version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 299
start: 1 30 116 21 53 57
data:
$ID,542
$MISSION,12
$DIVE,299
$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,-30025.896
$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,22
$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
$GPS1,300116,214727,-4303.947,836.065,73,0.9,81,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.8
$GPS2,300116,215330,-4303.985,836.038,19,0.9,21,-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,290.1,16288,-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,-146.0,170,1990,1977,1924,0.0,0.0,0,58,0.00,0.00,-41.55,0.000,16386,0.000,0.000,170,1992,3089,3167,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.68,-146.0,170,1991,3168,3012,3.0,-4.8,5,87,8.40,2.30,-8.75,0.000,18948,0.216,0.073,2348,579,3508,3567,3449,0,0,0,0,0,0,25.08,25.65,26.30
$GC,177,-0.68,-146.0,2347,580,3567,3451,28.3,-15.8,22,185,0.00,2.28,0.00,0.000,1030,0.000,0.049,2340,1989,3509,3567,3451,0,0,0,0,0,0,28.83,25.71,28.83
$GC,328,-0.68,-146.0,2339,1990,3567,3451,52.7,-14.2,47,335,0.00,2.25,0.00,0.000,260,0.000,0.054,2329,3408,3509,3567,3451,0,0,0,0,0,0,28.83,25.68,28.83
$GC,417,-0.68,-146.0,2329,3409,3567,3453,64.5,-12.3,63,426,0.00,2.28,0.00,0.000,1030,0.000,0.046,2329,1994,3510,3567,3454,0,0,0,0,0,0,28.83,25.79,28.83
$GC,746,-0.68,-146.0,2329,1993,3566,3456,111.4,-14.2,116,756,0.00,2.28,0.00,0.000,516,0.000,0.060,2329,581,3511,3567,3455,0,0,0,0,0,0,28.83,25.68,28.83
$GC,863,-0.68,-146.0,1480,581,3561,3453,127.8,-14.1,127,871,0.12,2.22,0.00,0.000,3078,0.174,0.047,2348,1997,3511,3567,3456,0,0,0,0,0,0,25.56,25.84,28.83
$GC,1170,-0.68,-146.0,2347,1998,3567,3456,164.3,-11.5,158,1180,0.00,2.28,0.00,0.000,516,0.000,0.059,2348,584,3511,3567,3456,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1204,-0.68,-146.0,2347,584,3567,3456,168.2,-11.9,161,1211,0.00,2.22,0.00,0.000,1030,0.000,0.047,2339,1997,3511,3567,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1512,-0.68,-146.0,2339,1997,3568,3457,207.2,-13.4,192,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1997,3512,3567,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.68,-146.0,2339,1997,3567,3457,246.2,-12.7,222,1821,0.00,2.28,0.00,0.000,516,0.000,0.060,2340,585,3512,3567,3458,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1867,-0.68,-146.0,2339,585,3567,3458,253.0,-13.0,227,1875,0.00,2.22,0.00,0.000,1030,0.000,0.048,2330,1995,3512,3567,3458,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2174,-0.68,-146.0,2330,1996,3567,3458,293.5,-12.4,258,2183,0.00,2.28,0.00,0.000,516,0.000,0.060,2330,585,3512,3567,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2197,-0.68,-146.0,2330,585,3567,3458,296.3,-12.7,260,2206,0.08,2.22,0.00,0.000,3078,0.155,0.047,2343,2005,3512,3567,3458,0,0,0,0,0,0,25.66,25.91,28.83
$GC,2505,-0.68,-146.0,2343,2006,3567,3458,332.1,-11.5,291,2514,0.00,2.30,0.00,0.000,516,0.000,0.060,2343,578,3512,3567,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2570,-0.68,-146.0,2343,578,3567,3458,339.6,-12.2,297,2577,0.00,2.22,0.00,0.000,1030,0.000,0.049,2335,1994,3512,3567,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2878,-0.68,-146.0,2335,1995,3567,3458,378.8,-13.2,328,2887,0.00,2.25,0.00,0.000,516,0.000,0.060,2335,581,3512,3567,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2912,-0.68,-146.0,1536,580,3561,3456,383.3,-13.7,331,2920,0.00,2.22,0.00,0.000,1030,0.000,0.048,2325,1994,3512,3567,3458,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3221,-0.68,-146.0,2325,1995,3567,3458,426.7,-14.0,353,3226,0.00,2.25,0.00,0.000,516,0.000,0.061,2325,584,3512,3567,3458,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3260,-0.68,-146.0,2325,584,3567,3458,432.6,-14.4,355,3267,0.12,2.22,0.00,0.000,3078,0.167,0.049,2345,1994,3512,3567,3458,0,0,0,0,0,0,25.64,25.89,28.83
