version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 53
start: 12 16 115 21 39 6
data:
$ID,542
$MISSION,12
$DIVE,53
$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,-29716.309
$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,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
$GPS1,161215,213233,-4304.356,827.140,29,0.9,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.9
$GPS2,161215,213840,-4304.370,827.142,15,1.3,16,-25.0
$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,278.3,4306,-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,14,begin dive
$GC,15,-0.68,-146.0,168,1995,1962,1921,0.0,0.0,0,74,0.00,0.00,-56.15,0.000,16386,0.000,0.000,168,1997,3483,3537,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.68,-146.0,168,1996,3536,3432,3.9,-7.1,7,95,8.15,2.30,-0.43,0.000,18692,0.225,0.073,2329,3412,3506,3555,3457,0,0,0,0,0,0,25.87,26.04,26.22
$GC,109,-0.68,-146.0,2329,3411,3557,3457,19.1,-42.4,11,120,0.00,2.30,0.00,0.000,1030,0.000,0.058,2329,1996,3507,3557,3457,0,0,0,0,0,0,28.83,26.06,28.83
$GC,172,-0.68,-146.0,2329,1996,3558,3457,31.5,-16.9,20,181,0.00,2.33,0.00,0.000,516,0.000,0.070,2329,587,3507,3558,3457,0,0,0,0,0,0,28.83,26.07,28.83
$GC,214,-0.68,-146.0,2329,588,3558,3457,39.2,-18.8,26,224,0.08,2.28,0.00,0.000,3078,0.174,0.058,2343,1989,3507,3558,3457,0,0,0,0,0,0,26.01,26.10,28.83
$GC,356,-0.68,-146.0,2343,1989,3559,3457,62.9,-16.9,51,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1990,3507,3558,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,691,-0.68,-146.0,2343,1989,3561,3457,117.6,-15.6,102,695,0.00,2.25,0.00,0.000,260,0.000,0.065,2334,3408,3508,3560,3457,0,0,0,0,0,0,28.83,26.24,28.83
$GC,719,-0.68,-146.0,1536,3407,3555,3455,121.6,-15.9,104,729,0.00,2.28,0.00,0.000,1030,0.000,0.055,2334,1989,3508,3560,3457,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1028,-0.68,-146.0,2334,1989,3561,3458,170.2,-14.9,135,1036,0.00,2.25,0.00,0.000,516,0.000,0.069,2334,581,3509,3561,3457,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1079,-0.68,-146.0,2334,582,3561,3457,177.9,-14.9,140,1083,0.00,2.22,0.00,0.000,1030,0.000,0.057,2324,1995,3510,3562,3458,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1385,-0.68,-146.0,2324,1995,3562,3457,226.1,-16.0,170,1394,0.00,2.25,0.00,0.000,516,0.000,0.068,2324,580,3509,3562,3457,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1430,-0.68,-146.0,2324,580,3562,3457,233.1,-16.8,174,1437,0.15,2.25,0.00,0.000,3078,0.181,0.058,2351,2005,3509,3562,3457,0,0,0,0,0,0,26.26,26.35,28.83
$GC,1738,-0.68,-146.0,2351,2005,3562,3457,273.5,-12.5,205,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,3509,3562,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,-0.68,-146.0,2350,2005,3562,3457,310.4,-12.6,235,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2005,3509,3562,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-0.68,-146.0,2351,2005,3563,3457,346.4,-11.7,265,2347,0.00,2.25,0.00,0.000,516,0.000,0.069,2351,587,3510,3563,3458,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2372,-0.68,-146.0,2352,586,3563,3457,350.3,-12.0,268,2382,0.00,2.25,0.00,0.000,1030,0.000,0.058,2343,1991,3510,3563,3457,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2681,-0.68,-146.0,2343,1991,3563,3457,390.6,-13.2,299,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1991,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.68,-146.0,2343,1991,3563,3457,429.6,-12.9,318,2984,0.00,2.28,0.00,0.000,516,0.000,0.071,2343,580,3510,3563,3457,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