version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 31
start: 3 27 116 18 0 24
data:
$ID,146
$MISSION,12
$DIVE,31
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,980
$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,300
$T_MISSION,620
$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,0
$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,400
$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,-388132.66
$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,2863
$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,2000
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$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,2700
$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
$GPS1,270316,175205,2155.276,-15705.681,37,1.5,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.4
$GPS2,270316,175929,2155.321,-15705.791,14,1.5,31,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TEMP4
$TGT_LATLONG,2236.000,-15559.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.130
$KALMAN_X,-61489.6,-101.3,-35.6,61943.6,-3596.0
$KALMAN_Y,49207.3,-433.2,-86.7,11489.6,2534.2
$MHEAD_RNG_PITCHd_Wd,111.1,136809,-18.9,-10.000,-21.63,2088
$D_GRID,900
$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,15,-1.62,-136.3,463,1973,1176,955,0.0,0.0,0,95,0.00,0.00,-77.38,0.000,16386,0.000,0.000,463,1971,2994,2967,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.62,-136.3,463,1972,2967,3021,3.4,-5.0,12,120,10.85,2.30,-5.43,0.000,18948,0.158,0.055,2503,629,3257,3241,3273,0,0,0,0,0,0,24.19,24.27,24.56
$GC,352,-1.49,-136.3,2503,629,3242,3273,55.1,-18.3,47,362,0.17,2.10,0.00,0.000,3078,0.119,0.015,2537,2013,3257,3242,3273,0,0,0,0,0,0,24.34,24.47,28.83
$GC,602,-1.42,-136.3,2536,2013,3243,3272,94.9,-15.7,72,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2013,3257,3243,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-1.38,-136.3,2536,2013,3244,3273,130.0,-14.2,96,844,0.12,0.00,0.00,0.000,2054,0.125,0.000,2561,2013,3258,3244,3272,0,0,0,0,0,0,24.43,28.83,28.83
$GC,1081,-1.42,-136.3,2561,2013,3244,3272,156.6,-9.0,120,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2013,3258,3244,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-1.49,-136.3,2560,2013,3245,3272,177.9,-8.2,144,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2013,3258,3245,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-1.56,-136.3,2560,2013,3246,3272,198.2,-8.1,168,1570,0.17,0.00,0.00,0.000,4102,0.051,0.000,2496,2013,3258,3245,3272,0,0,0,0,0,0,24.60,28.83,28.83
$GC,1812,-1.56,-136.3,2496,2013,3246,3272,222.1,-10.0,193,1814,0.12,0.00,0.00,0.000,2054,0.104,0.000,2521,2013,3258,3245,3272,0,0,0,0,0,0,24.55,28.83,28.83
$GC,2052,-1.56,-136.3,2521,2013,3245,3272,245.0,-9.7,217,2060,0.00,2.20,0.00,0.000,260,0.000,0.035,2522,3375,3258,3245,3272,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2085,-1.56,-136.3,2521,3375,3246,3272,248.2,-9.6,220,2092,0.00,2.20,0.00,0.000,1030,0.000,0.026,2521,2029,3258,3245,3272,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2335,-1.60,-136.3,2521,2029,3245,3272,272.3,-9.9,245,2343,0.00,2.15,0.00,0.000,260,0.000,0.032,2521,3364,3258,3245,3272,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2491,-1.64,-136.3,2521,3364,3245,3271,287.6,-10.4,260,2498,0.00,2.17,0.00,0.000,1030,0.000,0.022,2521,2008,3258,3245,3271,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2738,-1.70,-136.3,2521,2008,3245,3269,312.3,-10.6,285,2749,0.12,2.40,0.00,0.000,4612,0.067,0.061,2467,605,3257,3245,3269,0,0,0,0,0,0,24.68,24.54,28.83
$GC,2794,-1.65,-136.3,1584,605,3222,3265,318.8,-12.4,290,2802,0.12,2.20,0.00,0.000,3078,0.081,0.031,2499,1977,3257,3245,3269,0,0,0,0,0,0,24.57,24.64,28.83
