version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 184
start: 1 9 116 12 36 59
data:
$ID,542
$MISSION,12
$DIVE,184
$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,-29880.826
$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,27
$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
$GPS1,090116,122952,-4304.426,827.417,51,4.6,71,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.3
$GPS2,090116,123633,-4304.406,827.487,22,6.1,42,-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,271.6,4778,-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,-146.0,165,2000,1961,1921,0.0,0.0,0,66,0.00,0.00,-48.30,0.000,16386,0.000,0.000,164,2001,3274,3345,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,164,2001,3345,3204,3.5,-6.2,6,87,8.30,0.00,-4.70,0.000,18438,0.216,0.000,2343,1999,3508,3567,3449,0,0,0,0,0,0,25.34,28.83,26.29
$GC,138,-0.68,-146.0,2343,1999,3567,3450,23.9,-20.7,16,149,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2000,3508,3567,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,293,-0.68,-146.0,2343,2000,3567,3451,50.1,-17.1,41,300,0.00,2.30,0.00,0.000,516,0.000,0.065,2343,584,3509,3567,3451,0,0,0,0,0,0,28.83,25.80,28.83
$GC,319,-0.68,-146.0,2343,583,3567,3451,54.6,-16.9,45,327,0.00,2.28,0.00,0.000,1030,0.000,0.053,2335,1989,3509,3567,3451,0,0,0,0,0,0,28.83,25.89,28.83
$GC,650,-0.68,-146.0,2335,1989,3567,3453,107.6,-14.9,101,658,0.00,2.25,0.00,0.000,516,0.000,0.063,2335,589,3510,3567,3453,0,0,0,0,0,0,28.83,25.89,28.83
$GC,715,-0.68,-146.0,2335,589,3567,3453,117.8,-16.5,107,723,0.00,2.25,0.00,0.000,1030,0.000,0.052,2325,2006,3510,3567,3454,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1022,-0.68,-146.0,2325,2006,3567,3454,168.9,-16.2,138,1026,0.00,2.22,0.00,0.000,260,0.000,0.059,2314,3409,3510,3567,3454,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1063,-0.68,-146.0,2314,3410,3567,3454,174.6,-15.1,141,1071,0.12,2.22,0.00,0.000,3078,0.161,0.050,2345,1993,3511,3567,3455,0,0,0,0,0,0,25.83,26.03,28.83
$GC,1371,-0.68,-146.0,2345,1993,3567,3455,215.6,-13.2,172,1380,0.00,2.22,0.00,0.000,516,0.000,0.064,2345,595,3511,3567,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1474,-0.68,-146.0,2345,594,3567,3455,229.6,-13.1,182,1486,0.00,2.20,0.00,0.000,1030,0.000,0.052,2337,1997,3511,3567,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1785,-0.68,-146.0,2337,1997,3567,3455,274.4,-14.6,213,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1997,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,-0.68,-146.0,2337,1997,3567,3456,316.2,-13.4,243,2095,0.00,2.25,0.00,0.000,516,0.000,0.063,2337,589,3511,3567,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2147,-0.68,-146.0,2336,589,3567,3456,324.6,-13.1,249,2157,0.00,2.22,0.00,0.000,1030,0.000,0.053,2327,2003,3512,3568,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2458,-0.68,-146.0,2327,2003,3567,3457,368.6,-14.6,280,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2003,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-0.68,-146.0,2327,2003,3567,3457,411.7,-14.2,306,2763,0.00,2.28,0.00,0.000,516,0.000,0.065,2327,587,3511,3567,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2806,-0.68,-146.0,2327,587,3567,3456,417.7,-14.7,308,2811,0.12,2.22,0.00,0.000,3078,0.172,0.054,2347,1996,3512,3567,3457,0,0,0,0,0,0,25.91,26.12,28.83
