version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 158
start: 1 4 116 18 59 38
data:
$ID,542
$MISSION,12
$DIVE,158
$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,-29848.225
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,040116,185103,-4302.774,824.782,71,0.9,71,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.9
$GPS2,040116,185911,-4302.867,824.804,14,0.9,14,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,344.1,12765,-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,-146.0,149,1989,1958,1923,0.0,0.0,0,66,0.00,0.00,-49.38,0.000,16386,0.000,0.000,147,1989,3294,3364,3225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,147,1989,3364,3225,3.3,-5.6,6,88,8.27,2.33,-4.38,0.000,18692,0.214,0.070,2336,3409,3506,3563,3449,0,0,0,0,0,0,25.39,25.85,26.28
$GC,213,-0.68,-146.0,2336,3409,3563,3453,32.6,-13.1,28,222,0.00,2.28,0.00,0.000,1030,0.000,0.051,2336,1998,3508,3563,3453,0,0,0,0,0,0,28.83,25.91,28.83
$GC,361,-0.68,-146.0,2336,1998,3563,3453,56.6,-16.8,53,368,0.00,2.28,0.00,0.000,516,0.000,0.064,2336,586,3508,3563,3453,0,0,0,0,0,0,28.83,25.90,28.83
$GC,401,-0.68,-146.0,2336,586,3563,3454,63.7,-16.4,60,409,0.00,2.28,0.00,0.000,1030,0.000,0.053,2326,1994,3508,3563,3454,0,0,0,0,0,0,28.83,26.00,28.83
$GC,729,-0.68,-146.0,2325,1995,3564,3454,121.8,-18.2,110,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1995,3508,3563,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1030,-0.68,-146.0,2325,1995,3563,3455,171.3,-16.1,140,1039,0.00,2.22,0.00,0.000,516,0.000,0.063,2325,587,3509,3564,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1092,-0.68,-146.0,2326,586,3563,3456,181.3,-15.6,146,1102,0.12,2.22,0.00,0.000,3078,0.177,0.053,2345,2003,3509,3563,3455,0,0,0,0,0,0,25.89,26.10,28.83
$GC,1402,-0.68,-146.0,2345,2003,3564,3455,223.7,-13.7,177,1411,0.00,2.22,0.00,0.000,260,0.000,0.060,2336,3409,3509,3564,3455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1435,-0.68,-146.0,2335,3410,3564,3455,228.3,-13.8,180,1439,0.00,2.20,0.00,0.000,1030,0.000,0.050,2336,1996,3509,3564,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1740,-0.68,-146.0,2336,1995,3564,3456,270.9,-14.4,210,1750,0.00,2.22,0.00,0.000,516,0.000,0.064,2336,588,3510,3564,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1854,-0.68,-146.0,2336,588,3564,3456,287.1,-14.1,221,1863,0.00,2.20,0.00,0.000,1030,0.000,0.054,2326,2000,3510,3564,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2163,-0.68,-146.0,2325,2000,3564,3456,333.7,-15.0,252,2173,0.00,2.25,0.00,0.000,516,0.000,0.063,2326,588,3510,3564,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2177,-0.68,-146.0,2325,588,3564,3456,334.8,-14.9,253,2187,0.10,2.25,0.00,0.000,3078,0.150,0.053,2347,1991,3510,3564,3456,0,0,0,0,0,0,25.94,26.20,28.83
$GC,2486,-0.68,-146.0,2347,1991,3564,3456,376.0,-13.0,284,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1991,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.68,-146.0,2347,1991,3564,3456,416.2,-13.5,308,2792,0.00,2.22,0.00,0.000,516,0.000,0.066,2347,591,3510,3564,3456,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2833,-0.68,-146.0,2347,590,3564,3456,421.7,-13.6,310,2837,0.00,2.22,0.00,0.000,1030,0.000,0.054,2339,2003,3510,3564,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3146,-0.68,-146.0,2339,2003,3564,3456,467.4,-14.3,326,3152,0.00,2.28,0.00,0.000,516,0.000,0.066,2339,586,3510,3564,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3179,-0.68,-146.0,2339,586,3564,3456,470.3,-14.4,327,3186,0.00,2.22,0.00,0.000,1030,0.000,0.055,2329,1994,3510,3564,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3487,-0.68,-146.0,2329,1994,3564,3456,517.3,-14.7,343,3492,0.00,2.25,0.00,0.000,516,0.000,0.067,2329,590,3510,3564,3456,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3506,-0.68,-146.0,2329,589,3564,3456,520.3,-14.8,344,3513,0.12,2.22,0.00,0.000,3078,0.172,0.056,2349,2004,3510,3564,3456,0,0,0,0,0,0,26.03,26.22,28.83
