version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 243
start: 1 20 116 10 50 24
data:
$ID,542
$MISSION,12
$DIVE,243
$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,-29955.242
$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,25
$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
$GPS1,200116,104334,-4304.676,830.367,48,1.1,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.4
$GPS2,200116,104958,-4304.687,830.416,15,2.0,15,-25.1
$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,260.9,8773,-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,-146.0,167,1982,1987,1911,0.0,0.0,0,65,0.00,0.00,-47.28,0.000,16386,0.000,0.000,167,1983,3260,3333,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,166,1983,3333,3190,3.4,-6.0,6,94,8.40,2.33,-4.93,0.000,18948,0.216,0.073,2341,584,3508,3562,3454,0,0,0,0,0,0,25.09,25.63,26.18
$GC,127,-0.68,-146.0,2341,583,3563,3454,23.0,-24.3,14,135,0.00,2.30,0.00,0.000,1030,0.000,0.052,2333,1993,3508,3563,3454,0,0,0,0,0,0,28.83,25.63,28.83
$GC,282,-0.68,-146.0,2333,1994,3564,3454,48.6,-16.2,39,289,0.00,2.30,0.00,0.000,260,0.000,0.057,2322,3403,3509,3564,3454,0,0,0,0,0,0,28.83,25.64,28.83
$GC,328,-0.68,-146.0,2322,3404,3564,3455,55.4,-14.2,46,335,0.00,2.25,0.00,0.000,1030,0.000,0.047,2322,1986,3509,3564,3455,0,0,0,0,0,0,28.83,25.72,28.83
$GC,671,-0.68,-146.0,2322,1985,3564,3456,112.4,-16.3,101,680,0.00,2.25,0.00,0.000,516,0.000,0.062,2322,587,3510,3564,3456,0,0,0,0,0,0,28.83,25.70,28.83
$GC,813,-0.68,-146.0,2322,586,3564,3457,134.9,-16.0,114,821,0.15,2.25,0.00,0.000,3078,0.160,0.050,2350,2006,3510,3564,3457,0,0,0,0,0,0,25.56,25.83,28.83
$GC,1120,-0.68,-146.0,2350,2007,3565,3457,177.5,-13.5,145,1128,0.00,2.28,0.00,0.000,516,0.000,0.060,2350,585,3511,3565,3457,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1154,-0.68,-146.0,1568,585,3559,3455,182.0,-13.7,148,1163,0.00,2.28,0.00,0.000,1030,0.000,0.050,2341,1998,3511,3565,3457,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1462,-0.68,-146.0,2341,1999,3565,3457,222.4,-13.1,179,1471,0.00,2.28,0.00,0.000,516,0.000,0.060,2341,585,3511,3565,3457,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1529,-0.68,-146.0,2341,585,3565,3458,230.7,-13.2,185,1537,0.00,2.28,0.00,0.000,1030,0.000,0.050,2332,2001,3511,3565,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1837,-0.68,-146.0,2331,2001,3566,3458,272.0,-13.1,216,1848,0.00,2.28,0.00,0.000,516,0.000,0.061,2332,587,3511,3565,3458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1879,-0.68,-146.0,2331,586,3565,3459,277.8,-13.5,220,1884,0.00,2.22,0.00,0.000,1030,0.000,0.050,2322,1997,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2185,-0.68,-146.0,2321,1997,3565,3459,318.8,-13.7,250,2195,0.12,2.28,0.00,0.000,2564,0.168,0.060,2358,588,3512,3565,3459,0,0,0,0,0,0,26.02,25.82,28.83
$GC,2249,-0.68,-146.0,2358,588,3565,3459,326.4,-10.8,256,2253,0.00,2.22,0.00,0.000,1030,0.000,0.051,2349,2002,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2555,-0.68,-146.0,2349,2002,3565,3459,361.2,-11.6,286,2564,0.00,2.28,0.00,0.000,516,0.000,0.062,2350,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2597,-0.68,-146.0,2349,588,3565,3459,366.4,-12.3,290,2601,0.00,2.22,0.00,0.000,1030,0.000,0.052,2340,2000,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2913,-0.68,-146.0,2340,2001,3565,3459,405.7,-12.7,319,2919,0.00,2.28,0.00,0.000,516,0.000,0.063,2340,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2967,-0.68,-146.0,2340,588,3565,3459,411.0,-13.0,321,2974,0.00,2.25,0.00,0.000,1030,0.000,0.053,2330,2003,3512,3565,3459,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3275,-0.68,-146.0,2330,2004,3565,3460,453.1,-12.8,337,3280,0.00,2.28,0.00,0.000,516,0.000,0.063,2330,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3329,-0.68,-146.0,2330,588,3565,3459,458.6,-13.1,339,3337,0.12,2.25,0.00,0.000,3078,0.168,0.053,2350,2000,3512,3565,3459,0,0,0,0,0,0,25.72,25.94,28.83