3019,-0.68,-146.0,2343,580,3563,3457,434.5,-13.5,320,3023,0.00,2.25,0.00,0.000,1030,0.000,0.060,2333,2005,3510,3563,3457,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3336,-0.68,-146.0,2333,2005,3563,3457,477.8,-13.7,336,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2005,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,-0.68,-146.0,2333,2005,3563,3457,519.2,-14.1,351,3642,0.00,2.28,0.00,0.000,516,0.000,0.071,2333,584,3510,3563,3457,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3660,-0.68,-146.0,2333,583,3563,3457,522.1,-14.2,352,3665,0.00,2.28,0.00,0.000,1030,0.000,0.060,2323,1996,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3978,-0.68,-146.0,2323,1996,3563,3457,569.5,-15.0,368,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1997,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,-0.68,-146.0,2322,1997,3562,3457,614.3,-14.7,383,4282,0.00,2.28,0.00,0.000,516,0.000,0.073,2323,580,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4301,-0.68,-146.0,2322,579,3563,3457,616.7,-14.7,384,4306,0.15,2.28,0.00,0.000,3078,0.179,0.063,2350,2013,3509,3562,3457,0,0,0,0,0,0,26.40,26.48,28.83
$GC,4614,-0.68,-146.0,2349,2013,3563,3457,655.4,-11.7,400,4620,0.00,2.30,0.00,0.000,516,0.000,0.074,2350,581,3510,3563,3457,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4646,-0.68,-146.0,2349,581,3563,3457,657.8,-11.7,401,4654,0.00,2.28,0.00,0.000,1030,0.000,0.063,2342,1990,3510,3563,3457,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4955,-0.68,-146.0,2341,1990,3563,3457,696.6,-12.4,417,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1990,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,-0.68,-146.0,2341,1990,3563,3457,733.8,-12.3,432,5260,0.00,2.25,0.00,0.000,516,0.000,0.075,2341,587,3510,3563,3457,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5283,-0.68,-146.0,2341,587,3563,3457,736.3,-12.3,433,5288,0.00,2.25,0.00,0.000,1030,0.000,0.064,2332,2003,3509,3562,3457,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5597,-0.68,-146.0,2331,2004,3562,3457,777.0,-12.7,449,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2003,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5898,-0.68,-146.0,2331,2003,3562,3456,815.6,-13.1,464,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2004,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,-0.68,-146.0,2331,2003,3560,3456,853.1,-12.0,479,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2004,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.68,-146.0,2331,2004,3561,3456,889.0,-11.7,494,6502,0.00,2.30,0.00,0.000,516,0.000,0.076,2331,584,3508,3562,3455,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6535,-0.68,-146.0,2331,583,3561,3456,893.8,-11.9,496,6540,0.00,2.25,0.00,0.000,1030,0.000,0.065,2321,2001,3508,3561,3455,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6852,-0.68,-146.0,2321,2001,3561,3456,932.0,-12.3,512,6854,0.12,0.00,0.00,0.000,2054,0.191,0.000,2350,2001,3508,3561,3455,0,0,0,0,0,0,26.44,28.83,28.83
$GC,7153,-0.68,-146.0,2350,2000,3561,3454,960.3,-9.2,527,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2000,3508,3561,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7451,-0.68,-146.0,2350,2001,3561,3454,989.8,-10.1,542,7456,0.00,2.28,0.00,0.000,516,0.000,0.076,2351,588,3507,3561,3454,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7487,-0.68,-146.0,2351,588,3561,3454,993.5,-10.3,544,7491,0.00,2.25,0.00,0.000,1030,0.000,0.067,2342,2004,3507,3561,3454,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,7563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7563,begin apogee
