version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 223
start: 1 16 116 20 32 50
data:
$ID,542
$MISSION,12
$DIVE,223
$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,-29930.041
$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,24
$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
$GPS1,160116,202633,-4256.584,824.269,70,1.5,70,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.1
$GPS2,160116,203223,-4256.589,824.327,19,1.0,19,-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,317.9,1178,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-61.2,167,1989,1965,1922,0.0,0.0,0,64,0.00,0.00,-44.62,0.000,16390,0.000,0.000,167,1990,3160,3238,3082,0,0,0,0,0,0,28.83,28.83,26.32
$GC,67,-0.90,-101.7,166,1990,3237,3082,3.4,-5.5,6,86,8.05,2.33,-3.45,0.000,18692,0.216,0.065,2263,3420,3325,3406,3245,0,0,0,0,0,0,25.27,25.79,26.26
$GC,169,-0.90,-101.7,2262,3420,3409,3245,27.2,-18.1,21,177,0.00,2.33,0.00,0.000,1030,0.000,0.050,2262,1991,3327,3410,3245,0,0,0,0,0,0,28.83,25.77,28.83
$GC,318,-0.90,-101.7,2262,1991,3411,3245,59.5,-22.2,46,326,0.00,2.30,0.00,0.000,516,0.000,0.063,2262,578,3328,3411,3245,0,0,0,0,0,0,28.83,25.72,28.83
$GC,388,-0.90,-101.7,2262,578,3411,3245,75.0,-21.8,58,395,0.00,2.25,0.00,0.000,1030,0.000,0.051,2252,1995,3328,3411,3245,0,0,0,0,0,0,28.83,25.83,28.83
$GC,711,-0.90,-101.7,2252,1996,3412,3246,147.1,-21.5,99,721,0.00,2.28,0.00,0.000,516,0.000,0.061,2252,584,3328,3412,3245,0,0,0,0,0,0,28.83,25.81,28.83
$GC,818,-0.90,-101.7,2252,584,3412,3246,170.6,-22.5,109,827,0.10,2.28,0.00,0.000,3078,0.176,0.050,2272,1993,3328,3412,3245,0,0,0,0,0,0,25.56,25.92,28.83
$GC,1128,-0.90,-101.7,2271,1993,3413,3245,231.6,-19.1,140,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,1993,3329,3413,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1427,-0.90,-101.7,2270,1994,3413,3246,287.0,-18.4,170,1435,0.00,2.28,0.00,0.000,516,0.000,0.061,2271,580,3330,3414,3246,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1535,-0.90,-101.7,1472,579,3403,3243,307.1,-19.5,180,1543,0.00,2.28,0.00,0.000,1030,0.000,0.051,2263,1992,3330,3414,3246,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1842,-0.90,-101.7,2263,1992,3414,3246,367.4,-20.3,211,1852,0.00,2.28,0.00,0.000,516,0.000,0.061,2263,576,3329,3413,3246,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1885,-0.90,-101.7,2263,575,3414,3247,376.0,-20.1,215,1895,0.00,2.25,0.00,0.000,1030,0.000,0.051,2253,2007,3330,3414,3246,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2206,-0.90,-101.7,2253,2008,3413,3247,440.2,-19.8,237,2211,0.00,2.30,0.00,0.000,516,0.000,0.062,2253,577,3329,3413,3246,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2309,-0.90,-101.7,2253,577,3413,3247,459.8,-19.3,242,2314,0.15,2.25,0.00,0.000,3078,0.187,0.053,2278,2003,3330,3413,3247,0,0,0,0,0,0,25.64,26.01,28.83
$GC,2622,-0.90,-101.7,2278,2004,3413,3247,514.8,-17.4,258,2627,0.00,2.28,0.00,0.000,516,0.000,0.062,2278,585,3330,3413,3247,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2704,-0.90,-101.7,2278,585,3413,3247,529.0,-17.1,262,2710,0.00,2.22,0.00,0.000,1030,0.000,0.053,2269,1997,3329,3413,3246,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3024,-0.90,-101.7,2269,1998,3413,3247,587.4,-18.6,278,3030,0.00,2.28,0.00,0.000,516,0.000,0.064,2269,586,3330,3413,3247,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