$GC,3636,-0.68,-146.0,2350,2000,3565,3459,495.0,-11.3,355,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2000,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.68,-146.0,2350,2000,3565,3459,528.6,-11.1,370,3943,0.00,2.28,0.00,0.000,516,0.000,0.065,2351,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3979,-0.68,-146.0,2350,588,3565,3459,533.3,-11.5,372,3983,0.00,2.25,0.00,0.000,1030,0.000,0.054,2342,2004,3512,3565,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4291,-0.68,-146.0,2341,2004,3565,3459,569.9,-11.5,388,4295,0.00,2.30,0.00,0.000,516,0.000,0.065,2342,585,3512,3565,3459,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4349,-0.68,-146.0,2341,584,3565,3459,576.6,-11.8,391,4354,0.00,2.25,0.00,0.000,1030,0.000,0.054,2332,2004,3512,3565,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4669,-0.68,-146.0,2332,2005,3565,3459,615.7,-12.2,407,4674,0.00,2.30,0.00,0.000,516,0.000,0.065,2332,586,3511,3565,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4737,-0.68,-146.0,2332,586,3565,3459,623.3,-12.5,410,4740,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1999,3512,3565,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5049,-0.68,-146.0,2322,1999,3564,3459,665.2,-13.2,426,5055,0.00,2.33,0.00,0.000,516,0.000,0.067,2322,581,3511,3564,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5097,-0.68,-146.0,2322,581,3564,3459,670.7,-13.4,428,5102,0.15,2.25,0.00,0.000,3078,0.163,0.055,2350,1995,3511,3564,3459,0,0,0,0,0,0,25.65,25.91,28.83
$GC,5406,-0.68,-146.0,2349,1995,3563,3459,704.6,-10.7,443,5411,0.00,2.25,0.00,0.000,516,0.000,0.066,2350,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5437,-0.68,-146.0,2349,588,3563,3459,706.9,-10.9,444,5445,0.00,2.25,0.00,0.000,1030,0.000,0.055,2341,1994,3511,3563,3459,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5744,-0.68,-146.0,2341,1995,3563,3459,743.6,-11.5,460,5748,0.00,2.28,0.00,0.000,516,0.000,0.067,2341,587,3511,3563,3459,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5790,-0.68,-146.0,2341,585,3563,3459,748.3,-11.8,462,5794,0.00,2.25,0.00,0.000,1030,0.000,0.057,2332,1997,3511,3563,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6103,-0.68,-146.0,2331,1998,3562,3459,789.2,-12.9,478,6109,0.00,2.30,0.00,0.000,516,0.000,0.067,2332,585,3510,3562,3459,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6165,-0.68,-146.0,2331,585,3562,3459,797.3,-13.4,481,6170,0.00,2.30,0.00,0.000,1030,0.000,0.057,2322,1996,3510,3562,3459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6484,-0.68,-146.0,2321,1997,3561,3458,841.6,-13.8,497,6490,0.00,2.28,0.00,0.000,516,0.000,0.067,2322,588,3510,3562,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6516,-0.68,-146.0,2321,588,3562,3459,844.4,-13.7,498,6524,0.15,2.25,0.00,0.000,3078,0.163,0.056,2350,1996,3510,3561,3459,0,0,0,0,0,0,25.63,25.89,28.83
