version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 3
start: 3 24 116 5 2 30
data:
$ID,146
$MISSION,12
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$D_NO_BLEED,200
$D_BOOST,0
$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,100
$T_MISSION,200
$T_ABORT,120
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52688
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2130
$TGT_DEFAULT_LON,-15720
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-388070.53
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2940
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.112076
$PRESSURE_SLOPE,0.0001164343
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043265903
$SEABIRD_T_H,0.00062147615
$SEABIRD_T_I,2.2659055e-05
$SEABIRD_T_J,2.3511025e-06
$SEABIRD_C_G,-9.816083
$SEABIRD_C_H,1.0859504
$SEABIRD_C_I,-0.0014767541
$SEABIRD_C_J,0.00019490313
$GPS1,240316,045736,2123.211,-15705.610,10,1.6,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.3
$GPS2,240316,050136,2123.227,-15705.597,13,1.7,13,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.229
$KALMAN_X,159.0,95.6,93.3,301.3,350.7
$KALMAN_Y,103.6,66.2,64.8,499.0,228.4
$MHEAD_RNG_PITCHd_Wd,14.8,274376,-18.9,-10.000,-21.63,2088
$D_GRID,300
$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,14,-1.62,-136.3,479,1780,1474,1294,0.0,0.0,0,88,0.00,0.00,-71.03,0.000,16386,0.000,0.000,479,1780,3157,3133,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.62,-136.3,479,1780,3133,3182,3.5,-5.7,11,119,10.90,2.28,-12.55,0.000,18692,0.155,0.044,2583,3176,3798,3781,3816,0,0,0,0,0,0,24.53,24.69,24.98
$GC,187,-1.67,-136.3,1544,3175,3778,3814,24.1,-14.7,28,194,0.00,2.17,0.00,0.000,1030,0.000,0.029,2583,1821,3799,3782,3816,0,0,0,0,0,0,28.83,24.72,28.83
$GC,437,-1.67,-136.3,2583,1821,3781,3815,63.6,-16.3,56,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1821,3798,3781,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-1.67,-136.3,2583,1821,3781,3814,102.5,-16.0,80,680,0.00,2.08,0.00,0.000,260,0.000,0.028,2583,3170,3797,3781,3814,0,0,0,0,0,0,28.83,24.82,28.83
$GC,713,-1.72,-136.3,2583,3170,3781,3814,107.6,-14.5,83,721,0.00,2.15,0.00,0.000,1030,0.000,0.030,2583,1805,3797,3781,3814,0,0,0,0,0,0,28.83,24.79,28.83
$GC,962,-1.79,-136.3,2583,1805,3781,3813,140.8,-12.8,108,972,0.12,2.12,0.00,0.000,4356,0.069,0.028,2524,3170,3797,3781,3813,0,0,0,0,0,0,24.92,24.84,28.83
$GC,977,-1.87,-136.3,2524,3170,3781,3814,141.8,-12.8,109,984,0.00,2.17,0.00,0.000,1030,0.000,0.028,2523,1813,3797,3781,3814,0,0,0,0,0,0,28.83,24.81,28.83
$GC,1224,-1.87,-136.3,2523,1813,3781,3813,180.8,-14.9,134,1228,0.00,2.50,0.00,0.000,516,0.000,0.083,2523,397,3797,3781,3813,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1250,-1.87,-136.3,2523,397,3781,3813,184.6,-14.8,136,1259,0.00,2.20,0.00,0.000,1030,0.000,0.046,2523,1786,3796,3781,3812,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1530,-1.92,-136.3,2523,1786,3781,3811,222.2,-13.5,152,1536,0.00,2.25,0.00,0.000,260,0.000,0.043,2523,3203,3796,3781,3811,0,0,0,0,0,0,28.83,24.86,28.83
$GC,1563,-1.98,-136.3,2523,3203,3781,3811,222.2,-13.5,152,1570,0.00,2.22,0.00,0.000,1030,0.000,0.031,2523,1806,3796,3781,3811,0,0,0,0,0,0,28.83,24.80,28.83
$GC,1810,-2.04,-136.3,2523,1806,3781,3809,258.7,-12.6,159,1817,0.12,2.20,0.00,0.000,4356,0.068,0.039,2466,3203,3795,3781,3810,0,0,0,0,0,0,24.94,24.86,28.83
$GC,1890,-2.08,-136.3,2466,3203,3781,3809,270.2,-13.3,161,1895,0.10,2.22,0.00,0.000,3078,0.118,0.041,2486,1820,3795,3781,3809,0,0,0,0,0,0,24.79,24.81,28.83
