version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 203
start: 1 13 116 1 9 37
data:
$ID,542
$MISSION,12
$DIVE,203
$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,-29904.664
$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,32
$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
$GPS1,130116,010224,-4301.329,836.280,87,1.0,88,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.6
$GPS2,130116,010911,-4301.330,836.319,17,1.3,17,-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,221.0,4964,-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,-146.0,164,2005,1965,1924,0.0,0.0,0,65,0.00,0.00,-47.17,0.000,16386,0.000,0.000,164,2005,3251,3324,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,164,2005,3324,3178,3.5,-6.1,6,93,8.45,2.28,-5.15,0.000,18692,0.222,0.069,2330,3394,3506,3564,3449,0,0,0,0,0,0,25.23,25.76,26.23
$GC,177,-0.68,-146.0,2330,3394,3564,3451,27.7,-13.1,22,186,0.00,2.28,0.00,0.000,1030,0.000,0.050,2330,1990,3507,3564,3451,0,0,0,0,0,0,28.83,25.77,28.83
$GC,330,-0.68,-146.0,2329,1989,3565,3451,52.5,-16.1,47,337,0.00,2.28,0.00,0.000,516,0.000,0.063,2330,585,3508,3565,3451,0,0,0,0,0,0,28.83,25.74,28.83
$GC,389,-0.68,-146.0,2329,585,3565,3451,61.4,-14.8,57,397,0.08,2.25,0.00,0.000,3078,0.151,0.051,2344,1981,3507,3564,3451,0,0,0,0,0,0,25.61,25.84,28.83
$GC,734,-0.68,-146.0,2344,1981,3566,3451,108.7,-13.6,113,743,0.00,2.25,0.00,0.000,516,0.000,0.062,2344,582,3509,3566,3452,0,0,0,0,0,0,28.83,25.84,28.83
$GC,766,-0.68,-146.0,2344,582,3566,3452,113.1,-13.8,116,776,0.00,2.22,0.00,0.000,1030,0.000,0.051,2336,2003,3509,3566,3453,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1075,-0.68,-146.0,2336,2004,3566,3453,157.8,-15.3,147,1079,0.00,2.28,0.00,0.000,516,0.000,0.061,2336,585,3509,3566,3453,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1155,-0.68,-146.0,2336,585,3566,3454,169.8,-15.4,154,1165,0.00,2.22,0.00,0.000,1030,0.000,0.051,2326,1996,3510,3566,3454,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1463,-0.68,-146.0,2326,1996,3567,3454,219.7,-16.0,185,1473,0.00,2.22,0.00,0.000,260,0.000,0.058,2315,3408,3510,3566,3454,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1495,-0.68,-146.0,2314,3408,3566,3454,224.7,-15.4,188,1509,0.12,2.22,0.00,0.000,3078,0.155,0.048,2346,1981,3511,3567,3455,0,0,0,0,0,0,25.82,26.02,28.83
$GC,1806,-0.68,-146.0,2346,1981,3567,3454,266.7,-13.1,219,1815,0.00,2.22,0.00,0.000,516,0.000,0.063,2346,589,3511,3567,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1880,-0.68,-146.0,2346,589,3566,3455,276.7,-13.1,226,1885,0.00,2.20,0.00,0.000,1030,0.000,0.050,2338,1996,3510,3566,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2186,-0.68,-146.0,2338,1996,3567,3455,317.6,-13.4,256,2196,0.00,2.25,0.00,0.000,516,0.000,0.062,2338,589,3511,3567,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2250,-0.68,-146.0,2338,589,3567,3455,326.2,-13.4,262,2258,0.00,2.22,0.00,0.000,1030,0.000,0.052,2329,2001,3511,3567,3455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2560,-0.68,-146.0,2329,2001,3567,3455,368.0,-13.1,293,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2001,3510,3566,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.68,-146.0,2329,2002,3567,3454,408.1,-12.9,321,2875,0.00,2.28,0.00,0.000,516,0.000,0.064,2329,586,3511,3567,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2922,-0.68,-146.0,2328,586,3567,3455,413.4,-13.1,323,2930,0.12,2.22,0.00,0.000,3078,0.167,0.053,2349,1994,3511,3567,3455,0,0,0,0,0,0,25.84,26.06,28.83
