version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 11
start: 3 24 116 18 46 3
data:
$ID,146
$MISSION,12
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,133
$T_MISSION,280
$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,-388107.66
$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,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,1850
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,85
$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,3000
$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
$GPS1,240316,184029,2131.598,-15702.527,9,1.7,27,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.1
$GPS2,240316,184506,2131.653,-15702.573,12,1.4,12,9.9
$SPEED_LIMITS,0.174,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.058
$KALMAN_X,-1951.7,-555.4,-660.9,9048.2,-1185.7
$KALMAN_Y,8236.3,161.1,-97.0,8032.5,1684.0
$MHEAD_RNG_PITCHd_Wd,93.4,258392,-19.0,-10.025,-21.66,2082
$D_GRID,400
$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,-1.63,-136.3,461,1882,619,333,0.0,0.0,0,119,0.00,0.00,-101.65,0.000,16386,0.000,0.000,461,1883,3035,3009,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.63,-136.3,460,1883,3010,3062,3.6,-6.3,16,150,10.98,2.40,-10.30,0.000,18948,0.159,0.061,2531,473,3558,3545,3571,0,0,0,0,0,0,24.30,24.37,24.72
$GC,157,-0.96,-136.3,2531,472,3545,3570,14.7,-28.5,21,165,0.62,2.12,0.00,0.000,3078,0.095,0.024,2677,1848,3557,3545,3570,0,0,0,0,0,0,24.39,24.51,28.83
$GC,414,-1.12,-136.3,2676,1848,3545,3569,42.9,-9.0,58,415,0.15,0.00,0.00,0.000,4102,0.058,0.000,2617,1848,3557,3545,3570,0,0,0,0,0,0,24.62,28.83,28.83
$GC,653,-1.19,-136.3,2617,1848,3545,3570,73.8,-12.0,82,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1848,3557,3545,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-1.28,-136.3,2617,1848,3546,3569,103.2,-11.7,106,903,0.00,2.10,0.00,0.000,260,0.000,0.027,2617,3213,3558,3546,3570,0,0,0,0,0,0,28.83,24.65,28.83
$GC,937,-1.38,-136.3,2617,3213,3545,3569,108.5,-12.4,110,947,0.08,2.10,0.00,0.000,5126,0.042,0.023,2570,1857,3557,3545,3570,0,0,0,0,0,0,24.64,24.65,28.83
$GC,1186,-1.42,-136.3,2569,1857,3546,3570,141.5,-12.3,135,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1857,3557,3546,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-1.49,-136.3,2569,1857,3546,3570,172.7,-12.0,159,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1857,3558,3546,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1665,-1.58,-136.3,2570,1856,3546,3570,198.2,-10.2,183,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1856,3558,3546,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-1.67,-136.3,2569,1857,3546,3570,224.4,-10.4,191,1930,0.15,2.17,0.00,0.000,4356,0.060,0.037,2505,3228,3557,3546,3569,0,0,0,0,0,0,24.82,24.75,28.83
$GC,2020,-1.73,-136.3,2505,3228,3546,3569,234.4,-11.7,193,2024,0.00,2.17,0.00,0.000,1030,0.000,0.025,2505,1850,3557,3545,3570,0,0,0,0,0,0,28.83,24.74,28.83
