version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 12
start: 12 9 115 12 33 55
data:
$ID,542
$MISSION,12
$DIVE,12
$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,300
$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,-29664.895
$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,2600
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,091215,122733,-4251.570,839.429,50,0.8,50,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-60.6
$GPS2,091215,123328,-4251.612,839.537,18,0.9,19,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,247.1,31117,-17.9,-9.804,-20.77,2280
$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,-0.68,-146.0,154,1998,1703,1596,0.0,0.0,0,89,0.00,0.00,-69.88,0.000,16390,0.000,0.000,153,1999,3506,3546,3467,0,0,0,0,0,0,28.83,28.83,26.30
$GC,92,-0.68,-146.0,153,1999,3546,3469,4.6,-9.0,9,109,8.45,2.28,0.00,0.000,2308,0.229,0.059,2362,3404,3508,3546,3470,0,0,0,0,0,0,25.77,25.96,28.83
$GC,217,-0.68,-146.0,2362,3404,3548,3470,31.3,-9.9,28,225,0.00,2.28,0.00,0.000,1030,0.000,0.057,2362,1993,3509,3548,3470,0,0,0,0,0,0,28.83,26.03,28.83
$GC,369,-0.68,-146.0,1408,1991,3541,3467,50.0,-13.3,53,377,0.00,2.28,0.00,0.000,516,0.000,0.073,2362,585,3509,3549,3470,0,0,0,0,0,0,28.83,26.08,28.83
$GC,443,-0.68,-146.0,1440,585,3542,3468,60.2,-12.9,66,450,0.00,2.25,0.00,0.000,1030,0.000,0.061,2353,1991,3510,3550,3470,0,0,0,0,0,0,28.83,26.12,28.83
$GC,784,-0.68,-146.0,2352,1991,3551,3470,107.0,-13.8,123,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1992,3510,3551,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1084,-0.68,-146.0,2352,1992,3552,3470,148.3,-13.6,153,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1992,3510,3551,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-0.68,-146.0,2352,1991,3552,3470,187.4,-12.8,183,1392,0.00,2.25,0.00,0.000,516,0.000,0.070,2353,584,3511,3552,3470,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1435,-0.68,-146.0,2352,584,3552,3470,194.3,-13.3,188,1446,0.15,2.22,0.00,0.000,3078,0.164,0.060,2381,1996,3511,3553,3470,0,0,0,0,0,0,26.27,26.34,28.83
$GC,1746,-0.68,-146.0,2381,1996,3553,3470,227.8,-10.9,219,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1996,3511,3553,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-0.68,-146.0,2381,1996,3553,3470,259.3,-10.7,249,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1996,3511,3553,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-0.68,-146.0,2382,1996,3553,3469,289.7,-9.7,279,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1996,3511,3553,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.68,-146.0,2381,1996,3554,3470,317.8,-9.0,309,2655,0.00,2.25,0.00,0.000,516,0.000,0.071,2382,584,3512,3554,3470,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2697,-0.68,-146.0,2382,583,3554,3470,322.5,-9.1,314,2701,0.00,2.22,0.00,0.000,1030,0.000,0.061,2374,1999,3512,3554,3470,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3003,-0.68,-146.0,2374,1999,3554,3470,350.3,-9.5,344,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1999,3511,3553,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-0.68,-146.0,2374,1999,3553,3470,378.6,-9.6,374,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1999,3511,3553,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.68,-146.0,2375,1999,3554,3470,408.5,-10.2,400,3606,0.00,2.28,0.00,0.000,516,0.000,0.072,2374,580,3512,3554,3470,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3651,-0.68,-146.0,2374,579,3554,3470,412.3,-10.3,402,3659,0.00,2.28,0.00,0.000,1030,0.000,0.063,2365,2017,3511,3553,3470,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3959,-0.68,-146.0,2365,2018,3552,3470,443.9,-9.5,418,