version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 6
start: 3 24 116 10 11 57
data:
$ID,146
$MISSION,12
$DIVE,6
$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,667.9519
$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,-388101.41
$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,47
$R_STBD_OVSHOOT,64
$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
$GPS1,240316,095423,2126.500,-15703.943,12,1.8,30,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.9
$GPS2,240316,101102,2126.676,-15703.809,13,99.0,33,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.169
$KALMAN_X,409.7,33.8,1.3,3286.7,154.2
$KALMAN_Y,2963.3,145.9,86.1,3919.7,1051.4
$MHEAD_RNG_PITCHd_Wd,38.0,267339,-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,-136.3,461,1772,1574,1392,0.0,0.0,0,82,0.00,0.00,-64.53,0.000,16386,0.000,0.000,461,1772,3102,3076,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.62,-136.3,461,1772,3076,3129,3.6,-6.4,10,111,11.12,0.00,-12.50,0.000,18438,0.158,0.000,2581,1772,3758,3743,3773,0,0,0,0,0,0,24.39,28.83,24.84
$GC,354,-1.62,-136.3,2580,1772,3744,3772,54.5,-16.5,47,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1772,3758,3744,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,594,-1.62,-136.3,2580,1772,3744,3772,94.1,-16.3,71,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1772,3758,3744,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,834,-1.67,-136.3,2580,1772,3744,3772,128.7,-13.5,95,843,0.00,2.20,0.00,0.000,260,0.000,0.037,2581,3182,3758,3745,3772,0,0,0,0,0,0,28.83,24.75,28.83
$GC,868,-1.75,-136.3,1664,3181,3741,3770,132.5,-12.2,98,876,0.00,2.17,0.00,0.000,1030,0.000,0.023,2581,1819,3758,3745,3772,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1116,-1.85,-136.3,2580,1819,3745,3772,163.4,-11.9,123,1127,0.15,2.45,0.00,0.000,4612,0.060,0.070,2518,405,3758,3745,3772,0,0,0,0,0,0,24.84,24.63,28.83
$GC,1168,-1.85,-136.3,2517,405,3745,3772,171.8,-16.0,128,1173,0.10,2.17,0.00,0.000,3078,0.115,0.036,2538,1790,3758,3745,3772,0,0,0,0,0,0,24.72,24.79,28.83
$GC,1424,-1.89,-136.3,2538,1790,3745,3772,205.6,-12.7,150,1430,0.00,2.20,0.00,0.000,260,0.000,0.035,2538,3202,3758,3745,3771,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1547,-1.97,-136.3,2538,3202,3745,3771,219.6,-12.0,153,1552,0.12,2.17,0.00,0.000,5126,0.070,0.027,2488,1824,3758,3745,3771,0,0,0,0,0,0,24.82,24.79,28.83
$GC,1819,-1.97,-136.3,2487,1824,3745,3770,256.8,-14.1,160,1824,0.12,2.17,0.00,0.000,2308,0.107,0.028,2518,3206,3757,3745,3770,0,0,0,0,0,0,24.79,24.82,28.83
$GC,1944,-2.02,-136.3,2517,3206,3745,3769,272.0,-13.5,163,1948,0.00,2.20,0.00,0.000,1030,0.000,0.029,2517,1831,3757,3745,3769,0,0,0,0,0,0,28.83,24.79,28.83
$STATE,2174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2174,begin apogee
$GC,2178,-0.38,0.0,2517,1994,3745,3767,302.0,-12.6,169,2288,1.48,0.00,105.75,0.757,10244,0.086,0.000,2854,1995,3200,3257,3143,0,0,0,0,0,0,24.77,28.83,23.61
$STATE,2289,end apogee,CONTROL_FINISHED_OK
$STATE,2289,begin climb
$GC,2290,1.62,136.3,2854,1995,3257,3143,305.5,0.0,171,2406,1.73,2.58,106.32,0.760,10756,0.033,0.075,3298,568,2644,2701,2587,0,0,0,0,0,0,24.29,24.15,23.60