$GC,2278,-1.73,-136.3,2505,1850,3546,3568,268.7,-11.7,200,2284,0.00,2.12,0.00,0.000,260,0.000,0.035,2505,3217,3557,3546,3568,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2325,-1.73,-136.3,2505,3217,3546,3567,273.3,-11.4,201,2329,0.00,2.20,0.00,0.000,1030,0.000,0.026,2506,1859,3557,3546,3568,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2597,-1.77,-136.3,2505,1859,3546,3566,304.3,-10.9,208,2601,0.00,2.17,0.00,0.000,260,0.000,0.041,2505,3223,3555,3546,3565,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2626,-1.81,-136.3,2505,3223,3546,3565,304.3,-10.9,208,2633,0.00,2.17,0.00,0.000,1030,0.000,0.030,2505,1860,3556,3546,3566,0,0,0,0,0,0,28.83,24.74,28.83
$GC,2873,-1.85,-136.3,2505,1860,3546,3563,336.3,-11.8,215,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1860,3555,3546,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3113,-1.90,-136.3,2505,1860,3546,3559,363.7,-11.2,221,3120,0.12,2.20,0.00,0.000,4356,0.070,0.044,2454,3220,3552,3546,3559,0,0,0,0,0,0,24.86,24.77,28.83
$GC,3156,-1.93,-136.3,2454,3220,3546,3559,368.9,-11.6,222,3160,0.00,2.20,0.00,0.000,1030,0.000,0.041,2454,1866,3552,3546,3559,0,0,0,0,0,0,28.83,24.75,28.83
$STATE,3391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3392,begin apogee
$GC,3395,-0.38,0.0,2454,1977,3545,3555,401.3,-13.5,228,3507,1.58,0.00,107.32,0.852,10244,0.098,0.000,2803,1977,3000,3066,2934,0,0,0,0,0,0,24.74,28.83,23.51
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3508,begin climb
$GC,3509,1.63,136.3,2802,1977,3066,2934,403.9,0.0,230,3627,1.80,0.00,111.32,0.844,11270,0.033,0.000,3254,1977,2444,2515,2373,0,0,0,0,0,0,24.21,28.83,23.50
$GC,3868,1.57,212.9,3253,1977,2502,2368,396.5,6.2,239,3941,0.12,2.45,64.20,0.836,12548,0.135,0.043,3228,3386,2129,2212,2046,0,0,0,0,0,0,24.36,24.08,23.51
$GC,4211,1.47,212.9,3228,3386,2199,2045,364.0,10.9,247,4215,0.00,2.25,0.00,0.000,1030,0.000,0.028,3228,2015,2122,2199,2045,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4468,1.40,215.0,3227,2015,2197,2043,336.3,9.9,254,4475,0.15,2.25,0.00,0.000,4356,0.130,0.035,3197,3388,2120,2197,2043,0,0,0,0,0,0,24.46,24.51,28.83
$GC,4526,1.34,221.8,3196,3388,2195,2043,332.5,9.7,255,4540,0.00,2.20,7.15,0.672,9222,0.000,0.032,3197,2030,2095,2174,2017,0,0,0,0,0,0,28.83,24.54,23.82
$GC,4788,1.37,251.9,3197,2031,2170,2014,307.9,8.5,262,4821,0.00,2.62,26.88,0.789,8708,0.000,0.070,3197,573,1971,2058,1885,0,0,0,0,0,0,28.83,24.10,23.59
$GC,4931,1.33,251.9,3197,573,2052,1883,294.8,10.5,265,4935,0.00,2.35,0.00,0.000,1030,0.000,0.037,3197,2018,1967,2052,1883,0,0,0,0,0,0,28.83,24.50,28.83
$GC,5183,1.35,266.3,3197,2018,2050,1882,267.2,9.3,272,5201,0.00,2.30,12.80,0.731,8452,0.000,0.041,3197,3404,1913,2001,1826,0,0,0,0,0,0,28.83,24.29,23.73
$GC,5401,1.35,266.3,3197,3404,1997,1824,247.0,10.6,277,5405,0.00,2.22,0.00,0.000,1030,0.000,0.023,3197,2035,1910,1996,1824,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5658,1.37,282.1,3197,2035,1996,1822,220.6,9.2,284,5677,0.00,2.25,14.35,0.715,8452,0.000,0.033,3197,3401,1849,1940,1759,0,0,0,0,0,0,28.83,24.30,23.76
$GC,5717,1.39,298.8,3197,3401,1937,1757,217.3,9.2,285,5737,0.00,2.15,15.18,0.708,9222,0.000,0.022,3197,2051,1782,1876,1688,0,0,0,0,0,0,28.83,24.49,23.67