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2018,3512,3554,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4259,-0.68,-146.0,2365,2018,3554,3469,471.8,-9.3,433,4265,0.00,2.28,0.00,0.000,516,0.000,0.074,2365,585,3511,3554,3469,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4307,-0.68,-146.0,2365,585,3554,3469,475.8,-9.7,435,4311,0.00,2.28,0.00,0.000,1030,0.000,0.064,2356,2012,3511,3554,3469,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4620,-0.68,-146.0,2356,2011,3554,3468,511.2,-11.6,451,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2012,3511,3554,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4920,-0.68,-146.0,2356,2012,3554,3467,546.7,-12.1,466,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2012,3510,3554,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5220,-0.68,-146.0,2356,2012,3553,3466,581.8,-11.5,481,5225,0.00,2.30,0.00,0.000,516,0.000,0.077,2356,582,3510,3554,3467,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5287,-0.68,-146.0,2356,582,3554,3466,588.8,-11.6,484,5292,0.12,2.28,0.00,0.000,3078,0.165,0.067,2378,2017,3509,3553,3466,0,0,0,0,0,0,26.48,26.53,28.83
$GC,5599,-0.68,-146.0,2378,2017,3553,3465,618.2,-9.0,500,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2017,3509,3554,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.68,-146.0,2378,2018,3553,3464,645.2,-9.0,515,5906,0.00,2.30,0.00,0.000,516,0.000,0.078,2378,584,3508,3553,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5939,-0.68,-146.0,2378,584,3554,3464,648.8,-8.9,517,5943,0.00,2.25,0.00,0.000,1030,0.000,0.068,2371,2001,3508,3553,3464,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6255,-0.68,-146.0,2371,2001,3553,3463,677.0,-9.0,533,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2001,3508,3554,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6556,-0.68,-146.0,2371,2001,3553,3462,704.6,-9.2,548,6562,0.00,2.30,0.00,0.000,516,0.000,0.078,2371,577,3507,3553,3462,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6583,-0.68,-146.0,2370,576,3553,3462,706.5,-9.2,549,6588,0.00,2.28,0.00,0.000,1030,0.000,0.069,2362,1995,3507,3553,3462,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6895,-0.68,-146.0,2362,1996,3553,3462,737.4,-9.7,565,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1996,3507,3553,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,-0.68,-146.0,2362,1996,3553,3461,766.1,-9.8,580,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1996,3507,3553,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7498,-0.68,-146.0,2362,1996,3554,3461,797.0,-10.6,595,7504,0.00,2.28,0.00,0.000,516,0.000,0.080,2362,583,3506,3553,3460,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7536,-0.68,-146.0,2362,582,3554,3460,801.4,-10.8,597,7542,0.00,2.25,0.00,0.000,1030,0.000,0.070,2353,1995,3507,3554,3460,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7856,-0.68,-146.0,2353,1995,3553,3460,836.4,-10.7,613,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1995,3506,3553,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8156,-0.68,-146.0,2353,1995,3553,3460,867.3,-10.4,628,8161,0.00,2.30,0.00,0.000,516,0.000,0.081,2353,578,3506,3553,3459,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8188,-0.68,-146.0,2353,578,3553,3459,869.5,-10.5,629,8197,0.15,2.28,0.00,0.000,3078,0.161,0.070,2384,1995,3506,3553,3460,0,0,0,0,0,0,26.49,26.55,28.83
