version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 33
start: 3 28 116 4 15 55
data:
$ID,146
$MISSION,12
$DIVE,33
$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,-388135.16
$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,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,52
$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
$GPS1,280316,040705,2155.608,-15704.939,28,1.2,28,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.9
$GPS2,280316,041500,2155.638,-15704.932,8,1.6,8,10.0
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TEMP4
$TGT_LATLONG,2236.000,-15559.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.036
$KALMAN_X,-68496.8,-86.1,74.2,70308.0,-3208.2
$KALMAN_Y,52165.7,419.8,-204.2,8381.8,1485.1
$MHEAD_RNG_PITCHd_Wd,88.1,135260,-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,-136.3,461,1988,1178,951,0.0,0.0,0,95,0.00,0.00,-77.30,0.000,16386,0.000,0.000,461,1988,2999,2970,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.62,-136.3,461,1988,2971,3029,3.7,-6.2,12,120,10.90,2.35,-5.18,0.000,18948,0.160,0.054,2503,612,3257,3241,3273,0,0,0,0,0,0,24.18,24.27,24.56
$GC,203,-1.47,-136.3,1504,613,3211,3269,28.8,-19.2,31,211,0.15,2.17,0.00,0.000,3078,0.102,0.015,2537,2007,3257,3241,3273,0,0,0,0,0,0,24.30,24.42,28.83
$GC,449,-1.40,-136.3,2537,2008,3242,3273,66.1,-14.5,56,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2008,3257,3242,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,689,-1.33,-136.3,2537,2008,3242,3273,101.2,-15.1,80,691,0.17,0.00,0.00,0.000,2054,0.112,0.000,2571,2008,3257,3242,3273,0,0,0,0,0,0,24.40,28.83,28.83
$GC,928,-1.33,-136.3,2571,2009,3243,3273,132.1,-12.8,104,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2009,3258,3243,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-1.37,-136.3,2571,2009,3244,3273,157.7,-10.4,128,1176,0.00,2.20,0.00,0.000,260,0.000,0.035,2571,3380,3258,3244,3273,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1221,-1.43,-136.3,2571,3380,3244,3273,163.0,-10.4,133,1229,0.00,2.15,0.00,0.000,1030,0.000,0.028,2571,2009,3258,3244,3273,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1470,-1.50,-136.3,2571,2009,3244,3273,186.8,-9.3,158,1479,0.15,2.33,0.00,0.000,4612,0.059,0.047,2506,610,3258,3244,3273,0,0,0,0,0,0,24.60,24.47,28.83
$GC,1524,-1.47,-136.3,2506,610,3244,3273,193.0,-12.4,163,1532,0.12,2.15,0.00,0.000,3078,0.076,0.019,2539,1986,3258,3244,3273,0,0,0,0,0,0,24.50,24.58,28.83
$GC,1772,-1.51,-136.3,2539,1987,3244,3273,220.7,-10.6,188,1781,0.00,2.25,0.00,0.000,260,0.000,0.036,2539,3382,3258,3244,3273,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1803,-1.56,-136.3,2539,3381,3245,3273,224.1,-11.0,191,1807,0.00,2.22,0.00,0.000,1030,0.000,0.028,2539,1988,3259,3245,3273,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2049,-1.61,-136.3,2539,1988,3245,3273,248.9,-9.6,215,2051,0.12,0.00,0.00,0.000,4102,0.067,0.000,2488,1989,3259,3245,3273,0,0,0,0,0,0,24.64,28.83,28.83
$GC,2288,-1.61,-136.3,2487,1989,3244,3273,274.4,-11.2,239,2293,0.12,2.33,0.00,0.000,2564,0.106,0.055,2517,609,3258,3244,3273,0,0,0,0,0,0,24.58,24.53,28.83
$GC,2337,-1.61,-136.3,2517,609,3244,3272,279.1,-10.1,243,2346,0.00,2.17,0.00,0.000,1030,0.000,0.023,2517,1971,3258,3244,3272,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2587,-1.65,-136.3,2517,1971,3245,3271,304.2,-9.9,268,2595,0.00,2.30,0.00,0.000,260,0.000,0.045,2517,3384,3257,3244,3271,0,0,0,0,0,0,28.83,24.48,28.83
$GC,2618,-1.70,-136.3,2517,3385,3244,3271,307.2,-9.5,271,2628,0.10,2.25,0.00,0.000,5126,0.079,0.027,2469,1996,3257,3244,3271,0,0,0,0,0,0,24.63,24.60,28.83
