version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 10
start: 3 24 116 16 53 49
data:
$ID,146
$MISSION,12
$DIVE,10
$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,1440
$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,-388106.41
$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,2890
$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,34
$R_STBD_OVSHOOT,52
$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,3080
$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
$GPS1,240316,164835,2130.796,-15702.212,28,1.5,29,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-57.8
$GPS2,240316,165254,2130.837,-15702.241,13,1.5,13,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.011
$KALMAN_X,-672.8,-218.1,-200.3,7538.9,-910.3
$KALMAN_Y,6758.9,76.6,-110.3,8098.1,1026.4
$MHEAD_RNG_PITCHd_Wd,82.6,259378,-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,-136.3,461,1804,617,333,0.0,0.0,0,119,0.00,0.00,-101.80,0.000,16386,0.000,0.000,461,1804,3015,2989,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.62,-136.3,461,1804,2989,3041,3.5,-5.9,16,156,10.93,2.42,-12.45,0.000,18948,0.158,0.067,2532,410,3637,3622,3652,0,0,0,0,0,0,24.31,24.37,24.72
$GC,163,-1.24,-136.3,2532,411,3623,3652,15.1,-22.3,22,171,0.35,2.17,0.00,0.000,3078,0.096,0.017,2616,1819,3637,3623,3652,0,0,0,0,0,0,24.40,24.56,28.83
$GC,419,-1.29,-136.3,2616,1819,3623,3652,53.7,-14.3,56,429,0.00,2.10,0.00,0.000,260,0.000,0.025,2616,3172,3637,3623,3652,0,0,0,0,0,0,28.83,24.58,28.83
$GC,462,-1.38,-136.3,2616,3172,3623,3652,59.3,-12.9,60,472,0.12,2.15,0.00,0.000,5126,0.067,0.023,2565,1811,3637,3623,3652,0,0,0,0,0,0,24.60,24.58,28.83
$GC,712,-1.38,-136.3,2565,1811,3623,3652,97.8,-14.4,85,714,0.10,0.00,0.00,0.000,2054,0.119,0.000,2587,1811,3637,3623,3652,0,0,0,0,0,0,24.62,28.83,28.83
$GC,952,-1.44,-136.3,2586,1811,3624,3651,128.5,-11.6,109,961,0.00,2.15,0.00,0.000,260,0.000,0.025,2586,3181,3638,3624,3652,0,0,0,0,0,0,28.83,24.68,28.83
$GC,973,-1.50,-136.3,2586,3181,3623,3652,130.9,-11.4,111,983,0.10,2.15,0.00,0.000,5126,0.080,0.028,2539,1815,3638,3624,3652,0,0,0,0,0,0,24.68,24.67,28.83
$GC,1225,-1.50,-136.3,2538,1816,3624,3652,165.6,-13.6,136,1232,0.10,0.00,0.00,0.000,2054,0.113,0.000,2561,1815,3638,3624,3652,0,0,0,0,0,0,24.70,28.83,28.83
$GC,1475,-1.57,-136.3,2561,1816,3624,3651,195.2,-12.2,161,1483,0.00,2.10,0.00,0.000,260,0.000,0.031,2561,3167,3638,3624,3652,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1563,-1.66,-136.3,2561,3167,3624,3652,204.3,-11.0,166,1568,0.15,2.15,0.00,0.000,5126,0.060,0.024,2501,1809,3638,3624,3652,0,0,0,0,0,0,24.76,24.72,28.83
$GC,1830,-1.66,-136.3,2501,1809,3624,3651,241.3,-13.7,173,1835,0.12,2.15,0.00,0.000,2308,0.105,0.031,2532,3172,3638,3624,3652,0,0,0,0,0,0,24.73,24.76,28.83
$GC,1899,-1.66,-136.3,2532,3172,3624,3652,246.0,-13.5,174,1907,0.00,2.17,0.00,0.000,1030,0.000,0.030,2532,1831,3637,3624,3651,0,0,0,0,0,0,28.83,24.74,28.83
$GC,2147,-1.74,-136.3,2532,1831,3624,3650,276.6,-10.8,181,2151,0.00,2.12,0.00,0.000,260,0.000,0.031,2532,3179,3637,3624,3650,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2226,-1.82,-136.3,2532,3179,3624,3649,284.6,-10.4,183,2231,0.17,2.15,0.00,0.000,5126,0.055,0.029,2475,1836,3637,3624,3650,0,0,0,0,0,0,24.81,24.75,28.83
$STATE,2383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2383,begin apogee
$GC,2387,-0.38,0.0,2469,1975,3624,3648,303.6,-11.9,187,2497,1.50,0.00,106.15,0.759,10244,0.087,0.000,2806,1975,3080,3141,3020,0,0,0,0,0,0,24.71,28.83,23.58
$STATE,2498,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2499,1.62,136.3,2805,1975,3140,3019,305.6,0.0,189,2617,1.75,2.28,108.35,0.758,10500,0.031,0.038,3255,3339,2524,2588,2460,0,0,0,0,0,0,24.24,24.18,23.56
