version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 338
start: 2 7 116 4 16 39
data:
$ID,542
$MISSION,12
$DIVE,338
$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,-30129.266
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,070216,040727,-4300.446,830.014,113,0.9,113,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.4
$GPS2,070216,041610,-4300.461,830.110,14,0.9,15,-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,7.4,867,-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,14,begin dive
$GC,16,-0.85,-61.2,160,1998,1975,1920,0.0,0.0,0,65,0.00,0.00,-43.62,0.000,16390,0.000,0.000,160,1998,3159,3232,3087,0,0,0,0,0,0,28.83,28.83,26.32
$GC,68,-0.88,-85.3,160,1999,3232,3088,4.0,-7.2,6,87,8.30,2.28,-1.92,0.000,18948,0.220,0.061,2284,581,3258,3335,3181,0,0,0,0,0,0,24.99,25.71,26.20
$GC,146,-0.88,-85.3,2284,581,3338,3181,27.1,-21.8,17,155,0.00,2.28,0.00,0.000,1030,0.000,0.047,2276,1996,3259,3338,3181,0,0,0,0,0,0,28.83,25.72,28.83
$GC,298,-0.88,-85.3,2276,1996,3339,3181,58.1,-19.1,42,305,0.00,2.25,0.00,0.000,260,0.000,0.051,2265,3416,3260,3339,3181,0,0,0,0,0,0,28.83,25.73,28.83
$GC,334,-0.88,-85.3,2264,3416,3339,3181,64.8,-19.3,48,346,0.00,2.28,0.00,0.000,1030,0.000,0.044,2264,1997,3260,3339,3181,0,0,0,0,0,0,28.83,25.78,28.83
$GC,661,-0.88,-85.3,2264,1997,3340,3180,127.8,-19.1,95,671,0.00,2.25,0.00,0.000,516,0.000,0.057,2264,581,3260,3340,3181,0,0,0,0,0,0,28.83,25.76,28.83
$GC,768,-0.88,-85.3,2264,581,3340,3181,148.1,-18.9,105,777,0.08,2.17,0.00,0.000,3078,0.172,0.044,2277,1995,3260,3340,3181,0,0,0,0,0,0,25.58,25.91,28.83
$GC,1077,-0.88,-85.3,2276,1995,3341,3182,204.1,-17.6,136,1087,0.00,2.17,0.00,0.000,260,0.000,0.050,2267,3402,3261,3342,3181,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1109,-0.88,-85.3,2267,3402,3342,3181,209.9,-17.7,139,1120,0.00,2.20,0.00,0.000,1030,0.000,0.044,2267,1990,3261,3342,3181,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1420,-0.88,-85.3,2267,1990,3342,3181,264.8,-17.4,170,1430,0.00,2.25,0.00,0.000,516,0.000,0.057,2267,581,3261,3342,3181,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1516,-0.88,-85.3,2267,581,3342,3181,281.4,-17.2,179,1525,0.00,2.17,0.00,0.000,1030,0.000,0.045,2257,1993,3261,3342,3181,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1823,-0.88,-85.3,2257,1993,3342,3181,337.6,-18.5,210,1833,0.12,2.25,0.00,0.000,2564,0.188,0.055,2301,587,3262,3343,3181,0,0,0,0,0,0,25.92,25.82,28.83
$GC,1887,-0.88,-85.3,2301,586,3343,3181,347.8,-15.3,216,1896,0.00,2.20,0.00,0.000,1030,0.000,0.046,2293,2002,3262,3343,3181,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2196,-0.88,-85.3,2292,2002,3343,3181,394.5,-14.4,247,2206,0.00,2.20,0.00,0.000,260,0.000,0.053,2281,3406,3261,3342,3181,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2219,-0.88,-85.3,2281,3406,3343,3181,397.8,-14.7,249,2228,0.00,2.17,0.00,0.000,1030,0.000,0.044,2282,2001,3262,3343,3181,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2541,-0.88,-85.3,2281,2000,3343,3181,445.3,-14.8,266,2546,0.00,2.25,0.00,0.000,516,0.000,0.060,2281,589,3262,3343,3181,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2608,-0.88,-85.3,2281,589,3344,3181,454.5,-15.0,269,2612,0.00,2.20,0.00,0.000,1030,0.000,0.047,2272,2000,3261,3342,3181,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2915,-0.88,-85.3,2271,2001,3343,3180,503.0,-15.6,284,2921,0.00,2.20,0.00,0.000,260,0.000,0.054,2260,3405,3261,3342,3180,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2944,-0.88,-85.3,2260,3405,3342,3180,506.1,-15.5,285,2948,0.00,2.22,0.00,0.000,1030,0.000,0.046,2260,1986,3262,3343,3181,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3251,-0.88,-85.3,2260,1985,3343,3181,558.4,-16.8,300,3257,0.00,2.25,0.00,0.000,516,0.000,0.060,2260,588,3261,3343,3180,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3338,-0.88,-85.3,2260,588,3343,3180,572.2,-16.9,304,3343,0.15,2.22,0.00,0.000,3078,0.181,0.048,2286,2004,3261,3342,3180,0,0,0,0,0,0,25.55,25.94,28.83
