version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 233
start: 1 18 116 14 44 32
data:
$ID,542
$MISSION,12
$DIVE,233
$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,-29942.594
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,180116,143732,-4301.753,837.236,79,1.9,80,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.3
$GPS2,180116,144405,-4301.713,837.284,15,2.0,15,-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,231.1,4577,-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,-146.0,164,2010,1969,1918,0.0,0.0,0,66,0.00,0.00,-48.60,0.000,16386,0.000,0.000,164,2010,3321,3389,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.68,-146.0,164,2011,3389,3256,3.8,-6.7,6,86,8.55,0.00,-3.60,0.000,18438,0.225,0.000,2339,2009,3507,3561,3454,0,0,0,0,0,0,25.19,28.83,26.25
$GC,138,-0.68,-146.0,2339,2009,3563,3454,24.9,-18.8,16,150,0.00,2.35,0.00,0.000,516,0.000,0.062,2339,592,3508,3563,3454,0,0,0,0,0,0,28.83,25.63,28.83
$GC,202,-0.68,-146.0,2338,592,3563,3454,35.5,-16.7,25,211,0.00,2.28,0.00,0.000,1030,0.000,0.050,2331,1995,3508,3563,3454,0,0,0,0,0,0,28.83,25.73,28.83
$GC,350,-0.68,-146.0,2331,1995,3564,3455,60.3,-16.6,50,356,0.00,2.25,0.00,0.000,260,0.000,0.056,2320,3409,3509,3564,3455,0,0,0,0,0,0,28.83,25.72,28.83
$GC,370,-0.68,-146.0,1408,3407,3557,3453,63.4,-16.9,53,377,0.12,2.22,0.00,0.000,3078,0.158,0.047,2351,1993,3509,3563,3456,0,0,0,0,0,0,25.58,25.78,28.83
$GC,708,-0.68,-146.0,2351,1992,3565,3455,109.2,-12.3,108,713,0.00,2.28,0.00,0.000,516,0.000,0.062,2351,585,3510,3565,3456,0,0,0,0,0,0,28.83,25.74,28.83
$GC,884,-0.68,-146.0,1488,584,3559,3454,129.8,-11.3,124,893,0.00,2.25,0.00,0.000,1030,0.000,0.050,2343,2002,3510,3565,3456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1191,-0.68,-146.0,2342,2003,3566,3457,167.6,-13.0,155,1199,0.00,2.28,0.00,0.000,516,0.000,0.060,2343,585,3511,3566,3457,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1245,-0.68,-146.0,1536,585,3561,3455,174.3,-13.1,160,1257,0.00,2.25,0.00,0.000,1030,0.000,0.050,2333,1989,3511,3566,3457,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1555,-0.68,-146.0,2333,1989,3566,3457,216.1,-13.8,191,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1989,3511,3566,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.68,-146.0,2332,1989,3566,3458,258.6,-14.4,221,1864,0.00,2.22,0.00,0.000,516,0.000,0.060,2333,587,3512,3566,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1913,-0.68,-146.0,1536,587,3561,3455,266.9,-15.1,226,1921,0.00,2.28,0.00,0.000,1030,0.000,0.050,2323,2002,3511,3566,3457,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2222,-0.68,-146.0,2323,2002,3566,3458,312.4,-14.4,257,2230,0.00,2.25,0.00,0.000,516,0.000,0.061,2323,589,3512,3566,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2329,-0.68,-146.0,2323,589,3566,3459,327.3,-13.8,267,2336,0.15,2.22,0.00,0.000,3078,0.164,0.051,2351,2000,3512,3566,3458,0,0,0,0,0,0,25.70,25.98,28.83
$GC,2636,-0.68,-146.0,2351,2000,3566,3459,365.0,-12.2,298,2645,0.00,2.25,0.00,0.000,516,0.000,0.061,2351,588,3512,3566,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2689,-0.68,-146.0,2351,587,3566,3459,371.8,-12.7,303,2698,0.00,2.22,0.00,0.000,1030,0.000,0.051,2343,2004,3512,3566,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3009,-0.68,-146.0,2342,2005,3567,3458,414.4,-13.4,330,3013,0.00,2.30,0.00,0.000,516,0.000,0.063,2343,586,3512,3566,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3046,-0.68,-146.0,2343,586,3566,3459,419.4,-13.5,332,3051,0.00,2.22,0.00,0.000,1030,0.000,0.052,2333,2000,3512,3566,