$STATE,2125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2125,begin apogee
$GC,2129,-0.38,0.0,2486,1985,3781,3805,302.9,-14.0,167,2238,1.62,0.00,104.38,0.755,10244,0.074,0.000,2857,1985,3240,3297,3183,0,0,0,0,0,0,24.80,28.83,23.69
$STATE,2239,end apogee,CONTROL_FINISHED_OK
$STATE,2239,begin climb
$GC,2240,1.62,136.3,2856,1985,3297,3183,306.9,0.0,169,2351,1.75,0.00,105.38,0.760,11270,0.029,0.000,3310,1984,2684,2747,2621,0,0,0,0,0,0,24.38,28.83,23.68
$GC,2604,1.73,407.5,3310,1985,2732,2620,327.6,-3.3,179,2831,0.00,2.30,218.23,0.779,8452,0.000,0.035,3310,3353,1576,1691,1462,0,0,0,0,0,0,28.83,24.22,23.67
$GC,3066,1.58,407.5,3309,3353,1679,1461,272.7,18.2,190,3071,0.12,2.33,0.00,0.000,5126,0.123,0.033,3286,1918,1570,1679,1461,0,0,0,0,0,0,24.50,24.55,28.83
$GC,3319,1.48,407.5,3286,1918,1676,1459,228.4,16.0,197,3325,0.12,2.30,0.00,0.000,4356,0.135,0.031,3260,3353,1567,1676,1459,0,0,0,0,0,0,24.60,24.66,28.83
$GC,3406,1.39,407.5,3260,3353,1674,1459,216.1,15.5,199,3411,0.00,2.28,0.00,0.000,1030,0.000,0.035,3260,1934,1566,1674,1459,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3654,1.34,407.5,3260,1934,1673,1458,179.4,14.0,216,3656,0.15,0.00,0.00,0.000,4102,0.125,0.000,3232,1934,1565,1673,1458,0,0,0,0,0,0,24.68,28.83,28.83
$GC,3893,1.34,407.5,3231,1934,1673,1457,150.8,10.6,240,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1934,1565,1673,1457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,1.34,407.5,3232,1934,1672,1456,125.6,10.1,264,4137,0.00,2.25,0.00,0.000,260,0.000,0.030,3232,3356,1564,1672,1456,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4203,1.38,407.5,3231,3356,1671,1456,118.4,10.9,270,4211,0.00,2.22,0.00,0.000,1030,0.000,0.027,3230,1964,1563,1671,1456,0,0,0,0,0,0,28.83,24.83,28.83
$GC,4451,1.41,407.5,3232,1964,1671,1456,92.9,10.4,295,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1964,1563,1671,1456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,1.47,420.5,3231,1964,1671,1456,68.6,9.4,319,4712,0.12,2.25,10.05,0.539,10500,0.088,0.028,3267,3350,1524,1635,1414,0,0,0,0,0,0,24.85,24.65,24.15
$GC,4787,1.47,420.5,3267,3350,1632,1414,57.5,11.8,328,4796,0.00,2.15,0.00,0.000,1030,0.000,0.021,3267,1961,1523,1632,1414,0,0,0,0,0,0,28.83,24.75,28.83
$GC,5037,1.47,420.5,2240,1959,1589,1409,27.0,11.9,355,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1961,1522,1632,1413,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5239,end climb,SURFACE_DEPTH_REACHED
$STATE,5239,begin surface coast
$FINISH,0.8,1.022971
$STATE,5260,end surface coast,CONTROL_FINISHED_OK
$STATE,5260,begin surface
$SM_CCo,5338,0.00,0.000,0,0,1520,421.67
$SM_GC,1.80,11.15,0.25,0.00,0.027,0.054,0.000,460,1789,1520,-11.24,0.88,421.67,0,0,0,0,0,0,24.87,24.84,28.83
$IRIDIUM_FIX,2111.01,-15705.71,180109,181825
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.83
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.80
$XPDR_PINGS,14
$24V_AH,23.7,3.711
$10V_AH,10.6,1.849
$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,26.300,45.175,438.025,0.000,0.000,0.000,0.000,0.000,3.500,0.000,15.229,1019.807,2791.819,458.988,1088.347,46.994,31.307,999.440,0.000,1080.158,0.000,0.538,0.000
$DEVICE_MAMPS,155.295,154.530,778.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,268.801,279.241,390.713,299.445,522.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353352
$DATA_FILE_SIZE,30477,399
$CAP_FILE_SIZE,76234,0
$CFSIZE,259248128,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,063234,2124.299,-15705.385,31,1.1,32,9.9