version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 21
start: 3 25 116 22 55 36
data:
$ID,146
$MISSION,12
$DIVE,21
$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,-388120.16
$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,2868
$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,1970
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,59
$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
$GPS1,250316,224635,2150.935,-15705.706,37,1.1,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-56.4
$GPS2,250316,225441,2151.102,-15705.864,12,1.5,12,10.0
$SPEED_LIMITS,0.174,0.253
$TGT_NAME,DIAG3
$TGT_LATLONG,2230.000,-15548.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.115
$KALMAN_X,-28061.3,-421.7,-195.6,28871.7,-1942.6
$KALMAN_Y,32619.1,-522.2,244.3,20014.7,2356.2
$MHEAD_RNG_PITCHd_Wd,52.9,151456,-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,-136.3,459,1948,616,337,0.0,0.0,0,120,0.00,0.00,-101.82,0.000,16386,0.000,0.000,460,1948,3060,3036,3085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.63,-136.3,459,1948,3037,3085,3.7,-7.1,16,144,10.93,2.35,-4.97,0.000,18692,0.161,0.050,2507,3355,3307,3298,3316,0,0,0,0,0,0,24.22,24.35,24.60
$GC,242,-1.52,-136.3,1504,3353,3274,3312,29.6,-17.6,38,250,0.10,2.22,0.00,0.000,3078,0.108,0.021,2531,1978,3307,3299,3316,0,0,0,0,0,0,24.35,24.44,28.83
$GC,490,-1.43,-136.3,2531,1978,3299,3316,70.0,-16.0,63,500,0.12,2.17,0.00,0.000,2308,0.132,0.024,2557,3346,3307,3299,3316,0,0,0,0,0,0,24.42,24.47,28.83
$GC,514,-1.36,-136.3,2557,3346,3299,3315,73.9,-15.6,65,523,0.00,2.22,0.00,0.000,1030,0.000,0.020,2557,1971,3307,3299,3316,0,0,0,0,0,0,28.83,24.50,28.83
$GC,762,-1.36,-136.3,2557,1971,3299,3316,106.8,-13.5,90,772,0.00,2.22,0.00,0.000,260,0.000,0.028,2557,3355,3307,3299,3316,0,0,0,0,0,0,28.83,24.52,28.83
$GC,848,-1.36,-136.3,2557,3355,3299,3315,117.9,-12.8,98,857,0.00,2.20,0.00,0.000,1030,0.000,0.024,2557,1993,3307,3299,3315,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1096,-1.36,-136.3,2557,1993,3300,3315,152.3,-14.0,123,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1993,3307,3299,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1337,-1.40,-136.3,2557,1993,3300,3315,181.3,-10.1,147,1347,0.00,2.38,0.00,0.000,516,0.000,0.056,2557,575,3308,3300,3316,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1412,-1.44,-136.3,2557,575,3300,3315,189.3,-11.5,154,1420,0.00,2.22,0.00,0.000,1030,0.000,0.031,2557,1986,3307,3300,3315,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1660,-1.52,-136.3,2557,1986,3300,3315,214.1,-8.7,179,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1986,3307,3300,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-1.60,-136.3,2557,1986,3300,3315,238.1,-11.2,203,1904,0.17,0.00,0.00,0.000,4102,0.053,0.000,2491,1986,3307,3300,3315,0,0,0,0,0,0,24.70,28.83,28.83
$GC,2141,-1.60,-136.3,2491,1986,3300,3314,267.1,-11.9,227,2145,0.12,2.20,0.00,0.000,2308,0.107,0.039,2520,3347,3307,3300,3314,0,0,0,0,0,0,24.63,24.65,28.83
$GC,2291,-1.65,-136.3,2520,3347,3300,3313,283.3,-11.3,241,2298,0.00,2.22,0.00,0.000,1030,0.000,0.023,2520,1985,3307,3300,3314,0,0,0,0,0,0,28.83,24.67,28.83
$GC,2541,-1.70,-136.3,2520,1985,3301,3311,308.5,-9.4,266,2549,0.00,2.17,0.00,0.000,260,0.000,0.032,2521,3340,3305,3300,3311,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2615,-1.76,-136.3,2520,3340,3300,3311,316.0,-10.6,273,2624,0.10,2.22,0.00,0.000,5126,0.040,0.025,2472,1986,3305,3300,3311,0,0,0,0,0,0,24.70,24.68,28.83
