version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 7
start: 3 24 116 11 54 21
data:
$ID,146
$MISSION,12
$DIVE,7
$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,240
$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,-388102.66
$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,2900
$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,35
$R_STBD_OVSHOOT,66
$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
$GPS1,240316,113723,2127.574,-15702.969,10,2.0,28,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.0
$GPS2,240316,115326,2127.687,-15702.872,15,2.7,35,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.205
$KALMAN_X,960.9,-125.9,85.6,4426.3,357.8
$KALMAN_Y,3594.6,188.9,288.1,4925.5,774.9
$MHEAD_RNG_PITCHd_Wd,25.6,264913,-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,-136.3,456,1792,596,350,0.0,0.0,0,119,0.00,0.00,-101.72,0.000,16386,0.000,0.000,457,1793,3035,3010,3060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.62,-136.3,457,1793,3012,3060,3.6,-6.0,16,156,10.90,2.25,-13.95,0.000,18692,0.155,0.044,2542,3183,3757,3743,3772,0,0,0,0,0,0,24.39,24.54,24.82
$GC,240,-1.62,-136.3,1536,3182,3738,3771,29.7,-17.9,37,247,0.00,2.22,0.00,0.000,1030,0.000,0.028,2542,1805,3757,3743,3772,0,0,0,0,0,0,28.83,24.59,28.83
$GC,485,-1.55,-136.3,2542,1805,3743,3771,77.4,-19.7,62,495,0.00,2.38,0.00,0.000,516,0.000,0.066,2542,405,3757,3743,3771,0,0,0,0,0,0,28.83,24.53,28.83
$GC,508,-1.48,-136.3,2542,405,3743,3771,81.9,-19.7,64,518,0.17,2.15,0.00,0.000,3078,0.112,0.024,2576,1794,3756,3743,3770,0,0,0,0,0,0,24.58,24.70,28.83
$GC,758,-1.48,-136.3,2576,1794,3743,3770,121.6,-14.1,89,767,0.00,2.40,0.00,0.000,516,0.000,0.069,2576,401,3756,3743,3770,0,0,0,0,0,0,28.83,24.57,28.83
$GC,791,-1.48,-136.3,2576,401,3743,3770,125.8,-13.2,92,800,0.00,2.17,0.00,0.000,1030,0.000,0.032,2576,1778,3756,3742,3770,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1039,-1.55,-136.3,2576,1778,3743,3770,160.6,-13.0,117,1049,0.00,2.20,0.00,0.000,260,0.000,0.038,2576,3193,3756,3743,3770,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1063,-1.63,-136.3,1664,3192,3738,3768,163.5,-13.2,119,1071,0.10,2.28,0.00,0.000,5126,0.037,0.024,2523,1778,3756,3743,3770,0,0,0,0,0,0,24.75,24.72,28.83
$GC,1310,-1.63,-136.3,2523,1778,3743,3770,197.0,-13.8,144,1315,0.10,2.22,0.00,0.000,2308,0.116,0.028,2545,3195,3756,3743,3770,0,0,0,0,0,0,24.76,24.77,28.83
$GC,1416,-1.69,-136.3,2545,3195,3743,3769,206.9,-12.8,148,1420,0.00,2.22,0.00,0.000,1030,0.000,0.025,2545,1797,3756,3743,3770,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1668,-1.77,-136.3,2545,1797,3743,3769,240.8,-12.0,155,1674,0.12,2.20,0.00,0.000,4356,0.068,0.031,2489,3190,3756,3743,3769,0,0,0,0,0,0,24.87,24.79,28.83
$GC,1736,-1.85,-136.3,2489,3190,3743,3769,246.3,-12.4,156,1740,0.00,2.20,0.00,0.000,1030,0.000,0.028,2489,1810,3755,3742,3769,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1987,-1.85,-136.3,2489,1810,3743,3767,285.6,-13.5,163,1991,0.00,2.17,0.00,0.000,260,0.000,0.039,2489,3187,3755,3743,3767,0,0,0,0,0,0,28.83,24.80,28.83
$GC,2056,-1.85,-136.3,2489,3187,3743,3766,290.2,-13.0,164,2063,0.00,2.22,0.00,0.000,1030,0.000,0.031,2489,1821,3754,3743,3766,0,0,0,0,0,0,28.83,24.78,28.83
$STATE,2142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2142,begin apogee
$GC,2145,-0.38,0.0,2489,1986,3743,3765,304.3,-12.0,167,2255,1.45,0.00,105.40,0.757,10244,0.082,0.000,2817,1986,3200,3255,3146,0,0,0,0,0,0,24.76,28.83,23.61
$STATE,2256,end apogee,CONTROL_FINISHED_OK
$STATE,2256,begin climb
