version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 200
start: 1 12 116 11 13 1
data:
$ID,542
$MISSION,12
$DIVE,200
$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,-29900.902
$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,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
$GPS1,120116,110627,-4255.897,836.670,72,0.9,72,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.8
$GPS2,120116,111234,-4255.904,836.708,19,1.2,19,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,250.5,15024,-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,-146.0,151,1982,1959,1924,0.0,0.0,0,66,0.00,0.00,-48.55,0.000,16386,0.000,0.000,150,1983,3292,3365,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,151,1983,3365,3221,3.6,-5.9,6,87,8.30,0.00,-4.28,0.000,18438,0.214,0.000,2341,1982,3507,3565,3449,0,0,0,0,0,0,25.27,28.83,26.29
$GC,138,-0.68,-146.0,2341,1982,3567,3450,24.4,-20.7,16,149,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1982,3508,3567,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,292,-0.68,-146.0,1408,1980,3560,3449,50.5,-16.2,41,298,0.00,2.28,0.00,0.000,516,0.000,0.063,2341,579,3509,3567,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,349,-0.68,-146.0,2341,579,3567,3451,60.4,-16.2,51,357,0.00,2.28,0.00,0.000,1030,0.000,0.052,2333,1988,3509,3567,3451,0,0,0,0,0,0,28.83,25.86,28.83
$GC,679,-0.68,-146.0,2332,1989,3567,3452,115.1,-16.6,103,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1989,3509,3567,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.68,-146.0,2332,1989,3567,3454,163.0,-15.9,133,987,0.00,2.25,0.00,0.000,516,0.000,0.062,2333,588,3510,3567,3454,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1073,-0.68,-146.0,2332,588,3567,3454,177.9,-14.5,142,1077,0.00,2.22,0.00,0.000,1030,0.000,0.051,2322,2002,3510,3567,3454,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1379,-0.68,-146.0,2322,2001,3567,3454,227.0,-16.6,172,1388,0.00,2.28,0.00,0.000,516,0.000,0.062,2323,584,3511,3567,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1410,-0.68,-146.0,2322,583,3567,3455,232.4,-16.7,175,1420,0.15,2.22,0.00,0.000,3078,0.171,0.051,2350,2001,3511,3568,3455,0,0,0,0,0,0,25.75,26.03,28.83
$GC,1720,-0.68,-146.0,2349,2001,3567,3455,274.4,-12.9,206,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2001,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.68,-146.0,2349,2001,3568,3455,312.8,-12.7,236,2030,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,582,3511,3568,3455,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2065,-0.68,-146.0,1540,582,3562,3453,318.1,-12.8,240,2072,0.00,2.28,0.00,0.000,1030,0.000,0.052,2341,1998,3511,3568,3455,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2372,-0.68,-146.0,2341,1998,3568,3455,358.2,-12.8,271,2376,0.00,2.25,0.00,0.000,516,0.000,0.063,2341,588,3512,3568,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2412,-0.68,-146.0,2341,588,3568,3456,362.9,-12.9,274,2419,0.00,2.22,0.00,0.000,1030,0.000,0.053,2332,1994,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2719,-0.68,-146.0,2331,1995,3568,3456,404.0,-13.6,304,2725,0.00,2.25,0.00,0.000,516,0.000,0.063,2332,584,3512,3568,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2773,-0.68,-146.0,2331,584,3568,3455,409.9,-14.1,306,2781,0.00,2.28,0.00,0.000,1030,0.000,0.053,2321,1998,3511,3567,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3081,-0.68,-146.0,2321,1999,3568,3456,456.5,-14.9,322,3088,0.12,2.28,0.00,0.000,2564,0.181,0.063,2357,585,3512,3568,3456,0,0,0,0,0,0,26.03,25.99,28.83