$GC,2865,-1.76,-136.3,2471,1987,3300,3308,345.3,-11.2,298,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1987,3304,3300,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3113,-1.76,-136.3,2471,1987,3300,3305,372.7,-11.3,323,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1987,3302,3300,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3352,-1.76,-136.3,2471,1987,3300,3301,398.4,-11.1,347,3356,0.00,2.50,0.00,0.000,516,0.000,0.080,2472,569,3300,3300,3301,0,0,0,0,0,0,28.83,24.61,28.83
$GC,3371,-1.76,-136.3,2472,569,3300,3301,400.1,-10.7,348,3375,0.00,2.30,0.00,0.000,1030,0.000,0.041,2472,1950,3300,3300,3301,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3628,-1.76,-136.3,2471,1951,3300,3298,428.6,-10.7,355,3632,0.00,2.38,0.00,0.000,260,0.000,0.050,2471,3369,3299,3300,3298,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3647,-1.76,-136.3,2471,3370,3301,3297,428.6,-10.7,355,3651,0.00,2.30,0.00,0.000,1030,0.000,0.038,2471,2002,3299,3300,3298,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3904,-1.76,-136.3,2471,2001,3300,3293,456.0,-9.5,362,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2002,3296,3300,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4144,-1.76,-136.3,2471,2001,3300,3290,475.4,-8.0,368,4148,0.00,2.33,0.00,0.000,260,0.000,0.056,2471,3373,3295,3300,3290,0,0,0,0,0,0,28.83,24.68,28.83
$GC,4180,-1.76,-136.3,2471,3374,3299,3290,478.6,-8.3,369,4184,0.00,2.33,0.00,0.000,1030,0.000,0.047,2472,1984,3294,3299,3289,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,4415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4415,begin apogee
$GC,4419,-0.38,0.0,2471,2132,3297,3287,503.2,-10.9,375,4537,1.40,0.00,110.28,0.946,10244,0.083,0.000,2781,2132,2748,2815,2682,0,0,0,0,0,0,24.67,28.83,23.40
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4539,1.63,136.3,2781,2132,2814,2682,508.8,0.0,378,4664,1.80,2.45,116.43,0.933,10500,0.042,0.062,3222,3503,2193,2277,2110,0,0,0,0,0,0,24.14,24.07,23.39
$GC,5081,1.55,162.9,3222,3502,2260,2106,476.2,8.7,391,5110,0.00,2.35,22.52,0.877,9222,0.000,0.038,3222,2110,2085,2170,2001,0,0,0,0,0,0,28.83,24.39,23.46
$GC,5378,1.47,162.9,3222,2110,2162,1996,443.7,10.6,399,5385,0.15,2.38,0.00,0.000,4356,0.129,0.042,3192,3507,2079,2162,1997,0,0,0,0,0,0,24.37,24.39,28.83
$GC,5740,1.43,171.0,3192,3508,2156,1997,407.4,9.6,408,5754,0.00,2.33,7.28,0.738,9222,0.000,0.034,3191,2103,2051,2134,1969,0,0,0,0,0,0,28.83,24.49,23.74
$GC,6000,1.43,198.0,3192,2103,2132,1967,384.8,8.7,425,6030,0.00,2.53,25.05,0.859,8708,0.000,0.067,3192,721,1941,2033,1850,0,0,0,0,0,0,28.83,24.03,23.49
$GC,6078,1.36,198.0,3192,721,2029,1849,376.7,10.4,433,6088,0.15,2.28,0.00,0.000,5126,0.131,0.033,3165,2125,1939,2029,1849,0,0,0,0,0,0,24.28,24.38,28.83
$GC,6328,1.43,255.9,3165,2125,2025,1847,357.2,7.2,458,6388,0.00,2.55,50.28,0.864,8708,0.000,0.060,3165,715,1703,1808,1599,0,0,0,0,0,0,28.83,23.98,23.44
$GC,6403,1.46,276.5,3165,715,1806,1598,351.1,9.0,465,6430,0.00,2.35,18.58,0.812,9222,0.000,0.032,3165,2130,1621,1729,1513,0,0,0,0,0,0,28.83,24.25,23.46
$GC,6670,1.52,289.9,3165,2131,1721,1510,324.2,9.4,492,6691,0.12,2.53,11.50,0.767,10756,0.089,0.058,3197,721,1568,1673,1463,0,0,0,0,0,0,24.41,24.11,23.60
$GC,6733,1.48,289.9,3197,721,1671,1462,316.8,12.4,498,6738,0.00,2.25,0.00,0.000,1030,0.000,0.028,3197,2124,1566,1671,1462,0,0,0,0,0,0,28.83,24.39,28.83
$GC,6978,1.48,289.9,3197,2124,1667,1461,287.0,11.6,522,6988,0.00,2.30,0.00,0.000,260,0.000,0.040,3197,3510,1563,1666,1461,0,0,0,0,0,0,28.83,24.44,28.83
$GC,7051,1.48,289.9,3197,3510,1665,1461,277.9,12.5,529,7060,0.00,2.25,0.00,0.000,1030,0.000,0.022,3197,2114,1563,1665,1461,0,0,0,0,0,0,28.83,24.48,28.83
