version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 325
start: 2 4 116 19 5 43
data:
$ID,542
$MISSION,12
$DIVE,325
$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,-30112.748
$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
$GPS1,040216,185803,-4258.295,824.566,139,0.9,139,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.1
$GPS2,040216,190516,-4258.310,824.565,27,1.0,28,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,RECOVER
$TGT_LATLONG,-4300.000,830.000
$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,161.1,7999,-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,-146.0,173,2000,1992,1927,0.0,0.0,0,66,0.00,0.00,-48.55,0.000,16386,0.000,0.000,173,2000,3302,3365,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,173,2000,3364,3241,3.6,-6.5,6,88,8.48,2.30,-3.92,0.000,18692,0.216,0.064,2335,3406,3509,3559,3459,0,0,0,0,0,0,24.98,25.74,26.28
$GC,282,-0.68,-146.0,2334,3406,3562,3460,42.7,-12.0,39,290,0.00,2.28,0.00,0.000,1030,0.000,0.045,2335,1992,3511,3562,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,615,-0.68,-146.0,1440,1991,3556,3458,89.3,-14.9,100,626,0.00,2.30,0.00,0.000,516,0.000,0.059,2335,587,3511,3563,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,682,-0.68,-146.0,2335,587,3563,3460,99.7,-14.4,111,694,0.00,2.22,0.00,0.000,1030,0.000,0.046,2325,1988,3511,3563,3460,0,0,0,0,0,0,28.83,25.86,28.83
$GC,991,-0.68,-146.0,2324,1988,3564,3460,149.9,-15.4,142,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1989,3512,3564,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.68,-146.0,2324,1989,3564,3461,197.5,-16.0,172,1301,0.00,2.25,0.00,0.000,516,0.000,0.057,2325,579,3512,3564,3461,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1326,-0.68,-146.0,2324,580,3564,3462,202.8,-16.2,175,1334,0.12,2.22,0.00,0.000,3078,0.162,0.047,2346,1999,3513,3564,3462,0,0,0,0,0,0,25.67,25.91,28.83
$GC,1633,-0.68,-146.0,2345,2000,3565,3461,244.5,-12.9,206,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2000,3513,3565,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-0.68,-146.0,2345,2000,3565,3462,281.6,-12.0,236,1943,0.00,2.28,0.00,0.000,516,0.000,0.058,2346,582,3513,3565,3462,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2028,-0.68,-146.0,2345,582,3565,3462,292.4,-11.3,245,2036,0.00,2.20,0.00,0.000,1030,0.000,0.048,2337,1995,3513,3565,3462,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2337,-0.68,-146.0,2337,1995,3565,3462,329.8,-12.4,276,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1994,3513,3565,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-0.68,-146.0,2337,1995,3565,3462,368.6,-13.0,306,2645,0.00,2.28,0.00,0.000,516,0.000,0.060,2337,579,3513,3565,3462,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2679,-0.68,-146.0,2337,579,3565,3462,373.9,-12.6,310,2688,0.00,2.22,0.00,0.000,1030,0.000,0.048,2327,1999,3513,3565,3462,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2989,-0.68,-146.0,2327,2000,3565,3462,414.0,-13.1,336,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2000,3513,3565,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,-0.68,-146.0,2327,2000,3565,3462,454.1,-13.3,351,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2000,3513,3565,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.68,-146.0,2327,2000,3565,3462,492.7,-12.4,366,3595,0.00,2.25,0.00,0.000,516,0.000,0.061,2327,592,3513,3565,3462,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3629,-0.68,-146.0,2327,592,3565,3462,497.7,-12.5,368,3636,0.12,2.22,0.00,0.000,3078,0.161,0.050,2348,2000,3513,3565,3462,0,0,0,0,0,0,25.68,25.90,28.83
$GC,3951,-0.68,-146.0,2348,2000,3565,3462,530.9,-10.5,384,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2000,3513,3565,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-0.68,-146.0,2348,2000,3565,3462,564.5,-11.6,399,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2000,3513,3564,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4552,-0.68,-146.0,2348,2000,3565,3462,600.2,-11.9,414,4557,0.00,2.25,0.00,0.000,516,0.000,0.061,2348,593,3513,3565,3462,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4620,-0.68,-146.0,2348,593,3564,3462,607.6,-12.0,417,4624,0.00,2.22,0.00,0.000,1030,0.000,0.051,2340,1999,3513,3565,3462,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4927,-0.68,-146.0,2340,1999,3564,3462,646.5,-12.2,432,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1999,3513,3564,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.68,-146.0,2340,2000,3563,3462,683.0,-12.2,447,5233,0.00,2.28,0.00,0.000,516,0.000,0.063,2340,587,3512,3563,3462,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5269,-0.68,-146.0,1536,588,3557,3460,688.2,-12.5,449,5273,0.00,2.28,0.00,0.000,1030,0.000,0.052,2330,1991,3512,3563,3462,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5589,-0.68,-146.0,2331,1992,3563,3461,731.5,-13.6,465,5594,0.00,2.28,0.00,0.000,516,0.000,0.063,2330,584,3512,3563,3462,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5620,-0.68,-146.0,2330,584,3563,3462,734.3,-13.6,466,5628,0.12,2.25,0.00,0.000,3078,0.159,0.053,2351,1995,3512,3563,3462,0,0,0,0,0,0,25.63,25.84,28.83