$GC,6824,-0.68,-146.0,2349,1996,3561,3458,882.4,-11.5,514,6829,0.00,2.30,0.00,0.000,516,0.000,0.067,2350,585,3509,3560,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6866,-0.68,-146.0,2349,586,3560,3458,887.1,-11.6,516,6871,0.00,2.30,0.00,0.000,1030,0.000,0.057,2341,1990,3509,3560,3458,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7184,-0.68,-146.0,2341,1991,3559,3457,924.3,-11.7,532,7190,0.00,2.28,0.00,0.000,516,0.000,0.067,2342,589,3508,3559,3457,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7224,-0.68,-146.0,2341,589,3559,3457,929.0,-11.6,534,7228,0.00,2.28,0.00,0.000,1030,0.000,0.057,2331,2005,3508,3559,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7543,-0.68,-146.0,2331,2005,3558,3456,966.7,-12.0,550,7548,0.00,2.30,0.00,0.000,516,0.000,0.068,2332,588,3507,3558,3456,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7601,-0.68,-146.0,2331,588,3558,3456,974.2,-12.4,553,7607,0.00,2.28,0.00,0.000,1030,0.000,0.057,2322,2005,3507,3558,3456,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,7820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7821,begin apogee
$GC,7826,-0.14,0.0,2321,1867,3557,3456,1000.9,-12.0,564,7961,0.65,0.00,131.82,1.765,10246,0.129,0.000,2524,1866,2909,2984,2834,0,0,0,0,0,0,25.51,28.83,22.65
$STATE,7962,end apogee,CONTROL_FINISHED_OK
$STATE,7962,begin climb
$GC,7964,0.68,146.0,2524,1866,2984,2834,1007.6,0.0,571,8114,0.73,2.65,140.00,1.736,10500,0.047,0.063,2801,3285,2311,2373,2249,0,0,0,0,0,0,23.94,23.34,22.21
$GC,8376,0.68,146.0,2801,3286,2372,2237,967.8,15.8,591,8383,0.00,2.38,0.00,0.000,1030,0.000,0.055,2811,1870,2304,2371,2237,0,0,0,0,0,0,28.83,25.01,28.83
$GC,8683,0.68,146.0,2811,1870,2371,2234,919.0,15.0,607,8689,0.00,2.33,0.00,0.000,260,0.000,0.063,2811,3285,2302,2371,2234,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8755,0.68,146.0,2811,3285,2371,2234,909.6,15.4,610,8763,0.15,2.33,0.00,0.000,5126,0.212,0.055,2790,1863,2302,2371,2233,0,0,0,0,0,0,25.22,25.59,28.83
$GC,9063,0.68,146.0,2790,1862,2371,2233,863.9,13.9,626,9068,0.00,2.33,0.00,0.000,260,0.000,0.063,2787,3288,2301,2371,2232,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9123,0.68,146.0,2786,3289,2371,2232,855.2,14.3,629,9129,0.00,2.30,0.00,0.000,1030,0.000,0.054,2795,1867,2301,2371,2232,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9443,0.68,146.0,2795,1867,2370,2231,811.6,13.2,645,9449,0.00,2.30,0.00,0.000,260,0.000,0.063,2795,3287,2300,2370,2231,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9511,0.68,146.0,2795,3286,2370,2231,803.3,13.6,648,9515,0.00,2.28,0.00,0.000,1030,0.000,0.055,2806,1870,2300,2370,2231,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9818,0.68,146.0,2805,1870,2370,2230,761.8,12.8,663,9823,0.00,2.30,0.00,0.000,260,0.000,0.063,2806,3292,2300,2370,2230,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,16064,end climb,SURFACE_DEPTH_REACHED
$STATE,16064,begin surface coast
$FINISH,0.6,1.025899
$STATE,16078,end surface coast,CONTROL_FINISHED_OK
$STATE,16078,begin surface
$SM_CCo,16095,13.98,0.156,0,0,1971,230.09
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$IRIDIUM_FIX,-4247.91,831.99,151108,191902
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.57
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.2,42.141
$10V_AH,10.0,33.686
$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,18.125,182.900,290.625,13.975,0.000,24.938,23.410,210.689,49.250,0.000,16.551,3278.796,9274.875,498.657,3202.680,230.997,0.000,1797.310,0.000,2692.153,0.000,299.501,0.000
$DEVICE_MAMPS,215.730,78.030,1764.855,156.060,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.828,77.202,722.115,1826.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352720
$DATA_FILE_SIZE,76851,1218
$CAP_FILE_SIZE,187396,0
$CFSIZE,259248128,238821376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.192, 28.7,1
$GPS,200116,152131,-4304.658,829.426,122,0.9,122,-25.0