$GC,3041,-1.65,-136.3,2499,1978,3245,3267,346.6,-11.5,315,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1978,3256,3245,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3283,-1.65,-136.3,2499,1978,3245,3264,374.5,-11.0,339,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1978,3254,3245,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-1.65,-136.3,2499,1978,3245,3261,398.9,-8.9,363,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1978,3253,3245,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-1.69,-136.3,2499,1978,3245,3258,419.1,-7.5,371,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1978,3251,3245,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-1.73,-136.3,2499,1978,3245,3255,436.2,-7.1,377,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1978,3250,3245,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4262,-1.78,-136.3,2499,1978,3245,3252,456.6,-8.9,383,4264,0.10,0.00,0.00,0.000,4102,0.082,0.000,2461,1978,3248,3245,3252,0,0,0,0,0,0,24.73,28.83,28.83
$GC,4501,-1.78,-136.3,2461,1978,3245,3249,483.6,-11.6,389,4505,0.00,2.42,0.00,0.000,260,0.000,0.054,2461,3391,3247,3245,3249,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4625,-1.78,-136.3,2461,3391,3245,3247,498.3,-12.4,392,4630,0.00,2.35,0.00,0.000,1030,0.000,0.043,2461,2009,3246,3245,3248,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4892,-1.78,-136.3,2461,2009,3245,3244,532.0,-12.2,399,4896,0.00,2.40,0.00,0.000,260,0.000,0.060,2461,3389,3244,3245,3243,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4961,-1.78,-136.3,2461,3389,3245,3243,536.4,-12.2,400,4968,0.00,2.40,0.00,0.000,1030,0.000,0.049,2461,1990,3244,3245,3243,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5208,-1.78,-136.3,2461,1990,3245,3239,569.2,-11.3,407,5212,0.00,2.45,0.00,0.000,260,0.000,0.070,2462,3382,3242,3246,3239,0,0,0,0,0,0,28.83,24.62,28.83
$GC,5287,-1.78,-136.3,2461,3383,3244,3240,577.5,-11.0,409,5291,0.00,2.38,0.00,0.000,1030,0.000,0.056,2461,2017,3241,3244,3239,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5564,-1.78,-136.3,2462,2017,3244,3236,605.3,-9.6,416,5570,0.00,2.42,0.00,0.000,260,0.000,0.067,2462,3385,3240,3244,3236,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5607,-1.78,-136.3,2461,3385,3244,3236,609.1,-9.5,417,5612,0.00,2.40,0.00,0.000,1030,0.000,0.059,2461,2014,3240,3244,3236,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5879,-1.78,-136.3,2461,2014,3244,3233,633.8,-8.8,424,5886,0.00,2.42,0.00,0.000,260,0.000,0.064,2461,3385,3238,3244,3233,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5902,-1.78,-136.3,2461,3385,3243,3233,633.8,-8.8,424,5907,0.00,2.38,0.00,0.000,1030,0.000,0.055,2461,2017,3238,3243,3233,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6154,-1.78,-136.3,2461,2018,3242,3231,657.2,-8.5,431,6160,0.00,2.40,0.00,0.000,260,0.000,0.063,2461,3386,3236,3242,3231,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6172,-1.78,-136.3,2461,3386,3242,3231,657.2,-8.5,431,6176,0.00,2.38,0.00,0.000,1030,0.000,0.052,2461,2019,3236,3242,3231,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6429,-1.78,-136.3,2461,2019,3241,3230,679.2,-7.8,438,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2019,3235,3241,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,-1.78,-136.3,2461,2019,3240,3228,697.7,-7.7,444,6676,0.00,2.38,0.00,0.000,260,0.000,0.067,2461,3379,3234,3240,3228,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6702,-1.78,-136.3,2461,3379,3240,3228,697.7,-7.7,444,6709,0.00,2.35,0.00,0.000,1030,0.000,0.059,2461,2025,3234,3240,3228,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6949,-1.78,-136.3,2461,2026,3239,3226,720.5,-8.2,451,6955,0.00,2.38,0.00,0.000,260,0.000,0.060,2461,3381,3233,3239,3227,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7007,-1.78,-136.3,2461,3381,3239,3227,723.8,-8.4,452,7012,0.00,2.33,0.00,0.000,1030,0.000,0.050,2461,2037,3233,3239,3227,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7264,-1.78,-136.3,2461,2037,3238,3226,747.4,-8.5,459,7270,0.00,2.35,0.00,0.000,260,0.000,0.065,2461,3382,3232,3238,3226,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7357,-1.78,-136.3,2461,3382,3237,3226,754.6,-8.9,461,7361,0.00,2.30,0.00,0.000,1030,0.000,0.050,2461,2052,3231,3237,3226,0,0,0,0,0,0,28.83,24.64,28.83