$GC,2867,-1.70,-136.3,2469,1996,3244,3269,337.2,-12.0,296,2872,0.12,2.30,0.00,0.000,2308,0.109,0.036,2498,3388,3256,3244,3268,0,0,0,0,0,0,24.60,24.58,28.83
$GC,2955,-1.70,-136.3,2497,3388,3245,3268,347.8,-12.0,304,2964,0.00,2.28,0.00,0.000,1030,0.000,0.028,2497,2005,3256,3245,3268,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3205,-1.70,-136.3,2497,2005,3244,3264,375.7,-9.9,329,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2005,3254,3244,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-1.70,-136.3,2497,2005,3244,3261,397.3,-8.4,353,3454,0.00,2.33,0.00,0.000,260,0.000,0.039,2498,3394,3252,3244,3261,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3554,-1.70,-136.3,2497,3394,3244,3260,404.7,-9.1,358,3559,0.00,2.33,0.00,0.000,1030,0.000,0.033,2497,2019,3252,3244,3260,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3807,-1.74,-136.3,2497,2019,3245,3256,429.5,-8.8,365,3813,0.00,2.30,0.00,0.000,260,0.000,0.042,2498,3384,3250,3244,3256,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3870,-1.74,-136.3,2497,3384,3244,3255,433.2,-8.9,366,3874,0.00,2.28,0.00,0.000,1030,0.000,0.037,2498,2017,3250,3245,3255,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4122,-1.78,-136.3,2497,2017,3244,3252,459.1,-9.7,373,4128,0.00,2.33,0.00,0.000,260,0.000,0.045,2497,3386,3248,3244,3252,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4190,-1.82,-136.3,2497,3386,3244,3251,463.2,-9.8,374,4195,0.15,2.28,0.00,0.000,5126,0.061,0.037,2445,2031,3247,3244,3251,0,0,0,0,0,0,24.69,24.63,28.83
$GC,4438,-1.82,-136.3,2445,2031,3244,3248,494.5,-11.5,380,4444,0.10,2.55,0.00,0.000,2564,0.121,0.087,2465,599,3245,3244,3247,0,0,0,0,0,0,24.65,24.58,28.83
$GC,4509,-1.82,-136.3,2465,599,3244,3247,499.1,-11.6,381,4516,0.00,2.35,0.00,0.000,1030,0.000,0.037,2465,1996,3245,3244,3247,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4756,-1.82,-136.3,2465,1997,3244,3243,532.7,-12.1,388,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1997,3243,3244,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4996,-1.82,-136.3,2465,1997,3244,3240,561.9,-12.2,394,5000,0.00,2.55,0.00,0.000,260,0.000,0.082,2465,3411,3241,3244,3239,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5065,-1.82,-136.3,2465,3412,3244,3239,566.2,-12.1,395,5072,0.00,2.42,0.00,0.000,1030,0.000,0.052,2465,2013,3241,3243,3239,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5312,-1.82,-136.3,2464,2013,3244,3237,597.3,-10.7,402,5316,0.00,2.47,0.00,0.000,260,0.000,0.070,2465,3411,3240,3243,3237,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5343,-1.82,-136.3,2465,3412,3244,3236,597.3,-10.7,402,5349,0.00,2.42,0.00,0.000,1030,0.000,0.056,2465,2017,3239,3243,3236,0,0,0,0,0,0,28.83,24.62,28.83
$GC,5589,-1.82,-136.3,2465,2017,3243,3234,623.6,-9.1,409,5595,0.00,2.47,0.00,0.000,260,0.000,0.074,2465,3411,3238,3243,3234,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5641,-1.82,-136.3,2465,3412,3243,3234,627.2,-9.1,410,5646,0.00,2.42,0.00,0.000,1030,0.000,0.056,2465,2023,3238,3243,3234,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5904,-1.82,-136.3,2465,2023,3241,3231,652.0,-9.0,417,5909,0.00,2.42,0.00,0.000,260,0.000,0.068,2465,3404,3236,3242,3230,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6002,-1.82,-136.3,2465,3404,3240,3230,659.4,-9.0,419,6006,0.00,2.38,0.00,0.000,1030,0.000,0.053,2465,2038,3235,3240,3230,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6259,-1.82,-136.3,2465,2038,3240,3229,683.4,-8.6,426,6264,0.00,2.40,0.00,0.000,260,0.000,0.061,2465,3406,3234,3240,3228,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6281,-1.82,-136.3,2465,3406,3240,3228,683.4,-8.6,426,6286,0.00,2.40,0.00,0.000,1030,0.000