version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 182
start: 1 9 116 3 18 0
data:
$ID,542
$MISSION,12
$DIVE,182
$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,-29878.318
$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,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
$GPS1,090116,031203,-4304.568,828.845,68,0.8,69,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.5
$GPS2,090116,031734,-4304.613,828.936,16,1.3,16,-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,270.8,6774,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.68,-146.0,140,1996,1964,1918,0.0,0.0,0,65,0.00,0.00,-47.12,0.000,16386,0.000,0.000,138,1996,3233,3309,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,138,1996,3309,3160,3.3,-6.0,6,86,8.25,0.00,-5.70,0.000,18694,0.212,0.000,2341,1994,3507,3568,3447,0,0,0,0,0,0,25.36,28.83,26.31
$GC,137,-0.68,-146.0,2341,1994,3568,3449,22.0,-19.5,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3508,3568,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,290,-0.68,-146.0,2341,1994,3568,3450,47.6,-15.3,41,297,0.00,2.30,0.00,0.000,516,0.000,0.064,2341,574,3509,3568,3450,0,0,0,0,0,0,28.83,25.83,28.83
$GC,330,-0.68,-146.0,2340,574,3568,3450,54.1,-15.5,48,340,0.00,2.30,0.00,0.000,1030,0.000,0.053,2332,1997,3509,3568,3451,0,0,0,0,0,0,28.83,25.91,28.83
$GC,669,-0.68,-146.0,2332,1998,3568,3451,111.6,-16.6,103,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1998,3509,3568,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.68,-146.0,2332,1998,3568,3453,157.1,-14.4,133,978,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,581,3510,3568,3453,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1000,-0.68,-146.0,2332,581,3568,3453,161.7,-14.4,136,1010,0.00,2.22,0.00,0.000,1030,0.000,0.051,2322,1998,3511,3568,3454,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1310,-0.68,-146.0,2322,1998,3568,3454,209.0,-15.2,167,1322,0.00,2.28,0.00,0.000,516,0.000,0.063,2322,582,3511,3568,3454,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1385,-0.68,-146.0,2322,582,3568,3454,220.6,-14.9,174,1395,0.15,2.22,0.00,0.000,3078,0.171,0.053,2349,1997,3511,3568,3454,0,0,0,0,0,0,25.80,26.07,28.83
$GC,1695,-0.68,-146.0,2349,1998,3568,3454,259.1,-12.4,205,1705,0.00,2.30,0.00,0.000,516,0.000,0.064,2349,574,3511,3568,3454,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1729,-0.68,-146.0,1568,574,3563,3453,263.2,-13.0,208,1737,0.00,2.28,0.00,0.000,1030,0.000,0.053,2341,1987,3511,3568,3455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2037,-0.68,-146.0,2341,1988,3568,3455,303.0,-12.4,239,2041,0.00,2.25,0.00,0.000,516,0.000,0.063,2341,584,3511,3568,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2067,-0.68,-146.0,2341,583,3568,3455,306.7,-12.8,241,2074,0.00,2.28,0.00,0.000,1030,0.000,0.052,2331,2001,3511,3568,3455,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2375,-0.68,-146.0,2331,2001,3568,3455,349.1,-13.8,272,2386,0.00,2.28,0.00,0.000,516,0.000,0.065,2331,583,3511,3568,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2421,-0.68,-146.0,2331,583,3568,3456,355.2,-14.2,276,2429,0.00,2.28,0.00,0.000,1030,0.000,0.053,2321,1995,3511,3568,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2729,-0.68,-146.0,2321,1996,3568,3456,400.4,-14.1,307,2735,0.12,2.28,0.00,0.000,2564,0.180,0.064,2358,582,3511,3568,3455,0,0,0,0,0,0,26.03,26.05,28.83