$GC,3651,-0.88,-85.3,2286,2004,3342,3180,619.8,-14.6,320,3656,0.00,2.28,0.00,0.000,516,0.000,0.060,2286,588,3261,3343,3180,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3670,-0.88,-85.3,2286,588,3342,3180,622.9,-14.7,321,3676,0.00,2.20,0.00,0.000,1030,0.000,0.049,2278,1994,3261,3342,3180,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3993,-0.88,-85.3,2277,1995,3342,3180,671.7,-15.5,337,3998,0.00,2.25,0.00,0.000,516,0.000,0.060,2278,591,3261,3343,3180,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4025,-0.88,-85.3,2277,591,3342,3181,675.0,-15.8,338,4032,0.00,2.22,0.00,0.000,1030,0.000,0.050,2267,1998,3261,3343,3180,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4333,-0.88,-85.3,2267,1999,3342,3180,726.7,-16.3,354,4338,0.00,2.25,0.00,0.000,516,0.000,0.061,2267,594,3261,3342,3180,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4377,-0.88,-85.3,2267,593,3342,3180,733.6,-17.0,356,4381,0.00,2.20,0.00,0.000,1030,0.000,0.050,2258,1993,3261,3342,3180,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4690,-0.88,-85.3,2257,1994,3341,3180,787.5,-17.3,372,4696,0.12,2.25,0.00,0.000,2564,0.186,0.060,2298,591,3261,3342,3180,0,0,0,0,0,0,25.94,25.75,28.83
$GC,4701,-0.88,-85.3,2298,591,3342,3180,787.5,-17.3,372,4709,0.00,2.22,0.00,0.000,1030,0.000,0.050,2290,2001,3261,3342,3180,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5010,-0.88,-85.3,2290,2001,3341,3180,835.8,-14.9,388,5016,0.00,2.28,0.00,0.000,516,0.000,0.062,2290,589,3260,3341,3180,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5031,-0.88,-85.3,1488,589,3329,3177,838.8,-14.8,389,5035,0.00,2.28,0.00,0.000,1030,0.000,0.051,2279,2000,3260,3341,3180,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5350,-0.88,-85.3,2279,2001,3340,3180,887.1,-14.8,405,5355,0.00,2.25,0.00,0.000,260,0.000,0.058,2269,3409,3260,3341,3180,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5371,-0.88,-85.3,2268,3408,3340,3180,890.0,-14.8,406,5376,0.00,2.28,0.00,0.000,1030,0.000,0.048,2268,1997,3260,3340,3180,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5689,-0.88,-85.3,2268,1997,3340,3180,938.4,-14.8,422,5694,0.00,2.30,0.00,0.000,516,0.000,0.063,2268,582,3260,3340,3180,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5753,-0.88,-85.3,2268,582,3339,3180,947.8,-15.2,425,5758,0.00,2.20,0.00,0.000,1030,0.000,0.051,2258,1990,3260,3340,3180,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6071,-0.88,-85.3,2258,1992,3338,3180,995.0,-14.4,441,6077,0.00,2.28,0.00,0.000,260,0.000,0.058,2247,3413,3259,3338,3180,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,6111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6111,begin apogee
$GC,6118,-0.14,0.0,2247,1869,3338,3180,1000.8,-14.2,443,6200,0.93,0.00,77.95,1.809,10246,0.158,0.000,2521,1868,2909,2993,2825,0,0,0,0,0,0,24.44,28.83,23.01
$STATE,6201,end apogee,CONTROL_FINISHED_OK
$STATE,6201,begin climb
$GC,6203,0.88,85.3,2521,1868,2993,2825,1004.1,0.0,447,6292,0.90,2.62,81.47,1.773,10500,0.046,0.055,2873,3285,2560,2628,2493,0,0,0,0,0,0,24.62,23.39,21.96
