version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 17
start: 3 25 116 11 19 42
data:
$ID,146
$MISSION,12
$DIVE,17
$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,-388115.16
$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,2870
$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,1950
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,62
$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,2750
$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
$GPS1,250316,111135,2143.865,-15704.024,27,1.3,27,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.6
$GPS2,250316,111847,2143.929,-15704.079,8,1.5,13,10.0
$SPEED_LIMITS,0.174,0.253
$TGT_NAME,DIAG3
$TGT_LATLONG,2230.000,-15548.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.134
$KALMAN_X,-16821.2,14.6,-116.9,20199.3,-1758.5
$KALMAN_Y,23525.7,540.3,72.3,14935.7,2002.7
$MHEAD_RNG_PITCHd_Wd,47.9,155644,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.63,-136.3,458,1887,616,336,0.0,0.0,0,114,0.00,0.00,-95.65,0.000,16386,0.000,0.000,458,1887,2877,2855,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.63,-136.3,458,1887,2855,2900,3.1,-4.3,15,145,10.95,2.35,-9.35,0.000,18692,0.160,0.047,2513,3337,3307,3301,3313,0,0,0,0,0,0,24.23,24.36,24.63
$GC,268,-1.54,-136.3,2513,3336,3302,3313,31.9,-16.4,42,278,0.00,2.17,0.00,0.000,1030,0.000,0.022,2513,1961,3307,3301,3313,0,0,0,0,0,0,28.83,24.45,28.83
$GC,518,-1.43,-136.3,2513,1961,3302,3312,73.1,-17.3,67,520,0.22,0.00,0.00,0.000,2054,0.113,0.000,2557,1962,3307,3302,3312,0,0,0,0,0,0,24.41,28.83,28.83
$GC,758,-1.43,-136.3,2556,1961,3301,3312,107.5,-13.9,91,767,0.00,2.38,0.00,0.000,516,0.000,0.052,2557,554,3306,3301,3312,0,0,0,0,0,0,28.83,24.44,28.83
$GC,781,-1.43,-136.3,2557,554,3302,3312,110.6,-13.4,93,790,0.00,2.20,0.00,0.000,1030,0.000,0.019,2557,1952,3307,3302,3312,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1030,-1.43,-136.3,2557,1952,3302,3312,143.2,-12.3,118,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1952,3307,3302,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-1.43,-136.3,2557,1952,3302,3312,170.2,-10.9,142,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1952,3307,3302,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-1.48,-136.3,2557,1952,3302,3312,193.8,-9.6,166,1520,0.00,2.15,0.00,0.000,260,0.000,0.031,2557,3323,3307,3302,3312,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1624,-1.54,-136.3,2556,3323,3302,3312,206.2,-11.4,177,1634,0.10,2.17,0.00,0.000,5126,0.080,0.027,2513,1934,3307,3302,3312,0,0,0,0,0,0,24.63,24.63,28.83
$GC,1875,-1.54,-136.3,2513,1934,3302,3312,234.9,-10.6,202,1884,0.10,2.35,0.00,0.000,2564,0.116,0.062,2534,556,3307,3302,3312,0,0,0,0,0,0,24.65,24.56,28.83
$GC,1946,-1.54,-136.3,2534,556,3302,3312,241.9,-9.1,209,1950,0.00,2.15,0.00,0.000,1030,0.000,0.037,2534,1930,3307,3302,3312,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2194,-1.59,-136.3,2534,1930,3302,3311,263.3,-9.4,233,2202,0.00,2.22,0.00,0.000,260,0.000,0.035,2534,3340,3306,3302,3311,0,0,0,0,0,0,28.83,24.67,28.83
$GC,2278,-1.65,-136.3,2534,3340,3302,3311,271.5,-10.4,241,2286,0.08,2.25,0.00,0.000,5126,0.045,0.023,2491,1948,3306,3302,3311,0,0,0,0,0,0,24.67,24.67,28.83