$GC,5929,-0.68,-146.0,2351,1995,3563,3462,771.0,-10.8,482,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1995,3512,3563,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6229,-0.68,-146.0,2351,1995,3562,3462,801.7,-10.2,497,6234,0.00,2.25,0.00,0.000,516,0.000,0.063,2351,589,3512,3562,3462,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6260,-0.68,-146.0,2351,589,3562,3462,803.9,-10.3,498,6268,0.00,2.25,0.00,0.000,1030,0.000,0.053,2343,1997,3512,3562,3462,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6567,-0.68,-146.0,2343,1999,3561,3462,838.2,-10.7,514,6572,0.00,2.30,0.00,0.000,516,0.000,0.063,2343,581,3512,3562,3462,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6610,-0.68,-146.0,2343,580,3561,3461,842.8,-10.8,516,6615,0.00,2.25,0.00,0.000,1030,0.000,0.054,2333,2001,3511,3561,3461,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6929,-0.68,-146.0,2333,2002,3560,3461,878.7,-11.3,532,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2001,3510,3560,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.68,-146.0,2333,2001,3559,3461,911.7,-10.8,547,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2001,3510,3559,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.68,-146.0,2333,2002,3558,3461,942.7,-10.3,562,7535,0.00,2.28,0.00,0.000,516,0.000,0.063,2333,588,3509,3558,3461,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7579,-0.68,-146.0,2333,587,3557,3461,947.0,-10.5,564,7584,0.00,2.25,0.00,0.000,1030,0.000,0.054,2323,1999,3509,3557,3462,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7886,-0.68,-146.0,2323,2000,3557,3460,983.5,-11.7,579,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2000,3508,3557,3460,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8025,begin apogee
$GC,8030,-0.14,0.0,2323,1859,3557,3460,1000.5,-12.3,586,8168,0.62,0.00,134.62,1.803,10246,0.127,0.000,2518,1858,2909,2980,2838,0,0,0,0,0,0,25.26,28.83,22.20
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8170,begin climb
$GC,8171,0.68,146.0,2517,1858,2980,2838,1008.7,0.0,593,8328,0.75,2.62,142.57,1.746,10500,0.042,0.058,2802,3273,2311,2372,2251,0,0,0,0,0,0,23.71,23.26,21.89
$GC,8553,0.68,146.0,2802,3273,2370,2242,980.2,14.3,612,8558,0.00,2.35,0.00,0.000,1030,0.000,0.052,2812,1884,2306,2370,2242,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8872,0.68,146.0,2812,1883,2369,2238,936.3,13.7,628,8878,0.00,2.25,0.00,0.000,260,0.000,0.060,2812,3279,2303,2369,2238,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8931,0.68,146.0,2812,3279,2369,2238,927.3,14.8,631,8938,0.15,2.28,0.00,0.000,5126,0.210,0.052,2790,1866,2303,2369,2238,0,0,0,0,0,0,25.32,25.70,28.83
$GC,9252,0.68,146.0,2790,1866,2369,2236,884.6,13.5,647,9257,0.00,2.30,0.00,0.000,260,0.000,0.059,2788,3291,2302,2369,2236,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9284,0.68,146.0,2787,3292,2369,2236,881.9,13.6,648,9291,0.00,2.30,0.00,0.000,1030,0.000,0.052,2797,1865,2302,2369,2236,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9592,0.68,146.0,2796,1865,2368,2235,836.7,14.3,664,9597,0.00,2.30,0.00,0.000,260,0.000,0.059,2796,3294,2301,2368,2235,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9644,0.68,146.0,2796,3294,2368,2235,830.7,14.6,666,9651,0.00,2.28,0.00,0.000,1030,0.000,0.052,2807,1870,2301,2368,2235,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9952,0.68,146.0,2806,1870,2367,2235,784.1,14.1,682,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1870,2301,2368,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10251,0.68,146.0,2806,1870,2367,2234,743.0,13.2,697,10257,0.00,2.28,0.00,0.000,260,0.000,0.060,2807,3287,2300,2367,2234,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10313,0.68,146.0,1928,3286,2328,2229,734.7,13.6,700,10318,0.00,2.30,0.00,0.000,1030,0.000,0.051,2817,1873,2300,2366,2234,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10632,0.68,146.0,2817,1873,2366,2234,693.1,12.5,716,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1874,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10931,0.68,146.0,2817,1873,2366,2234,654.5,13.2,731,10937,0.00,2.28,0.00,0.000,260,0.000,0.058,2817,3287,2300,2366,2234,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11034,0.68,146.0,1936,3286,2327,2228,640.8,13.7,736,11039,0.10,2.30,0.00,0.000,5126,0.191,0.051,2787,1872,2300,2366,2234,0,0,0,0,0,0,25.41,25.95,28.83
$GC,11352,0.68,146.0,2787,1872,2366,2234,603.1,11.6,752,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1872,2300,2366,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16766,end climb,SURFACE_DEPTH_REACHED
$STATE,16766,begin surface coast
$FINISH,-0.2,1.026220
$STATE,16798,end surface coast,CONTROL_FINISHED_OK
$STATE,16798,begin surface
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$TT8_MAMPS,0.021721,0.021721
$HUMID,52.00
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$TCM_TEMP,14.40
$XPDR_PINGS,0
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$10V_AH,9.9,44.234
$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_SECS,899.452,83.116,762.199,1915.722,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353260
$DATA_FILE_SIZE,80160,1279
$CAP_FILE_SIZE,174130,0
$CFSIZE,259248128,231817216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138, 61.0,1
$GPS,040216,234807,-4259.098,828.282,35,1.8,35,-25.0