version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 236
start: 1 19 116 3 46 40
data:
$ID,542
$MISSION,12
$DIVE,236
$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,-29946.354
$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,22
$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
$GPS1,190116,034003,-4304.196,836.793,38,0.8,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.2
$GPS2,190116,034612,-4304.224,836.864,19,0.8,20,-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,269.6,1240,-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,-61.2,165,1986,1965,1923,0.0,0.0,0,65,0.00,0.00,-44.28,0.000,16390,0.000,0.000,165,1987,3159,3238,3080,0,0,0,0,0,0,28.83,28.83,26.31
$GC,67,-0.88,-89.5,165,1986,3238,3081,3.8,-6.8,6,86,8.23,2.28,-2.35,0.000,18692,0.222,0.063,2264,3414,3275,3356,3195,0,0,0,0,0,0,25.18,25.75,26.22
$GC,138,-0.88,-89.5,2263,3414,3359,3195,23.3,-18.9,16,146,0.00,2.30,0.00,0.000,1030,0.000,0.050,2266,1997,3277,3359,3195,0,0,0,0,0,0,28.83,25.72,28.83
$GC,293,-0.88,-89.5,1376,1995,3346,3192,52.2,-19.8,41,299,0.00,2.30,0.00,0.000,516,0.000,0.062,2267,581,3278,3361,3195,0,0,0,0,0,0,28.83,25.68,28.83
$GC,362,-0.88,-89.5,1360,580,3346,3192,65.7,-18.4,53,368,0.00,2.25,0.00,0.000,1030,0.000,0.050,2258,2004,3278,3361,3195,0,0,0,0,0,0,28.83,25.79,28.83
$GC,692,-0.88,-89.5,2258,2004,3362,3195,126.7,-17.7,100,701,0.00,2.28,0.00,0.000,516,0.000,0.060,2258,581,3278,3362,3195,0,0,0,0,0,0,28.83,25.78,28.83
$GC,778,-0.88,-89.5,1496,581,3352,3192,143.1,-18.7,108,787,0.10,2.28,0.00,0.000,3078,0.177,0.050,2277,1997,3279,3363,3195,0,0,0,0,0,0,25.50,25.88,28.83
$GC,1085,-0.88,-89.5,2276,1997,3363,3195,198.7,-18.3,139,1098,0.00,2.28,0.00,0.000,516,0.000,0.060,2277,581,3279,3364,3195,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1143,-0.88,-89.5,1496,580,3352,3192,208.9,-18.7,144,1152,0.00,2.28,0.00,0.000,1030,0.000,0.050,2268,1997,3279,3364,3195,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1451,-0.88,-89.5,2268,1998,3364,3195,263.8,-17.9,175,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1997,3279,3364,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,-0.88,-89.5,2268,1997,3364,3195,316.3,-17.3,205,1762,0.00,2.25,0.00,0.000,516,0.000,0.061,2268,586,3279,3364,3195,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1858,-0.88,-89.5,2268,586,3364,3195,335.4,-17.9,215,1867,0.00,2.17,0.00,0.000,1030,0.000,0.050,2258,1989,3280,3365,3195,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2166,-0.88,-89.5,2258,1990,3365,3195,393.1,-19.0,246,2175,0.00,2.25,0.00,0.000,516,0.000,0.061,2258,584,3280,3365,3195,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2237,-0.88,-89.5,2258,584,3365,3195,404.9,-19.3,251,2242,0.15,2.22,0.00,0.000,3078,0.184,0.051,2284,2003,3280,3365,3195,0,0,0,0,0,0,25.61,25.98,28.83
$GC,2543,-0.88,-89.5,2284,2003,3365,3195,456.8,-16.2,266,2549,0.00,2.28,0.00,0.000,516,0.000,0.063,2284,585,3280,3365,3195,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2636,-0.88,-89.5,2284,585,3365,3195,470.1,-16.4,270,2643,0.00,2.22,0.00,0.000,1030,0.000,0.052,2275,1995,3280,3365,3195,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2944,-0.88,-89.5,2275,1995,3365,3195,523.0,-16.4,286,2950,0.00,2.25,0.00,0.000,516,0.000,0.063,2275,585,3280,3365,3195,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3027,-0.88,-89.5,2275,584,3365,3195,536.0,-16.3,290,3032,0.00,2.28,0.00,0.000,1030,0.000,0.053,2265,1992,3280,3365,3195,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3346,-0.88,-89.5,2265,1992,3364,3195,587.1,-15.8,306,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1993,3280,3365,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3646,-0.88,-89.5,2265,1992,3364,3195,635.4,-16.4,321,3651,0.00,2.28,0.00,0.000,516,0.000,0.064,2265,585,3279,3364,3195,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3725,-0.88,-89.5,2265,586,3365,3195,649.0,-16.8,325,3732,0.12,2.25,0.00,0.000,3078,0.184,0.054,2283,2002,3280,3365,3195,0,0,0,0,0,0,25.68,25.96,28.83