$GC,2511,1.73,437.1,3298,568,2690,2587,318.8,-4.8,177,2765,0.00,2.25,243.80,0.767,9222,0.000,0.045,3298,1951,1417,1552,1282,0,0,0,0,0,0,28.83,24.44,23.60
$GC,3013,1.60,437.1,3298,1951,1549,1277,244.8,19.4,190,3019,0.00,2.42,0.00,0.000,516,0.000,0.066,3298,568,1412,1549,1276,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3133,1.46,437.1,3298,568,1546,1277,221.0,19.9,193,3140,0.20,2.30,0.00,0.000,5126,0.122,0.037,3261,1996,1411,1546,1277,0,0,0,0,0,0,24.43,24.55,28.83
$GC,3385,1.40,437.1,3261,1996,1545,1276,179.7,16.0,206,3393,0.00,2.17,0.00,0.000,260,0.000,0.041,3261,3364,1411,1546,1276,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3437,1.34,437.1,3260,3364,1543,1276,170.9,16.9,211,3446,0.12,2.20,0.00,0.000,5126,0.121,0.023,3235,1976,1409,1543,1276,0,0,0,0,0,0,24.53,24.60,28.83
$GC,3685,1.34,437.1,3235,1976,1543,1276,138.0,12.2,236,3689,0.00,2.40,0.00,0.000,516,0.000,0.059,3235,568,1410,1544,1276,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3742,1.34,437.1,3235,568,1542,1276,130.4,13.2,241,3751,0.00,2.20,0.00,0.000,1030,0.000,0.027,3235,1977,1409,1542,1276,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3992,1.34,437.1,3235,1977,1542,1276,100.5,10.8,266,3996,0.00,2.38,0.00,0.000,516,0.000,0.053,3235,568,1409,1542,1276,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4028,1.34,437.1,3235,568,1542,1275,96.2,11.7,269,4037,0.00,2.15,0.00,0.000,1030,0.000,0.019,3235,1968,1408,1542,1275,0,0,0,0,0,0,28.83,24.74,28.83
$GC,4281,1.34,437.1,3235,1968,1542,1275,66.2,11.5,294,4290,0.00,2.33,0.00,0.000,516,0.000,0.050,3235,571,1408,1542,1275,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4302,1.34,437.1,3235,571,1542,1275,63.4,11.4,296,4312,0.00,2.10,0.00,0.000,1030,0.000,0.018,3235,1955,1408,1542,1275,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4554,1.38,437.1,3235,1955,1542,1275,33.7,12.0,321,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1955,1408,1542,1275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,1.42,437.1,2176,1953,1503,1272,8.3,10.0,367,4810,0.00,2.22,0.00,0.000,260,0.000,0.028,3235,3347,1408,1542,1275,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,4851,end climb,SURFACE_DEPTH_REACHED
$STATE,4851,begin surface coast
$FINISH,1.3,1.023120
$STATE,4862,end surface coast,CONTROL_FINISHED_OK
$STATE,4862,begin surface
$SM_CCo,4882,179.62,0.545,0,0,476,667.95
$SM_GC,1.24,11.05,2.47,179.62,0.026,0.020,0.545,458,1794,476,-11.27,0.93,667.95,0,0,0,0,0,0,24.82,24.78,23.75
$IRIDIUM_FIX,2117.95,-15706.95,180109,232318
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.40
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.60
$XPDR_PINGS,12
$24V_AH,23.6,4.075
$10V_AH,10.6,2.037
$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,26.200,50.125,455.875,179.625,0.000,140.827,208.096,177.006,3.000,0.000,36.143,980.819,2637.558,656.665,1738.283,61.911,33.224,1202.423,0.000,1045.122,0.000,0.538,0.000
$DEVICE_MAMPS,157.590,74.970,767.295,545.445,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,254.432,264.959,346.227,282.743,500.164,0.000,0.000,0.000,0.000,0.000
$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,30585,378
$CAP_FILE_SIZE,69847,0
$CFSIZE,259248128,258076672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,113723,2127.574,-15702.969,10,2.0,28,9.9