version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 160
start: 1 5 116 3 53 18
data:
$ID,542
$MISSION,12
$DIVE,160
$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,-29850.738
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,050116,034703,-4300.110,825.093,75,0.8,76,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.6
$GPS2,050116,035252,-4300.093,825.160,29,0.8,29,-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,328.6,7741,-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,-146.0,167,2004,1961,1926,0.0,0.0,0,66,0.00,0.00,-48.92,0.000,16386,0.000,0.000,166,2004,3274,3348,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,166,2004,3348,3203,3.3,-5.2,6,88,8.05,2.38,-4.80,0.000,18948,0.209,0.075,2351,576,3507,3564,3450,0,0,0,0,0,0,25.42,25.87,26.32
$GC,333,-0.68,-146.0,1456,575,3558,3451,54.5,-15.4,50,341,0.00,2.25,0.00,0.000,1030,0.000,0.054,2342,1990,3509,3565,3454,0,0,0,0,0,0,28.83,25.96,28.83
$GC,669,-0.68,-146.0,2342,1991,3565,3454,108.2,-15.9,107,673,0.00,2.28,0.00,0.000,516,0.000,0.064,2342,574,3509,3565,3454,0,0,0,0,0,0,28.83,26.00,28.83
$GC,821,-0.68,-146.0,2342,573,3564,3456,130.3,-14.6,121,829,0.00,2.30,0.00,0.000,1030,0.000,0.054,2332,1997,3510,3565,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1130,-0.68,-146.0,2332,1997,3565,3456,180.0,-16.2,152,1140,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,576,3510,3565,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1192,-0.68,-146.0,2332,577,3565,3456,189.7,-15.0,158,1196,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,2007,3510,3565,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1498,-0.68,-146.0,2322,2007,3565,3456,236.6,-15.4,188,1508,0.00,2.28,0.00,0.000,516,0.000,0.063,2322,582,3510,3565,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1542,-0.68,-146.0,1536,582,3560,3454,243.3,-15.9,192,1551,0.10,2.28,0.00,0.000,3078,0.156,0.053,2344,1997,3510,3565,3456,0,0,0,0,0,0,25.92,26.15,28.83
$GC,1850,-0.68,-146.0,2343,1997,3565,3457,284.0,-12.9,223,1854,0.00,2.28,0.00,0.000,516,0.000,0.063,2344,572,3511,3566,3457,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1939,-0.68,-146.0,2343,572,3564,3457,295.2,-12.5,231,1948,0.00,2.22,0.00,0.000,1030,0.000,0.054,2335,1997,3511,3566,3457,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2247,-0.68,-146.0,2335,1997,3566,3457,337.5,-13.8,262,2256,0.00,2.25,0.00,0.000,260,0.000,0.061,2324,3418,3511,3565,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2271,-0.68,-146.0,2324,3418,3565,3457,340.4,-13.4,264,2280,0.00,2.20,0.00,0.000,1030,0.000,0.051,2324,1989,3511,3565,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2578,-0.68,-146.0,2324,1989,3565,3457,384.4,-14.1,295,2589,0.00,2.22,0.00,0.000,516,0.000,0.064,2324,588,3511,3565,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2703,-0.68,-146.0,2324,588,3565,3457,402.1,-13.7,307,2708,0.12,2.20,0.00,0.000,3078,0.174,0.054,2345,1996,3511,3566,3457,0,0,0,0,0,0,26.00,26.21,28.83
$GC,3020,-0.68,-146.0,2344,1996,3565,3457,442.5,-12.8,323,3026,0.00,2.25,0.00,0.000,516,0.000,0.065,2345,588,3511,3565,3457,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3075,-0.68,-146.0,2345,588,3565,3457,448.1,-13.1,325,3083,0.00,2.25,0.00,0.000,1030,0.000,0.055,2337,1989,3511,3565,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3384,-0.68,-146.0,2336,1989,3566,3457,491.4,-13.7,341,3389,0.00,2.22,0.00,0.000,516,0.000,0.067,2337,592,3511,3565,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3424,-0.68,-146.0,2336,591,3566,3457,497.1,-14.0,343,3429,0.00,2.25,0.00,0.000,1030,0.000,0.056,2327,1988,3511,3565,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3742,-0.68,-146.0,2326,1989,3565,3457,543.1,-14.5,359,3746,0.00,2.28,0.00,0.000,516,0.000,0.067,2327,582,3511,3565,3457,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3786,-0.68,-146.0,2327,581,3565,3457,548.6,-14.7,361,3791,0.12,2.25,0.00,0.000,3078,0.174,0.056,2346,2002,3511,3565,3457,0,0,0,0,0,0,26.01,26.22,28.83