$GC,3123,-0.68,-146.0,2356,585,3568,3455,461.7,-14.0,324,3128,0.00,2.28,0.00,0.000,1030,0.000,0.054,2348,2000,3511,3568,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3442,-0.68,-146.0,2348,2000,3568,3455,500.0,-12.0,340,3448,0.00,2.28,0.00,0.000,516,0.000,0.065,2348,589,3511,3568,3455,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3489,-0.68,-146.0,2348,589,3568,3455,504.9,-12.1,342,3493,0.00,2.22,0.00,0.000,1030,0.000,0.054,2339,1996,3511,3567,3455,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3802,-0.68,-146.0,2338,1996,3568,3456,545.1,-12.6,358,3808,0.00,2.28,0.00,0.000,516,0.000,0.066,2338,585,3511,3568,3455,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3834,-0.68,-146.0,2338,584,3568,3455,547.8,-12.8,359,3845,0.00,2.25,0.00,0.000,1030,0.000,0.054,2328,1997,3512,3568,3456,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4142,-0.68,-146.0,2328,1998,3568,3455,591.4,-13.9,375,4148,0.00,2.30,0.00,0.000,516,0.000,0.067,2329,580,3511,3567,3456,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4182,-0.68,-146.0,2328,579,3568,3456,597.0,-14.0,377,4189,0.12,2.25,0.00,0.000,3078,0.173,0.056,2348,2002,3512,3568,3456,0,0,0,0,0,0,25.85,26.07,28.83
$GC,4501,-0.68,-146.0,2348,2003,3568,3456,634.4,-11.4,393,4505,0.00,2.30,0.00,0.000,516,0.000,0.067,2348,580,3511,3567,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4539,-0.68,-146.0,2348,579,3567,3455,638.8,-11.4,395,4543,0.00,2.25,0.00,0.000,1030,0.000,0.057,2340,1998,3511,3567,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4856,-0.68,-146.0,2340,1999,3568,3456,675.9,-12.0,411,4861,0.00,2.28,0.00,0.000,516,0.000,0.068,2340,589,3511,3567,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4888,-0.68,-146.0,2339,589,3567,3456,678.4,-12.1,412,4898,0.00,2.25,0.00,0.000,1030,0.000,0.057,2330,1998,3511,3567,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5195,-0.68,-146.0,2330,1998,3567,3455,719.8,-12.9,428,5202,0.00,2.28,0.00,0.000,516,0.000,0.067,2330,589,3511,3568,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5228,-0.68,-146.0,2330,589,3568,3455,722.5,-13.0,429,5236,0.12,2.25,0.00,0.000,3078,0.172,0.057,2350,1995,3511,3567,3456,0,0,0,0,0,0,25.84,26.06,28.83
$GC,5535,-0.68,-146.0,2350,1995,3567,3455,759.4,-11.5,445,5539,0.00,2.28,0.00,0.000,516,0.000,0.067,2350,581,3511,3567,3456,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5576,-0.68,-146.0,2350,581,3567,3455,763.8,-11.9,447,5580,0.00,2.25,0.00,0.000,1030,0.000,0.057,2342,1995,3511,3567,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5888,-0.68,-146.0,2341,1996,3564,3456,800.0,-10.8,463,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1996,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,-0.68,-146.0,2341,1996,3566,3456,831.2,-10.5,478,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1996,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6488,-0.68,-146.0,2341,1996,3564,3455,862.6,-10.5,493,6494,0.00,2.28,0.00,0.000,516,0.000,0.069,2341,585,3509,3564,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6549,-0.68,-146.0,2341,585,3564,3456,869.2,-10.7,496,6555,0.00,2.25,0.00,0.000,1030,0.000,0.057,2331,1994,3509,3563,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6869,-0.68,-146.0,2332,1994,3563,3455,904.8,-11.0,512,6875,0.00,2.28,0.00,0.000,516,0.000,0.069,2332,585,3509,3563,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6908,-0.68,-146.0,2332,585,3563,3455,909.4,-11.3,514,6913,0.00,2.25,0.00,0.000,1030,0.000,0.057,2321,1999,3509,3563,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7225,-0.68,-146.0,2322,1999,3562,3455,945.8,-11.5,530,7232,0.12,2.30,0.00,0.000,2564,0.178,0.068,2358,589,3509,3562,3456,0,0,0,0,0,0,26.05,25.92,28.83
