version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 336
start: 2 6 116 20 24 46
data:
$ID,542
$MISSION,12
$DIVE,336
$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,1
$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,-30126.656
$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,25
$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
$GPS1,060216,201703,-4300.156,829.132,71,1.6,71,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.3
$GPS2,060216,202417,-4300.157,829.145,17,0.8,18,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,RECOVER
$TGT_LATLONG,-4300.000,830.000
$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,137.1,1194,-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,-61.2,177,1987,1974,1924,0.0,0.0,0,65,0.00,0.00,-44.17,0.000,16390,0.000,0.000,177,1987,3159,3236,3083,0,0,0,0,0,0,28.83,28.83,26.31
$GC,68,-0.89,-93.3,177,1988,3236,3085,3.6,-6.4,6,86,8.18,2.28,-2.62,0.000,18692,0.216,0.060,2265,3413,3291,3368,3214,0,0,0,0,0,0,25.03,25.72,26.22
$GC,374,-0.89,-93.3,2265,3413,3373,3214,68.9,-16.7,57,385,0.00,2.28,0.00,0.000,1030,0.000,0.045,2265,1996,3293,3373,3214,0,0,0,0,0,0,28.83,25.79,28.83
$GC,703,-0.89,-93.3,2265,1996,3376,3214,131.7,-19.2,102,711,0.00,2.22,0.00,0.000,516,0.000,0.058,2265,588,3294,3375,3214,0,0,0,0,0,0,28.83,25.75,28.83
$GC,823,-0.89,-93.3,2265,588,3376,3214,155.1,-19.4,113,832,0.00,2.17,0.00,0.000,1030,0.000,0.044,2256,2001,3295,3376,3214,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1129,-0.89,-93.3,2255,2001,3377,3214,213.3,-18.9,144,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2002,3295,3377,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-0.89,-93.3,2255,2002,3377,3214,271.1,-19.0,174,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2002,3295,3377,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.89,-93.3,2255,2002,3378,3214,323.5,-15.9,204,1739,0.00,2.28,0.00,0.000,516,0.000,0.057,2255,579,3295,3377,3214,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1754,-0.89,-93.3,2255,579,3377,3214,327.2,-16.1,206,1763,0.10,2.25,0.00,0.000,3078,0.161,0.046,2276,1992,3296,3378,3214,0,0,0,0,0,0,25.58,25.96,28.83
$GC,2063,-0.89,-93.3,2276,1992,3378,3214,373.6,-15.5,237,2072,0.00,2.25,0.00,0.000,516,0.000,0.057,2277,582,3295,3377,3214,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2121,-0.89,-93.3,1496,582,3367,3211,382.6,-15.8,242,2128,0.00,2.25,0.00,0.000,1030,0.000,0.047,2268,1995,3296,3378,3214,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2429,-0.89,-93.3,2268,1996,3378,3214,434.4,-17.3,263,2434,0.00,2.22,0.00,0.000,260,0.000,0.054,2257,3409,3295,3377,3214,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2451,-0.89,-93.3,2257,3409,3378,3214,437.9,-17.4,264,2455,0.00,2.28,0.00,0.000,1030,0.000,0.046,2257,1990,3295,3377,3214,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2769,-0.89,-93.3,2257,1989,3378,3214,494.5,-17.9,280,2774,0.00,2.25,0.00,0.000,516,0.000,0.060,2257,588,3295,3377,3214,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2832,-0.89,-93.3,2257,588,3378,3214,505.8,-18.1,283,2838,0.15,2.20,0.00,0.000,3078,0.177,0.047,2284,1998,3295,3377,3214,0,0,0,0,0,0,25.56,25.95,28.83
$GC,3151,-0.89,-93.3,2284,1999,3377,3214,554.0,-14.6,299,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1999,3296,3378,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3454,-0.89,-93.3,2284,1999,3377,3214,596.3,-13.8,314,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1999,3296,3378,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-0.89,-93.3,2283,1999,3377,3214,640.1,-15.1,329,3758,0.00,2.28,0.00,0.000,516,0.000,0.061,2284,579,3296,3378,3214,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3824,-0.89,-93.3,2283,578,3378,3214,649.4,-15.3,332,3834,0.00,2.25,0.00,0.000,1030,0.000,0.050,2275,2000,3295,3377,3214,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4133,-0.89,-93.3,2275,2001,3377,3214,698.0,-15.1,348,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2001,3295,3377,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-0.89,-93.3,2275,2001,3377,3214,743.4,-15.3,363,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2001,3296,3378,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4734,-0.89,-93.3,2275,2001,3377,3214,792.3,-16.4,378,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2001,3295,3377,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.89,-93.3,2275,2001,3377,3214,841.1,-15.7,393,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2001,3295,3376,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.89,-93.3,2275,2001,3376,3214,887.4,-15.5,408,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2001,3295,3376,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.89,-93.3,2275,2001,3375,3214,932.1,-14.5,423,5638,0.00,2.28,0.00,0.000,516,0.000,0.063,2276,593,3294,3375,3214,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5664,-0.89,-93.3,2275,592,3375,3214,935.0,-14.5,424,5671,0.00,2.25,0.00,0.000,1030,0.000,0.052,2265,2002,3294,3375,3214,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5972,-0.89,-93.3,2265,2003,3374,3214,982.7,-14.7,440,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2003,3294,3374,3214,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6091,begin apogee
