version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 5
start: 3 24 116 8 23 55
data:
$ID,146
$MISSION,12
$DIVE,5
$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,-388100.16
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,240316,081836,2125.320,-15704.651,8,1.7,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.0
$GPS2,240316,082300,2125.370,-15704.647,11,1.6,11,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,0.164
$KALMAN_X,8.1,125.3,37.9,2114.0,-85.3
$KALMAN_Y,1583.0,275.2,-46.7,2887.5,733.7
$MHEAD_RNG_PITCHd_Wd,39.4,270145,-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,-136.3,455,1795,1646,1470,0.0,0.0,0,75,0.00,0.00,-58.25,0.000,16386,0.000,0.000,455,1795,2970,2939,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.62,-136.3,455,1795,2939,3001,3.1,-4.3,9,113,11.15,2.22,-16.25,0.000,18692,0.158,0.037,2582,3208,3757,3742,3772,0,0,0,0,0,0,24.43,24.60,24.88
$GC,181,-1.68,-136.3,1552,3206,3739,3770,22.3,-14.0,27,188,0.00,2.22,0.00,0.000,1030,0.000,0.026,2582,1816,3757,3743,3772,0,0,0,0,0,0,28.83,24.65,28.83
$GC,436,-1.68,-136.3,2582,1816,3744,3772,62.5,-16.4,57,446,0.00,2.42,0.00,0.000,516,0.000,0.064,2582,399,3758,3744,3772,0,0,0,0,0,0,28.83,24.58,28.83
$GC,460,-1.68,-136.3,2582,399,3744,3771,66.4,-16.5,59,469,0.00,2.20,0.00,0.000,1030,0.000,0.022,2582,1812,3757,3744,3771,0,0,0,0,0,0,28.83,24.77,28.83
$GC,708,-1.68,-136.3,2582,1812,3745,3771,105.0,-14.1,84,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1812,3758,3745,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,950,-1.75,-136.3,2582,1812,3745,3771,137.5,-13.2,108,959,0.00,2.10,0.00,0.000,260,0.000,0.028,2582,3186,3758,3745,3771,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1004,-1.85,-136.3,2582,3186,3745,3771,143.6,-11.6,113,1012,0.15,2.22,0.00,0.000,5126,0.033,0.025,2515,1799,3758,3745,3771,0,0,0,0,0,0,24.82,24.78,28.83
$GC,1251,-1.85,-136.3,2515,1799,3746,3771,177.5,-14.8,138,1262,0.10,2.45,0.00,0.000,2564,0.116,0.075,2536,394,3758,3746,3771,0,0,0,0,0,0,24.82,24.65,28.83
$GC,1286,-1.85,-136.3,1648,394,3742,3770,182.5,-15.5,141,1295,0.00,2.22,0.00,0.000,1030,0.000,0.041,2536,1782,3758,3746,3771,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1544,-1.91,-136.3,2536,1783,3747,3771,215.2,-12.0,158,1548,0.00,2.22,0.00,0.000,260,0.000,0.037,2535,3206,3758,3746,3771,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1598,-1.98,-136.3,2536,3205,3747,3771,219.8,-12.2,159,1603,0.12,2.22,0.00,0.000,5126,0.068,0.028,2484,1797,3759,3747,3771,0,0,0,0,0,0,24.84,24.79,28.83
$GC,1855,-1.98,-136.3,2485,1797,3747,3771,259.0,-13.9,166,1859,0.12,2.20,0.00,0.000,2308,0.105,0.034,2515,3196,3759,3747,3771,0,0,0,0,0,0,24.82,24.84,28.83
$GC,1909,-1.98,-136.3,2515,3196,3747,3771,263.7,-13.4,167,1913,0.00,2.25,0.00,0.000,1030,0.000,0.031,2515,1815,3758,3746,3771,0,0,0,0,0,0,28.83,24.80,28.83
$GC,2172,-2.04,-136.3,2515,1815,3747,3769,298.1,-12.3,174,2176,0.00,2.20,0.00,0.000,260,0.000,0.033,2515,3203,3758,3747,3769,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,2206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2206,begin apogee
$GC,2212,-0.38,0.0,2514,1962,3747,3769,302.2,-12.0,175,2321,1.48,0.00,105.85,0.757,10244,0.071,0.000,2854,1961,3200,3258,3142,0,0,0,0,0,0,24.77,28.83,23.62