$GC,4046,-0.88,-89.5,2283,2002,3365,3195,696.3,-14.4,341,4052,0.00,2.30,0.00,0.000,516,0.000,0.066,2283,583,3279,3364,3195,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4109,-0.88,-89.5,2283,582,3365,3195,705.2,-14.7,344,4113,0.00,2.25,0.00,0.000,1030,0.000,0.055,2275,1999,3280,3365,3195,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4427,-0.88,-89.5,2274,1999,3364,3195,753.3,-15.1,360,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,1999,3279,3364,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4726,-0.88,-89.5,2274,1999,3365,3195,799.3,-15.6,375,4730,0.00,2.30,0.00,0.000,516,0.000,0.067,2275,586,3280,3365,3195,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4771,-0.88,-89.5,2274,586,3365,3195,805.2,-15.9,377,4775,0.00,2.25,0.00,0.000,1030,0.000,0.056,2265,2000,3280,3365,3195,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5079,-0.88,-89.5,2264,2001,3364,3195,855.7,-16.0,392,5085,0.00,2.28,0.00,0.000,516,0.000,0.067,2265,588,3279,3364,3195,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5183,-0.88,-89.5,2264,588,3364,3195,872.5,-16.5,397,5187,0.12,2.28,0.00,0.000,3078,0.182,0.057,2283,1988,3279,3363,3195,0,0,0,0,0,0,25.69,25.93,28.83
$GC,5500,-0.88,-89.5,2283,1988,3363,3195,917.4,-13.7,413,5506,0.00,2.30,0.00,0.000,516,0.000,0.067,2283,577,3279,3364,3195,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5574,-0.88,-89.5,2283,576,3364,3195,926.0,-14.0,416,5581,0.00,2.28,0.00,0.000,1030,0.000,0.057,2275,1995,3279,3364,3195,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5881,-0.88,-89.5,2274,1996,3363,3195,973.8,-15.3,432,5887,0.00,2.30,0.00,0.000,516,0.000,0.067,2275,582,3278,3363,3194,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5966,-0.88,-89.5,2274,582,3363,3194,986.1,-15.4,436,5970,0.00,2.28,0.00,0.000,1030,0.000,0.057,2265,2000,3279,3363,3195,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,6064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6064,begin apogee
$GC,6069,-0.14,0.0,2264,1860,3363,3195,1002.2,-15.7,441,6154,0.85,0.00,81.88,1.759,10246,0.150,0.000,2518,1860,2909,2998,2821,0,0,0,0,0,0,25.41,28.83,23.34
$STATE,6155,end apogee,CONTROL_FINISHED_OK
$STATE,6155,begin climb
$GC,6157,0.88,89.5,2518,1860,2998,2820,1005.8,0.0,445,6248,0.93,2.53,84.03,1.725,11012,0.051,0.065,2874,470,2543,2611,2475,0,0,0,0,0,0,24.65,23.49,22.36
$GC,6274,1.02,203.5,2874,470,2608,2475,1008.6,-2.4,451,6393,0.00,2.45,112.38,1.730,9222,0.000,0.055,2874,1869,2078,2141,2016,0,0,0,0,0,0,28.83,24.03,22.25