$GC,2773,-0.68,-146.0,2358,583,3568,3455,405.5,-13.3,309,2777,0.00,2.22,0.00,0.000,1030,0.000,0.054,2349,1996,3511,3568,3455,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3084,-0.68,-146.0,2349,1996,3568,3455,442.9,-11.8,325,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1996,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.68,-146.0,2350,1997,3568,3455,478.2,-11.8,340,3391,0.00,2.25,0.00,0.000,516,0.000,0.067,2350,586,3511,3568,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3427,-0.68,-146.0,2349,586,3568,3455,483.2,-12.1,342,3431,0.00,2.25,0.00,0.000,1030,0.000,0.056,2340,2005,3511,3568,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3744,-0.68,-146.0,2339,2005,3568,3456,523.4,-12.9,358,3748,0.00,2.30,0.00,0.000,516,0.000,0.067,2339,584,3511,3568,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3781,-0.68,-146.0,2339,583,3568,3455,528.2,-13.2,360,3786,0.00,2.22,0.00,0.000,1030,0.000,0.055,2330,1994,3511,3568,3455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4101,-0.68,-146.0,2330,1996,3568,3455,572.2,-13.8,376,4107,0.00,2.28,0.00,0.000,516,0.000,0.067,2330,583,3511,3568,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4133,-0.68,-146.0,2329,583,3568,3455,575.0,-13.8,377,4144,0.12,2.25,0.00,0.000,3078,0.174,0.057,2349,1996,3511,3568,3455,0,0,0,0,0,0,25.91,26.13,28.83
$GC,4441,-0.68,-146.0,2349,1996,3567,3455,611.8,-11.4,393,4447,0.00,2.30,0.00,0.000,516,0.000,0.068,2349,575,3511,3568,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4484,-0.68,-146.0,2349,575,3568,3455,616.7,-12.0,395,4488,0.00,2.25,0.00,0.000,1030,0.000,0.057,2341,1994,3511,3568,3455,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4797,-0.68,-146.0,2341,1996,3568,3455,657.2,-13.3,411,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1995,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.68,-146.0,2341,1996,3568,3455,696.1,-12.8,426,5102,0.00,2.28,0.00,0.000,516,0.000,0.069,2341,582,3511,3568,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5159,-0.68,-146.0,2341,581,3568,3455,704.1,-13.2,429,5163,0.00,2.25,0.00,0.000,1030,0.000,0.057,2331,1994,3511,3567,3455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5472,-0.68,-146.0,2331,1994,3567,3455,745.9,-13.2,445,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1995,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,-0.68,-146.0,2331,1994,3567,3455,785.8,-13.1,460,5779,0.00,2.25,0.00,0.000,516,0.000,0.069,2331,588,3510,3566,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5813,-0.68,-146.0,2331,588,3566,3455,791.1,-13.3,462,5818,0.00,2.30,0.00,0.000,1030,0.000,0.058,2321,2000,3510,3566,3455,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6131,-0.68,-146.0,2321,2000,3565,3455,834.5,-13.3,478,6137,0.12,2.33,0.00,0.000,2564,0.177,0.069,2357,577,3510,3566,3455,0,0,0,0,0,0,26.11,26.01,28.83
$GC,6164,-0.68,-146.0,2357,577,3565,3455,837.1,-13.2,479,6172,0.00,2.30,0.00,0.000,1030,0.000,0.060,2348,2008,3510,3566,3455,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6474,-0.68,-146.0,2348,2010,3565,3455,870.5,-10.3,495,6480,0.00,2.30,0.00,0.000,516,0.000,0.070,2349,586,3510,3565,3455,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6515,-0.68,-146.0,2349,585,3565,3455,874.8,-10.4,497,6519,0.00,2.25,0.00,0.000,1030,0.000,0.059,2339,1996,3510,3565,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6832,-0.68,-146.0,2339,1997,3564,3455,909.8,-11.0,513,6836,0.00,2.30,0.00,0.000,516,0.000,0.070,2339,581,3509,3564,3455,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6881,-0.68,-146.0,2339,581,3563,3455,913.9,-11.2,515,6890,0.00,2.28,0.00,0.000,1030,0.000,0.060,2329,2000,3509,3563,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7189,-0.68,-146.0,2329,2000,3563,3455,951.1,-11.7,531,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2000,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7489,-0.68,-146.0,2329,2000,3562,3455,986.6,-12.0,546,7495,0.00,2.30,0.00,0.000,516,0.000,0.070,2329,578,3508,3562,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7521,-0.68,-146.0,2329,578,3562,3455,989.2,-12.2,547,7533,0.12,2.28,0.00,0.000,3078,0.171,0.060,2349,1994,3508,3562,3455,0,0,0,0,0,0,25.89,26.07,28.83