$GC,2525,-1.65,-136.3,2491,1948,3302,3309,299.8,-10.1,266,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1948,3305,3302,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-1.65,-136.3,2490,1948,3302,3307,324.0,-11.3,290,2769,0.00,2.25,0.00,0.000,260,0.000,0.034,2490,3335,3304,3302,3307,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2812,-1.65,-136.3,2491,3335,3302,3307,329.5,-11.9,294,2816,0.00,2.28,0.00,0.000,1030,0.000,0.030,2491,1921,3304,3302,3307,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3057,-1.65,-136.3,2490,1922,3302,3304,358.2,-11.4,318,3066,0.00,2.30,0.00,0.000,260,0.000,0.039,2491,3334,3302,3302,3303,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3141,-1.65,-136.3,2491,3334,3302,3303,367.4,-11.3,326,3149,0.00,2.33,0.00,0.000,1030,0.000,0.031,2491,1934,3302,3302,3303,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3389,-1.65,-136.3,2491,1934,3302,3298,392.4,-9.6,351,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1934,3300,3302,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-1.65,-136.3,2490,1934,3302,3295,415.4,-9.4,364,3646,0.00,2.30,0.00,0.000,260,0.000,0.044,2491,3331,3298,3302,3295,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3727,-1.65,-136.3,2491,3331,3302,3294,422.8,-9.2,366,3731,0.00,2.30,0.00,0.000,1030,0.000,0.043,2490,1933,3298,3302,3294,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3994,-1.65,-136.3,2490,1933,3302,3290,447.5,-9.3,373,4000,0.00,2.33,0.00,0.000,260,0.000,0.046,2491,3330,3296,3302,3290,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4086,-1.65,-136.3,2490,3330,3301,3289,455.9,-10.1,375,4091,0.00,2.35,0.00,0.000,1030,0.000,0.041,2491,1945,3295,3301,3289,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4353,-1.65,-136.3,2490,1945,3300,3286,485.6,-10.8,382,4358,0.00,2.33,0.00,0.000,260,0.000,0.049,2490,3326,3293,3300,3286,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4391,-1.65,-136.3,2491,3325,3300,3286,489.8,-11.0,383,4396,0.00,2.33,0.00,0.000,1030,0.000,0.047,2491,1939,3293,3300,3286,0,0,0,0,0,0,28.83,24.69,28.83
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4512,-0.38,0.0,2491,2090,3299,3285,503.4,-11.4,386,4630,1.33,0.00,110.03,0.946,10244,0.096,0.000,2783,2091,2749,2816,2682,0,0,0,0,0,0,24.68,28.83,23.40
$STATE,4631,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4632,1.63,136.3,2783,2091,2816,2682,508.0,0.0,389,4758,1.80,2.45,116.20,0.930,10500,0.043,0.058,3225,3482,2195,2278,2113,0,0,0,0,0,0,24.15,24.08,23.39
$GC,4767,1.63,136.3,3225,3482,2275,2111,505.8,3.4,392,4772,0.00,2.40,0.00,0.000,1030,0.000,0.047,3225,2107,2192,2274,2110,0,0,0,0,0,0,28.83,24.12,28.83
$GC,5030,1.53,136.3,3225,2107,2265,2105,478.2,10.2,399,5032,0.12,0.00,0.00,0.000,4102,0.134,0.000,3204,2107,2185,2265,2105,0,0,0,0,0,0,24.32,28.83,28.83
$GC,5270,1.47,136.3,3204,2107,2262,2105,453.8,10.1,405,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2106,2183,2262,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,1.44,163.6,3204,2107,2260,2104,432.4,8.7,411,5536,0.00,0.00,23.15,0.863,8198,0.000,0.000,3204,2107,2082,2166,1999,0,0,0,0,0,0,28.83,28.83,23.49
$GC,5750,1.43,196.1,3204,2107,2160,1996,411.9,8.4,417,5790,0.10,2.45,29.35,0.871,12548,0.152,0.042,3185,3489,1948,2040,1857,0,0,0,0,0,0,24.39,24.04,23.46
$GC,5872,1.48,232.8,3185,3489,2034,1856,401.4,8.2,420,5914,0.00,2.30,32.45,0.874,9222,0.000,0.028,3185,2095,1798,1898,1698,0,0,0,0,0,0,28.83,24.37,23.44
$GC,6153,1.48,232.8,3185,2095,1890,1697,372.8,11.2,445,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2095,1793,1890,1697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6393,1.48,239.1,3185,2095,1887,1696,347.3,9.7,469,6403,0.00,0.00,5.45,0.645,8198,0.000,0.000,3185,2095,1775,1870,1680,0,0,0,0,0,0,28.83,28.83,23.77
$GC,6642,1.48,239.1,3185,2095,1867,1679,320.8,11.2,494,6646,0.00,2.30,0.00,0.000,260,0.000,0.041,3185,3492,1773,1867,1679,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6669,1.48,239.1,3185,3492,1866,1679,317.7,11.6,496,6678,0.00,2.28,0.00,0.000,1030,0.000,0.025,3185,2080,1772,1866,1679,0,0,0,0,0,0,28.83,24.34,28.83