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3365,-0.68,-146.0,2332,2000,3566,3459,463.7,-13.5,348,3369,0.00,2.28,0.00,0.000,516,0.000,0.062,2333,584,3512,3566,3458,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3446,-0.68,-146.0,2333,584,3566,3458,474.4,-13.9,352,3450,0.00,2.22,0.00,0.000,1030,0.000,0.053,2323,1995,3512,3567,3458,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3757,-0.68,-146.0,2323,1995,3566,3458,519.7,-14.7,368,3761,0.00,2.25,0.00,0.000,516,0.000,0.064,2323,589,3512,3566,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3804,-0.68,-146.0,2322,589,3566,3459,525.3,-14.8,370,3809,0.15,2.22,0.00,0.000,3078,0.161,0.054,2351,1997,3512,3566,3458,0,0,0,0,0,0,25.71,25.97,28.83
$GC,4111,-0.68,-146.0,2351,1998,3566,3458,562.9,-11.7,385,4117,0.00,2.28,0.00,0.000,516,0.000,0.064,2351,586,3512,3566,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4144,-0.68,-146.0,2351,586,3566,3458,565.4,-11.9,386,4151,0.00,2.25,0.00,0.000,1030,0.000,0.055,2343,1997,3512,3566,3459,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4450,-0.68,-146.0,2342,1998,3566,3459,603.9,-11.9,402,4455,0.00,2.28,0.00,0.000,516,0.000,0.065,2343,589,3512,3566,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4489,-0.68,-146.0,2343,589,3566,3458,608.5,-12.1,404,4494,0.00,2.22,0.00,0.000,1030,0.000,0.055,2333,1995,3512,3566,3458,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4809,-0.68,-146.0,2333,1995,3565,3458,647.1,-12.0,420,4815,0.00,2.28,0.00,0.000,516,0.000,0.066,2334,586,3512,3566,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4890,-0.68,-146.0,2333,586,3565,3458,656.8,-12.2,424,4895,0.00,2.25,0.00,0.000,1030,0.000,0.055,2323,2003,3511,3565,3458,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5209,-0.68,-146.0,2323,2004,3564,3458,696.6,-12.4,440,5215,0.00,2.30,0.00,0.000,516,0.000,0.066,2323,585,3511,3564,3458,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5291,-0.68,-146.0,2323,585,3564,3458,706.6,-12.5,444,5297,0.10,2.22,0.00,0.000,3078,0.142,0.056,2345,1992,3511,3564,3458,0,0,0,0,0,0,25.70,25.95,28.83
$GC,5611,-0.68,-146.0,2345,1992,3564,3458,740.6,-10.9,460,5616,0.00,2.28,0.00,0.000,516,0.000,0.067,2345,585,3511,3564,3458,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5653,-0.68,-146.0,2345,585,3564,3458,745.2,-11.2,462,5657,0.00,2.30,0.00,0.000,1030,0.000,0.057,2337,1998,3510,3563,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5971,-0.68,-146.0,2337,1999,3563,3458,781.9,-11.3,478,5977,0.00,2.30,0.00,0.000,516,0.000,0.068,2337,580,3510,3563,3458,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6014,-0.68,-146.0,2337,580,3562,3458,786.6,-11.4,480,6019,0.00,2.30,0.00,0.000,1030,0.000,0.057,2327,1987,3510,3563,3458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6333,-0.68,-146.0,2327,1988,3562,3458,825.6,-11.8,496,6339,0.00,2.30,0.00,0.000,516,0.000,0.067,2327,582,3510,3563,3458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6415,-0.68,-146.0,2327,581,3562,3458,835.3,-12.1,500,6420,0.10,2.33,0.00,0.000,3078,0.144,0.058,2349,2000,3510,3562,3458,0,0,0,0,0,0,25.67,25.91,28.83
