version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 69
start: 12 19 115 16 29 48
data:
$ID,542
$MISSION,12
$DIVE,69
$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,-29736.396
$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,27
$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
$GPS1,191215,162251,-4300.311,836.399,69,0.9,69,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.7
$GPS2,191215,162922,-4300.290,836.443,18,0.9,18,-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,219.0,6898,-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,-146.0,172,2007,1960,1920,0.0,0.0,0,72,0.00,0.00,-55.42,0.000,16386,0.000,0.000,171,2007,3497,3547,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.68,-146.0,171,2008,3547,3450,4.3,-7.8,7,91,8.10,2.28,0.00,0.000,2308,0.222,0.058,2330,3412,3499,3547,3452,0,0,0,0,0,0,25.83,26.03,28.83
$GC,205,-0.68,-146.0,2330,3413,3549,3452,34.6,-14.8,27,215,0.00,2.28,0.00,0.000,1030,0.000,0.055,2330,2000,3501,3550,3452,0,0,0,0,0,0,28.83,26.09,28.83
$GC,351,-0.68,-146.0,1448,1998,3543,3450,59.3,-17.2,52,363,0.00,2.33,0.00,0.000,516,0.000,0.069,2330,585,3501,3550,3452,0,0,0,0,0,0,28.83,26.12,28.83
$GC,417,-0.68,-146.0,1480,585,3544,3450,71.1,-17.5,63,425,0.08,2.25,0.00,0.000,3078,0.171,0.056,2358,1984,3501,3550,3452,0,0,0,0,0,0,26.06,26.15,28.83
$GC,750,-0.68,-146.0,2357,1984,3551,3452,116.1,-12.9,113,760,0.00,2.22,0.00,0.000,516,0.000,0.067,2358,585,3501,3551,3452,0,0,0,0,0,0,28.83,26.23,28.83
$GC,784,-0.68,-146.0,2357,586,3551,3452,120.5,-13.5,116,792,0.00,2.28,0.00,0.000,1030,0.000,0.057,2349,2000,3501,3551,3452,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1091,-0.68,-146.0,2349,2000,3552,3452,162.8,-13.7,147,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,3501,3552,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,-0.68,-146.0,2349,2001,3553,3452,203.5,-13.7,177,1402,0.00,2.25,0.00,0.000,516,0.000,0.067,2349,587,3502,3553,3452,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1446,-0.68,-146.0,2349,586,3553,3452,210.7,-13.5,182,1455,0.00,2.20,0.00,0.000,1030,0.000,0.057,2340,1994,3502,3553,3452,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1756,-0.68,-146.0,2338,1995,3553,3452,254.0,-13.5,213,1766,0.00,2.22,0.00,0.000,260,0.000,0.064,2328,3411,3502,3553,3452,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1781,-0.68,-146.0,1536,3409,3547,3450,257.0,-13.5,215,1788,0.00,2.25,0.00,0.000,1030,0.000,0.054,2328,1997,3503,3554,3453,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2089,-0.68,-146.0,2328,1996,3554,3452,300.2,-14.3,246,2098,0.00,2.25,0.00,0.000,516,0.000,0.070,2329,584,3503,3554,3452,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2195,-0.68,-146.0,2328,584,3554,3452,315.1,-13.8,256,2204,0.10,2.20,0.00,0.000,3078,0.159,0.057,2349,1998,3502,3553,3452,0,0,0,0,0,0,26.32,26.41,28.83
$GC,2503,-0.68,-146.0,2349,1998,3554,3452,353.8,-12.3,287,2507,0.00,2.25,0.00,0.000,516,0.000,0.069,2349,587,3503,3554,3452,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2533,-0.68,-146.0,2349,587,3554,3452,357.4,-12.7,289,2542,0.00,2.25,0.00,0.000,1030,0.000,0.057,2341,1990,3503,3553,3453,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2841,-0.68,-146.0,2341,1990,3554,3452,399.8,-13.9,320,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1990,3503,3554,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.68,-146.0,2341,1990,3554,3452,441.7,-13.3,336,3157,0.00,2.25,0.00,0.000,260,0.000,0.067,2330,3415,3503,3554,3452,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3184,-0.68,-146.0,2330,3415,3554,3452,444.4,-13.4,337,3195,0.00,2.22,0.00,0.000,1030,0.000,0.056,2330,1994,3503,3554,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3491,-0.68,-146.0,2330,1994,3554,3452,488.6,-14.0,353,3495,0.00,2.25,0.00,0.000,516,0.000,0.072,2330,588,3502,3553,3452,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3560,-0.68,-146.0,2330,588,3554,3452,496.7,-14.4,356,3568,0.12,2.22,0.00,0.000,3078,0.179,0.060,2350,1995,3503,3554,3452,0,0,0,0,0,0,26.36,26.46,28.83
