version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 280
start: 1 27 116 9 18 44
data:
$ID,542
$MISSION,12
$DIVE,280
$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,-30002.023
$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,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
$GPS1,270116,091033,-4302.415,824.158,81,1.4,81,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.9
$GPS2,270116,091817,-4302.415,824.266,35,0.9,35,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,348.5,11885,-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,-146.0,166,2003,1977,1919,0.0,0.0,0,67,0.00,0.00,-49.53,0.000,16386,0.000,0.000,166,2003,3316,3382,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.68,-146.0,166,2004,3382,3252,3.5,-6.7,6,88,8.40,2.35,-3.78,0.000,18948,0.216,0.067,2348,578,3508,3561,3456,0,0,0,0,0,0,25.03,25.65,26.20
$GC,253,-0.68,-146.0,2347,578,3563,3457,44.4,-14.1,35,260,0.00,2.25,0.00,0.000,1030,0.000,0.049,2339,1996,3510,3563,3457,0,0,0,0,0,0,28.83,25.69,28.83
$GC,588,-0.68,-146.0,2339,1996,3564,3457,93.2,-15.2,96,596,0.00,2.33,0.00,0.000,516,0.000,0.059,2339,581,3511,3565,3457,0,0,0,0,0,0,28.83,25.67,28.83
$GC,626,-0.68,-146.0,2339,581,3565,3458,98.8,-14.9,102,633,0.00,2.25,0.00,0.000,1030,0.000,0.048,2329,2000,3511,3564,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,942,-0.68,-146.0,2329,2000,3565,3459,146.3,-15.4,134,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2001,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-0.68,-146.0,2330,2000,3566,3460,192.0,-14.7,164,1250,0.00,2.28,0.00,0.000,516,0.000,0.060,2330,582,3513,3566,3460,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1285,-0.68,-146.0,1504,582,3560,3458,198.4,-15.4,168,1294,0.08,2.28,0.00,0.000,3078,0.154,0.049,2343,1996,3513,3566,3460,0,0,0,0,0,0,25.60,25.87,28.83
$GC,1593,-0.68,-146.0,2343,1997,3566,3460,236.8,-11.9,199,1602,0.00,2.28,0.00,0.000,516,0.000,0.060,2343,581,3513,3566,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1607,-0.68,-146.0,2343,581,3566,3460,237.7,-11.8,200,1615,0.00,2.28,0.00,0.000,1030,0.000,0.049,2335,1996,3513,3566,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1914,-0.68,-146.0,2334,1996,3566,3460,278.2,-13.0,231,1923,0.00,2.28,0.00,0.000,516,0.000,0.060,2335,581,3513,3566,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1947,-0.68,-146.0,2335,581,3566,3460,282.3,-12.9,234,1956,0.00,2.22,0.00,0.000,1030,0.000,0.049,2325,1998,3513,3566,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2259,-0.68,-146.0,2325,1998,3566,3460,325.9,-14.2,265,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1998,3513,3566,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-0.68,-146.0,2325,1998,3566,3460,367.5,-13.0,296,2575,0.00,2.28,0.00,0.000,516,0.000,0.061,2325,588,3513,3566,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2601,-0.68,-146.0,2325,588,3566,3460,371.8,-13.3,299,2609,0.12,2.22,0.00,0.000,3078,0.168,0.050,2345,1995,3513,3566,3460,0,0,0,0,0,0,25.65,25.90,28.83
$GC,2918,-0.68,-146.0,2344,1996,3566,3460,407.3,-11.3,328,2924,0.00,2.28,0.00,0.000,516,0.000,0.061,2345,584,3513,3566,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2983,-0.68,-146.0,1480,583,3560,3458,414.2,-11.3,331,2987,0.00,2.22,0.00,0.000,1030,0.000,0.050,2336,1997,3513,3566,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3296,-0.68,-146.0,2336,1998,3566,3460,452.2,-12.4,347,3302,0.00,2.28,0.00,0.000,516,0.000,0.063,2337,582,3513,3566,3460,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3318,-0.68,-146.0,2336,582,3566,3460,454.7,-12.4,348,3322,0.00,2.22,0.00,0.000,1030,0.000,0.051,2327,1995,3513,3566,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3629,-0.68,-146.0,2326,1996,3565,3460,498.3,-14.1,364,3635,0.00,2.28,0.00,0.000,516,0.000,0.062,2326,586,3513,3566,3460,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3654,-0.68,-146.0,2327,585,3565,3460,501.3,-14.3,365,3658,0.12,2.22,0.00,0.000,3078,0.167,0.051,2346,1995,3512,3565,3460,0,0,0,0,0,0,25.65,25.89,28.83