$GC,7272,-0.68,-146.0,2358,589,3562,3456,949.9,-10.9,532,7277,0.00,2.25,0.00,0.000,1030,0.000,0.059,2350,1995,3509,3562,3456,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7585,-0.68,-146.0,2349,1996,3562,3455,979.9,-9.5,548,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1996,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7804,begin apogee
$GC,7808,-0.14,0.0,2349,1858,3561,3455,1002.0,-10.2,559,7946,0.55,0.00,134.00,1.761,10246,0.125,0.000,2523,1857,2908,2981,2836,0,0,0,0,0,0,25.73,28.83,22.90
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7949,0.68,146.0,2523,1857,2981,2836,1008.6,0.0,566,8099,0.75,2.62,141.77,1.726,10500,0.045,0.063,2803,3288,2312,2371,2253,0,0,0,0,0,0,24.10,23.38,22.34
$GC,8435,0.68,146.0,2803,3288,2368,2243,957.1,16.0,589,8442,0.00,2.35,0.00,0.000,1030,0.000,0.057,2814,1877,2305,2369,2242,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8742,0.68,146.0,2813,1877,2368,2239,908.1,15.1,605,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1877,2303,2368,2239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9043,0.68,146.0,2813,1877,2367,2238,863.4,14.6,620,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1876,2302,2367,2237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,0.68,146.0,2813,1877,2366,2237,821.4,13.6,635,9348,0.00,2.30,0.00,0.000,260,0.000,0.066,2813,3292,2301,2366,2237,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9385,0.68,146.0,2813,3292,2366,2237,815.7,13.8,637,9390,0.15,2.30,0.00,0.000,5126,0.217,0.058,2792,1864,2301,2366,2237,0,0,0,0,0,0,25.54,25.89,28.83
$GC,9697,0.68,146.0,2792,1864,2366,2236,777.3,11.9,653,9702,0.00,2.30,0.00,0.000,260,0.000,0.065,2788,3285,2301,2366,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9794,0.68,146.0,2788,3285,2365,2236,765.4,12.5,658,9800,0.00,2.28,0.00,0.000,1030,0.000,0.057,2797,1870,2301,2366,2236,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10114,0.68,146.0,2796,1870,2366,2235,726.9,12.3,674,10118,0.00,2.30,0.00,0.000,260,0.000,0.065,2797,3294,2300,2365,2235,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10190,0.68,146.0,2797,3293,2365,2235,716.9,13.2,678,10194,0.00,2.28,0.00,0.000,1030,0.000,0.057,2807,1868,2300,2365,2235,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10506,0.68,146.0,2807,1868,2365,2234,676.7,12.4,694,10512,0.00,2.30,0.00,0.000,260,0.000,0.064,2807,3295,2299,2365,2234,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,16374,end climb,SURFACE_DEPTH_REACHED
$STATE,16374,begin surface coast
$FINISH,0.1,1.026163
$STATE,16401,end surface coast,CONTROL_FINISHED_OK
$STATE,16401,begin surface
$SM_CCo,16416,27.92,0.151,0,0,1968,230.09
$SM_GC,3.09,6.72,0.22,27.92,0.033,0.078,0.151,172,2003,1968,-7.41,-0.57,230.09,0,0,0,0,0,0,26.22,26.22,25.77
$IRIDIUM_FIX,-4239.11,833.59,071108,202047
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.04
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,35.244
$10V_AH,10.1,28.215
$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,17.650,150.750,281.600,27.925,0.000,26.547,41.246,178.258,49.250,0.000,20.639,3316.111,9632.646,470.702,3156.536,233.650,0.000,1733.246,0.000,2672.555,0.000,295.650,0.000
$DEVICE_MAMPS,217.260,79.560,1761.030,150.705,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.683,75.507,696.370,1840.883,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352744
$DATA_FILE_SIZE,80388,1235
$CAP_FILE_SIZE,182925,0
$CFSIZE,259248128,242446336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077, 36.7,1
$GPS,120116,154921,-4257.007,835.513,79,2.3,99,-25.1