version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 13
start: 3 24 116 23 57 26
data:
$ID,146
$MISSION,12
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,166
$T_MISSION,350
$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,-388110.16
$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,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,50
$R_STBD_OVSHOOT,60
$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,2950
$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
$GPS1,240316,235005,2134.279,-15702.146,35,0.9,35,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-58.1
$GPS2,240316,235630,2134.402,-15702.262,12,1.2,12,9.9
$SPEED_LIMITS,0.174,0.253
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.022
$KALMAN_X,-6141.4,-772.6,-2.6,13330.7,-1238.7
$KALMAN_Y,12288.2,218.3,314.0,8606.8,1740.1
$MHEAD_RNG_PITCHd_Wd,75.1,253802,-19.0,-10.040,-21.68,2079
$D_GRID,500
$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,-136.3,460,1837,621,333,0.0,0.0,0,119,0.00,0.00,-102.00,0.000,16386,0.000,0.000,460,1838,3060,3036,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.63,-136.3,460,1838,3036,3084,3.8,-7.0,16,150,10.98,2.22,-8.85,0.000,18692,0.158,0.038,2529,3235,3506,3497,3515,0,0,0,0,0,0,24.25,24.39,24.52
$GC,207,-1.54,-136.3,1536,3234,3485,3512,24.1,-19.1,31,215,0.08,2.20,0.00,0.000,3078,0.109,0.024,2548,1866,3506,3497,3515,0,0,0,0,0,0,24.37,24.45,28.83
$GC,463,-1.49,-136.3,2548,1867,3497,3515,69.2,-15.7,59,473,0.00,2.15,0.00,0.000,260,0.000,0.025,2548,3243,3506,3497,3515,0,0,0,0,0,0,28.83,24.51,28.83
$GC,486,-1.43,-136.3,2548,3243,3498,3515,72.8,-15.8,61,496,0.15,2.20,0.00,0.000,3078,0.112,0.023,2577,1849,3506,3497,3515,0,0,0,0,0,0,24.45,24.51,28.83
$GC,736,-1.43,-136.3,2577,1849,3497,3515,107.2,-13.7,86,746,0.00,2.17,0.00,0.000,260,0.000,0.025,2577,3241,3505,3496,3515,0,0,0,0,0,0,28.83,24.56,28.83
$GC,750,-1.43,-136.3,2577,3241,3498,3515,108.4,-13.7,87,759,0.00,2.20,0.00,0.000,1030,0.000,0.021,2577,1863,3506,3497,3515,0,0,0,0,0,0,28.83,24.56,28.83
$GC,999,-1.48,-136.3,2577,1863,3497,3515,140.5,-12.1,112,1009,0.00,2.40,0.00,0.000,516,0.000,0.063,2577,454,3506,3498,3515,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1023,-1.53,-136.3,2577,454,3497,3515,143.1,-11.6,114,1032,0.00,2.20,0.00,0.000,1030,0.000,0.033,2577,1844,3506,3498,3515,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1273,-1.61,-136.3,2577,1844,3498,3514,169.1,-9.6,139,1282,0.15,2.17,0.00,0.000,4356,0.059,0.035,2514,3241,3506,3498,3515,0,0,0,0,0,0,24.70,24.63,28.83
$GC,1347,-1.61,-136.3,2514,3241,3498,3515,177.6,-12.4,146,1355,0.12,2.17,0.00,0.000,3078,0.105,0.023,2540,1850,3506,3498,3515,0,0,0,0,0,0,24.59,24.63,28.83