$GC,3867,-0.68,-146.0,2349,1996,3554,3452,535.0,-11.6,372,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1996,3503,3554,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-0.68,-146.0,2349,1996,3554,3452,570.3,-11.7,387,4174,0.00,2.28,0.00,0.000,516,0.000,0.073,2350,578,3503,3554,3452,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4208,-0.68,-146.0,2350,578,3554,3452,575.0,-11.8,389,4214,0.00,2.25,0.00,0.000,1030,0.000,0.062,2341,2005,3503,3554,3452,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4527,-0.68,-146.0,2341,2006,3554,3452,613.8,-12.4,405,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2006,3503,3554,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4828,-0.68,-146.0,2341,2006,3553,3452,651.9,-13.2,420,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2006,3503,3554,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-0.68,-146.0,2341,2006,3554,3452,690.1,-12.7,435,5134,0.00,2.28,0.00,0.000,516,0.000,0.074,2341,584,3503,3554,3452,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5155,-0.68,-146.0,2341,584,3554,3452,692.7,-12.8,436,5159,0.00,2.28,0.00,0.000,1030,0.000,0.063,2331,2018,3502,3554,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5468,-0.68,-146.0,2331,2019,3554,3451,735.6,-13.6,452,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2019,3502,3554,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.68,-146.0,2331,2019,3554,3451,775.2,-13.0,467,5775,0.00,2.28,0.00,0.000,516,0.000,0.074,2332,592,3502,3554,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5810,-0.68,-146.0,2331,592,3554,3451,780.5,-13.1,469,5814,0.00,2.28,0.00,0.000,1030,0.000,0.063,2321,1995,3502,3554,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6127,-0.68,-146.0,2321,1995,3553,3450,824.0,-13.5,485,6132,0.12,2.28,0.00,0.000,2564,0.188,0.074,2356,584,3501,3553,3450,0,0,0,0,0,0,26.41,26.48,28.83
$GC,6165,-0.68,-146.0,2356,583,3553,3450,828.6,-13.1,487,6169,0.00,2.25,0.00,0.000,1030,0.000,0.063,2348,1997,3501,3553,3450,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6481,-0.68,-146.0,2348,1997,3553,3449,863.3,-10.9,503,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3501,3553,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-0.68,-146.0,2348,1996,3553,3449,896.0,-10.9,518,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3500,3551,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,-0.68,-146.0,2348,1997,3553,3449,929.2,-11.0,533,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3500,3552,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7383,-0.68,-146.0,2347,1996,3552,3448,961.6,-10.6,548,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3500,3552,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.68,-146.0,2348,1997,3552,3448,991.8,-9.6,563,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1997,3500,3552,3448,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7780,begin apogee
$GC,7784,-0.14,0.0,2348,1862,3552,3448,1001.1,-9.3,568,7915,0.55,0.00,127.40,1.750,10246,0.138,0.000,2522,1861,2909,2985,2833,0,0,0,0,0,0,26.44,28.83,23.42