3065,-0.90,-101.7,2269,586,3414,3247,595.0,-18.7,280,3070,0.00,2.20,0.00,0.000,1030,0.000,0.054,2260,1987,3330,3413,3247,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3384,-0.90,-101.7,2259,1987,3414,3246,654.6,-18.4,296,3390,0.00,2.28,0.00,0.000,516,0.000,0.064,2260,577,3330,3414,3247,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3407,-0.90,-101.7,2259,577,3413,3247,658.3,-18.3,297,3412,0.08,2.30,0.00,0.000,3078,0.172,0.054,2272,1995,3330,3413,3247,0,0,0,0,0,0,25.72,26.00,28.83
$GC,3726,-0.90,-101.7,2271,1995,3413,3247,712.2,-16.5,313,3732,0.00,2.28,0.00,0.000,516,0.000,0.065,2272,581,3330,3414,3246,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3746,-0.90,-101.7,2272,581,3413,3246,715.7,-16.7,314,3752,0.00,2.25,0.00,0.000,1030,0.000,0.056,2263,1999,3330,3414,3246,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4066,-0.90,-101.7,2263,1999,3413,3246,771.8,-17.5,330,4072,0.00,2.30,0.00,0.000,516,0.000,0.066,2263,578,3330,3414,3246,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4232,-0.90,-101.7,2263,578,3414,3246,799.7,-16.8,338,4236,0.00,2.28,0.00,0.000,1030,0.000,0.057,2253,2004,3329,3413,3246,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4550,-0.90,-101.7,2253,2004,3413,3246,855.1,-17.3,354,4556,0.00,2.30,0.00,0.000,516,0.000,0.066,2253,586,3329,3414,3245,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4591,-0.90,-101.7,2253,586,3414,3246,862.1,-17.4,356,4597,0.10,2.25,0.00,0.000,3078,0.168,0.057,2272,1999,3330,3414,3246,0,0,0,0,0,0,25.64,25.97,28.83
$GC,4911,-0.90,-101.7,2272,2000,3413,3246,912.9,-16.0,372,4916,0.00,2.28,0.00,0.000,516,0.000,0.067,2273,586,3330,3414,3246,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4973,-0.90,-101.7,2272,586,3414,3246,923.1,-16.4,375,4978,0.00,2.22,0.00,0.000,1030,0.000,0.057,2264,1997,3330,3414,3246,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5293,-0.90,-101.7,2264,1997,3413,3246,977.4,-17.0,391,5298,0.00,2.28,0.00,0.000,516,0.000,0.067,2264,589,3329,3413,3246,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5361,-0.90,-101.7,2264,589,3413,3246,988.2,-17.4,394,5365,0.00,2.25,0.00,0.000,1030,0.000,0.057,2254,1997,3329,3413,3246,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,5427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5427,begin apogee
$GC,5432,-0.14,0.0,2254,1860,3413,3246,1001.2,-17.3,397,5529,0.88,0.00,93.00,1.763,10246,0.146,0.000,2518,1860,2909,2995,2823,0,0,0,0,0,0,25.47,28.83,23.29
$STATE,5530,end apogee,CONTROL_FINISHED_OK
$STATE,5530,begin climb
$GC,5531,0.90,101.7,2518,1860,2995,2823,1006.2,0.0,402,5636,0.98,2.60,97.18,1.733,11012,0.046,0.061,2885,3284,2494,2548,2440,0,0,0,0,0,0,24.55,23.42,22.33
$GC,5650,1.03,206.9,2885,3285,2546,2440,1008.7,-1.5,408,5763,0.00,2.45,106.10,1.717,9222,0.000,0.053,2895,1876,2065,2126,2004,0,0,0,0,0,0,28.83,23.83,22.30