$GC,3231,-0.68,-146.0,2348,1995,3567,3455,451.1,-11.9,339,3237,0.00,2.22,0.00,0.000,516,0.000,0.065,2349,591,3511,3567,3455,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3262,-0.68,-146.0,2349,590,3567,3455,453.6,-12.0,340,3271,0.00,2.22,0.00,0.000,1030,0.000,0.054,2341,1994,3511,3567,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3569,-0.68,-146.0,2341,1994,3567,3455,494.2,-12.8,356,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1994,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.68,-146.0,2340,1994,3566,3455,532.2,-12.8,371,3876,0.00,2.28,0.00,0.000,516,0.000,0.067,2341,572,3511,3567,3455,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3902,-0.68,-146.0,2341,572,3567,3455,534.9,-12.9,372,3911,0.00,2.28,0.00,0.000,1030,0.000,0.054,2330,2001,3510,3566,3455,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4211,-0.68,-146.0,2330,2001,3566,3455,575.3,-12.2,388,4217,0.00,2.28,0.00,0.000,516,0.000,0.067,2331,585,3511,3567,3455,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4242,-0.68,-146.0,2330,585,3566,3455,577.9,-12.3,389,4251,0.12,2.25,0.00,0.000,3078,0.168,0.055,2351,1997,3511,3567,3455,0,0,0,0,0,0,25.84,26.06,28.83
$GC,4550,-0.68,-146.0,2351,1997,3567,3455,609.9,-9.6,405,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1997,3511,3567,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.68,-146.0,2351,1997,3566,3455,639.5,-10.1,420,4856,0.00,2.25,0.00,0.000,516,0.000,0.068,2351,596,3510,3566,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4899,-0.68,-146.0,2351,596,3566,3455,643.9,-10.3,422,4903,0.00,2.22,0.00,0.000,1030,0.000,0.057,2343,1996,3511,3567,3455,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5212,-0.68,-146.0,2342,1997,3566,3455,680.7,-12.0,438,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1996,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,-0.68,-146.0,2343,1996,3565,3455,717.9,-12.5,453,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1997,3510,3565,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.68,-146.0,2342,1997,3565,3455,755.0,-12.3,468,5818,0.00,2.25,0.00,0.000,516,0.000,0.069,2343,595,3510,3565,3455,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5872,-0.68,-146.0,2342,595,3564,3455,762.6,-12.4,471,5876,0.00,2.25,0.00,0.000,1030,0.000,0.057,2333,2004,3509,3564,3454,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6188,-0.68,-146.0,2333,2004,3563,3455,802.9,-12.9,487,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2004,3508,3563,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,-0.68,-146.0,2333,2004,3563,3455,840.5,-12.2,502,6495,0.00,2.28,0.00,0.000,516,0.000,0.069,2333,592,3509,3563,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6521,-0.68,-146.0,2333,592,3563,3455,843.0,-12.3,503,6528,0.00,2.25,0.00,0.000,1030,0.000,0.058,2323,1995,3509,3563,3455,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6828,-0.68,-146.0,2323,1995,3562,3455,884.7,-13.1,519,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1995,3508,3562,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7129,-0.68,-146.0,2323,1995,3562,3455,924.8,-13.3,534,7134,0.00,2.28,0.00,0.000,516,0.000,0.069,2323,589,3508,3561,3455,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7161,-0.68,-146.0,2323,589,3561,3455,927.5,-13.2,535,7168,0.15,2.25,0.00,0.000,3078,0.161,0.059,2352,1994,3508,3561,3455,0,0,0,0,0,0,25.77,26.00,28.83
