version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 64
start: 4 3 116 21 13 31
data:
$ID,146
$MISSION,12
$DIVE,64
$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,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,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,-388174.09
$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,2858
$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,2020
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$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,2720
$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
$GPS1,030416,210534,2204.892,-15628.576,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-58.8
$GPS2,030416,211236,2204.939,-15628.611,11,1.0,11,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TEMP5
$TGT_LATLONG,2211.000,-15545.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.012
$KALMAN_X,-143464.8,-154.2,122.4,207933.3,-769.5
$KALMAN_Y,90182.9,-60.6,35.9,-12171.2,348.6
$MHEAD_RNG_PITCHd_Wd,77.2,75627,-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,-136.3,450,2007,1201,969,0.0,0.0,0,88,0.00,0.00,-70.22,0.000,16386,0.000,0.000,450,2007,2816,2792,2840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.62,-136.3,450,2007,2793,2840,3.0,-2.9,11,119,10.82,2.28,-10.62,0.000,18692,0.155,0.037,2499,3404,3276,3262,3290,0,0,0,0,0,0,24.21,24.33,24.53
$GC,141,-1.50,-136.3,1504,3403,3235,3286,13.5,-17.7,19,149,0.12,2.22,0.00,0.000,3078,0.102,0.025,2535,2029,3276,3262,3290,0,0,0,0,0,0,24.30,24.38,28.83
$GC,393,-1.41,-136.3,2535,2029,3262,3289,54.4,-16.1,53,402,0.00,2.20,0.00,0.000,260,0.000,0.024,2535,3407,3275,3262,3289,0,0,0,0,0,0,28.83,24.43,28.83
$GC,415,-1.33,-136.3,2535,3407,3262,3289,58.1,-16.1,55,425,0.15,2.17,0.00,0.000,3078,0.114,0.018,2569,2023,3275,3262,3289,0,0,0,0,0,0,24.39,24.46,28.83
$GC,667,-1.33,-136.3,2569,2023,3262,3289,93.1,-13.7,80,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2023,3275,3262,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-1.33,-136.3,2569,2023,3263,3289,127.1,-13.8,105,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2023,3276,3263,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1154,-1.33,-136.3,2569,2023,3264,3289,159.0,-11.5,129,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2023,3276,3264,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1395,-1.39,-136.3,2569,2023,3265,3289,183.9,-8.6,153,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2023,3277,3264,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,-1.47,-136.3,2569,2023,3265,3289,206.5,-10.4,177,1645,0.12,2.33,0.00,0.000,4612,0.063,0.045,2503,623,3277,3265,3289,0,0,0,0,0,0,24.63,24.50,28.83
$GC,1690,-1.43,-136.3,1600,623,3243,3286,213.0,-12.7,182,1698,0.15,2.20,0.00,0.000,3078,0.070,0.023,2542,2019,3277,3265,3290,0,0,0,0,0,0,24.53,24.60,28.83
$GC,1938,-1.48,-136.3,2541,2019,3265,3290,235.8,-8.1,207,1948,0.00,2.22,0.00,0.000,260,0.000,0.030,2542,3416,3277,3265,3289,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1972,-1.53,-136.3,1616,3414,3243,3286,238.5,-8.3,210,1981,0.00,2.25,0.00,0.000,1030,0.000,0.021,2542,2019,3277,3265,3289,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2223,-1.59,-136.3,2542,2019,3265,3289,262.6,-10.7,235,2232,0.12,2.22,0.00,0.000,4356,0.064,0.028,2481,3405,3277,3265,3289,0,0,0,0,0,0,24.67,24.60,28.83
$GC,2256,-1.59,-136.3,2481,3405,3265,3289,266.9,-12.2,238,2264,0.10,2.22,0.00,0.000,3078,0.080,0.025,2509,2024,3277,3265,3289,0,0,0,0,0,0,24.56,24.61,28.83