$GC,3967,-0.68,-146.0,2346,1995,3566,3460,541.1,-12.3,381,3972,0.00,2.25,0.00,0.000,516,0.000,0.062,2346,589,3512,3565,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4014,-0.68,-146.0,2346,589,3565,3460,546.2,-12.4,383,4018,0.00,2.22,0.00,0.000,1030,0.000,0.052,2338,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4322,-0.68,-146.0,2338,1995,3565,3460,586.5,-12.8,398,4327,0.00,2.25,0.00,0.000,516,0.000,0.063,2338,587,3512,3565,3460,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4349,-0.68,-146.0,2338,586,3565,3460,589.1,-12.8,399,4353,0.00,2.22,0.00,0.000,1030,0.000,0.052,2328,1994,3512,3565,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4657,-0.68,-146.0,2328,1995,3565,3460,631.9,-13.5,414,4662,0.00,2.25,0.00,0.000,516,0.000,0.063,2328,589,3512,3565,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4697,-0.68,-146.0,2328,589,3565,3460,637.4,-13.5,416,4703,0.12,2.22,0.00,0.000,3078,0.165,0.053,2348,1994,3512,3565,3460,0,0,0,0,0,0,25.63,25.86,28.83
$GC,5016,-0.68,-146.0,2348,1995,3564,3460,673.7,-11.3,432,5021,0.00,2.28,0.00,0.000,516,0.000,0.063,2348,584,3512,3564,3460,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5040,-0.68,-146.0,2348,584,3564,3460,676.0,-11.4,433,5045,0.00,2.25,0.00,0.000,1030,0.000,0.053,2339,2000,3512,3564,3460,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5353,-0.68,-146.0,2339,2000,3563,3460,713.0,-11.9,449,5358,0.00,2.30,0.00,0.000,516,0.000,0.064,2340,584,3511,3563,3460,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5375,-0.68,-146.0,2340,584,3563,3460,715.5,-12.1,450,5381,0.00,2.22,0.00,0.000,1030,0.000,0.054,2330,1997,3511,3563,3460,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5694,-0.68,-146.0,2330,1998,3563,3460,755.4,-12.3,466,5699,0.00,2.28,0.00,0.000,516,0.000,0.064,2330,586,3511,3563,3460,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5747,-0.68,-146.0,2330,586,3563,3460,760.6,-12.6,468,5755,0.12,2.25,0.00,0.000,3078,0.166,0.054,2350,1993,3511,3563,3460,0,0,0,0,0,0,25.60,25.82,28.83
$GC,6055,-0.68,-146.0,2349,1994,3562,3460,795.3,-10.7,484,6060,0.00,2.28,0.00,0.000,516,0.000,0.065,2350,593,3511,3562,3460,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6082,-0.68,-146.0,2349,593,3563,3460,797.6,-10.8,485,6086,0.00,2.22,0.00,0.000,1030,0.000,0.054,2341,1995,3511,3562,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6388,-0.68,-146.0,2341,1996,3562,3460,832.5,-10.9,500,6394,0.00,2.30,0.00,0.000,516,0.000,0.065,2341,584,3511,3562,3460,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6438,-0.68,-146.0,2341,584,3562,3459,837.1,-11.1,502,6442,0.00,2.25,0.00,0.000,1030,0.000,0.054,2332,1995,3510,3561,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6747,-0.68,-146.0,2332,1996,3560,3460,873.7,-11.5,517,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1996,3510,3561,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7046,-0.68,-146.0,2331,1996,3559,3460,908.6,-11.7,532,7052,0.00,2.28,0.00,0.000,516,0.000,0.065,2332,583,3509,3559,3460,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7073,-0.68,-146.0,2331,582,3559,3460,911.1,-11.7,533,7077,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1996,3509,3558,3460,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7381,-0.68,-146.0,2322,1996,3557,3460,951.6,-13.1,548,7386,0.00,2.30,0.00,0.000,516,0.000,0.065,2322,584,3509,3558,3460,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7413,-0.68,-146.0,2321,584,3557,3460,954.3,-13.3,549,7425,0.15,2.28,0.00,0.000,3078,0.163,0.054,2349,2005,3508,3557,3460,0,0,0,0,0,0,25.50,25.79,28.83