$GC,3582,-0.68,-146.0,2344,1994,3567,3458,472.1,-12.0,371,3587,0.00,2.25,0.00,0.000,516,0.000,0.061,2345,592,3512,3567,3458,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3602,-0.68,-146.0,1552,592,3562,3456,474.5,-12.0,372,3607,0.00,2.25,0.00,0.000,1030,0.000,0.049,2336,1990,3512,3567,3458,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3921,-0.68,-146.0,2337,1991,3567,3458,514.0,-12.2,388,3926,0.00,2.25,0.00,0.000,516,0.000,0.062,2337,589,3512,3567,3458,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3954,-0.68,-146.0,2337,589,3567,3458,516.6,-12.4,389,3961,0.00,2.22,0.00,0.000,1030,0.000,0.050,2327,1996,3512,3567,3458,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4262,-0.68,-146.0,2328,1996,3567,3458,557.4,-12.8,405,4268,0.00,2.25,0.00,0.000,516,0.000,0.062,2327,591,3512,3566,3458,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4289,-0.68,-146.0,2327,591,3567,3458,560.0,-12.8,406,4294,0.12,2.22,0.00,0.000,3078,0.165,0.050,2347,1998,3512,3567,3458,0,0,0,0,0,0,25.62,25.86,28.83
$GC,4598,-0.68,-146.0,2346,1998,3566,3458,594.5,-10.5,421,4603,0.00,2.28,0.00,0.000,516,0.000,0.063,2347,588,3512,3567,3458,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4650,-0.68,-146.0,2347,588,3566,3458,598.8,-10.6,423,4660,0.00,2.25,0.00,0.000,1030,0.000,0.052,2339,2003,3512,3567,3458,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4957,-0.68,-146.0,2339,2003,3567,3458,633.5,-10.8,439,4962,0.00,2.30,0.00,0.000,516,0.000,0.063,2339,588,3512,3566,3458,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5006,-0.68,-146.0,2339,587,3567,3458,638.2,-11.2,441,5010,0.00,2.22,0.00,0.000,1030,0.000,0.052,2330,1996,3512,3567,3458,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5313,-0.68,-146.0,2330,1997,3566,3458,675.7,-12.0,456,5319,0.00,2.30,0.00,0.000,516,0.000,0.063,2330,577,3512,3566,3458,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5361,-0.68,-146.0,2329,577,3566,3458,680.7,-12.3,458,5366,0.12,2.25,0.00,0.000,3078,0.164,0.052,2349,1997,3512,3566,3458,0,0,0,0,0,0,25.60,25.83,28.83
$GC,5669,-0.68,-146.0,2349,1997,3565,3458,714.1,-10.6,473,5674,0.00,2.28,0.00,0.000,516,0.000,0.063,2350,584,3511,3565,3458,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5710,-0.68,-146.0,1536,584,3559,3456,718.4,-10.7,475,5715,0.00,2.25,0.00,0.000,1030,0.000,0.053,2341,2000,3511,3565,3458,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6023,-0.68,-146.0,2341,2000,3564,3458,753.8,-11.4,491,6028,0.00,2.30,0.00,0.000,516,0.000,0.065,2341,585,3511,3564,3458,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6056,-0.68,-146.0,2341,584,3564,3458,756.2,-11.5,492,6063,0.00,2.25,0.00,0.000,1030,0.000,0.053,2332,1996,3511,3564,3458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6364,-0.68,-146.0,2332,1996,3564,3458,795.6,-12.5,508,6370,0.00,2.28,0.00,0.000,516,0.000,0.064,2332,586,3511,3564,3458,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6396,-0.68,-146.0,2331,586,3564,3458,798.2,-12.6,509,6406,0.00,2.25,0.00,0.000,1030,0.000,0.053,2322,1997,3510,3563,3458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6705,-0.68,-146.0,2322,1997,3563,3458,840.5,-13.1,525,6711,0.10,2.28,0.00,0.000,2564,0.181,0.064,2346,589,3510,3563,3458,0,0,0,0,0,0,26.17,25.62,28.83