$GC,7567,-0.14,0.0,2342,1867,3561,3454,1001.5,-10.6,548,7704,0.57,0.00,129.35,1.772,10246,0.137,0.000,2525,1867,2909,2983,2835,0,0,0,0,0,0,26.46,28.83,23.37
$STATE,7705,end apogee,CONTROL_FINISHED_OK
$STATE,7705,begin climb
$GC,7706,0.68,146.0,2524,1867,2982,2836,1007.7,0.0,555,7848,0.75,2.60,134.45,1.737,10500,0.049,0.070,2800,3286,2313,2371,2255,0,0,0,0,0,0,24.58,23.60,22.65
$GC,7881,0.68,146.0,2800,3286,2369,2249,1000.9,11.2,564,7885,0.00,2.47,0.00,0.000,1030,0.000,0.063,2810,1877,2309,2369,2249,0,0,0,0,0,0,28.83,24.14,28.83
$GC,8197,0.68,146.0,2810,1877,2369,2241,949.2,16.4,580,8201,0.00,2.38,0.00,0.000,260,0.000,0.071,2810,3284,2305,2369,2241,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8256,0.68,146.0,2810,3284,2368,2240,939.8,16.8,583,8261,0.12,2.38,0.00,0.000,5126,0.232,0.065,2797,1864,2304,2368,2240,0,0,0,0,0,0,25.27,25.40,28.83
$GC,8568,0.68,146.0,2796,1864,2367,2238,891.9,15.6,599,8572,0.00,2.35,0.00,0.000,260,0.000,0.072,2794,3283,2302,2367,2238,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8647,0.68,146.0,2794,3283,2367,2238,879.5,16.4,603,8651,0.00,2.33,0.00,0.000,1030,0.000,0.065,2803,1863,2301,2366,2237,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8964,0.68,146.0,2803,1863,2366,2236,829.9,15.5,619,8968,0.00,2.33,0.00,0.000,260,0.000,0.072,2803,3284,2301,2366,2236,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9013,0.68,146.0,2802,3284,2366,2236,824.2,15.5,621,9020,0.00,2.30,0.00,0.000,1030,0.000,0.065,2813,1871,2301,2366,2236,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9321,0.68,146.0,2813,1871,2366,2235,774.6,15.5,637,9327,0.00,2.30,0.00,0.000,260,0.000,0.072,2813,3284,2300,2366,2235,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9480,0.68,146.0,2813,3284,2365,2235,748.0,16.6,645,9487,0.15,2.28,0.00,0.000,5126,0.229,0.065,2792,1870,2300,2365,2235,0,0,0,0,0,0,26.02,26.15,28.83
$GC,9801,0.68,146.0,2791,1870,2366,2234,701.6,13.9,661,9807,0.00,2.30,0.00,0.000,260,0.000,0.073,2781,3286,2299,2365,2234,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9853,0.68,146.0,2781,3287,2365,2234,695.9,13.9,663,9860,0.00,2.33,0.00,0.000,1030,0.000,0.064,2791,1871,2299,2365,2234,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10160,0.68,146.0,2790,1871,2365,2234,652.7,13.4,679,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1871,2299,2365,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15406,end climb,SURFACE_DEPTH_REACHED
$STATE,15406,begin surface coast
$FINISH,-0.3,1.026559
$STATE,15433,end surface coast,CONTROL_FINISHED_OK
$STATE,15433,begin surface
$SM_CCo,15447,32.45,0.145,0,0,1968,230.09
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$IRIDIUM_FIX,-4244.98,828.64,121008,060658
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.96
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.6,12.266
$10V_AH,10.2,10.426
$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
$DEVICE_SECS,17.375,128.500,263.800,32.450,0.000,28.424,44.845,185.927,49.250,0.000,17.362,3118.017,9213.574,462.980,2887.591,164.235,0.000,1570.939,0.000,2397.727,0.000,297.368,0.000
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$SENSOR_SECS,823.192,71.516,670.070,1744.239,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352736
$DATA_FILE_SIZE,73806,1170
$CAP_FILE_SIZE,167118,0
$CFSIZE,259248128,254304256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.215, 38.5,1
$GPS,171215,015833,-4303.739,826.142,52,0.9,52,-25.0