version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 4
start: 3 24 116 6 47 54
data:
$ID,146
$MISSION,12
$DIVE,4
$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,-388098.91
$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,37
$R_STBD_OVSHOOT,56
$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,3200
$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
$GPS1,240316,064259,2124.331,-15705.390,11,1.2,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.8
$GPS2,240316,064700,2124.342,-15705.387,16,1.2,16,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.171
$KALMAN_X,-215.9,79.4,176.9,980.2,-211.8
$KALMAN_Y,684.9,207.2,63.5,1839.4,436.3
$MHEAD_RNG_PITCHd_Wd,37.5,272425,-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,15,-1.62,-136.3,479,1788,1599,1436,0.0,0.0,0,75,0.00,0.00,-58.28,0.000,16386,0.000,0.000,479,1789,2947,2916,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.62,-136.3,479,1789,2916,2978,3.1,-3.9,9,113,10.90,2.38,-17.00,0.000,18948,0.155,0.072,2582,410,3755,3742,3769,0,0,0,0,0,0,24.47,24.51,24.94
$GC,140,-1.62,-136.3,1576,410,3738,3768,16.8,-18.4,19,147,0.00,2.17,0.00,0.000,1030,0.000,0.025,2581,1818,3756,3743,3769,0,0,0,0,0,0,28.83,24.73,28.83
$GC,395,-1.62,-136.3,2581,1818,3743,3769,58.2,-16.4,52,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1818,3756,3743,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,634,-1.62,-136.3,2581,1818,3743,3769,97.2,-15.8,76,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1818,3756,3743,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-1.66,-136.3,2581,1818,3743,3769,133.4,-14.5,100,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1818,3756,3743,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-1.75,-136.3,2581,1818,3744,3769,164.1,-11.9,124,1123,0.10,0.00,0.00,0.000,4102,0.080,0.000,2532,1818,3756,3744,3769,0,0,0,0,0,0,24.91,28.83,28.83
$GC,1364,-1.81,-136.3,2531,1818,3744,3769,198.4,-10.9,149,1373,0.00,2.10,0.00,0.000,260,0.000,0.029,2532,3181,3756,3744,3769,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1430,-1.87,-136.3,2532,3181,3744,3769,203.4,-12.1,152,1434,0.00,2.15,0.00,0.000,1030,0.000,0.029,2532,1817,3756,3744,3769,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1681,-1.93,-136.3,2532,1817,3744,3768,237.0,-11.9,159,1687,0.00,2.53,0.00,0.000,516,0.000,0.084,2532,396,3756,3744,3769,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1699,-1.99,-136.3,2532,396,3744,3769,237.0,-11.9,159,1704,0.12,2.20,0.00,0.000,5126,0.067,0.040,2487,1781,3756,3744,3768,0,0,0,0,0,0,24.86,24.85,28.83
$GC,1961,-1.99,-136.3,2478,1781,3744,3766,278.7,-15.2,166,1966,0.12,2.25,0.00,0.000,2308,0.109,0.043,2508,3203,3755,3744,3767,0,0,0,0,0,0,24.84,24.85,28.83
$GC,2055,-1.99,-136.3,2508,3203,3744,3766,288.9,-14.1,168,2060,0.00,2.28,0.00,0.000,1030,0.000,0.033,2508,1815,3755,3744,3766,0,0,0,0,0,0,28.83,24.80,28.83
$STATE,2156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2156,begin apogee
$GC,2160,-0.38,0.0,2508,1992,3744,3765,304.6,-13.1,171,2269,1.52,0.00,105.30,0.755,10244,0.075,0.000,2856,1992,3200,3259,3142,0,0,0,0,0,0,24.77,28.83,23.65
$STATE,2270,end apogee,CONTROL_FINISHED_OK
$STATE,2270,begin climb
$GC,2271,1.62,136.3,2856,1992,3258,3142,308.0,0.0,173,2385,1.75,0.00,106.25,0.761,11270,0.034,0.000,3310,1992,2644,2705,2583,0,0,0,0,0,0,24.34,28.83,23.63