$GC,3826,-0.68,-146.0,2348,2005,3564,3456,560.8,-12.5,360,3832,0.00,2.28,0.00,0.000,516,0.000,0.067,2349,587,3509,3564,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3848,-0.68,-146.0,1568,586,3558,3454,563.3,-12.4,361,3853,0.00,2.28,0.00,0.000,1030,0.000,0.057,2341,1994,3510,3564,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4165,-0.68,-146.0,2340,1994,3563,3456,603.3,-12.4,377,4170,0.00,2.25,0.00,0.000,516,0.000,0.067,2341,588,3510,3564,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4190,-0.68,-146.0,2340,588,3564,3456,605.3,-12.4,378,4194,0.00,2.22,0.00,0.000,1030,0.000,0.057,2331,1995,3510,3564,3456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4497,-0.68,-146.0,2330,1995,3564,3456,648.0,-13.8,393,4501,0.00,2.28,0.00,0.000,516,0.000,0.068,2331,583,3509,3563,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4514,-0.68,-146.0,2330,582,3564,3456,650.3,-13.8,394,4520,0.12,2.25,0.00,0.000,3078,0.171,0.057,2351,2005,3510,3564,3456,0,0,0,0,0,0,26.03,26.21,28.83
$GC,4833,-0.68,-146.0,2350,2005,3564,3456,687.7,-11.4,410,4837,0.00,2.30,0.00,0.000,516,0.000,0.069,2351,580,3509,3563,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4849,-0.68,-146.0,2351,580,3564,3456,689.6,-11.5,411,4855,0.00,2.25,0.00,0.000,1030,0.000,0.058,2343,1994,3510,3564,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5171,-0.68,-146.0,2342,1994,3563,3456,727.3,-12.0,427,5177,0.00,2.25,0.00,0.000,516,0.000,0.070,2342,590,3510,3564,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5198,-0.68,-146.0,2342,589,3564,3456,729.8,-12.2,428,5202,0.00,2.22,0.00,0.000,1030,0.000,0.058,2333,1996,3510,3564,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5507,-0.68,-146.0,2332,1996,3563,3456,771.3,-13.3,443,5512,0.00,2.25,0.00,0.000,516,0.000,0.069,2333,591,3509,3563,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5533,-0.68,-146.0,2332,591,3563,3456,774.0,-13.3,444,5537,0.00,2.22,0.00,0.000,1030,0.000,0.059,2322,1996,3510,3564,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5840,-0.68,-146.0,2322,1996,3563,3456,818.1,-13.9,459,5845,0.00,2.28,0.00,0.000,516,0.000,0.069,2322,589,3509,3563,3456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5863,-0.68,-146.0,2322,588,3563,3456,821.0,-14.1,460,5868,0.10,2.30,0.00,0.000,3078,0.148,0.059,2344,2001,3509,3563,3456,0,0,0,0,0,0,25.98,26.20,28.83
$GC,6181,-0.68,-146.0,2344,2001,3563,3456,860.8,-12.1,476,6187,0.00,2.30,0.00,0.000,516,0.000,0.070,2344,581,3509,3563,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6208,-0.68,-146.0,2344,581,3562,3456,863.2,-12.0,477,6212,0.00,2.25,0.00,0.000,1030,0.000,0.060,2336,1996,3509,3563,3456,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6521,-0.68,-146.0,2336,1996,3562,3456,902.6,-12.1,493,6526,0.00,2.28,0.00,0.000,516,0.000,0.070,2336,586,3509,3562,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6564,-0.68,-146.0,1568,585,3556,3454,907.6,-12.1,495,6569,0.00,2.30,0.00,0.000,1030,0.000,0.060,2326,1996,3509,3562,3456,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6883,-0.68,-146.0,2326,1996,3561,3455,947.8,-12.6,511,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1996,3508,3561,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,-0.68,-146.0,2326,1997,3560,3455,985.8,-12.7,526,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1997,3507,3560,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7301,begin apogee