$GC,7720,-0.68,-146.0,2348,2005,3557,3459,989.5,-10.9,565,7726,0.00,2.33,0.00,0.000,516,0.000,0.065,2349,585,3508,3557,3459,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7761,-0.68,-146.0,2349,585,3557,3459,994.1,-11.0,567,7767,0.00,2.25,0.00,0.000,1030,0.000,0.055,2341,1993,3508,3557,3460,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,7821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7821,begin apogee
$GC,7826,-0.14,0.0,2340,1864,3557,3459,1000.7,-11.1,570,7963,0.60,0.00,133.32,1.810,10246,0.132,0.000,2524,1863,2908,2981,2836,0,0,0,0,0,0,25.35,28.83,22.39
$STATE,7964,end apogee,CONTROL_FINISHED_OK
$STATE,7964,begin climb
$GC,7965,0.68,146.0,2524,1863,2981,2836,1008.4,0.0,577,8116,0.77,2.55,140.93,1.766,10756,0.047,0.067,2808,470,2313,2371,2255,0,0,0,0,0,0,23.76,23.28,22.09
$GC,8201,0.68,146.0,2808,470,2365,2253,998.2,13.1,588,8205,0.00,2.42,0.00,0.000,1030,0.000,0.055,2808,1871,2309,2365,2253,0,0,0,0,0,0,28.83,24.31,28.83
$GC,8518,0.68,146.0,2808,1871,2364,2246,951.3,14.6,604,8524,0.00,2.33,0.00,0.000,260,0.000,0.061,2808,3285,2305,2364,2246,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8611,0.68,146.0,2807,3285,2362,2246,939.2,15.1,608,8618,0.00,2.30,0.00,0.000,1030,0.000,0.054,2818,1874,2304,2362,2246,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8918,0.68,146.0,2817,1874,2361,2244,892.9,14.4,624,8924,0.00,2.30,0.00,0.000,260,0.000,0.062,2818,3284,2303,2362,2244,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8941,0.68,146.0,2818,3284,2361,2244,890.0,14.5,625,8946,0.15,2.30,0.00,0.000,5126,0.216,0.054,2796,1859,2302,2361,2244,0,0,0,0,0,0,25.27,25.70,28.83
$GC,9253,0.68,146.0,2795,1859,2361,2243,849.9,12.6,641,9259,0.00,2.33,0.00,0.000,260,0.000,0.063,2794,3291,2302,2361,2243,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9321,0.68,146.0,2794,3291,2361,2243,842.0,13.1,644,9326,0.00,2.30,0.00,0.000,1030,0.000,0.054,2803,1863,2302,2361,2243,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,16502,end climb,SURFACE_DEPTH_REACHED
$STATE,16502,begin surface coast
$FINISH,-0.2,1.026295
$STATE,16534,end surface coast,CONTROL_FINISHED_OK
$STATE,16534,begin surface
$SM_CCo,16549,14.48,0.190,0,0,1970,230.09
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$IRIDIUM_FIX,-4247.91,825.73,221108,181847
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.48
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.1,48.003
$10V_AH,9.9,38.491
$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,18.275,178.025,294.025,14.475,0.000,31.144,50.965,235.430,49.250,0.000,37.069,3374.335,9623.570,502.474,3243.649,276.536,0.000,1769.840,0.000,2667.369,0.000,298.808,0.000
$DEVICE_MAMPS,216.495,79.560,1809.990,190.485,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.601,91.787,804.409,1929.167,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352768
$DATA_FILE_SIZE,80376,1269
$CAP_FILE_SIZE,186939,0
$CFSIZE,259248128,235601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168, 65.0,1
$GPS,270116,135804,-4300.379,824.263,161,1.0,161,-25.0