$GC,6696,1.02,203.5,2874,1869,2133,2005,921.0,23.3,472,6701,0.00,2.38,0.00,0.000,260,0.000,0.063,2874,3288,2069,2133,2005,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6918,1.02,203.5,2874,3288,2130,2003,869.2,23.1,483,6922,0.00,2.30,0.00,0.000,1030,0.000,0.056,2884,1879,2066,2130,2003,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7235,1.02,203.5,2884,1879,2130,2001,793.9,23.7,499,7241,0.00,2.30,0.00,0.000,260,0.000,0.063,2884,3290,2065,2130,2000,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7418,1.02,203.5,2884,3290,2129,2000,749.6,24.8,508,7422,0.00,2.30,0.00,0.000,1030,0.000,0.057,2894,1867,2064,2129,2000,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7737,1.02,203.5,2894,1867,2128,1998,674.9,23.3,524,7742,0.00,2.30,0.00,0.000,260,0.000,0.063,2894,3289,2063,2128,1998,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7936,1.02,203.5,2894,3289,2128,1998,627.7,23.7,534,7942,0.00,2.28,0.00,0.000,1030,0.000,0.057,2905,1868,2063,2128,1998,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8257,1.02,203.5,2904,1868,2128,1997,553.2,22.9,550,8262,0.00,2.30,0.00,0.000,260,0.000,0.063,2905,3290,2062,2128,1997,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8424,1.02,203.5,2904,3290,2127,1997,516.5,23.3,558,8428,0.00,2.28,0.00,0.000,1030,0.000,0.057,2915,1870,2062,2127,1997,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8737,1.02,203.5,2915,1869,2128,1997,442.5,23.0,574,8743,0.00,2.30,0.00,0.000,260,0.000,0.063,2910,3294,2062,2127,1997,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8819,1.02,203.5,2000,3293,2088,1991,423.7,23.5,578,8823,0.00,2.30,0.00,0.000,1030,0.000,0.056,2919,1862,2061,2127,1996,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9129,1.02,203.5,2919,1863,2127,1996,349.9,23.7,604,9138,0.00,2.28,0.00,0.000,260,0.000,0.062,2910,3288,2061,2127,1996,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9241,1.02,203.5,2910,3288,2127,1996,322.7,24.1,615,9251,0.00,2.28,0.00,0.000,1030,0.000,0.055,2919,1864,2061,2127,1996,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9551,1.02,203.5,2919,1864,2127,1996,252.5,23.6,646,9559,0.00,2.28,0.00,0.000,260,0.000,0.062,2910,3285,2061,2127,1996,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9762,1.02,203.5,2910,3286,2127,1996,201.4,24.0,667,9766,0.00,2.25,0.00,0.000,1030,0.000,0.054,2920,1870,2060,2126,1995,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10068,1.02,203.5,2919,1870,2126,1996,132.3,21.6,697,10077,0.00,2.28,0.00,0.000,260,0.000,0.060,2911,3288,2061,2126,1996,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10249,1.02,203.5,2910,3288,2126,1996,93.3,20.2,717,10256,0.00,2.30,0.00,0.000,1030,0.000,0.053,2920,1866,2061,2126,1996,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10588,1.02,203.5,2919,1865,2126,1996,25.4,22.5,778,10597,0.00,2.30,0.00,0.000,260,0.000,0.058,2911,3281,2061,2126,1996,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,10702,end climb,SURFACE_DEPTH_REACHED
$STATE,10702,begin surface coast
$FINISH,-0.1,1.026128
$STATE,10717,end surface coast,CONTROL_FINISHED_OK
$STATE,10717,begin surface
$SM_CCo,10733,9.10,0.164,0,0,1967,230.09
$SM_GC,3.10,7.25,2.08,9.10,0.050,0.049,0.164,171,1996,1967,-7.40,0.82,230.09,0,0,0,0,0,0,26.20,26.01,25.55
$IRIDIUM_FIX,-4247.91,834.91,141108,121253
$TT8_MAMPS,0.020972,0.020972
$HUMID,54.09
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.3,41.023
$10V_AH,10.0,32.754
$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,17.750,109.725,278.275,9.100,0.000,26.312,45.837,174.678,49.250,0.000,21.343,2232.376,5927.012,392.834,2382.917,173.862,0.000,1321.957,0.000,1935.580,0.000,298.233,0.000
$DEVICE_MAMPS,221.850,76.500,1758.735,163.710,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.485,52.737,469.707,1205.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352700
$DATA_FILE_SIZE,50424,798
$CAP_FILE_SIZE,133345,0
$CFSIZE,259248128,239513600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182, 27.6,1
$GPS,190116,064820,-4304.308,835.982,108,1.6,121,-25.1