$GC,1594,-1.65,-136.3,2539,1850,3498,3515,206.1,-11.3,171,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1850,3506,3498,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1836,-1.70,-136.3,2540,1850,3498,3514,233.4,-10.7,195,1845,0.00,2.17,0.00,0.000,260,0.000,0.038,2540,3243,3506,3498,3514,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1880,-1.77,-136.3,2540,3243,3498,3514,237.8,-10.3,199,1888,0.08,2.22,0.00,0.000,5126,0.043,0.024,2481,1860,3506,3498,3514,0,0,0,0,0,0,24.71,24.68,28.83
$GC,2127,-1.77,-136.3,2481,1860,3497,3513,269.8,-13.0,224,2132,0.10,2.20,0.00,0.000,2308,0.117,0.028,2502,3250,3505,3497,3514,0,0,0,0,0,0,24.70,24.70,28.83
$GC,2275,-1.81,-136.3,2502,3251,3497,3513,286.2,-11.1,238,2284,0.00,2.20,0.00,0.000,1030,0.000,0.028,2502,1874,3505,3498,3513,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2524,-1.81,-136.3,2502,1874,3498,3510,313.7,-11.3,263,2528,0.00,2.17,0.00,0.000,260,0.000,0.041,2502,3238,3504,3498,3510,0,0,0,0,0,0,28.83,24.72,28.83
$GC,2581,-1.85,-136.3,2501,3238,3498,3510,320.2,-11.4,268,2590,0.00,2.15,0.00,0.000,1030,0.000,0.028,2502,1889,3503,3497,3510,0,0,0,0,0,0,28.83,24.71,28.83
$GC,2831,-1.90,-136.3,2502,1889,3498,3506,348.6,-11.1,293,2833,0.12,0.00,0.00,0.000,4102,0.070,0.000,2457,1889,3501,3497,3506,0,0,0,0,0,0,24.79,28.83,28.83
$GC,3070,-1.90,-136.3,2457,1889,3498,3503,378.8,-12.9,317,3074,0.00,2.17,0.00,0.000,260,0.000,0.041,2457,3240,3500,3498,3503,0,0,0,0,0,0,28.83,24.73,28.83
$GC,3108,-1.90,-136.3,1600,3238,3487,3500,383.7,-13.6,320,3116,0.00,2.22,0.00,0.000,1030,0.000,0.037,2457,1898,3499,3497,3502,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3356,-1.90,-136.3,2456,1898,3498,3499,415.9,-13.0,336,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1898,3498,3497,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,-1.90,-136.3,2457,1898,3497,3494,449.6,-14.3,342,3600,0.00,2.20,0.00,0.000,260,0.000,0.053,2457,3232,3496,3497,3495,0,0,0,0,0,0,28.83,24.73,28.83
$GC,3645,-1.90,-136.3,2457,3232,3497,3494,455.2,-14.1,343,3649,0.00,2.22,0.00,0.000,1030,0.000,0.043,2457,1893,3495,3496,3494,0,0,0,0,0,0,28.83,24.71,28.83
$GC,3913,-1.90,-136.3,2457,1893,3497,3490,491.9,-13.2,350,3919,0.00,2.20,0.00,0.000,260,0.000,0.049,2457,3226,3493,3497,3490,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,3990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3990,begin apogee
$GC,3996,-0.38,0.0,2456,1998,3497,3489,502.3,-13.1,352,4112,1.58,0.00,108.40,0.943,10244,0.086,0.000,2803,1998,2949,3017,2881,0,0,0,0,0,0,24.70,28.83,23.42
$STATE,4113,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4115,1.63,136.3,2802,1998,3017,2881,507.4,0.0,355,4239,1.77,2.40,114.18,0.929,10500,0.034,0.061,3250,3373,2394,2468,2320,0,0,0,0,0,0,24.19,24.10,23.40