$GC,2504,-1.59,-136.3,2509,2024,3265,3288,297.1,-11.8,263,2508,0.00,2.22,0.00,0.000,260,0.000,0.030,2509,3407,3277,3265,3289,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2519,-1.59,-136.3,2509,3407,3265,3289,298.9,-11.6,264,2523,0.00,2.20,0.00,0.000,1030,0.000,0.031,2509,2023,3277,3265,3289,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2765,-1.59,-136.3,2509,2024,3265,3286,323.9,-9.8,288,2775,0.00,2.22,0.00,0.000,260,0.000,0.032,2509,3403,3275,3265,3286,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2861,-1.59,-136.3,1608,3401,3243,3282,332.9,-9.4,297,2869,0.00,2.22,0.00,0.000,1030,0.000,0.032,2509,2046,3276,3266,3286,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3111,-1.64,-136.3,2508,2046,3265,3283,357.4,-9.4,322,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2046,3274,3265,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3352,-1.68,-136.3,2509,2046,3264,3280,380.2,-9.4,346,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2046,3273,3265,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-1.73,-136.3,2509,2046,3265,3277,404.6,-9.5,369,3616,0.12,2.50,0.00,0.000,4612,0.065,0.076,2452,618,3270,3265,3276,0,0,0,0,0,0,24.73,24.58,28.83
$GC,3666,-1.73,-136.3,2451,618,3265,3276,409.3,-10.3,370,3672,0.10,2.30,0.00,0.000,3078,0.083,0.029,2478,2009,3270,3265,3276,0,0,0,0,0,0,24.62,24.65,28.83
$GC,3929,-1.73,-136.3,2478,2009,3265,3273,439.1,-10.4,377,3933,0.00,2.40,0.00,0.000,260,0.000,0.057,2478,3438,3269,3265,3273,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3983,-1.73,-136.3,2478,3438,3265,3272,442.7,-10.3,378,3987,0.00,2.33,0.00,0.000,1030,0.000,0.037,2477,2056,3268,3265,3272,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4244,-1.73,-136.3,2478,2056,3265,3268,472.8,-10.6,385,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2056,3267,3265,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-1.73,-136.3,2478,2056,3265,3265,496.9,-9.9,391,4491,0.00,2.35,0.00,0.000,260,0.000,0.052,2478,3436,3265,3265,3265,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4543,-1.73,-136.3,2478,3436,3265,3264,500.7,-9.8,392,4547,0.00,2.33,0.00,0.000,1030,0.000,0.041,2478,2048,3264,3265,3264,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4800,-1.73,-136.3,2478,2049,3265,3260,527.1,-9.6,399,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2049,3263,3265,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-1.73,-136.3,2478,2049,3265,3257,547.7,-8.7,405,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2049,3261,3265,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-1.73,-136.3,2478,2049,3265,3254,566.9,-8.0,411,5286,0.00,2.42,0.00,0.000,260,0.000,0.075,2478,3430,3259,3265,3254,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5308,-1.73,-136.3,2478,3430,3264,3254,566.9,-8.0,411,5312,0.00,2.33,0.00,0.000,1030,0.000,0.049,2478,2061,3259,3264,3254,0,0,0,0,0,0,28.83,24.64,28.83
$GC,5555,-1.73,-136.3,2478,2061,3263,3252,589.4,-8.5,417,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2061,3258,3264,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-1.73,-136.3,2478,2061,3262,3251,611.0,-9.1,423,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2061,3256,3262,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-1.73,-136.3,2478,2061,3261,3249,633.4,-9.3,429,6041,0.00,2.38,0.00,0.000,260,0.000,0.063,2478,3423,3255,3261,3250,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6083,-1.73,-136.3,2478,3423,3261,3249,637.2,-9.3,430,6087,0.00,2.33,0.00,0.000,1030,0.000,0.050,2478,2061,3255,3261,3249,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6350,-1.73,-136.3,2478,2062,3259,3247,661.2,-8.7,437,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2062,3253,3259,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6590,-1.76,-136.3,2478,2062,3259,3245,681.5,-8.5,443,6596,0.00,2.38,0.00,0.000,260,0.000,0.060,2478,3433,3251,3258,3245,0,0,0,0,0,0,28.83,24.64,28.83