$GC,3113,-0.68,-146.0,2347,1996,3567,3456,456.0,-11.9,323,3118,0.00,2.28,0.00,0.000,516,0.000,0.066,2347,585,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3166,-0.68,-146.0,2347,585,3567,3456,460.8,-11.9,325,3173,0.00,2.22,0.00,0.000,1030,0.000,0.055,2339,1993,3511,3567,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3472,-0.68,-146.0,2338,1994,3567,3456,499.4,-12.1,341,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1994,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.68,-146.0,2339,1994,3567,3456,536.7,-12.3,356,3780,0.00,2.28,0.00,0.000,516,0.000,0.067,2339,580,3511,3567,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3821,-0.68,-146.0,2339,580,3567,3456,541.9,-12.7,358,3825,0.00,2.25,0.00,0.000,1030,0.000,0.055,2329,2000,3511,3567,3456,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4133,-0.68,-146.0,2329,2000,3567,3456,585.5,-14.1,374,4139,0.00,2.28,0.00,0.000,516,0.000,0.067,2329,590,3512,3568,3456,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4182,-0.68,-146.0,2329,589,3567,3456,591.3,-14.3,376,4186,0.12,2.22,0.00,0.000,3078,0.172,0.057,2348,1996,3511,3567,3456,0,0,0,0,0,0,25.91,26.11,28.83
$GC,4489,-0.68,-146.0,2348,1996,3567,3456,630.3,-12.3,391,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1996,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-0.68,-146.0,2348,1996,3567,3456,666.6,-12.2,406,4795,0.00,2.25,0.00,0.000,516,0.000,0.068,2349,595,3511,3567,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4831,-0.68,-146.0,2348,594,3567,3456,671.5,-12.2,408,4836,0.00,2.28,0.00,0.000,1030,0.000,0.057,2340,1994,3511,3567,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5150,-0.68,-146.0,2340,1994,3567,3456,710.9,-12.4,424,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5450,-0.68,-146.0,2340,1994,3567,3456,748.8,-12.7,439,5456,0.00,2.28,0.00,0.000,516,0.000,0.069,2340,589,3512,3567,3457,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5512,-0.68,-146.0,2340,588,3567,3456,756.8,-13.0,442,5517,0.00,2.28,0.00,0.000,1030,0.000,0.057,2330,1988,3511,3567,3456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5830,-0.68,-146.0,2330,1989,3566,3456,797.9,-12.4,458,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1989,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6131,-0.68,-146.0,2330,1989,3566,3456,833.4,-11.8,473,6136,0.00,2.28,0.00,0.000,516,0.000,0.069,2330,582,3510,3565,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6179,-0.68,-146.0,2330,582,3565,3456,838.2,-11.8,475,6183,0.12,2.28,0.00,0.000,3078,0.170,0.059,2350,1999,3510,3565,3456,0,0,0,0,0,0,25.89,26.09,28.83
$GC,6491,-0.68,-146.0,2350,2000,3564,3456,867.8,-8.7,491,6496,0.00,2.28,0.00,0.000,516,0.000,0.070,2350,591,3510,3564,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6535,-0.68,-146.0,2350,591,3563,3456,871.5,-8.9,493,6539,0.00,2.25,0.00,0.000,1030,0.000,0.059,2342,2004,3509,3563,3456,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6848,-0.68,-146.0,2342,2005,3563,3456,901.1,-9.7,509,6854,0.00,2.28,0.00,0.000,516,0.000,0.070,2342,594,3509,3563,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6879,-0.68,-146.0,2342,594,3563,3456,903.2,-9.9,510,6887,0.00,2.25,0.00,0.000,1030,0.000,0.059,2333,1998,3509,3563,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7186,-0.68,-146.0,2332,1998,3562,3456,938.5,-11.5,526,7190,0.00,2.30,0.00,0.000,516,0.000,0.070,2332,583,3509,3563,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7210,-0.68,-146.0,2332,583,3562,3456,940.5,-11.7,527,7215,0.00,2.28,0.00,0.000,1030,0.000,0.059,2322,2005,3509,3562,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7518,-0.68,-146.0,2322,2006,3562,3455,980.7,-13.0,542,7524,0.00,2.30,0.00,0.000,516,0.000,0.069,2322,586,3508,3561,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7545,-0.68,-146.0,2322,585,3562,3456,983.4,-13.1,543,7550,0.15,2.25,0.00,0.000,3078,0.164,0.059,2350,1995,3509,3562,3456,0,0,0,0,0,0,25.83,26.06,28.83
