version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 196
start: 1 11 116 19 2 59
data:
$ID,542
$MISSION,12
$DIVE,196
$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,-29895.887
$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,23
$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
$GPS1,110116,185628,-4255.864,828.043,104,1.7,105,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.5
$GPS2,110116,190233,-4255.859,828.074,27,1.1,27,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,138.2,10750,-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,-146.0,181,2007,1963,1923,0.0,0.0,0,65,0.00,0.00,-47.58,0.000,16386,0.000,0.000,181,2007,3250,3323,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,181,2007,3323,3177,3.3,-5.5,6,94,8.27,2.28,-5.25,0.000,18692,0.218,0.068,2332,3404,3507,3566,3449,0,0,0,0,0,0,25.29,25.83,26.30
$GC,301,-0.68,-146.0,2332,3404,3566,3453,46.0,-14.2,43,307,0.00,2.22,0.00,0.000,1030,0.000,0.050,2332,1993,3509,3565,3453,0,0,0,0,0,0,28.83,25.86,28.83
$GC,645,-0.68,-146.0,2332,1993,3567,3453,103.5,-16.6,103,649,0.00,2.28,0.00,0.000,516,0.000,0.063,2332,580,3510,3567,3453,0,0,0,0,0,0,28.83,25.85,28.83
$GC,723,-0.68,-146.0,2332,580,3567,3454,115.9,-15.5,110,732,0.00,2.22,0.00,0.000,1030,0.000,0.051,2322,1992,3510,3567,3454,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1035,-0.68,-146.0,2322,1993,3567,3455,164.7,-16.2,141,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1993,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.68,-146.0,2322,1992,3567,3455,216.0,-16.2,172,1353,0.00,2.25,0.00,0.000,516,0.000,0.062,2322,586,3511,3567,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1407,-0.68,-146.0,2322,586,3567,3455,226.6,-16.0,178,1416,0.15,2.22,0.00,0.000,3078,0.172,0.052,2349,2001,3511,3567,3456,0,0,0,0,0,0,25.75,26.03,28.83
$GC,1718,-0.68,-146.0,2349,2002,3567,3456,267.3,-12.5,209,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2002,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.68,-146.0,2349,2002,3568,3456,305.6,-12.5,239,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2002,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,-0.68,-146.0,2349,2002,3568,3456,343.9,-12.2,270,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2002,3511,3568,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-0.68,-146.0,2349,2002,3568,3456,381.7,-12.3,300,2630,0.00,2.28,0.00,0.000,516,0.000,0.064,2349,586,3511,3568,3455,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2673,-0.68,-146.0,2349,587,3568,3456,387.4,-12.2,304,2684,0.00,2.22,0.00,0.000,1030,0.000,0.054,2341,1999,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2984,-0.68,-146.0,2341,1999,3568,3456,425.8,-12.3,325,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1999,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3284,-0.68,-146.0,2341,1999,3568,3456,463.9,-12.9,340,3290,0.00,2.28,0.00,0.000,516,0.000,0.066,2341,582,3512,3568,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3333,-0.68,-146.0,2341,582,3568,3455,469.6,-13.3,342,3337,0.00,2.22,0.00,0.000,1030,0.000,0.054,2331,1993,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3646,-0.68,-146.0,2330,1994,3567,3456,513.0,-13.5,358,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3512,3568,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-0.68,-146.0,2330,1994,3567,3460,546.7,-12.6,373,3953,0.00,2.22,0.00,0.000,260,0.000,0.063,2320,3402,3513,3567,3460,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4014,-0.68,-146.0,2320,3402,3567,3460,553.8,-12.1,376,4019,0.12,2.22,0.00,0.000,3078,0.155,0.053,2351,1988,3513,3567,3460,0,0,0,0,0,0,25.91,26.08,28.83