$GC,4525,1.51,174.2,3250,3373,2452,2317,489.5,8.2,365,4565,0.15,2.33,32.80,0.897,13318,0.124,0.050,3222,1996,2238,2318,2159,0,0,0,0,0,0,24.33,24.37,23.45
$GC,4833,1.44,192.3,3221,1997,2308,2156,460.6,9.1,373,4855,0.00,2.65,15.82,0.855,8708,0.000,0.087,3222,596,2166,2246,2086,0,0,0,0,0,0,28.83,24.05,23.52
$GC,5120,1.31,192.3,3221,596,2238,2084,431.2,10.9,380,5126,0.25,2.30,0.00,0.000,5126,0.132,0.036,3176,1995,2161,2238,2084,0,0,0,0,0,0,24.37,24.47,28.83
$GC,5387,1.34,215.6,3175,1995,2235,2083,406.3,8.9,387,5410,0.00,0.00,20.77,0.856,8198,0.000,0.000,3176,1995,2071,2155,1987,0,0,0,0,0,0,28.83,28.83,23.53
$GC,5627,1.35,226.1,3176,1995,2148,1984,383.8,9.5,405,5648,0.00,2.50,10.38,0.788,8708,0.000,0.067,3176,590,2026,2111,1942,0,0,0,0,0,0,28.83,24.17,23.65
$GC,5713,1.32,236.7,3176,591,2108,1941,376.1,9.5,413,5732,0.00,2.33,10.60,0.789,9222,0.000,0.032,3175,2018,1984,2071,1897,0,0,0,0,0,0,28.83,24.45,23.61
$GC,5971,1.34,248.2,3175,2018,2066,1894,350.2,9.5,439,5990,0.00,2.38,11.15,0.781,8452,0.000,0.045,3176,3408,1936,2024,1849,0,0,0,0,0,0,28.83,24.22,23.65
$GC,6025,1.34,250.7,2272,3407,1972,1841,344.9,9.9,444,6035,0.00,2.35,3.70,0.512,9222,0.000,0.025,3176,1992,1927,2015,1840,0,0,0,0,0,0,28.83,24.41,23.72
$GC,6273,1.35,257.5,3175,1992,2013,1837,320.9,9.7,469,6286,0.00,2.53,7.28,0.707,8708,0.000,0.068,3175,597,1899,1989,1810,0,0,0,0,0,0,28.83,24.26,23.75
$GC,6296,1.36,266.7,3175,596,1988,1810,319.2,9.6,471,6314,0.00,2.35,9.88,0.745,9222,0.000,0.035,3175,2021,1862,1954,1770,0,0,0,0,0,0,28.83,24.42,23.62
$GC,6553,1.38,278.3,3175,2021,1948,1767,293.7,9.5,497,6574,0.00,2.33,11.15,0.759,8452,0.000,0.034,3176,3393,1813,1906,1721,0,0,0,0,0,0,28.83,24.25,23.67
$GC,6638,1.38,278.3,3175,3393,1903,1721,285.0,10.3,505,6646,0.00,2.25,0.00,0.000,1030,0.000,0.024,3176,1995,1811,1903,1720,0,0,0,0,0,0,28.83,24.45,28.83
$GC,6887,1.42,315.7,3175,1996,1901,1718,261.7,8.2,530,6927,0.10,0.00,32.72,0.793,10246,0.099,0.000,3198,1996,1662,1764,1560,0,0,0,0,0,0,24.55,28.83,23.52
$GC,7167,1.43,320.8,3198,1996,1759,1556,234.3,9.8,558,7179,0.00,2.33,5.03,0.578,8452,0.000,0.036,3198,3405,1642,1743,1542,0,0,0,0,0,0,28.83,24.37,23.81
$GC,7234,1.43,320.8,3197,3405,1741,1541,227.4,11.0,564,7242,0.00,2.30,0.00,0.000,1030,0.000,0.030,3198,2006,1641,1742,1541,0,0,0,0,0,0,28.83,24.47,28.83
$GC,7482,1.43,320.8,3198,2006,1740,1540,202.2,10.4,589,7491,0.00,2.22,0.00,0.000,260,0.000,0.034,3198,3389,1640,1740,1540,0,0,0,0,0,0,28.83,24.51,28.83
$GC,7515,1.43,324.7,3198,3389,1740,1540,199.0,9.8,592,7526,0.00,2.25,5.03,0.552,9222,0.000,0.022,3199,2010,1625,1724,1526,0,0,0,0,0,0,28.83,24.54,23.87
