version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 176
start: 1 8 116 0 23 13
data:
$ID,542
$MISSION,12
$DIVE,176
$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,-29870.791
$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,28
$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
$GPS1,080116,001621,-4303.619,835.380,91,1.0,92,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.4
$GPS2,080116,002247,-4303.605,835.504,20,1.2,20,-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,260.9,15582,-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,-146.0,138,2013,1963,1921,0.0,0.0,0,65,0.00,0.00,-47.38,0.000,16386,0.000,0.000,137,2014,3242,3316,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,137,2014,3316,3170,3.4,-6.5,6,87,8.43,2.30,-5.43,0.000,18692,0.219,0.070,2330,3405,3508,3568,3448,0,0,0,0,0,0,25.34,25.83,26.28
$GC,95,-0.68,-146.0,2330,3405,3567,3449,13.7,-27.9,9,104,0.00,2.28,0.00,0.000,1030,0.000,0.051,2330,2002,3507,3566,3449,0,0,0,0,0,0,28.83,25.82,28.83
$GC,156,-0.68,-146.0,2330,2001,3567,3450,26.3,-17.8,18,165,0.00,2.35,0.00,0.000,516,0.000,0.066,2330,584,3508,3567,3450,0,0,0,0,0,0,28.83,25.77,28.83
$GC,210,-0.68,-146.0,2329,584,3566,3450,36.1,-17.1,26,220,0.08,2.28,0.00,0.000,3078,0.162,0.053,2344,1989,3508,3567,3450,0,0,0,0,0,0,25.64,25.86,28.83
$GC,353,-0.68,-146.0,2344,1988,3567,3451,58.6,-14.6,51,361,0.00,2.33,0.00,0.000,516,0.000,0.064,2344,584,3509,3567,3451,0,0,0,0,0,0,28.83,25.84,28.83
$GC,413,-0.68,-146.0,2344,584,3567,3451,67.0,-13.5,61,420,0.00,2.25,0.00,0.000,1030,0.000,0.053,2336,2003,3509,3567,3451,0,0,0,0,0,0,28.83,25.91,28.83
$GC,737,-0.68,-146.0,2336,2003,3567,3452,117.5,-16.2,111,747,0.00,2.30,0.00,0.000,516,0.000,0.064,2336,578,3509,3567,3452,0,0,0,0,0,0,28.83,25.92,28.83
$GC,803,-0.68,-146.0,2335,578,3567,3453,127.7,-15.9,117,810,0.00,2.28,0.00,0.000,1030,0.000,0.054,2326,1988,3510,3567,3453,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1111,-0.68,-146.0,2325,1989,3567,3454,178.6,-16.4,148,1121,0.00,2.25,0.00,0.000,516,0.000,0.063,2326,585,3510,3567,3454,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1164,-0.68,-146.0,2325,585,3568,3454,187.4,-16.7,153,1174,0.12,2.22,0.00,0.000,3078,0.172,0.052,2345,1996,3510,3567,3454,0,0,0,0,0,0,25.85,26.06,28.83
$GC,1474,-0.68,-146.0,2345,1996,3567,3454,231.9,-14.5,184,1483,0.00,2.28,0.00,0.000,516,0.000,0.063,2346,580,3510,3567,3454,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1498,-0.68,-146.0,2345,580,3567,3454,235.1,-14.5,186,1505,0.00,2.28,0.00,0.000,1030,0.000,0.053,2337,1994,3510,3567,3454,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1808,-0.68,-146.0,2337,1994,3567,3455,280.2,-14.4,217,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1994,3510,3567,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-0.68,-146.0,2337,1994,3567,3455,324.2,-14.1,248,2129,0.00,2.25,0.00,0.000,516,0.000,0.064,2337,586,3510,3567,3454,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2155,-0.68,-146.0,1488,586,3561,3453,329.4,-14.6,251,2163,0.00,2.22,0.00,0.000,1030,0.000,0.053,2327,1996,3511,3567,3455,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2461,-0.68,-146.0,2327,1997,3567,3455,375.9,-15.0,282,2470,0.00,2.28,0.00,0.000,516,0.000,0.064,2327,579,3511,3567,3455,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2503,-0.68,-146.0,2327,579,3567,3455,382.3,-15.4,286,2507,0.12,2.22,0.00,0.000,3078,0.168,0.054,2347,1994,3511,3567,3455,0,0,0,0,0,0,25.95,26.15,28.83