$GC,7620,-1.78,-136.3,2461,2052,3236,3224,779.0,-8.7,468,7625,0.00,2.33,0.00,0.000,260,0.000,0.059,2461,3381,3230,3236,3224,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7672,-1.78,-136.3,2461,3381,3236,3224,782.6,-8.7,469,7676,0.00,2.30,0.00,0.000,1030,0.000,0.050,2461,2053,3230,3236,3224,0,0,0,0,0,0,28.83,24.64,28.83
$GC,7939,-1.78,-136.3,2461,2053,3235,3223,808.1,-9.0,476,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2053,3229,3235,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8179,-1.78,-136.3,2461,2053,3235,3221,829.0,-8.5,482,8183,0.00,2.35,0.00,0.000,260,0.000,0.058,2461,3385,3228,3235,3221,0,0,0,0,0,0,28.83,24.64,28.83
$GC,8218,-1.78,-136.3,1600,3383,3211,3217,832.1,-8.3,483,8223,0.00,2.33,0.00,0.000,1030,0.000,0.049,2461,2061,3228,3235,3221,0,0,0,0,0,0,28.83,24.66,28.83
$GC,8496,-1.78,-136.3,2461,2062,3235,3220,857.2,-9.0,490,8501,0.00,2.30,0.00,0.000,260,0.000,0.059,2461,3381,3227,3235,3219,0,0,0,0,0,0,28.83,24.64,28.83
$GC,8553,-1.78,-136.3,2461,3380,3234,3219,860.9,-9.1,491,8557,0.00,2.25,0.00,0.000,1030,0.000,0.047,2461,2065,3227,3234,3220,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8816,-1.78,-136.3,2461,2065,3233,3218,885.6,-8.9,498,8821,0.00,2.30,0.00,0.000,260,0.000,0.056,2461,3387,3226,3233,3219,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8855,-1.78,-136.3,2461,3388,3233,3218,889.3,-9.0,499,8859,0.00,2.28,0.00,0.000,1030,0.000,0.047,2461,2060,3226,3233,3219,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,9010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9010,begin apogee
$GC,9013,-0.38,0.0,2461,2060,3233,3218,903.4,-9.0,503,9132,1.42,0.00,114.45,1.275,10244,0.084,0.000,2776,2060,2700,2758,2642,0,0,0,0,0,0,24.65,28.83,23.14
$STATE,9133,end apogee,CONTROL_FINISHED_OK
$STATE,9133,begin climb
$GC,9135,1.62,136.3,2775,2060,2758,2641,906.4,0.0,506,9264,1.83,0.00,123.53,1.252,11270,0.037,0.000,3218,2060,2144,2227,2062,0,0,0,0,0,0,24.02,28.83,23.13
$GC,9531,1.50,136.3,3218,2061,2213,2055,872.8,10.4,516,9533,0.15,0.00,0.00,0.000,4102,0.126,0.000,3192,2060,2134,2213,2056,0,0,0,0,0,0,24.25,28.83,28.83
$GC,9772,1.43,142.6,3192,2059,2211,2054,849.6,9.7,522,9784,0.00,2.60,5.07,0.861,8452,0.000,0.060,3192,3483,2118,2196,2041,0,0,0,0,0,0,28.83,24.15,23.50
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$STATE,17808,end climb,SURFACE_DEPTH_REACHED
$STATE,17808,begin surface coast
$FINISH,0.7,1.017679
$STATE,17836,end surface coast,CONTROL_FINISHED_OK
$STATE,17836,begin surface
$SM_CCo,17853,76.15,0.549,0,0,1068,400.08
$SM_GC,1.56,11.20,0.10,76.15,0.022,0.083,0.549,460,1972,1068,-10.90,1.19,400.08,0,0,0,0,0,0,24.56,24.58,23.59
$IRIDIUM_FIX,2143.45,-15705.47,220109,020254
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.88
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.00
$XPDR_PINGS,44
$24V_AH,23.1,7.770
$10V_AH,10.4,4.625
$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
$DEVICE_SECS,26.925,159.475,402.350,76.150,0.000,27.458,35.910,257.323,11.000,0.000,34.146,2678.213,12135.422,647.863,2769.727,138.411,33.255,1839.469,0.000,2398.886,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,693.810,634.336,815.836,522.603,920.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353256
$DATA_FILE_SIZE,80632,1014
$CAP_FILE_SIZE,180852,0
$CFSIZE,259248128,256303104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270316,230028,2155.208,-15705.669,37,1.3,37,10.0