$GC,7301,1.48,289.9,3197,2114,1664,1460,249.1,12.6,554,7309,0.00,2.38,0.00,0.000,516,0.000,0.055,3197,719,1562,1664,1460,0,0,0,0,0,0,28.83,24.45,28.83
$GC,7334,1.48,289.9,2304,719,1628,1456,245.1,12.5,557,7342,0.00,2.25,0.00,0.000,1030,0.000,0.028,3197,2117,1561,1663,1460,0,0,0,0,0,0,28.83,24.55,28.83
$GC,7582,1.48,289.9,3197,2118,1662,1460,215.5,11.3,582,7586,0.00,2.28,0.00,0.000,260,0.000,0.037,3197,3511,1561,1662,1460,0,0,0,0,0,0,28.83,24.52,28.83
$GC,7678,1.48,289.9,3197,3511,1661,1460,203.6,12.6,591,7683,0.00,2.25,0.00,0.000,1030,0.000,0.021,3198,2110,1560,1661,1460,0,0,0,0,0,0,28.83,24.56,28.83
$GC,7924,1.54,305.2,3197,2110,1661,1460,175.9,9.3,615,7944,0.00,0.00,13.95,0.670,8198,0.000,0.000,3197,2110,1503,1608,1399,0,0,0,0,0,0,28.83,28.83,23.76
$GC,8185,1.63,326.4,3197,2111,1605,1397,153.3,9.0,641,8214,0.10,2.35,19.02,0.663,10756,0.089,0.047,3226,725,1418,1530,1306,0,0,0,0,0,0,24.56,24.13,23.68
$GC,8278,1.63,326.4,3226,726,1528,1305,142.5,12.7,650,8288,0.00,2.17,0.00,0.000,1030,0.000,0.017,3226,2130,1416,1527,1305,0,0,0,0,0,0,28.83,24.46,28.83
$GC,8528,1.63,326.4,3226,2130,1526,1305,113.5,11.2,675,8537,0.00,2.22,0.00,0.000,260,0.000,0.028,3226,3501,1415,1526,1305,0,0,0,0,0,0,28.83,24.50,28.83
$GC,8550,1.63,326.4,3226,3500,1525,1305,111.0,11.0,677,8560,0.00,2.20,0.00,0.000,1030,0.000,0.018,3226,2101,1415,1525,1305,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8800,1.63,326.4,3226,2101,1525,1305,81.5,12.9,702,8810,0.00,2.25,0.00,0.000,260,0.000,0.028,3227,3500,1415,1525,1305,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8855,1.63,326.4,3226,3500,1525,1305,74.4,13.2,707,8864,0.00,2.22,0.00,0.000,1030,0.000,0.018,3226,2115,1415,1525,1305,0,0,0,0,0,0,28.83,24.58,28.83
$GC,9105,1.66,326.4,3226,2115,1525,1305,44.7,11.7,732,9115,0.00,2.25,0.00,0.000,516,0.000,0.041,3227,733,1415,1525,1305,0,0,0,0,0,0,28.83,24.53,28.83
$GC,9130,1.66,326.4,3226,733,1525,1306,41.9,11.9,734,9138,0.00,2.15,0.00,0.000,1030,0.000,0.015,3226,2127,1415,1525,1305,0,0,0,0,0,0,28.83,24.63,28.83
$GC,9377,1.71,326.4,2176,2125,1488,1302,13.4,10.2,773,9385,0.00,2.22,0.00,0.000,260,0.000,0.028,3226,3493,1415,1525,1305,0,0,0,0,0,0,28.83,24.59,28.83
$GC,9427,1.76,326.4,2216,3491,1491,1302,7.9,11.0,782,9435,0.08,2.17,0.00,0.000,3078,0.054,0.018,3261,2125,1415,1525,1305,0,0,0,0,0,0,24.59,24.63,28.83
$STATE,9466,end climb,SURFACE_DEPTH_REACHED
$STATE,9466,begin surface coast
$FINISH,0.7,1.007989
$STATE,9489,end surface coast,CONTROL_FINISHED_OK
$STATE,9489,begin surface
$SM_CCo,9506,183.85,0.544,0,0,477,557.57
$SM_CCo,9692,-0.03,0.000,0,0,477,557.57
$SM_CCo,9695,0.00,0.000,0,0,477,557.57
$SM_GC,1.40,11.20,0.20,0.00,0.024,0.051,0.000,460,1954,477,-10.92,1.58,557.57,0,0,0,0,0,0,24.64,24.65,28.83
$IRIDIUM_FIX,2138.81,-15706.38,200109,090919
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.08
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,22.80
$XPDR_PINGS,26
$24V_AH,23.4,6.233
$10V_AH,10.4,3.412
$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,26.550,101.275,394.875,183.850,0.000,22.814,41.071,326.644,6.500,0.000,14.709,1982.070,4988.096,730.401,2369.019,115.375,33.236,1664.776,0.000,1957.164,0.000,0.537,0.000
$DEVICE_MAMPS,160.650,141.525,945.540,543.915,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,538.430,580.680,761.916,521.725,908.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353296
$DATA_FILE_SIZE,64056,793
$CAP_FILE_SIZE,120941,0
$CFSIZE,259248128,257159168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260316,013820,2152.703,-15705.891,12,3.8,32,10.0