$GC,6096,-0.14,0.0,2265,1862,3373,3214,1000.1,-14.6,446,6185,0.85,0.00,85.30,1.809,10246,0.143,0.000,2522,1861,2909,2993,2825,0,0,0,0,0,0,25.11,28.83,22.94
$STATE,6186,end apogee,CONTROL_FINISHED_OK
$STATE,6186,begin climb
$GC,6188,0.89,93.3,2521,1861,2993,2825,1003.3,0.0,450,6285,0.90,2.58,89.70,1.762,10500,0.046,0.057,2870,3282,2529,2593,2466,0,0,0,0,0,0,24.51,23.34,21.94
$GC,6317,1.02,203.5,2870,3282,2589,2466,1006.1,-2.0,456,6435,0.00,2.45,111.65,1.742,9222,0.000,0.048,2880,1872,2078,2144,2013,0,0,0,0,0,0,28.83,23.98,21.84
$GC,6744,1.02,203.5,2880,1873,2136,2004,919.0,22.7,478,6750,0.00,2.35,0.00,0.000,260,0.000,0.059,2880,3292,2069,2135,2004,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6888,1.02,203.5,1936,3290,2092,1997,886.4,23.1,485,6892,0.00,2.33,0.00,0.000,1030,0.000,0.053,2890,1863,2068,2134,2003,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7200,1.02,203.5,2890,1864,2133,2000,813.3,23.6,501,7205,0.00,2.30,0.00,0.000,260,0.000,0.059,2890,3287,2066,2133,2000,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7334,1.02,203.5,2890,3287,2132,1999,785.0,23.2,507,7340,0.00,2.30,0.00,0.000,1030,0.000,0.051,2900,1862,2065,2132,1999,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7639,1.02,203.5,2900,1862,2132,1998,709.0,24.1,523,7645,0.00,2.30,0.00,0.000,260,0.000,0.059,2897,3293,2064,2131,1998,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7819,1.02,203.5,2896,3293,2130,1997,665.0,23.7,532,7825,0.00,2.28,0.00,0.000,1030,0.000,0.053,2905,1869,2063,2130,1997,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8139,1.02,203.5,2905,1869,2129,1997,591.4,22.7,548,8145,0.00,2.28,0.00,0.000,260,0.000,0.059,2897,3290,2063,2130,1997,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8203,1.02,203.5,2896,3290,2129,1997,577.3,23.3,551,8207,0.00,2.25,0.00,0.000,1030,0.000,0.050,2905,1870,2062,2129,1996,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8515,1.02,203.5,2905,1869,2129,1996,504.0,23.4,567,8521,0.00,2.22,0.00,0.000,260,0.000,0.057,2896,3280,2062,2129,1996,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8618,1.02,203.5,2897,3280,2128,1996,480.9,23.1,572,8622,0.00,2.25,0.00,0.000,1030,0.000,0.050,2906,1861,2062,2128,1996,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8929,1.02,203.5,2905,1860,2128,1996,410.8,21.8,588,8935,0.00,2.28,0.00,0.000,260,0.000,0.057,2897,3289,2062,2128,1996,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9030,1.02,203.5,2897,3289,2128,1995,388.9,21.5,595,9038,0.00,2.25,0.00,0.000,1030,0.000,0.050,2906,1867,2061,2128,1995,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9340,1.02,203.5,2905,1866,2128,1995,324.6,20.5,626,9349,0.00,2.25,0.00,0.000,260,0.000,0.057,2897,3287,2061,2128,1995,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9445,1.02,203.5,2897,3288,2128,1994,304.1,19.9,636,9452,0.00,2.25,0.00,0.000,1030,0.000,0.050,2906,1870,2061,2128,1995,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9751,1.02,203.5,2905,1869,2128,1995,242.1,20.3,667,9760,0.00,2.25,0.00,0.000,260,0.000,0.057,2897,3286,2061,2128,1995,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9846,1.02,203.5,2897,3286,2128,1995,223.0,20.6,676,9853,0.00,2.28,0.00,0.000,1030,0.000,0.048,2906,1861,2061,2128,1995,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10153,1.02,203.5,2906,1861,2128,1995,160.4,20.6,707,10162,0.00,2.28,0.00,0.000,260,0.000,0.055,2897,3290,2061,2128,1995,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10278,1.02,203.5,1952,3289,2086,1989,134.9,20.8,719,10285,0.00,2.28,0.00,0.000,1030,0.000,0.049,2906,1859,2061,2128,1994,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10593,1.02,203.5,2906,1859,2127,1994,72.0,19.8,763,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1858,2061,2128,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10948,1.02,203.5,2906,1859,2128,1994,9.3,17.1,824,10956,0.00,2.30,0.00,0.000,260,0.000,0.054,2905,3281,2061,2128,1994,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,10988,end climb,SURFACE_DEPTH_REACHED
$STATE,10988,begin surface coast
$FINISH,-0.1,1.026076
$STATE,11008,end surface coast,CONTROL_FINISHED_OK
$STATE,11008,begin surface
$SM_CCo,11025,9.45,0.194,0,0,1970,230.09
$SM_GC,3.38,7.28,2.10,9.45,0.050,0.048,0.194,171,1988,1970,-7.42,0.62,230.09,0,0,0,0,0,0,26.08,25.95,25.11
$IRIDIUM_FIX,-4242.04,834.03,031208,040451
$TT8_MAMPS,0.021721,0.021721
$HUMID,54.48
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.8,56.898
$10V_AH,9.8,45.596
$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,17.450,86.575,286.650,9.450,0.000,26.723,28.170,248.408,49.250,0.000,18.571,2267.260,6270.565,395.977,2306.315,222.641,0.000,1253.956,0.000,1820.189,0.000,301.126,0.000
$DEVICE_MAMPS,216.495,74.205,1809.225,194.310,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.031,56.338,502.669,1258.631,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,53653,833
$CAP_FILE_SIZE,126085,0
$CFSIZE,259248128,230977536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.154, 20.8,1
$GPS,060216,233051,-4259.669,831.691,93,0.9,93,-25.1