$STATE,7691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7691,begin apogee
$GC,7696,-0.14,0.0,2349,1871,3562,3456,1000.3,-10.5,550,7833,0.55,0.00,133.62,1.766,10246,0.129,0.000,2524,1871,2909,2982,2836,0,0,0,0,0,0,25.77,28.83,22.98
$STATE,7834,end apogee,CONTROL_FINISHED_OK
$STATE,7834,begin climb
$GC,7836,0.68,146.0,2524,1871,2981,2836,1007.2,0.0,557,7987,0.73,2.60,141.95,1.740,10500,0.043,0.065,2800,3285,2312,2374,2250,0,0,0,0,0,0,24.15,23.37,22.34
$GC,8242,0.68,146.0,2799,3285,2371,2240,969.4,15.8,576,8250,0.00,2.38,0.00,0.000,1030,0.000,0.056,2810,1871,2305,2371,2240,0,0,0,0,0,0,28.83,25.04,28.83
$GC,8550,0.68,146.0,2810,1871,2371,2236,920.2,15.3,592,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1871,2303,2371,2236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8850,0.68,146.0,2810,1871,2370,2234,874.1,15.4,607,8856,0.00,2.30,0.00,0.000,260,0.000,0.065,2810,3285,2302,2370,2234,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8972,0.68,146.0,1920,3284,2329,2228,854.7,16.1,613,8977,0.08,2.33,0.00,0.000,5126,0.203,0.057,2794,1871,2302,2370,2234,0,0,0,0,0,0,25.52,25.83,28.83
$GC,9289,0.68,146.0,2793,1870,2370,2233,808.9,14.2,629,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1870,2301,2370,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,0.68,146.0,2794,1870,2370,2232,768.0,13.3,644,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1870,2301,2370,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9890,0.68,146.0,2794,1870,2370,2232,730.0,12.7,659,9896,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3294,2301,2370,2232,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9942,0.68,146.0,2793,3294,2369,2232,724.8,12.8,661,9949,0.00,2.30,0.00,0.000,1030,0.000,0.057,2802,1862,2300,2369,2232,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10250,0.68,146.0,2802,1862,2369,2231,685.4,12.1,677,10256,0.00,2.30,0.00,0.000,260,0.000,0.064,2802,3288,2300,2369,2232,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10277,0.68,146.0,2802,3288,2369,2232,682.9,12.2,678,10281,0.00,2.28,0.00,0.000,1030,0.000,0.057,2812,1865,2300,2369,2231,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10590,0.68,146.0,2812,1864,2369,2231,641.2,13.2,694,10596,0.00,2.30,0.00,0.000,260,0.000,0.065,2812,3291,2300,2369,2231,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,15750,end climb,SURFACE_DEPTH_REACHED
$STATE,15750,begin surface coast
$FINISH,-0.1,1.012761
$STATE,15784,end surface coast,CONTROL_FINISHED_OK
$STATE,15785,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,51.89
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,32.717
$10V_AH,10.1,26.223
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.525,127.925,279.750,32.000,0.000,25.595,22.165,206.002,49.250,0.000,43.834,3177.999,9393.958,455.689,2995.097,203.016,0.000,1615.216,0.000,2483.365,0.000,300.716,0.000
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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,77145,1192
$CAP_FILE_SIZE,171121,0
$CFSIZE,259248128,243785728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145, 50.3,1
$GPS,090116,170233,-4304.688,826.373,67,0.9,68,-25.0