$GC,4320,-0.68,-146.0,2351,1987,3567,3460,588.2,-10.8,391,4324,0.00,2.25,0.00,0.000,516,0.000,0.067,2351,589,3513,3567,3460,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4405,-0.68,-146.0,2351,589,3567,3460,596.8,-11.4,395,4409,0.00,2.22,0.00,0.000,1030,0.000,0.056,2343,1996,3513,3567,3460,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4711,-0.68,-146.0,2343,1996,3566,3460,633.8,-11.6,410,4716,0.00,2.28,0.00,0.000,516,0.000,0.068,2343,589,3513,3566,3460,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4737,-0.68,-146.0,2343,588,3566,3460,635.7,-11.7,411,4742,0.00,2.25,0.00,0.000,1030,0.000,0.057,2333,2002,3512,3566,3459,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5044,-0.68,-146.0,2333,2003,3566,3460,674.6,-12.1,426,5050,0.00,2.30,0.00,0.000,516,0.000,0.068,2333,584,3512,3565,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5086,-0.68,-146.0,2332,584,3565,3460,679.7,-12.2,428,5090,0.00,2.25,0.00,0.000,1030,0.000,0.057,2323,2003,3512,3565,3460,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5402,-0.68,-146.0,2323,2003,3564,3460,719.1,-12.5,444,5406,0.00,2.30,0.00,0.000,516,0.000,0.068,2323,585,3511,3564,3459,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5431,-0.68,-146.0,2323,584,3564,3460,721.1,-12.3,445,5439,0.15,2.25,0.00,0.000,3078,0.168,0.057,2350,1994,3511,3564,3459,0,0,0,0,0,0,25.79,26.06,28.83
$GC,5739,-0.68,-146.0,2350,1994,3563,3460,754.4,-10.6,461,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1994,3510,3562,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.68,-146.0,2350,1994,3563,3459,787.4,-11.3,476,6045,0.00,2.28,0.00,0.000,516,0.000,0.068,2351,589,3511,3563,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6088,-0.68,-146.0,2350,588,3563,3459,792.1,-11.7,478,6092,0.00,2.25,0.00,0.000,1030,0.000,0.057,2342,1998,3511,3563,3459,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6401,-0.68,-146.0,2342,1999,3562,3458,830.7,-12.1,494,6407,0.00,2.30,0.00,0.000,516,0.000,0.070,2342,590,3510,3562,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6442,-0.68,-146.0,2342,589,3562,3458,835.7,-12.3,496,6447,0.00,2.28,0.00,0.000,1030,0.000,0.059,2332,1988,3509,3561,3458,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6761,-0.68,-146.0,2332,1988,3561,3458,875.8,-12.4,512,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1988,3509,3561,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7061,-0.68,-146.0,2332,1988,3561,3457,911.9,-11.5,527,7067,0.00,2.28,0.00,0.000,516,0.000,0.070,2332,583,3509,3561,3457,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7103,-0.68,-146.0,2332,583,3561,3457,916.6,-11.7,529,7108,0.00,2.30,0.00,0.000,1030,0.000,0.059,2323,1993,3509,3561,3457,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7421,-0.68,-146.0,2322,1994,3560,3456,954.8,-11.7,545,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,1994,3508,3561,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7722,-0.68,-146.0,2322,1993,3561,3456,989.8,-11.3,560,7727,0.00,2.28,0.00,0.000,516,0.000,0.070,2322,591,3508,3560,3456,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7776,-0.68,-146.0,2322,591,3560,3456,994.7,-11.5,562,7784,0.10,2.30,0.00,0.000,3078,0.151,0.060,2344,2001,3507,3559,3455,0,0,0,0,0,0,25.75,26.01,28.83
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7829,-0.14,0.0,2344,1864,3560,3456,1000.8,-10.6,565,7966,0.55,0.00,134.45,1.754,10246,0.130,0.000,2518,1863,2909,2981,2837,0,0,0,0,0,0,25.73,28.83,22.91