$STATE,2322,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2324,1.62,136.3,2854,1961,3257,3142,305.3,0.0,177,2436,1.77,0.00,106.15,0.762,11270,0.028,0.000,3312,1961,2644,2703,2585,0,0,0,0,0,0,24.31,28.83,23.61
$GC,2684,1.68,378.5,3311,1961,2690,2583,320.8,-1.9,187,2888,0.00,2.30,196.62,0.783,8452,0.000,0.037,3312,3357,1656,1772,1540,0,0,0,0,0,0,28.83,24.15,23.61
$GC,3138,1.53,378.5,3311,3357,1761,1539,262.3,17.5,198,3143,0.20,2.33,0.00,0.000,5126,0.107,0.034,3272,1917,1650,1761,1539,0,0,0,0,0,0,24.43,24.49,28.83
$GC,3395,1.44,378.5,3272,1917,1759,1536,219.9,14.7,205,3401,0.00,2.33,0.00,0.000,260,0.000,0.031,3272,3358,1647,1759,1536,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3548,1.35,378.5,3271,3358,1758,1536,201.9,15.0,208,3556,0.17,2.28,0.00,0.000,5126,0.116,0.034,3237,1938,1646,1757,1536,0,0,0,0,0,0,24.56,24.62,28.83
$GC,3795,1.35,378.5,3237,1938,1757,1534,168.1,10.6,233,3799,0.00,2.28,0.00,0.000,260,0.000,0.037,3237,3358,1646,1757,1535,0,0,0,0,0,0,28.83,24.67,28.83
$GC,3903,1.35,378.5,2336,3357,1716,1529,155.5,12.2,243,3912,0.00,2.28,0.00,0.000,1030,0.000,0.025,3237,1954,1645,1756,1534,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4151,1.35,378.5,3237,1954,1756,1534,125.3,12.2,268,4155,0.00,2.33,0.00,0.000,516,0.000,0.057,3237,574,1645,1756,1534,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4197,1.35,378.5,3237,574,1753,1534,119.7,12.0,272,4201,0.00,2.17,0.00,0.000,1030,0.000,0.022,3237,1972,1643,1753,1534,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4445,1.40,418.3,3237,1972,1753,1534,95.1,8.0,296,4483,0.00,0.00,32.55,0.618,8710,0.000,0.000,3237,1972,1492,1616,1369,0,0,0,0,0,0,28.83,28.83,23.80
$GC,4724,1.44,418.3,3237,1972,1615,1365,65.7,11.1,324,4733,0.00,2.33,0.00,0.000,516,0.000,0.050,3237,578,1490,1615,1365,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4756,1.44,418.3,3237,578,1614,1365,61.7,12.0,327,4766,0.00,2.15,0.00,0.000,1030,0.000,0.018,3237,1966,1489,1614,1365,0,0,0,0,0,0,28.83,24.69,28.83
$GC,5007,1.48,418.3,3237,1966,1614,1365,33.2,11.3,352,5018,0.10,2.30,0.00,0.000,2564,0.099,0.047,3264,574,1489,1614,1365,0,0,0,0,0,0,24.72,24.63,28.83
$GC,5030,1.48,418.3,3264,574,1614,1365,30.4,11.8,354,5034,0.00,2.10,0.00,0.000,1030,0.000,0.017,3265,1948,1489,1614,1365,0,0,0,0,0,0,28.83,24.75,28.83
$STATE,5259,end climb,SURFACE_DEPTH_REACHED
$STATE,5259,begin surface coast
$FINISH,0.7,1.008904
$STATE,5286,end surface coast,CONTROL_FINISHED_OK
$STATE,5286,begin surface
$SM_CCo,5364,0.00,0.000,0,0,1487,420.20
$SM_GC,1.62,11.18,0.25,0.00,0.026,0.050,0.000,462,1773,1487,-11.24,0.71,420.20,0,0,0,0,0,0,24.78,24.77,28.83
$IRIDIUM_FIX,2115.63,-15704.81,180109,202032
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.85
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,22.70
$XPDR_PINGS,16
$24V_AH,23.6,3.927
$10V_AH,10.6,1.972
$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,26.550,58.600,441.175,0.000,0.000,27.320,39.001,115.317,4.000,0.000,13.917,1042.965,2759.806,473.461,1310.526,53.687,33.238,1044.522,0.000,1099.644,0.000,0.537,0.000
$DEVICE_MAMPS,157.590,74.970,782.595,0.000,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,271.656,280.363,367.568,295.859,523.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353336
$DATA_FILE_SIZE,30603,404
$CAP_FILE_SIZE,69086,0
$CFSIZE,259248128,258142208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,095423,2126.500,-15703.943,12,1.8,30,9.9