$GC,7773,1.48,324.7,3198,2010,1723,1524,169.4,11.9,618,7777,0.00,2.22,0.00,0.000,260,0.000,0.037,3198,3398,1623,1723,1524,0,0,0,0,0,0,28.83,24.53,28.83
$GC,7893,1.53,324.7,3198,3398,1722,1524,155.9,11.5,629,7901,0.10,2.17,0.00,0.000,3078,0.090,0.029,3224,2026,1623,1722,1524,0,0,0,0,0,0,24.54,24.58,28.83
$GC,8141,1.56,355.0,3224,2027,1722,1524,132.5,8.5,654,8174,0.00,2.30,26.52,0.656,8452,0.000,0.028,3224,3401,1502,1608,1396,0,0,0,0,0,0,28.83,24.18,23.66
$GC,8253,1.56,355.0,3224,3401,1604,1395,121.1,10.5,665,8263,0.00,2.15,0.00,0.000,1030,0.000,0.021,3224,2035,1499,1603,1395,0,0,0,0,0,0,28.83,24.46,28.83
$GC,8505,1.56,355.0,3224,2035,1603,1393,93.0,11.2,690,8514,0.00,2.35,0.00,0.000,516,0.000,0.050,3224,617,1498,1603,1394,0,0,0,0,0,0,28.83,24.46,28.83
$GC,8578,1.56,355.0,3224,617,1602,1393,84.3,12.0,697,8588,0.00,2.20,0.00,0.000,1030,0.000,0.016,3224,2060,1497,1601,1393,0,0,0,0,0,0,28.83,24.59,28.83
$GC,8829,1.62,362.4,3224,2061,1601,1393,58.8,9.7,722,8842,0.00,2.20,7.28,0.498,8452,0.000,0.028,3224,3401,1471,1577,1366,0,0,0,0,0,0,28.83,24.45,23.99
$GC,8891,1.69,372.1,3224,3401,1576,1366,52.7,9.6,728,8912,0.15,2.12,9.68,0.523,11270,0.074,0.018,3267,2033,1432,1542,1323,0,0,0,0,0,0,24.51,24.54,23.89
$GC,9150,1.69,372.1,2240,2031,1504,1318,23.1,12.1,759,9157,0.00,2.20,0.00,0.000,260,0.000,0.025,3267,3396,1431,1541,1322,0,0,0,0,0,0,28.83,24.55,28.83
$GC,9174,1.69,372.1,2256,3395,1505,1318,20.1,12.3,763,9181,0.00,2.15,0.00,0.000,1030,0.000,0.019,3267,2040,1431,1541,1322,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,9322,end climb,SURFACE_DEPTH_REACHED
$STATE,9322,begin surface coast
$FINISH,0.8,1.013636
$STATE,9345,end surface coast,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$SM_CCo,9362,186.27,0.547,0,0,477,606.63
$SM_CCo,9551,-0.03,0.000,0,0,477,606.63
$SM_CCo,9553,0.00,0.000,0,0,476,606.63
$SM_GC,1.34,11.23,0.28,0.00,0.024,0.048,0.000,457,1843,476,-11.03,1.30,606.63,0,0,0,0,0,0,24.63,24.60,28.83
$IRIDIUM_FIX,2124.90,-15700.87,190109,101038
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.20
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,22.90
$XPDR_PINGS,32
$24V_AH,23.4,5.058
$10V_AH,10.4,2.557
$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,27.100,108.475,442.350,186.275,0.000,30.488,35.180,228.542,8.000,0.000,14.836,1982.438,4813.341,782.879,2265.344,103.842,33.227,1721.356,0.000,1944.896,0.000,0.537,0.000
$DEVICE_MAMPS,158.355,87.210,943.245,546.975,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,539.916,590.501,767.014,528.014,931.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353292
$DATA_FILE_SIZE,63783,796
$CAP_FILE_SIZE,122806,0
$CFSIZE,259248128,257687552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250316,023753,2135.893,-15702.120,37,1.8,37,9.9