,2.25,0.00,0.000,5126,0.248,0.060,2881,1870,2334,2391,2277,0,0,0,0,0,0,26.22,26.39,28.83
$GC,9672,0.94,137.6,2881,1870,2391,2278,360.8,14.7,629,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1870,2334,2391,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9980,0.94,137.6,2881,1870,2391,2278,315.4,15.1,660,9991,0.00,2.25,0.00,0.000,260,0.000,0.068,2871,3287,2334,2391,2278,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10147,0.94,137.6,1984,3286,2351,2272,289.5,15.6,676,10156,0.00,2.28,0.00,0.000,1030,0.000,0.060,2880,1874,2334,2391,2277,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10454,0.94,137.6,2879,1874,2391,2278,244.2,14.1,707,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1874,2334,2391,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10758,0.94,137.6,2880,1874,2391,2278,201.5,14.0,737,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1874,2334,2391,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,0.94,137.6,2879,1873,2391,2278,158.3,13.8,768,11076,0.00,2.28,0.00,0.000,516,0.000,0.073,2891,451,2334,2391,2277,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11193,0.94,137.6,2890,451,2391,2278,140.6,15.1,780,11201,0.00,2.30,0.00,0.000,1030,0.000,0.060,2885,1880,2334,2391,2278,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11499,0.94,137.6,2885,1880,2391,2278,99.1,12.7,811,11505,0.00,2.22,0.00,0.000,260,0.000,0.066,2885,3289,2334,2391,2278,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11874,0.94,137.6,2885,3289,2391,2278,48.7,13.1,879,11881,0.00,2.28,0.00,0.000,1030,0.000,0.057,2895,1862,2334,2391,2278,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,12217,end climb,SURFACE_DEPTH_REACHED
$STATE,12217,begin surface coast
$FINISH,0.3,1.026471
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12252,35.83,0.149,0,0,1970,230.09
$SM_GC,2.74,7.43,0.22,35.83,0.078,0.082,0.149,177,1998,1970,-7.39,-0.74,230.09,0,0,0,0,0,0,26.52,26.51,26.28
$IRIDIUM_FIX,-4236.17,833.59,141008,040442
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.08
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.1,13.961
$10V_AH,10.2,11.694
$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,17.625,91.200,216.725,35.825,0.000,26.455,43.035,196.318,49.250,0.000,20.766,2572.513,7017.626,385.265,2563.164,130.697,0.000,1320.426,0.000,2072.424,0.000,297.975,0.000
$DEVICE_MAMPS,247.860,85.680,1751.850,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.855,68.796,594.686,1432.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,60370,939
$CAP_FILE_SIZE,136819,0
$CFSIZE,259248128,253493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172, 44.8,1
$GPS,181215,231527,-4255.945,836.639,71,0.9,71,-25.1