$GC,7470,-0.68,-146.0,2351,1995,3560,3455,960.7,-9.8,551,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1994,3507,3560,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7769,-0.68,-146.0,2351,1994,3559,3455,990.0,-10.0,566,7774,0.00,2.28,0.00,0.000,516,0.000,0.069,2352,588,3507,3559,3455,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7829,-0.68,-146.0,2351,588,3559,3455,996.1,-10.2,569,7835,0.00,2.22,0.00,0.000,1030,0.000,0.058,2343,1990,3506,3558,3454,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,7867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7867,begin apogee
$GC,7871,-0.14,0.0,2343,1869,3558,3455,1000.2,-10.1,571,8009,0.57,0.00,133.82,1.762,10246,0.129,0.000,2523,1868,2908,2981,2836,0,0,0,0,0,0,25.69,28.83,22.86
$STATE,8010,end apogee,CONTROL_FINISHED_OK
$STATE,8010,begin climb
$GC,8012,0.68,146.0,2523,1868,2982,2837,1006.5,0.0,578,8164,0.77,2.58,142.75,1.730,10756,0.044,0.068,2816,467,2312,2373,2251,0,0,0,0,0,0,24.08,23.36,22.31
$GC,8319,0.68,146.0,2817,467,2366,2247,984.4,15.5,592,8327,0.00,2.40,0.00,0.000,1030,0.000,0.058,2816,1871,2306,2366,2246,0,0,0,0,0,0,28.83,24.70,28.83
$GC,8626,0.68,146.0,2816,1871,2366,2241,934.9,15.4,608,8632,0.00,2.35,0.00,0.000,260,0.000,0.064,2817,3294,2303,2366,2241,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8770,0.68,146.0,2816,3294,2364,2241,912.0,16.2,615,8775,0.15,2.33,0.00,0.000,5126,0.223,0.057,2796,1872,2302,2364,2240,0,0,0,0,0,0,25.23,25.59,28.83
$GC,9082,0.68,146.0,2796,1872,2364,2238,865.1,14.9,631,9088,0.00,2.33,0.00,0.000,260,0.000,0.064,2794,3295,2301,2364,2238,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9170,0.68,146.0,2794,3295,2364,2238,852.8,15.4,635,9174,0.00,2.33,0.00,0.000,1030,0.000,0.058,2802,1861,2301,2364,2238,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9477,0.68,146.0,2803,1861,2364,2237,805.4,15.0,650,9483,0.00,2.33,0.00,0.000,260,0.000,0.064,2803,3294,2300,2364,2237,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9577,0.68,146.0,2803,3294,2363,2237,790.4,15.0,655,9583,0.00,2.30,0.00,0.000,1030,0.000,0.057,2813,1861,2300,2363,2237,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9897,0.68,146.0,2813,1861,2363,2236,745.6,13.6,671,9903,0.00,2.30,0.00,0.000,260,0.000,0.065,2813,3287,2299,2363,2236,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9945,0.68,146.0,2813,3287,2363,2236,739.9,14.0,673,9950,0.15,2.28,0.00,0.000,5126,0.214,0.056,2791,1867,2299,2363,2235,0,0,0,0,0,0,25.57,25.95,28.83
$GC,10252,0.68,146.0,2792,1867,2363,2235,700.6,12.1,688,10258,0.00,2.30,0.00,0.000,260,0.000,0.063,2786,3293,2299,2363,2235,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10360,0.68,146.0,2785,3293,2363,2235,687.9,12.8,693,10364,0.00,2.28,0.00,0.000,1030,0.000,0.057,2795,1869,2299,2363,2235,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,15789,end climb,SURFACE_DEPTH_REACHED
$STATE,15789,begin surface coast
$FINISH,-0.2,1.026307
$STATE,15809,end surface coast,CONTROL_FINISHED_OK
$STATE,15809,begin surface
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$IRIDIUM_FIX,-4244.98,837.38,081108,090900
$TT8_MAMPS,0.020223,0.020223
$HUMID,51.77
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,35.727
$10V_AH,10.1,28.606
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352744
$DATA_FILE_SIZE,73640,1183
$CAP_FILE_SIZE,177153,0
$CFSIZE,259248128,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,124.9,1
$GPS,130116,053457,-4303.799,836.578,48,1.0,49,-25.1