$GC,2810,-0.68,-146.0,2347,1994,3567,3455,421.8,-13.0,308,2816,0.00,2.25,0.00,0.000,516,0.000,0.065,2347,585,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2837,-0.68,-146.0,2348,585,3567,3455,424.5,-13.2,309,2841,0.00,2.22,0.00,0.000,1030,0.000,0.054,2339,1998,3511,3567,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3143,-0.68,-146.0,2339,1999,3567,3455,469.1,-14.2,324,3149,0.00,2.28,0.00,0.000,516,0.000,0.067,2339,585,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3167,-0.68,-146.0,2339,584,3567,3455,472.1,-14.4,325,3171,0.00,2.28,0.00,0.000,1030,0.000,0.054,2330,1993,3511,3568,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3484,-0.68,-146.0,2329,1993,3567,3455,520.0,-14.8,341,3488,0.00,2.28,0.00,0.000,516,0.000,0.067,2329,580,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3508,-0.68,-146.0,2329,580,3567,3455,522.4,-14.9,342,3513,0.12,2.25,0.00,0.000,3078,0.168,0.055,2350,2001,3511,3567,3455,0,0,0,0,0,0,25.96,26.15,28.83
$GC,3816,-0.68,-146.0,2349,2001,3567,3455,560.9,-11.6,357,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2001,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.68,-146.0,2350,2001,3567,3455,594.9,-11.3,372,4123,0.00,2.28,0.00,0.000,516,0.000,0.068,2350,583,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4198,-0.68,-146.0,2349,583,3566,3455,603.8,-10.9,376,4204,0.00,2.25,0.00,0.000,1030,0.000,0.057,2341,2004,3511,3567,3456,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4519,-0.68,-146.0,2341,2004,3567,3455,640.7,-11.8,392,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2004,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.68,-146.0,2341,2004,3567,3455,676.6,-12.1,407,4824,0.00,2.28,0.00,0.000,516,0.000,0.070,2341,589,3511,3567,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4898,-0.68,-146.0,2341,589,3567,3455,686.6,-12.5,411,4904,0.00,2.22,0.00,0.000,1030,0.000,0.058,2332,1993,3511,3567,3456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5219,-0.68,-146.0,2332,1993,3566,3455,730.2,-13.6,427,5225,0.00,2.25,0.00,0.000,260,0.000,0.066,2321,3408,3510,3566,3455,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5239,-0.68,-146.0,1552,3407,3560,3453,732.9,-13.6,428,5244,0.00,2.28,0.00,0.000,1030,0.000,0.054,2321,1996,3510,3566,3455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5558,-0.68,-146.0,2320,1995,3565,3455,776.3,-13.5,444,5565,0.12,2.28,0.00,0.000,2564,0.171,0.070,2358,582,3510,3565,3455,0,0,0,0,0,0,26.12,26.06,28.83
$GC,5630,-0.68,-146.0,2357,582,3565,3455,783.4,-12.3,447,5639,0.00,2.28,0.00,0.000,1030,0.000,0.060,2349,2000,3510,3565,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5937,-0.68,-146.0,2349,2001,3564,3455,818.7,-11.0,463,5941,0.00,2.30,0.00,0.000,516,0.000,0.071,2349,585,3509,3564,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5968,-0.68,-146.0,2349,584,3564,3455,820.5,-11.1,464,5975,0.00,2.25,0.00,0.000,1030,0.000,0.059,2339,1994,3509,3564,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6276,-0.68,-146.0,2339,1994,3563,3455,857.5,-11.5,480,6282,0.00,2.30,0.00,0.000,516,0.000,0.070,2339,580,3509,3563,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6304,-0.68,-146.0,2339,579,3563,3455,860.0,-11.7,481,6308,0.00,2.28,0.00,0.000,1030,0.000,0.059,2329,2001,3509,3563,3455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6612,-0.68,-146.0,2329,2001,3563,3455,897.2,-11.8,496,6617,0.00,2.30,0.00,0.000,516,0.000,0.070,2329,588,3509,3563,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6653,-0.68,-146.0,2329,588,3562,3455,902.1,-11.9,498,6658,0.08,2.28,0.00,0.000,3078,0.151,0.059,2344,1987,3509,3563,3455,0,0,0,0,0,0,25.91,26.12,28.83