$GC,7306,-0.14,0.0,2326,1859,3559,3456,1000.8,-12.4,532,7443,0.62,0.00,132.62,1.806,10246,0.135,0.000,2522,1859,2909,2982,2837,0,0,0,0,0,0,25.91,28.83,23.10
$STATE,7444,end apogee,CONTROL_FINISHED_OK
$STATE,7445,begin climb
$GC,7446,0.68,146.0,2522,1858,2982,2837,1006.9,0.0,539,7596,0.75,2.62,141.25,1.776,10500,0.054,0.065,2797,3285,2313,2374,2252,0,0,0,0,0,0,24.24,23.36,22.35
$GC,7806,0.68,146.0,2797,3285,2370,2243,974.3,15.8,556,7811,0.00,2.38,0.00,0.000,1030,0.000,0.057,2807,1874,2306,2370,2243,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8119,0.68,146.0,2807,1874,2369,2238,924.9,15.6,572,8124,0.00,2.33,0.00,0.000,260,0.000,0.066,2808,3285,2304,2370,2238,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8211,0.68,146.0,2807,3285,2369,2238,911.6,16.6,576,8218,0.00,2.33,0.00,0.000,1030,0.000,0.057,2818,1861,2303,2369,2238,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8519,0.68,146.0,2818,1861,2369,2236,860.1,16.1,592,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1861,2302,2369,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8819,0.68,146.0,2818,1861,2369,2234,812.3,15.9,607,8825,0.00,2.33,0.00,0.000,260,0.000,0.065,2818,3295,2302,2369,2235,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8831,0.68,146.0,2818,3295,2368,2235,812.3,15.9,607,8839,0.15,2.30,0.00,0.000,5126,0.223,0.057,2795,1867,2301,2368,2235,0,0,0,0,0,0,25.66,25.96,28.83
$GC,9139,0.68,146.0,2795,1867,2368,2234,766.0,13.9,623,9145,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3287,2301,2368,2234,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9160,0.68,146.0,2793,3287,2368,2234,763.2,13.9,624,9165,0.00,2.25,0.00,0.000,1030,0.000,0.058,2803,1871,2301,2368,2234,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9479,0.68,146.0,2802,1871,2368,2234,719.8,13.5,640,9485,0.00,2.30,0.00,0.000,260,0.000,0.066,2803,3296,2301,2368,2234,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9539,0.68,146.0,2802,3296,2367,2234,711.5,13.9,643,9545,0.00,2.28,0.00,0.000,1030,0.000,0.058,2813,1869,2300,2367,2234,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9859,0.68,146.0,2813,1868,2367,2234,667.7,13.6,659,9865,0.00,2.28,0.00,0.000,260,0.000,0.066,2813,3286,2300,2367,2234,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,15426,end climb,SURFACE_DEPTH_REACHED
$STATE,15426,begin surface coast
$FINISH,-0.0,1.026394
$STATE,15459,end surface coast,CONTROL_FINISHED_OK
$STATE,15459,begin surface
$SM_CCo,15473,33.38,0.153,0,0,1970,230.09
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$IRIDIUM_FIX,-4247.91,820.32,311008,030351
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.81
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,28.664
$10V_AH,10.1,23.034
$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
$DEVICE_SECS,17.875,177.575,273.875,33.375,0.000,58.118,49.921,197.095,49.250,0.000,15.959,3157.917,9097.152,502.188,3033.280,201.345,0.000,1708.693,0.000,2482.578,0.000,296.546,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.435,76.561,703.202,1766.416,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352704
$DATA_FILE_SIZE,73580,1171
$CAP_FILE_SIZE,181466,0
$CFSIZE,259248128,245911552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218, 78.9,1
$GPS,040116,232033,-4301.352,825.338,112,0.9,113,-25.0