$GC,2257,1.62,136.3,2817,1986,3255,3146,306.1,0.0,169,2374,1.70,2.58,107.00,0.756,10756,0.032,0.076,3259,564,2643,2707,2580,0,0,0,0,0,0,24.27,24.15,23.60
$GC,2774,1.74,401.9,3259,564,2691,2579,325.9,-3.1,182,2998,0.00,2.25,214.55,0.785,9222,0.000,0.043,3260,1948,1560,1667,1453,0,0,0,0,0,0,28.83,24.56,23.58
$GC,3261,1.66,401.9,3259,1948,1658,1449,270.0,15.5,195,3267,0.00,2.45,0.00,0.000,516,0.000,0.068,3259,558,1553,1658,1449,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3409,1.57,401.9,3259,558,1656,1449,251.4,15.6,198,3413,0.00,2.30,0.00,0.000,1030,0.000,0.033,3260,1989,1552,1656,1449,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3656,1.51,401.9,3259,1989,1653,1448,212.9,14.0,204,3662,0.12,2.22,0.00,0.000,4356,0.167,0.031,3233,3368,1550,1652,1448,0,0,0,0,0,0,24.42,24.58,28.83
$GC,3749,1.46,401.9,3233,3368,1651,1448,201.8,14.1,206,3753,0.00,2.20,0.00,0.000,1030,0.000,0.023,3233,1984,1549,1651,1448,0,0,0,0,0,0,28.83,24.62,28.83
$GC,3997,1.47,410.2,3232,1984,1650,1447,171.3,9.6,229,4009,0.00,2.28,6.47,0.562,8452,0.000,0.039,3233,3354,1527,1630,1425,0,0,0,0,0,0,28.83,24.53,24.01
$GC,4117,1.47,410.2,3233,3354,1628,1424,157.3,12.4,241,4126,0.00,2.10,0.00,0.000,1030,0.000,0.025,3233,2020,1526,1628,1424,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4366,1.47,410.2,3233,2020,1627,1424,128.8,11.2,266,4370,0.00,2.42,0.00,0.000,516,0.000,0.056,3233,577,1525,1627,1424,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4412,1.47,410.2,3232,577,1626,1424,122.7,12.9,270,4417,0.00,2.28,0.00,0.000,1030,0.000,0.021,3233,2037,1525,1626,1424,0,0,0,0,0,0,28.83,24.72,28.83
$GC,4658,1.47,410.2,3233,2037,1626,1424,93.5,10.8,294,4668,0.00,2.45,0.00,0.000,516,0.000,0.051,3233,570,1525,1626,1424,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4711,1.47,410.2,3232,570,1626,1424,87.7,11.5,299,4720,0.00,2.28,0.00,0.000,1030,0.000,0.019,3233,2035,1525,1626,1424,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4963,1.51,410.2,3232,2035,1625,1424,61.5,10.3,324,4973,0.00,2.40,0.00,0.000,516,0.000,0.049,3233,577,1524,1625,1424,0,0,0,0,0,0,28.83,24.68,28.83
$GC,5005,1.51,410.2,3233,577,1625,1424,56.4,11.3,328,5015,0.00,2.22,0.00,0.000,1030,0.000,0.018,3233,2032,1524,1625,1424,0,0,0,0,0,0,28.83,24.79,28.83
$GC,5258,1.56,410.2,3233,2032,1625,1424,29.6,10.9,353,5265,0.00,2.12,0.00,0.000,260,0.000,0.027,3233,3365,1524,1625,1424,0,0,0,0,0,0,28.83,24.76,28.83
$GC,5307,1.62,410.2,2184,3364,1583,1420,23.7,12.2,362,5315,0.00,2.10,0.00,0.000,1030,0.000,0.019,3233,2023,1524,1625,1424,0,0,0,0,0,0,28.83,24.79,28.83
$STATE,5510,end climb,SURFACE_DEPTH_REACHED
$STATE,5510,begin surface coast
$FINISH,0.6,1.009051
$STATE,5537,end surface coast,CONTROL_FINISHED_OK
$STATE,5537,begin surface
$SM_CCo,5554,203.05,0.545,0,0,476,667.95
$SM_GC,1.27,11.02,0.35,203.05,0.026,0.039,0.545,459,1771,476,-11.06,0.79,667.95,0,0,0,0,0,0,24.82,24.82,23.73
$IRIDIUM_FIX,2120.26,-15704.81,190109,010149
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.50
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.80
$XPDR_PINGS,13
$24V_AH,23.6,4.236
$10V_AH,10.6,2.108
$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,25.700,68.500,433.425,203.050,0.000,84.644,110.178,468.537,3.250,0.000,37.490,1059.354,2925.795,708.299,1982.675,59.327,33.211,1339.253,0.000,1192.077,0.000,0.537,0.000
$DEVICE_MAMPS,166.770,75.735,784.890,545.445,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,272.778,275.836,364.408,294.621,521.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353276
$DATA_FILE_SIZE,30525,407
$CAP_FILE_SIZE,81146,0
$CFSIZE,259248128,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,133120,2128.736,-15702.313,5,3.8,26,9.9