$STATE,7608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7608,begin apogee
$GC,7612,-0.14,0.0,2349,1857,3563,3455,1000.2,-10.7,552,7749,0.55,0.00,133.32,1.770,10246,0.126,0.000,2524,1857,2909,2982,2837,0,0,0,0,0,0,25.80,28.83,22.98
$STATE,7750,end apogee,CONTROL_FINISHED_OK
$STATE,7750,begin climb
$GC,7751,0.68,146.0,2524,1857,2982,2837,1007.4,0.0,559,7901,0.75,2.60,142.12,1.736,10756,0.043,0.071,2810,460,2312,2374,2251,0,0,0,0,0,0,24.15,23.36,22.34
$GC,8007,0.68,146.0,1920,460,2327,2241,992.9,15.1,571,8011,0.00,2.47,0.00,0.000,1030,0.000,0.058,2810,1872,2307,2367,2247,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8325,0.68,146.0,2811,1872,2367,2241,945.9,14.7,587,8330,0.00,2.35,0.00,0.000,260,0.000,0.066,2810,3291,2304,2367,2241,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8519,0.68,146.0,2810,3291,2365,2241,917.7,15.6,596,8527,0.12,2.33,0.00,0.000,5126,0.221,0.059,2796,1874,2302,2365,2240,0,0,0,0,0,0,25.34,25.62,28.83
$GC,8825,0.68,146.0,2795,1874,2365,2238,873.5,13.8,612,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1874,2301,2365,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9124,0.68,146.0,2795,1873,2365,2236,831.6,13.7,627,9128,0.00,2.30,0.00,0.000,260,0.000,0.066,2794,3287,2301,2365,2237,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9143,0.68,146.0,1888,3285,2324,2232,829.3,13.8,628,9147,0.00,2.30,0.00,0.000,1030,0.000,0.059,2803,1865,2301,2365,2237,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9461,0.68,146.0,2803,1865,2365,2236,783.8,14.4,644,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1865,2300,2365,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9761,0.68,146.0,2802,1865,2365,2235,740.9,14.0,659,9766,0.00,2.30,0.00,0.000,260,0.000,0.066,2803,3287,2300,2365,2235,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9909,0.68,146.0,2802,3286,2364,2235,720.2,14.8,666,9914,0.00,2.28,0.00,0.000,1030,0.000,0.057,2813,1866,2299,2364,2235,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,15874,end climb,SURFACE_DEPTH_REACHED
$STATE,15874,begin surface coast
$FINISH,0.2,1.026424
$STATE,15907,end surface coast,CONTROL_FINISHED_OK
$STATE,15907,begin surface
$SM_CCo,15922,33.12,0.149,0,0,1967,230.09
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$IRIDIUM_FIX,-4247.91,829.08,041108,121233
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.45
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,32.398
$10V_AH,10.1,25.970
$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,17.825,155.775,275.450,33.125,0.000,22.576,17.576,178.157,49.250,0.000,17.587,3239.580,9290.453,495.737,3039.102,218.214,0.000,1705.528,0.000,2585.646,0.000,299.833,0.000
$DEVICE_MAMPS,221.085,81.090,1770.210,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.327,82.488,737.040,1827.040,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352764
$DATA_FILE_SIZE,76982,1211
$CAP_FILE_SIZE,178729,0
$CFSIZE,259248128,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157, 42.3,1
$GPS,090116,074503,-4304.708,827.756,31,1.0,32,-25.0