,0.052,2465,2048,3234,3240,3229,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6539,-1.82,-136.3,2465,2049,3239,3227,707.7,-8.9,433,6545,0.00,2.38,0.00,0.000,260,0.000,0.060,2465,3405,3233,3239,3227,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6556,-1.82,-136.3,2465,3405,3239,3227,707.7,-8.9,433,6561,0.00,2.38,0.00,0.000,1030,0.000,0.051,2465,2036,3233,3239,3227,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6815,-1.82,-136.3,2463,2035,3238,3225,735.8,-10.2,440,6820,0.00,2.38,0.00,0.000,260,0.000,0.060,2465,3403,3231,3238,3225,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6876,-1.82,-136.3,2464,3403,3237,3225,740.0,-10.4,441,6880,0.00,2.33,0.00,0.000,1030,0.000,0.058,2464,2055,3231,3238,3225,0,0,0,0,0,0,28.83,24.64,28.83
$GC,7133,-1.82,-136.3,2465,2055,3237,3224,771.8,-11.4,448,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2055,3230,3237,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7373,-1.82,-136.3,2465,2055,3235,3223,798.3,-11.0,454,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2055,3229,3235,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7613,-1.82,-136.3,2465,2055,3235,3221,823.2,-10.1,460,7617,0.00,2.38,0.00,0.000,260,0.000,0.060,2465,3409,3228,3235,3221,0,0,0,0,0,0,28.83,24.64,28.83
$GC,7652,-1.82,-136.3,1600,3407,3210,3217,826.7,-10.0,461,7656,0.00,2.38,0.00,0.000,1030,0.000,0.050,2465,2061,3228,3235,3221,0,0,0,0,0,0,28.83,24.65,28.83
$GC,7930,-1.82,-136.3,2464,2061,3234,3220,852.5,-9.1,468,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2062,3227,3235,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,-1.82,-136.3,2465,2062,3233,3219,872.7,-8.2,474,8176,0.00,2.35,0.00,0.000,260,0.000,0.059,2465,3405,3225,3232,3219,0,0,0,0,0,0,28.83,24.64,28.83
$GC,8249,-1.82,-136.3,2465,3405,3232,3219,879.4,-8.2,476,8253,0.00,2.33,0.00,0.000,1030,0.000,0.050,2465,2062,3225,3231,3219,0,0,0,0,0,0,28.83,24.66,28.83
$STATE,8524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8524,begin apogee
$GC,8528,-0.38,0.0,2464,2109,3231,3218,900.4,-7.5,483,8646,1.40,0.00,114.15,1.269,10244,0.081,0.000,2776,2109,2700,2758,2642,0,0,0,0,0,0,24.65,28.83,23.15
$STATE,8647,end apogee,CONTROL_FINISHED_OK
$STATE,8647,begin climb
$GC,8649,1.62,136.3,2775,2109,2757,2641,901.5,0.0,486,8783,1.80,2.50,123.35,1.244,10500,0.038,0.060,3220,3491,2143,2220,2066,0,0,0,0,0,0,24.03,23.93,23.13
$GC,9058,1.48,136.3,3220,3491,2205,2060,856.5,13.6,496,9063,0.17,2.42,0.00,0.000,5126,0.119,0.046,3188,2099,2133,2205,2061,0,0,0,0,0,0,24.25,24.28,28.83
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$STATE,17076,end climb,SURFACE_DEPTH_REACHED
$STATE,17076,begin surface coast
$FINISH,0.7,0.997155
$STATE,17102,end surface coast,CONTROL_FINISHED_OK
$STATE,17102,begin surface
$SM_CCo,17120,76.30,0.549,0,0,1068,400.08
$SM_GC,1.62,11.07,0.10,76.30,0.022,0.080,0.549,461,1948,1068,-10.89,0.51,400.08,0,0,0,0,0,0,24.59,24.60,23.60
$IRIDIUM_FIX,2148.09,-15707.61,220109,121222
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.65
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.80
$XPDR_PINGS,40
$24V_AH,23.1,8.090
$10V_AH,10.3,4.879
$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
$DEVICE_SECS,27.175,202.425,408.025,76.300,0.000,22.493,41.236,309.268,10.000,0.000,10.551,2663.819,11214.884,684.175,2951.515,150.798,33.257,1968.976,0.000,2545.248,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,677.549,634.610,811.779,521.480,923.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,77183,992
$CAP_FILE_SIZE,191208,0
$CFSIZE,259248128,256131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,090335,2155.934,-15704.605,27,1.2,27,10.0