$GC,6469,0.88,85.3,2872,3285,2625,2491,993.2,10.6,460,6477,0.00,2.38,0.00,0.000,1030,0.000,0.047,2881,1864,2558,2625,2491,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6776,0.88,88.7,2881,1865,2625,2489,961.2,9.4,476,6786,0.00,2.40,4.15,1.278,8452,0.000,0.057,2881,3292,2546,2613,2479,0,0,0,0,0,0,28.83,25.63,23.73
$GC,7290,0.88,88.7,2881,3292,2612,2480,909.5,10.0,501,7298,0.15,2.30,0.00,0.000,5126,0.239,0.050,2862,1862,2546,2613,2479,0,0,0,0,0,0,25.34,25.85,28.83
$GC,7598,0.90,102.9,2862,1862,2612,2478,880.6,8.3,517,7618,0.00,2.40,13.68,1.643,8452,0.000,0.057,2854,3296,2489,2548,2430,0,0,0,0,0,0,28.83,25.70,24.14
$GC,7721,0.90,102.9,2853,3296,2548,2430,868.0,10.7,523,7727,0.00,2.28,0.00,0.000,1030,0.000,0.049,2862,1870,2489,2548,2430,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8041,0.90,102.9,2863,1870,2546,2430,835.0,9.9,539,8046,0.00,2.25,0.00,0.000,260,0.000,0.057,2862,3287,2488,2546,2430,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8068,0.90,102.9,2862,3286,2546,2430,833.0,9.9,540,8072,0.00,2.25,0.00,0.000,1030,0.000,0.048,2873,1870,2488,2546,2430,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8376,0.90,103.9,2872,1870,2546,2430,801.7,9.7,555,8382,0.00,2.25,0.00,0.000,260,0.000,0.057,2864,3288,2488,2546,2430,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8656,0.90,103.9,2864,3287,2546,2430,773.8,9.9,569,8662,0.00,2.25,0.00,0.000,1030,0.000,0.049,2873,1870,2488,2546,2430,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8977,0.91,108.4,2872,1870,2546,2430,743.3,9.3,585,8988,0.00,2.35,5.90,1.393,8708,0.000,0.066,2884,461,2467,2524,2410,0,0,0,0,0,0,28.83,26.01,24.23
$GC,9063,0.91,108.4,2884,461,2524,2410,735.1,10.3,589,9068,0.00,2.25,0.00,0.000,1030,0.000,0.052,2883,1875,2467,2524,2410,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9371,0.91,108.4,2882,1876,2524,2410,702.0,10.4,604,9377,0.00,2.25,0.00,0.000,260,0.000,0.057,2883,3289,2467,2524,2410,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9404,0.91,108.4,2883,3289,2524,2410,699.9,10.4,605,9411,0.00,2.28,0.00,0.000,1030,0.000,0.049,2892,1862,2467,2524,2410,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9712,0.91,108.4,2892,1862,2524,2410,665.5,10.7,621,9718,0.12,2.28,0.00,0.000,4356,0.236,0.056,2853,3289,2467,2524,2410,0,0,0,0,0,0,25.72,25.95,28.83
$GC,9820,0.91,108.4,2853,3289,2524,2410,654.9,10.6,626,9825,0.00,2.25,0.00,0.000,1030,0.000,0.049,2862,1869,2466,2523,2410,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,-0.1,1.026079
$STATE,15576,end surface coast,CONTROL_FINISHED_OK
$STATE,15576,begin surface
$SM_CCo,15592,24.90,0.178,0,0,1968,230.09
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$TT8_MAMPS,0.021721,0.021721
$HUMID,52.52
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,22.0,57.197
$10V_AH,9.8,45.850
$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
$DEVICE_SECS,18.100,181.400,233.075,24.900,0.000,47.512,62.997,219.228,49.500,0.000,16.009,3118.626,9052.293,454.426,3207.605,304.596,0.000,1762.940,0.000,2650.536,0.000,298.537,0.000
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$SENSOR_SECS,803.302,65.802,613.409,1680.975,0.000,0.000,0.000,0.000,0.000,0.000
$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,73507,1131
$CAP_FILE_SIZE,187448,0
$CFSIZE,259248128,230748160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093, 74.8,1
$GPS,070216,083859,-4259.165,830.071,86,0.9,86,-25.0