$GC,6064,1.03,206.9,2895,1876,2118,1994,917.6,24.5,428,6070,0.00,2.35,0.00,0.000,260,0.000,0.063,2895,3285,2055,2117,1994,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6296,1.03,206.9,2895,3285,2114,1992,863.4,24.2,439,6304,0.00,2.33,0.00,0.000,1030,0.000,0.057,2905,1867,2052,2113,1992,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6604,1.03,206.9,2906,1867,2113,1990,785.0,25.5,455,6609,0.00,2.33,0.00,0.000,260,0.000,0.062,2903,3294,2051,2113,1990,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6776,1.03,206.9,2903,3294,2112,1989,746.0,24.1,463,6784,0.00,2.33,0.00,0.000,1030,0.000,0.056,2912,1860,2050,2112,1989,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7083,1.03,206.9,2912,1861,2112,1988,669.2,23.7,479,7089,0.00,2.30,0.00,0.000,260,0.000,0.063,2910,3287,2050,2112,1989,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7445,1.03,206.9,2910,3287,2111,1988,585.0,23.4,497,7450,0.00,2.25,0.00,0.000,1030,0.000,0.056,2919,1868,2049,2111,1988,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7764,1.03,206.9,2919,1867,2111,1987,509.4,23.6,513,7769,0.00,2.28,0.00,0.000,260,0.000,0.062,2910,3287,2049,2111,1987,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7996,1.03,206.9,2910,3287,2111,1987,457.7,23.0,524,8004,0.00,2.30,0.00,0.000,1030,0.000,0.056,2919,1875,2048,2111,1986,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8304,1.03,206.9,2919,1875,2111,1987,384.6,22.9,543,8313,0.00,2.28,0.00,0.000,260,0.000,0.061,2910,3291,2048,2111,1986,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8440,1.03,206.9,1952,3290,2070,1981,354.2,22.1,556,8447,0.00,2.30,0.00,0.000,1030,0.000,0.057,2919,1861,2049,2111,1987,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8746,1.03,206.9,2919,1861,2111,1987,282.7,22.7,587,8750,0.00,2.30,0.00,0.000,260,0.000,0.061,2910,3294,2048,2110,1987,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8892,1.03,206.9,2910,3294,2110,1986,249.2,23.4,601,8901,0.00,2.28,0.00,0.000,1030,0.000,0.056,2919,1866,2048,2110,1987,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9202,1.03,206.9,2919,1866,2110,1987,178.6,22.9,632,9212,0.00,2.28,0.00,0.000,260,0.000,0.060,2911,3287,2047,2109,1986,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9397,1.03,206.9,2910,3287,2110,1987,135.7,21.8,651,9405,0.00,2.25,0.00,0.000,1030,0.000,0.054,2919,1868,2048,2110,1987,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9712,1.03,206.9,1952,1866,2068,1981,66.8,21.8,696,9720,0.00,2.30,0.00,0.000,260,0.000,0.060,2911,3282,2047,2109,1986,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9769,1.03,206.9,1904,3280,2066,1980,54.4,20.9,706,9776,0.00,2.25,0.00,0.000,1030,0.000,0.054,2920,1867,2047,2109,1986,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10012,end climb,SURFACE_DEPTH_REACHED
$STATE,10012,begin surface coast
$FINISH,0.0,1.026216
$STATE,10026,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10041,7.68,0.163,0,0,1968,230.09
$SM_GC,2.90,7.25,0.22,7.68,0.049,0.081,0.163,172,1998,1968,-7.40,-0.68,230.09,0,0,0,0,0,0,26.20,26.19,25.60
$IRIDIUM_FIX,-4242.04,825.29,121108,050504
$TT8_MAMPS,0.021721,0.021721
$HUMID,53.97
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.3,38.904
$10V_AH,10.0,31.154
$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,17.575,105.775,296.275,7.675,0.000,24.579,21.176,178.173,49.250,0.000,20.978,2090.508,5450.559,402.755,2295.204,156.337,0.000,1308.098,0.000,1868.051,0.000,297.697,0.000
$DEVICE_MAMPS,216.495,81.090,1763.325,162.945,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.314,50.199,446.608,1136.937,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352720
$DATA_FILE_SIZE,47060,749
$CAP_FILE_SIZE,128574,0
$CFSIZE,259248128,240594944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.227, 35.0,1
$GPS,160116,232257,-4255.690,823.401,122,1.2,122,-25.0