$GC,5986,1.43,334.4,3197,2051,1871,1684,192.9,8.3,296,6025,0.00,2.25,30.73,0.726,8452,0.000,0.039,3197,3405,1635,1738,1532,0,0,0,0,0,0,28.83,24.15,23.61
$GC,6077,1.43,334.4,3197,3404,1734,1532,184.0,10.3,305,6081,0.00,2.15,0.00,0.000,1030,0.000,0.021,3197,2055,1633,1734,1532,0,0,0,0,0,0,28.83,24.42,28.83
$GC,6323,1.48,334.4,3197,2055,1732,1529,158.4,10.3,329,6332,0.00,2.45,0.00,0.000,516,0.000,0.055,3197,607,1629,1730,1529,0,0,0,0,0,0,28.83,24.45,28.83
$GC,6425,1.48,334.4,3197,607,1729,1529,147.9,10.2,339,6434,0.00,2.25,0.00,0.000,1030,0.000,0.028,3197,2043,1629,1729,1529,0,0,0,0,0,0,28.83,24.25,28.83
$GC,6676,1.58,349.7,3197,2043,1729,1528,123.9,9.3,364,6696,0.12,2.17,13.00,0.608,10500,0.083,0.028,3232,3389,1573,1673,1473,0,0,0,0,0,0,24.61,24.34,23.86
$GC,6772,1.58,349.7,3232,3389,1671,1472,114.3,10.7,373,6780,0.00,2.20,0.00,0.000,1030,0.000,0.020,3232,2021,1571,1671,1472,0,0,0,0,0,0,28.83,24.54,28.83
$GC,7020,1.62,349.7,3232,2021,1671,1471,86.4,11.5,398,7030,0.00,2.20,0.00,0.000,260,0.000,0.027,3233,3399,1571,1671,1471,0,0,0,0,0,0,28.83,24.59,28.83
$GC,7044,1.62,349.7,3232,3399,1671,1471,83.7,11.9,400,7053,0.00,2.20,0.00,0.000,1030,0.000,0.028,3232,2022,1571,1671,1471,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7293,1.65,349.7,3232,2022,1670,1471,56.8,10.4,425,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2022,1570,1670,1471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7533,1.70,349.7,3232,2022,1671,1471,31.0,10.3,449,7543,0.12,2.33,0.00,0.000,2564,0.086,0.046,3270,614,1571,1671,1471,0,0,0,0,0,0,24.68,24.60,28.83
$GC,7556,1.70,349.7,3270,614,1670,1471,28.6,10.1,451,7563,0.00,2.22,0.00,0.000,1030,0.000,0.015,3271,2039,1570,1669,1471,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,7779,end climb,SURFACE_DEPTH_REACHED
$STATE,7779,begin surface coast
$FINISH,0.7,1.007452
$STATE,7806,end surface coast,CONTROL_FINISHED_OK
$STATE,7806,begin surface
$SM_CCo,7823,212.55,0.548,0,0,477,618.89
$SM_CCo,8038,-0.10,0.000,0,0,478,618.89
$SM_CCo,8041,0.08,0.187,0,0,478,618.89
$SM_GC,1.34,11.15,0.28,0.08,0.022,0.046,0.187,463,1825,478,-11.01,1.39,618.89,0,0,0,0,0,0,24.72,24.73,24.09
$IRIDIUM_FIX,2120.26,-15701.78,190109,060602
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.99
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.80
$XPDR_PINGS,20
$24V_AH,23.5,4.759
$10V_AH,10.5,2.375
$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,27.150,72.075,402.925,212.625,0.000,28.354,34.062,129.083,5.000,0.000,14.242,1329.731,4652.525,686.503,1590.586,72.888,33.229,1391.448,0.000,1371.839,0.000,0.538,0.000
$DEVICE_MAMPS,159.120,190.485,852.210,547.740,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,337.076,327.979,424.424,332.275,588.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353284
$DATA_FILE_SIZE,40578,500
$CAP_FILE_SIZE,94347,0
$CFSIZE,259248128,257843200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,210104,2132.408,-15702.393,7,1.4,23,9.9