$GC,6732,-0.68,-146.0,2349,2001,3561,3457,867.1,-10.1,516,6739,0.00,2.30,0.00,0.000,516,0.000,0.067,2349,588,3509,3561,3457,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6775,-0.68,-146.0,2349,588,3561,3457,871.2,-10.0,518,6780,0.00,2.22,0.00,0.000,1030,0.000,0.058,2341,1992,3509,3561,3458,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7094,-0.68,-146.0,2341,1993,3561,3456,903.2,-9.9,534,7100,0.00,2.25,0.00,0.000,516,0.000,0.067,2341,595,3508,3561,3456,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7135,-0.68,-146.0,1536,595,3555,3454,907.4,-10.2,536,7139,0.00,2.30,0.00,0.000,1030,0.000,0.057,2331,1999,3508,3560,3457,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7452,-0.68,-146.0,2331,2000,3559,3456,943.0,-11.5,552,7457,0.00,2.30,0.00,0.000,516,0.000,0.067,2331,586,3507,3559,3456,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7490,-0.68,-146.0,2331,586,3559,3455,947.3,-11.7,554,7496,0.12,2.25,0.00,0.000,3078,0.168,0.058,2355,1995,3507,3559,3456,0,0,0,0,0,0,25.69,25.90,28.83
$GC,7809,-0.68,-146.0,2355,1995,3559,3455,976.9,-9.1,570,7815,0.00,2.28,0.00,0.000,516,0.000,0.068,2355,591,3507,3559,3455,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7864,-0.68,-146.0,2355,591,3559,3455,980.8,-9.4,572,7871,0.00,2.28,0.00,0.000,1030,0.000,0.058,2347,2006,3507,3559,3455,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,8049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8049,begin apogee
$GC,8054,-0.14,0.0,2347,1866,3558,3455,1000.0,-9.7,582,8192,0.55,0.00,134.80,1.754,10246,0.123,0.000,2521,1865,2909,2987,2831,0,0,0,0,0,0,25.62,28.83,22.66
$STATE,8193,end apogee,CONTROL_FINISHED_OK
$STATE,8193,begin climb
$GC,8195,0.68,146.0,2522,1865,2987,2831,1006.0,0.0,589,8352,0.75,2.65,142.38,1.727,10756,0.051,0.067,2807,463,2312,2376,2249,0,0,0,0,0,0,23.93,23.33,22.24
$GC,8463,0.68,146.0,2807,463,2370,2246,990.0,15.2,602,8467,0.00,2.42,0.00,0.000,1030,0.000,0.057,2807,1876,2307,2369,2245,0,0,0,0,0,0,28.83,24.49,28.83
$GC,8770,0.68,146.0,2807,1876,2369,2239,943.6,14.6,617,8776,0.00,2.33,0.00,0.000,260,0.000,0.064,2807,3285,2304,2369,2239,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8904,0.68,146.0,2807,3285,2368,2238,925.2,15.3,623,8910,0.00,2.30,0.00,0.000,1030,0.000,0.057,2818,1878,2303,2368,2239,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9210,0.68,146.0,2817,1878,2368,2236,879.0,13.8,639,9215,0.00,2.30,0.00,0.000,260,0.000,0.063,2817,3290,2302,2368,2236,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9351,0.68,146.0,2817,3290,2366,2237,858.5,14.8,646,9357,0.12,2.30,0.00,0.000,5126,0.202,0.057,2795,1864,2301,2366,2237,0,0,0,0,0,0,25.35,25.75,28.83
$GC,9670,0.68,146.0,2795,1863,2367,2235,817.9,12.5,662,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1863,2301,2367,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,0.68,146.0,2795,1863,2367,2234,780.4,13.0,677,9976,0.00,2.30,0.00,0.000,260,0.000,0.063,2795,3284,2300,2367,2234,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,16508,end climb,SURFACE_DEPTH_REACHED
$STATE,16509,begin surface coast
$FINISH,-0.1,1.026051
$STATE,16535,end surface coast,CONTROL_FINISHED_OK
$STATE,16535,begin surface
$SM_CCo,16550,8.38,0.159,0,0,1968,230.09
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$IRIDIUM_FIX,-4242.04,836.94,131108,232325
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.96
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.2,40.579
$10V_AH,10.0,32.415
$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
$DEVICE_SECS,18.200,169.150,302.350,8.375,0.000,20.450,41.491,209.431,49.250,0.000,16.761,3399.851,9412.106,477.830,3396.743,258.506,0.000,1844.121,0.000,2886.972,0.000,296.863,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.587,81.629,746.275,1883.348,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352716
$DATA_FILE_SIZE,80242,1259
$CAP_FILE_SIZE,191174,0
$CFSIZE,259248128,239673344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093, 36.9,1
$GPS,180116,192234,-4303.053,837.132,87,1.0,88,-25.1