$GC,3118,1.63,278.2,3255,3339,2572,2456,299.9,3.0,204,3242,0.00,2.20,116.03,0.769,9222,0.000,0.027,3255,1967,1946,2036,1856,0,0,0,0,0,0,28.83,24.53,23.56
$GC,3499,1.54,278.2,3255,1967,2023,1852,260.7,11.5,214,3506,0.12,2.45,0.00,0.000,4612,0.134,0.068,3229,573,1937,2023,1852,0,0,0,0,0,0,24.40,24.39,28.83
$GC,3757,1.47,278.2,3229,573,2018,1851,235.7,10.3,220,3761,0.00,2.22,0.00,0.000,1030,0.000,0.036,3229,1930,1934,2018,1851,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4019,1.47,280.6,3229,1930,2016,1850,208.8,9.9,227,4023,0.00,2.30,0.00,0.000,260,0.000,0.031,3229,3360,1933,2016,1850,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4145,1.47,280.6,3229,3360,2014,1850,195.3,10.8,231,4149,0.00,2.25,0.00,0.000,1030,0.000,0.024,3229,1953,1932,2014,1850,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4390,1.49,299.8,3229,1953,2013,1848,172.8,9.1,255,4413,0.00,2.35,17.27,0.661,8452,0.000,0.030,3229,3361,1856,1945,1768,0,0,0,0,0,0,28.83,24.33,23.81
$GC,4521,1.49,299.8,3228,3361,1940,1767,160.0,10.3,268,4530,0.00,2.20,0.00,0.000,1030,0.000,0.028,3229,1973,1853,1940,1767,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4772,1.52,320.6,3229,1973,1939,1767,135.9,9.0,293,4795,0.00,2.40,18.20,0.628,8708,0.000,0.056,3229,578,1771,1863,1680,0,0,0,0,0,0,28.83,24.25,23.81
$GC,4810,1.54,340.7,3229,578,1861,1679,132.5,9.0,296,4839,0.00,2.25,18.00,0.625,9222,0.000,0.021,3229,1977,1689,1786,1592,0,0,0,0,0,0,28.83,24.46,23.72
$GC,5079,1.54,340.7,3229,1978,1782,1589,102.9,10.4,323,5087,0.00,2.15,0.00,0.000,260,0.000,0.026,3229,3354,1685,1782,1589,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5211,1.57,362.6,3229,3354,1780,1589,90.3,8.9,336,5235,0.00,2.17,18.35,0.592,9222,0.000,0.020,3229,1974,1601,1701,1501,0,0,0,0,0,0,28.83,24.60,23.81
$GC,5477,1.60,387.0,3229,1974,1697,1498,66.7,8.8,362,5507,0.00,2.30,21.05,0.576,8452,0.000,0.026,3229,3360,1501,1606,1396,0,0,0,0,0,0,28.83,24.28,23.80
$GC,5552,1.64,387.0,3229,3360,1605,1396,59.5,10.5,369,5561,0.00,2.17,0.00,0.000,1030,0.000,0.020,3229,1976,1500,1605,1395,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5802,1.66,397.4,3229,1976,1604,1394,34.6,9.5,394,5813,0.00,0.00,9.77,0.502,8198,0.000,0.000,3229,1976,1459,1567,1352,0,0,0,0,0,0,28.83,28.83,23.97
$GC,6051,1.71,397.4,2176,1974,1526,1345,8.6,11.2,439,6059,0.12,2.22,0.00,0.000,2308,0.080,0.024,3268,3370,1457,1566,1349,0,0,0,0,0,0,24.62,24.59,28.83
$GC,6091,1.71,397.4,2240,3368,1526,1345,3.5,13.3,446,6098,0.00,2.22,0.00,0.000,1030,0.000,0.021,3267,1975,1456,1565,1348,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,6104,end climb,SURFACE_DEPTH_REACHED
$STATE,6104,begin surface coast
$FINISH,0.8,1.023159
$STATE,6125,end surface coast,CONTROL_FINISHED_OK
$STATE,6126,begin surface
$SM_CCo,6143,189.60,0.545,0,0,476,638.52
$SM_CCo,6335,-0.10,0.000,0,0,477,638.52
$SM_CCo,6337,0.00,0.000,0,0,477,638.52
$SM_GC,1.40,11.23,0.25,0.00,0.024,0.049,0.000,462,1789,477,-11.01,1.24,638.52,0,0,0,0,0,0,24.65,24.65,28.83
$IRIDIUM_FIX,2120.26,-15706.95,190109,040424
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.06
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.90
$XPDR_PINGS,12
$24V_AH,23.6,4.625
$10V_AH,10.6,2.302
$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,26.875,62.550,433.175,189.600,0.000,25.367,38.648,110.751,3.000,0.000,15.896,1172.822,3138.956,688.006,1546.362,65.423,33.226,1373.821,0.000,1336.682,0.000,0.537,0.000
$DEVICE_MAMPS,157.590,68.085,768.825,544.680,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,302.653,307.880,407.516,326.792,575.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353308
$DATA_FILE_SIZE,33874,452
$CAP_FILE_SIZE,82756,0
$CFSIZE,259248128,257908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,184029,2131.598,-15702.527,9,1.7,27,9.9