$GC,4098,-0.68,-146.0,2346,2004,3565,3457,589.6,-12.7,377,4102,0.00,2.30,0.00,0.000,516,0.000,0.068,2346,581,3511,3565,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4134,-0.68,-146.0,2346,581,3565,3457,594.3,-12.8,379,4139,0.00,2.22,0.00,0.000,1030,0.000,0.057,2338,1993,3511,3565,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4453,-0.68,-146.0,2338,1994,3565,3457,637.9,-14.2,395,4458,0.00,2.25,0.00,0.000,516,0.000,0.068,2338,592,3511,3565,3457,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4504,-0.68,-146.0,2338,591,3565,3457,643.8,-14.4,397,4514,0.00,2.25,0.00,0.000,1030,0.000,0.057,2328,2005,3511,3565,3457,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4813,-0.68,-146.0,2328,2005,3565,3457,691.8,-15.0,413,4818,0.00,2.28,0.00,0.000,516,0.000,0.068,2328,584,3511,3565,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4886,-0.68,-146.0,2328,584,3565,3457,700.9,-15.2,416,4894,0.12,2.25,0.00,0.000,3078,0.174,0.058,2348,1994,3511,3565,3457,0,0,0,0,0,0,26.01,26.21,28.83
$GC,5194,-0.68,-146.0,2347,1995,3565,3457,741.6,-12.1,432,5200,0.00,2.25,0.00,0.000,516,0.000,0.068,2348,587,3511,3565,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5226,-0.68,-146.0,2347,587,3565,3457,744.2,-12.2,433,5236,0.00,2.25,0.00,0.000,1030,0.000,0.058,2340,1996,3511,3565,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5533,-0.68,-146.0,2339,1996,3565,3457,782.4,-11.7,449,5537,0.00,2.28,0.00,0.000,516,0.000,0.069,2339,584,3511,3565,3457,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5552,-0.68,-146.0,2339,584,3564,3457,784.4,-11.8,450,5556,0.00,2.25,0.00,0.000,1030,0.000,0.058,2330,1997,3510,3564,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5870,-0.68,-146.0,2329,1999,3564,3457,822.5,-11.6,466,5875,0.00,2.30,0.00,0.000,516,0.000,0.069,2329,580,3510,3564,3457,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5890,-0.68,-146.0,2329,580,3564,3457,825.0,-11.7,467,5896,0.12,2.25,0.00,0.000,3078,0.174,0.059,2349,1996,3510,3564,3457,0,0,0,0,0,0,26.01,26.19,28.83
$GC,6210,-0.68,-146.0,2349,1997,3563,3457,856.0,-9.2,483,6216,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,588,3509,3563,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6252,-0.68,-146.0,1536,588,3557,3454,859.9,-9.3,485,6256,0.00,2.28,0.00,0.000,1030,0.000,0.059,2341,2018,3509,3563,3456,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6569,-0.68,-146.0,2341,2018,3563,3456,892.4,-10.6,501,6573,0.00,2.33,0.00,0.000,516,0.000,0.071,2341,581,3509,3562,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6614,-0.68,-146.0,2341,581,3562,3456,896.4,-10.9,503,6618,0.00,2.25,0.00,0.000,1030,0.000,0.060,2331,1994,3509,3562,3456,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6920,-0.68,-146.0,2331,1995,3562,3456,932.6,-11.7,518,6925,0.00,2.28,0.00,0.000,516,0.000,0.070,2331,582,3509,3562,3456,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6944,-0.68,-146.0,2331,582,3562,3456,934.5,-11.7,519,6949,0.12,2.25,0.00,0.000,3078,0.173,0.060,2351,1994,3509,3562,3456,0,0,0,0,0,0,26.00,26.18,28.83