$STATE,7916,end apogee,CONTROL_FINISHED_OK
$STATE,7916,begin climb
$GC,7917,0.68,146.0,2521,1861,2984,2834,1005.2,0.0,574,8064,0.73,2.62,133.98,1.711,10500,0.047,0.070,2801,3285,2312,2371,2253,0,0,0,0,0,0,24.53,23.49,22.54
$GC,8289,0.68,146.0,2801,3285,2370,2242,962.5,17.6,593,8293,0.00,2.38,0.00,0.000,1030,0.000,0.062,2811,1875,2306,2370,2242,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8606,0.68,146.0,2811,1875,2369,2237,909.7,16.6,609,8612,0.00,2.35,0.00,0.000,260,0.000,0.070,2811,3289,2303,2369,2237,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8739,0.68,146.0,2811,3289,2369,2237,889.4,16.8,615,8747,0.15,2.35,0.00,0.000,5126,0.226,0.064,2791,1863,2303,2369,2237,0,0,0,0,0,0,25.59,25.73,28.83
$GC,9046,0.68,146.0,2791,1862,2369,2235,843.2,14.2,631,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1862,2302,2369,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9346,0.68,146.0,2790,1862,2368,2234,801.2,13.7,646,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1862,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9646,0.68,146.0,2791,1862,2369,2234,761.1,13.4,661,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1862,2301,2368,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9946,0.68,146.0,2791,1862,2368,2233,721.4,12.6,676,9950,0.00,2.30,0.00,0.000,260,0.000,0.071,2788,3283,2300,2368,2233,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10051,0.68,146.0,2788,3284,2368,2233,708.7,13.3,681,10055,0.00,2.28,0.00,0.000,1030,0.000,0.064,2797,1868,2300,2368,2233,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10357,0.68,146.0,2797,1867,2367,2233,668.9,12.3,696,10361,0.00,2.30,0.00,0.000,260,0.000,0.071,2797,3291,2300,2367,2233,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10446,0.68,146.0,2797,3291,2367,2233,658.7,13.4,700,10453,0.00,2.30,0.00,0.000,1030,0.000,0.064,2807,1862,2299,2366,2232,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10753,0.68,146.0,2807,1862,2366,2232,614.3,14.6,716,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1862,2299,2366,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,0.68,146.0,2807,1862,2366,2232,570.7,14.3,731,11059,0.00,2.30,0.00,0.000,260,0.000,0.070,2807,3293,2299,2366,2232,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11194,0.68,146.0,2807,3293,2366,2232,550.0,14.7,738,11200,0.00,2.28,0.00,0.000,1030,0.000,0.062,2818,1861,2299,2366,2232,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,15520,end climb,SURFACE_DEPTH_REACHED
$STATE,15520,begin surface coast
$FINISH,-0.1,1.025541
$STATE,15553,end surface coast,CONTROL_FINISHED_OK
$STATE,15553,begin surface
$SM_CCo,15568,32.50,0.148,0,0,1967,230.09
$SM_GC,2.38,6.90,2.10,32.50,0.053,0.060,0.148,168,1986,1967,-7.40,0.45,230.09,0,0,0,0,0,0,26.53,26.48,26.29
$IRIDIUM_FIX,-4244.98,638.97,151008,010107
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.29
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.5,14.707
$10V_AH,10.2,12.294
$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
$DEVICE_SECS,17.150,113.850,261.375,32.500,0.000,23.762,49.694,196.557,49.250,0.000,18.672,3131.769,9243.685,452.058,2994.276,168.223,0.000,1588.719,0.000,2479.018,0.000,299.051,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,830.953,76.162,702.511,1777.980,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352784
$DATA_FILE_SIZE,73704,1183
$CAP_FILE_SIZE,164210,0
$CFSIZE,259248128,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079, 48.2,1
$GPS,191215,205133,-4301.886,836.683,68,1.0,68,-25.1