$GC,6971,-0.68,-146.0,2343,1987,3562,3455,934.3,-10.1,514,6975,0.00,2.28,0.00,0.000,516,0.000,0.070,2344,584,3508,3562,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7009,-0.68,-146.0,1552,584,3556,3453,938.1,-10.1,516,7014,0.00,2.30,0.00,0.000,1030,0.000,0.060,2336,1992,3509,3563,3455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7327,-0.68,-146.0,2335,1992,3562,3455,972.3,-10.8,532,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1992,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7591,-0.14,0.0,2335,1867,3561,3455,1001.2,-11.3,545,7729,0.60,0.00,133.55,1.786,10246,0.135,0.000,2522,1867,2908,2981,2836,0,0,0,0,0,0,25.79,28.83,23.00
$STATE,7730,end apogee,CONTROL_FINISHED_OK
$STATE,7730,begin climb
$GC,7732,0.68,146.0,2522,1867,2981,2836,1007.3,0.0,552,7883,0.75,2.60,142.15,1.756,10500,0.045,0.064,2801,3282,2312,2372,2252,0,0,0,0,0,0,24.18,23.37,22.36
$GC,8233,0.68,146.0,2801,3281,2369,2241,947.5,17.2,576,8237,0.00,2.35,0.00,0.000,1030,0.000,0.058,2811,1866,2305,2369,2241,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8540,0.68,146.0,2811,1866,2368,2237,894.3,16.6,591,8546,0.00,2.33,0.00,0.000,260,0.000,0.065,2811,3285,2302,2368,2237,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8580,0.68,146.0,2811,3284,2368,2237,887.7,16.6,593,8586,0.15,2.30,0.00,0.000,5126,0.220,0.059,2791,1868,2302,2368,2237,0,0,0,0,0,0,25.39,25.69,28.83
$GC,8900,0.68,146.0,2790,1867,2367,2236,840.2,14.4,609,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1868,2301,2367,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.68,146.0,2791,1868,2367,2235,797.3,14.0,624,9206,0.00,2.30,0.00,0.000,260,0.000,0.066,2786,3285,2301,2367,2235,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9260,0.68,146.0,2786,3285,2367,2235,788.3,14.8,627,9266,0.00,2.28,0.00,0.000,1030,0.000,0.057,2794,1867,2301,2367,2235,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9580,0.68,146.0,2794,1867,2366,2234,742.5,14.5,643,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1867,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,0.68,146.0,2794,1867,2366,2234,700.1,14.0,658,9886,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3288,2300,2366,2234,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10033,0.68,146.0,2794,3288,2366,2234,679.7,14.5,665,10040,0.00,2.30,0.00,0.000,1030,0.000,0.057,2804,1861,2300,2366,2234,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,15619,end climb,SURFACE_DEPTH_REACHED
$STATE,15619,begin surface coast
$FINISH,0.0,1.025660
$STATE,15652,end surface coast,CONTROL_FINISHED_OK
$STATE,15652,begin surface
$SM_CCo,15667,33.30,0.149,0,0,1969,230.09
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$IRIDIUM_FIX,-4247.91,834.91,031108,090945
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.73
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,31.447
$10V_AH,10.1,25.220
$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,17.875,150.775,275.700,33.300,0.000,22.641,40.139,199.994,49.250,0.000,21.492,3188.301,9109.361,478.621,3087.476,218.138,0.000,1700.995,0.000,2578.620,0.000,297.255,0.000
$DEVICE_MAMPS,219.555,84.150,1786.275,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.303,77.613,704.058,1775.464,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352696
$DATA_FILE_SIZE,76965,1187
$CAP_FILE_SIZE,177245,0
$CFSIZE,259248128,244441088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132, 24.5,1
$GPS,080116,044603,-4304.019,834.032,34,0.8,35,-25.1