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7968,begin climb
$GC,7969,0.68,146.0,2518,1863,2981,2837,1006.1,0.0,572,8125,0.80,2.65,142.75,1.720,10756,0.051,0.070,2817,462,2312,2371,2254,0,0,0,0,0,0,24.08,23.37,22.34
$GC,8267,0.68,146.0,2817,462,2364,2249,980.5,16.6,587,8273,0.00,2.40,0.00,0.000,1030,0.000,0.059,2817,1870,2306,2364,2248,0,0,0,0,0,0,28.83,24.67,28.83
$GC,8587,0.68,146.0,2817,1870,2364,2244,931.1,15.3,603,8593,0.00,2.35,0.00,0.000,260,0.000,0.066,2817,3292,2304,2364,2244,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8736,0.68,146.0,2817,3292,2362,2244,908.2,16.5,610,8741,0.15,2.33,0.00,0.000,5126,0.219,0.059,2796,1876,2303,2362,2244,0,0,0,0,0,0,25.27,25.60,28.83
$GC,9042,0.68,146.0,2795,1876,2362,2242,862.4,14.5,625,9046,0.00,2.30,0.00,0.000,260,0.000,0.065,2794,3284,2302,2362,2242,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9111,0.68,146.0,2793,3284,2362,2242,854.0,14.8,628,9118,0.00,2.30,0.00,0.000,1030,0.000,0.057,2803,1865,2302,2362,2242,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9418,0.68,146.0,2802,1865,2362,2240,806.9,14.5,644,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1865,2301,2362,2240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9718,0.68,146.0,2802,1865,2362,2239,763.8,14.2,659,9722,0.00,2.30,0.00,0.000,260,0.000,0.065,2802,3286,2301,2363,2239,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9815,0.68,146.0,2802,3286,2361,2239,749.4,15.0,664,9821,0.00,2.28,0.00,0.000,1030,0.000,0.057,2813,1868,2300,2361,2239,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10134,0.68,146.0,2813,1868,2361,2238,704.9,13.8,680,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1868,2300,2362,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10435,0.68,146.0,2813,1868,2361,2238,664.9,13.4,695,10440,0.00,2.30,0.00,0.000,260,0.000,0.064,2813,3289,2299,2361,2238,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10489,0.68,146.0,2812,3289,2361,2238,659.5,13.4,697,10497,0.15,2.28,0.00,0.000,5126,0.213,0.057,2791,1869,2299,2361,2238,0,0,0,0,0,0,25.65,26.02,28.83
$GC,10794,0.68,146.0,2791,1869,2361,2238,617.7,13.6,713,10798,0.00,2.30,0.00,0.000,260,0.000,0.065,2786,3294,2299,2361,2238,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10859,0.68,146.0,2786,3293,2361,2238,609.6,14.2,716,10863,0.00,2.28,0.00,0.000,1030,0.000,0.057,2794,1869,2299,2361,2238,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,15924,end climb,SURFACE_DEPTH_REACHED
$STATE,15924,begin surface coast
$FINISH,-0.0,1.025514
$STATE,15962,end surface coast,CONTROL_FINISHED_OK
$STATE,15962,begin surface
$SM_CCo,15977,31.80,0.151,0,0,1968,230.09
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$IRIDIUM_FIX,-4236.17,821.53,071108,030328
$TT8_MAMPS,0.020223,0.020223
$HUMID,51.37
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.3,34.636
$10V_AH,10.1,27.750
$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
$DEVICE_SECS,17.625,132.500,278.550,31.800,0.000,23.071,21.445,188.735,49.250,0.000,28.334,3237.078,9381.958,471.005,3085.004,193.905,0.000,1668.381,0.000,2596.475,0.000,295.886,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.763,83.742,740.258,1839.126,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352668
$DATA_FILE_SIZE,76964,1216
$CAP_FILE_SIZE,174739,0
$CFSIZE,259248128,242769920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 55.1,1
$GPS,110116,233133,-4255.904,831.946,68,1.2,69,-25.0