$GC,6746,-0.68,-146.0,2346,589,3563,3458,845.5,-12.9,527,6750,0.00,2.28,0.00,0.000,1030,0.000,0.054,2338,1987,3510,3563,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7063,-0.68,-146.0,2338,1987,3563,3458,882.7,-11.6,543,7069,0.00,2.30,0.00,0.000,516,0.000,0.065,2338,586,3509,3562,3457,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7092,-0.68,-146.0,2338,585,3563,3457,885.0,-11.5,544,7096,0.00,2.25,0.00,0.000,1030,0.000,0.054,2329,1996,3510,3562,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7399,-0.68,-146.0,2328,1996,3561,3458,922.4,-11.8,559,7405,0.00,2.30,0.00,0.000,516,0.000,0.065,2329,585,3509,3561,3457,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7432,-0.68,-146.0,2328,585,3562,3458,924.8,-11.9,560,7440,0.12,2.25,0.00,0.000,3078,0.163,0.054,2349,1995,3510,3562,3458,0,0,0,0,0,0,25.56,25.78,28.83
$GC,7740,-0.68,-146.0,2348,1995,3562,3458,957.5,-9.7,576,7746,0.00,2.28,0.00,0.000,516,0.000,0.065,2349,589,3509,3561,3458,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7799,-0.68,-146.0,2348,588,3561,3457,963.7,-10.2,579,7805,0.00,2.25,0.00,0.000,1030,0.000,0.054,2340,1998,3509,3560,3458,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8120,-0.68,-146.0,2340,1999,3559,3457,996.1,-9.9,595,8126,0.00,2.30,0.00,0.000,516,0.000,0.066,2341,585,3508,3559,3458,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,8158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8158,begin apogee
$GC,8165,-0.14,0.0,2332,1871,3559,3457,1000.2,-10.0,597,8302,0.60,0.00,134.23,1.809,10246,0.129,0.000,2518,1871,2909,2981,2837,0,0,0,0,0,0,25.34,28.83,22.30
$STATE,8303,end apogee,CONTROL_FINISHED_OK
$STATE,8303,begin climb
$GC,8305,0.68,146.0,2518,1871,2981,2837,1006.8,0.0,604,8462,0.77,2.62,141.80,1.770,10756,0.051,0.065,2808,461,2312,2371,2254,0,0,0,0,0,0,23.71,23.26,22.03
$GC,8537,0.68,146.0,2808,461,2365,2251,997.0,13.6,615,8545,0.00,2.42,0.00,0.000,1030,0.000,0.053,2808,1869,2307,2365,2250,0,0,0,0,0,0,28.83,24.29,28.83
$GC,8844,0.68,146.0,2808,1869,2365,2245,948.0,14.9,631,8850,0.00,2.33,0.00,0.000,260,0.000,0.060,2808,3286,2305,2365,2245,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8909,0.68,146.0,2808,3286,2363,2245,938.8,15.3,634,8913,0.00,2.30,0.00,0.000,1030,0.000,0.053,2818,1872,2304,2363,2245,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9221,0.68,146.0,2818,1871,2363,2244,891.3,14.7,650,9227,0.00,2.30,0.00,0.000,260,0.000,0.060,2818,3287,2303,2363,2243,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9364,0.68,146.0,2818,3287,2362,2244,868.2,16.7,657,9369,0.15,2.28,0.00,0.000,5126,0.216,0.052,2796,1868,2302,2361,2243,0,0,0,0,0,0,25.34,25.76,28.83
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$STATE,16465,end climb,SURFACE_DEPTH_REACHED
$STATE,16465,begin surface coast
$FINISH,-0.1,1.016453
$STATE,16493,end surface coast,CONTROL_FINISHED_OK
$STATE,16493,begin surface
$SM_CCo,16509,16.62,0.193,0,0,1970,230.09
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$IRIDIUM_FIX,-4247.91,831.99,261108,070743
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.95
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.0,50.995
$10V_AH,9.9,40.927
$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
$DEVICE_SECS,18.300,195.600,296.375,16.625,0.000,23.590,43.213,174.811,49.250,0.000,22.383,3325.964,9582.580,529.133,3201.842,251.800,0.000,1852.817,0.000,2699.527,0.000,297.630,0.000
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$SENSOR_SECS,870.381,72.777,701.743,1848.183,0.000,0.000,0.000,0.000,0.000,0.000
$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,80246,1244
$CAP_FILE_SIZE,191613,0
$CFSIZE,259248128,234000384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.206, 36.6,1
$GPS,310116,023035,-4303.004,834.699,35,1.4,35,-25.1