$GC,6919,1.49,242.1,3185,2081,1865,1679,291.9,9.9,521,6928,0.00,2.38,0.00,0.000,516,0.000,0.061,3185,704,1771,1865,1678,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6991,1.49,242.1,3185,704,1864,1678,284.7,10.3,528,7001,0.00,2.20,0.00,0.000,1030,0.000,0.024,3185,2093,1771,1864,1678,0,0,0,0,0,0,28.83,24.58,28.83
$GC,7241,1.49,243.5,3185,2093,1863,1678,259.8,10.0,553,7251,0.00,2.38,4.68,0.574,8452,0.000,0.034,3185,3491,1757,1850,1664,0,0,0,0,0,0,28.83,24.46,23.89
$GC,7354,1.49,243.5,3185,3490,1849,1664,247.1,10.9,564,7358,0.00,2.28,0.00,0.000,1030,0.000,0.021,3185,2063,1756,1849,1663,0,0,0,0,0,0,28.83,24.56,28.83
$GC,7599,1.58,284.4,3185,2064,1848,1663,225.1,8.0,588,7641,0.12,2.45,35.85,0.751,10500,0.087,0.031,3220,3486,1589,1692,1487,0,0,0,0,0,0,24.60,24.08,23.55
$GC,7653,1.58,284.4,3220,3486,1690,1486,219.6,10.2,593,7657,0.00,2.25,0.00,0.000,1030,0.000,0.027,3220,2092,1588,1689,1487,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7899,1.61,308.5,3220,2092,1686,1484,195.3,8.9,617,7922,0.00,0.00,21.27,0.718,8198,0.000,0.000,3220,2092,1491,1599,1384,0,0,0,0,0,0,28.83,28.83,23.59
$GC,8160,1.61,308.5,3220,2092,1596,1380,168.2,11.2,643,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2092,1487,1595,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,1.61,308.5,3220,2092,1595,1380,139.6,11.7,667,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2092,1487,1594,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,1.61,308.5,3220,2092,1595,1380,112.1,10.8,691,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2092,1487,1594,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8880,1.65,308.5,3220,2092,1595,1380,84.0,12.2,715,8889,0.00,2.30,0.00,0.000,516,0.000,0.044,3220,695,1487,1595,1380,0,0,0,0,0,0,28.83,24.52,28.83
$GC,8904,1.65,308.5,3220,695,1594,1380,81.4,11.5,717,8912,0.00,2.20,0.00,0.000,1030,0.000,0.015,3220,2106,1487,1594,1380,0,0,0,0,0,0,28.83,24.62,28.83
$GC,9153,1.71,308.5,3220,2106,1594,1380,55.4,11.2,742,9162,0.00,2.30,0.00,0.000,516,0.000,0.042,3220,705,1487,1594,1380,0,0,0,0,0,0,28.83,24.55,28.83
$GC,9188,1.75,308.5,3220,705,1594,1380,51.3,12.0,745,9197,0.10,2.15,0.00,0.000,3078,0.057,0.015,3256,2090,1487,1594,1380,0,0,0,0,0,0,24.58,24.64,28.83
$GC,9436,1.75,308.5,2256,2088,1555,1377,18.9,11.6,779,9443,0.00,2.30,0.00,0.000,516,0.000,0.041,3256,708,1487,1594,1380,0,0,0,0,0,0,28.83,24.57,28.83
$GC,9486,1.75,308.5,2216,708,1553,1376,13.1,11.5,788,9493,0.00,2.12,0.00,0.000,1030,0.000,0.023,3256,2079,1487,1594,1380,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,9574,end climb,SURFACE_DEPTH_REACHED
$STATE,9574,begin surface coast
$FINISH,0.8,1.023098
$STATE,9601,end surface coast,CONTROL_FINISHED_OK
$STATE,9601,begin surface
$SM_CCo,9618,197.82,0.542,0,0,477,557.57
$SM_CCo,9818,-0.10,0.000,0,0,478,557.57
$SM_CCo,9821,0.00,0.000,0,0,478,557.57
$SM_GC,1.42,11.12,0.20,0.00,0.021,0.051,0.000,459,1903,478,-10.93,1.02,557.57,0,0,0,0,0,0,24.67,24.68,28.83
$IRIDIUM_FIX,2129.53,-15703.01,190109,212107
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.08
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,22.80
$XPDR_PINGS,23
$24V_AH,23.4,5.653
$10V_AH,10.5,2.983
$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,26.150,87.375,378.425,197.825,0.000,27.345,37.478,269.401,5.750,0.000,15.627,2013.986,5247.544,717.683,2168.931,107.744,33.242,1566.526,0.000,1822.185,0.000,0.537,0.000
$DEVICE_MAMPS,159.885,61.965,945.540,542.385,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,551.825,606.049,781.394,525.591,927.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353348
$DATA_FILE_SIZE,63831,810
$CAP_FILE_SIZE,115224,0
$CFSIZE,259248128,257429504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250316,140435,2145.536,-15704.168,35,1.2,35,10.0