$GC,8496,-0.68,-146.0,2383,1995,3553,3458,896.4,-8.3,645,8502,0.00,2.28,0.00,0.000,516,0.000,0.080,2384,585,3506,3553,3459,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8524,-0.68,-146.0,2383,584,3553,3458,898.1,-8.3,646,8528,0.00,2.28,0.00,0.000,1030,0.000,0.071,2376,1998,3506,3553,3459,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8831,-0.68,-146.0,2376,1998,3552,3457,924.5,-8.0,661,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1998,3504,3552,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9133,-0.68,-146.0,2376,1999,3552,3457,946.5,-6.8,676,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1999,3504,3552,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9433,-0.68,-146.0,2376,1999,3552,3456,965.1,-5.9,691,9439,0.00,2.28,0.00,0.000,516,0.000,0.082,2376,590,3503,3551,3456,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9474,-0.68,-146.0,2376,589,3552,3456,967.7,-6.2,693,9478,0.00,2.28,0.00,0.000,1030,0.000,0.073,2367,2004,3504,3552,3456,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9787,-0.68,-146.0,2367,2005,3552,3456,990.5,-7.5,709,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2005,3503,3552,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9925,begin apogee
$GC,9929,-0.14,0.0,2367,1888,3552,3456,1001.3,-7.7,716,10066,0.57,0.00,128.48,1.787,10246,0.130,0.000,2553,1888,2909,2986,2833,0,0,0,0,0,0,26.51,28.83,23.28
$STATE,10067,end apogee,CONTROL_FINISHED_OK
$STATE,10067,begin climb
$GC,10068,0.68,146.0,2553,1888,2986,2833,1006.5,0.0,723,10211,0.75,2.60,133.60,1.766,10500,0.057,0.077,2825,3313,2312,2386,2239,0,0,0,0,0,0,24.54,24.01,22.99
$GC,10625,0.68,146.0,1968,3311,2340,2219,932.1,17.6,751,10630,0.00,2.40,0.00,0.000,1030,0.000,0.070,2836,1904,2303,2380,2226,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10944,0.68,146.0,2836,1904,2380,2223,880.5,15.7,767,10949,0.00,2.35,0.00,0.000,260,0.000,0.078,2836,3317,2301,2380,2223,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10997,0.68,146.0,2836,3317,2379,2223,874.0,16.1,769,11004,0.00,2.35,0.00,0.000,1030,0.000,0.070,2846,1890,2301,2379,2223,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11303,0.68,146.0,2846,1890,2379,2222,822.6,16.0,785,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1891,2300,2379,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11603,0.68,146.0,2846,1890,2379,2221,775.9,15.5,800,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1891,2300,2379,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11904,0.68,146.0,2846,1890,2379,2220,727.2,16.7,815,11909,0.00,2.33,0.00,0.000,260,0.000,0.079,2846,3313,2299,2379,2220,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11965,0.68,146.0,1960,3311,2336,2214,716.6,17.6,818,11971,0.12,2.35,0.00,0.000,5126,0.229,0.070,2825,1894,2299,2378,2220,0,0,0,0,0,0,26.07,26.21,28.83
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$STATE,17005,end climb,SURFACE_DEPTH_REACHED
$STATE,17005,begin surface coast
$FINISH,-0.2,1.026388
$STATE,17025,end surface coast,CONTROL_FINISHED_OK
$STATE,17025,begin surface
$SM_CCo,17040,59.25,0.138,0,0,1681,300.24
$SM_GC,1.33,6.80,2.15,59.25,0.041,0.063,0.138,173,1987,1681,-7.50,0.45,300.24,0,0,0,0,0,0,26.55,26.51,26.27
$IRIDIUM_FIX,-4233.25,841.87,041008,212147
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.94
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.0,6.223
$10V_AH,10.3,5.509
$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,17.375,110.050,262.075,59.250,0.000,26.427,20.969,192.744,49.250,0.000,20.238,3384.628,10346.802,451.278,3118.632,150.030,0.000,1644.505,0.000,2628.214,0.000,296.587,0.000
$DEVICE_MAMPS,238.680,93.330,1787.040,137.700,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.360,80.009,731.469,1916.587,0.000,0.000,0.000,0.000,0.000,0.000
$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,80467,1277
$CAP_FILE_SIZE,173974,0
$CFSIZE,259248128,257531904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047, 33.1,1
$GPS,091215,172004,-4253.094,838.123,34,0.9,34,-25.1