$GC,7257,-0.68,-146.0,2350,1995,3561,3456,966.9,-9.7,535,7263,0.00,2.28,0.00,0.000,516,0.000,0.070,2351,582,3508,3561,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7310,-0.68,-146.0,2351,581,3561,3456,971.0,-9.9,537,7317,0.00,2.28,0.00,0.000,1030,0.000,0.060,2343,1997,3508,3561,3456,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,7598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7598,begin apogee
$GC,7602,-0.14,0.0,2342,1860,3560,3455,1001.4,-10.1,552,7738,0.57,0.00,132.85,1.813,10246,0.132,0.000,2523,1860,2909,2982,2836,0,0,0,0,0,0,25.91,28.83,23.07
$STATE,7739,end apogee,CONTROL_FINISHED_OK
$STATE,7739,begin climb
$GC,7740,0.68,146.0,2523,1861,2982,2836,1006.9,0.0,559,7892,0.75,2.58,141.80,1.782,10756,0.049,0.072,2817,462,2313,2373,2254,0,0,0,0,0,0,24.22,23.36,22.37
$GC,8108,0.68,146.0,2816,462,2365,2247,971.9,16.7,576,8115,0.00,2.38,0.00,0.000,1030,0.000,0.060,2817,1870,2306,2365,2247,0,0,0,0,0,0,28.83,24.98,28.83
$GC,8414,0.68,146.0,2816,1871,2364,2243,920.2,16.0,592,8420,0.00,2.33,0.00,0.000,260,0.000,0.067,2816,3284,2303,2364,2243,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8434,0.68,146.0,2816,3284,2363,2243,916.9,16.2,593,8441,0.15,2.30,0.00,0.000,5126,0.223,0.059,2796,1875,2303,2363,2243,0,0,0,0,0,0,25.30,25.58,28.83
$GC,8755,0.68,146.0,2796,1875,2363,2241,870.1,14.6,609,8760,0.00,2.30,0.00,0.000,260,0.000,0.067,2794,3283,2302,2363,2241,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8816,0.68,146.0,1920,3282,2323,2235,861.2,14.7,612,8820,0.00,2.33,0.00,0.000,1030,0.000,0.059,2802,1872,2302,2363,2241,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9134,0.68,146.0,2802,1872,2363,2240,817.3,13.3,628,9138,0.00,2.30,0.00,0.000,260,0.000,0.067,2803,3288,2301,2362,2240,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9178,0.68,146.0,2802,3288,2362,2240,812.2,13.6,630,9182,0.00,2.30,0.00,0.000,1030,0.000,0.059,2813,1863,2300,2362,2239,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9486,0.68,146.0,2813,1863,2362,2239,769.4,13.6,645,9491,0.00,2.30,0.00,0.000,260,0.000,0.066,2813,3286,2300,2362,2239,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9637,0.68,146.0,2813,3286,2362,2239,748.8,14.7,652,9646,0.15,2.30,0.00,0.000,5126,0.220,0.059,2791,1860,2300,2362,2238,0,0,0,0,0,0,25.75,26.06,28.83
$GC,9945,0.68,146.0,2791,1860,2362,2238,707.9,12.5,668,9949,0.00,2.30,0.00,0.000,260,0.000,0.066,2787,3286,2299,2362,2237,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,15612,end climb,SURFACE_DEPTH_REACHED
$STATE,15612,begin surface coast
$FINISH,-0.0,1.026401
$STATE,15644,end surface coast,CONTROL_FINISHED_OK
$STATE,15644,begin surface
$SM_CCo,15658,32.90,0.151,0,0,1970,230.09
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$IRIDIUM_FIX,-4244.98,825.73,311008,121228
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.14
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,28.985
$10V_AH,10.1,23.286
$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
$DEVICE_SECS,17.800,182.650,274.650,32.900,0.000,22.457,20.789,180.752,49.250,0.000,30.307,3198.754,9043.453,510.481,3067.201,217.390,0.000,1760.982,0.000,2603.049,0.000,296.954,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352728
$DATA_FILE_SIZE,77032,1183
$CAP_FILE_SIZE,184341,0
$CFSIZE,259248128,245735424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 72.3,1
$GPS,050116,081621,-4259.098,824.827,55,1.1,55,-25.0