$GC,2638,1.71,397.7,3309,1992,2693,2582,325.9,-2.9,183,2859,0.00,2.67,211.82,0.782,8708,0.000,0.076,3310,562,1576,1694,1459,0,0,0,0,0,0,28.83,24.10,23.63
$GC,3020,1.53,397.7,3309,562,1686,1457,282.4,18.0,192,3026,0.20,2.30,0.00,0.000,5126,0.121,0.035,3272,1978,1571,1685,1457,0,0,0,0,0,0,24.39,24.51,28.83
$GC,3273,1.44,397.7,3272,1979,1682,1456,239.5,15.0,199,3277,0.00,2.25,0.00,0.000,260,0.000,0.041,3272,3367,1569,1683,1456,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3318,1.35,397.7,3272,3368,1681,1455,233.6,15.2,200,3323,0.17,2.17,0.00,0.000,5126,0.115,0.026,3237,2003,1568,1681,1455,0,0,0,0,0,0,24.53,24.60,28.83
$GC,3587,1.35,397.7,3236,2003,1680,1454,196.4,12.7,207,3596,0.00,2.17,0.00,0.000,260,0.000,0.041,3237,3361,1567,1680,1454,0,0,0,0,0,0,28.83,24.67,28.83
$GC,3647,1.35,397.7,3237,3361,1679,1454,187.9,13.6,213,3652,0.00,2.12,0.00,0.000,1030,0.000,0.025,3237,2016,1566,1679,1454,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3893,1.35,397.7,3237,2017,1678,1453,157.5,12.0,237,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2017,1566,1679,1454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,1.35,397.7,3237,2017,1677,1453,130.7,10.4,261,4142,0.00,2.15,0.00,0.000,260,0.000,0.029,3237,3374,1565,1677,1453,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4154,1.35,397.7,3237,3374,1676,1453,128.6,10.6,263,4163,0.00,2.12,0.00,0.000,1030,0.000,0.028,3237,2019,1564,1676,1453,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4405,1.35,397.7,3237,2019,1676,1453,103.1,10.6,288,4415,0.00,2.40,0.00,0.000,516,0.000,0.056,3237,579,1564,1675,1453,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4439,1.35,397.7,3236,580,1675,1453,99.1,12.3,291,4447,0.00,2.30,0.00,0.000,1030,0.000,0.019,3237,2044,1564,1675,1453,0,0,0,0,0,0,28.83,24.83,28.83
$GC,4687,1.35,397.7,3236,2044,1675,1453,68.8,12.4,316,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2045,1564,1675,1453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,1.39,397.7,3236,2044,1675,1453,40.6,11.1,340,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2044,1563,1674,1453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,1.44,397.7,2176,2042,1628,1448,14.9,10.4,378,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2044,1564,1675,1453,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5295,end climb,SURFACE_DEPTH_REACHED
$STATE,5295,begin surface coast
$FINISH,0.7,1.009657
$STATE,5321,end surface coast,CONTROL_FINISHED_OK
$STATE,5321,begin surface
$SM_CCo,5399,0.00,0.000,0,0,1563,401.56
$SM_GC,1.76,11.02,0.38,0.00,0.026,0.043,0.000,455,1796,1563,-11.26,1.19,401.56,0,0,0,0,0,0,24.88,24.85,28.83
$IRIDIUM_FIX,2113.32,-15705.71,180109,202045
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.80
$XPDR_PINGS,12
$24V_AH,23.6,3.823
$10V_AH,10.6,1.912
$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,25.925,41.325,423.375,0.000,0.000,0.000,0.000,0.000,3.000,0.000,18.264,1043.464,2886.092,442.862,1049.254,47.407,32.228,966.027,0.000,1040.922,0.000,0.538,0.000
$DEVICE_MAMPS,154.530,84.150,781.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,275.278,286.509,369.828,301.772,534.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353360
$DATA_FILE_SIZE,30407,408
$CAP_FILE_SIZE,71632,0
$CFSIZE,259248128,258179072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,081836,2125.320,-15704.651,8,1.7,9,9.9