$GC,6613,-1.80,-136.3,2478,3433,3258,3245,681.5,-8.5,443,6617,0.00,2.33,0.00,0.000,1030,0.000,0.048,2478,2060,3251,3258,3245,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6866,-1.84,-136.3,2477,2061,3257,3243,704.9,-8.4,450,6871,0.00,2.35,0.00,0.000,260,0.000,0.058,2478,3423,3250,3257,3243,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6989,-1.88,-136.3,2478,3423,3256,3243,715.8,-8.9,453,6994,0.12,2.30,0.00,0.000,5126,0.069,0.049,2431,2069,3249,3256,3243,0,0,0,0,0,0,24.72,24.65,28.83
$GC,7260,-1.88,-136.3,2431,2069,3255,3241,743.3,-10.1,460,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2069,3248,3255,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,-1.88,-136.3,2431,2069,3254,3240,767.7,-10.2,466,7504,0.00,2.33,0.00,0.000,260,0.000,0.057,2431,3423,3247,3254,3240,0,0,0,0,0,0,28.83,24.65,28.83
$GC,7604,-1.88,-136.3,2431,3423,3254,3240,776.2,-10.8,468,7608,0.00,2.30,0.00,0.000,1030,0.000,0.047,2431,2070,3246,3253,3240,0,0,0,0,0,0,28.83,24.66,28.83
$GC,7856,-1.88,-136.3,2430,2068,3253,3239,808.2,-11.6,475,7861,0.00,2.33,0.00,0.000,260,0.000,0.054,2430,3427,3246,3253,3239,0,0,0,0,0,0,28.83,24.66,28.83
$GC,7885,-1.88,-136.3,2430,3427,3252,3239,808.2,-11.6,475,7892,0.00,2.33,0.00,0.000,1030,0.000,0.046,2430,2081,3246,3253,3239,0,0,0,0,0,0,28.83,24.67,28.83
$GC,8132,-1.88,-136.3,2430,2081,3253,3237,841.3,-11.9,482,8137,0.00,2.30,0.00,0.000,260,0.000,0.060,2431,3423,3244,3252,3237,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8181,-1.88,-136.3,2430,3423,3252,3237,845.7,-11.9,483,8185,0.00,2.28,0.00,0.000,1030,0.000,0.046,2431,2084,3244,3252,3237,0,0,0,0,0,0,28.83,24.66,28.83
$GC,8448,-1.88,-136.3,2430,2084,3252,3236,877.6,-11.1,490,8452,0.00,2.30,0.00,0.000,260,0.000,0.055,2430,3424,3244,3252,3236,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8537,-1.88,-136.3,2430,3425,3252,3236,886.1,-11.0,492,8541,0.00,2.30,0.00,0.000,1030,0.000,0.047,2431,2072,3244,3252,3236,0,0,0,0,0,0,28.83,24.66,28.83
$STATE,8683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8683,begin apogee
$GC,8686,-0.38,0.0,2430,2072,3251,3236,903.0,-10.6,496,8805,1.55,0.00,113.62,1.264,10244,0.093,0.000,2772,2072,2720,2778,2662,0,0,0,0,0,0,24.55,28.83,23.13
$STATE,8806,end apogee,CONTROL_FINISHED_OK
$STATE,8806,begin climb
$GC,8808,1.62,136.3,2771,2072,2777,2662,905.9,0.0,499,8941,1.80,2.55,123.22,1.240,10500,0.047,0.057,3215,3496,2164,2239,2090,0,0,0,0,0,0,24.05,23.96,23.11
$GC,9231,1.50,136.3,3215,3496,2225,2084,868.6,11.8,509,9236,0.15,2.40,0.00,0.000,5126,0.120,0.044,3188,2101,2154,2225,2084,0,0,0,0,0,0,24.27,24.29,28.83
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$STATE,17496,end climb,SURFACE_DEPTH_REACHED
$STATE,17496,begin surface coast
$FINISH,1.9,1.023167
$STATE,17503,end surface coast,CONTROL_FINISHED_OK
$STATE,17503,begin surface
$SM_CCo,17523,83.28,0.541,0,0,1089,400.08
$SM_GC,1.62,11.00,2.33,83.28,0.018,0.020,0.541,455,2022,1089,-10.87,1.41,400.08,0,0,0,0,0,0,24.59,24.56,23.61
$IRIDIUM_FIX,2155.06,-15630.36,290109,050524
$TT8_MAMPS,0.025466,0.025466
$HUMID,41.65
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.10
$XPDR_PINGS,39
$24V_AH,23.1,13.258
$10V_AH,10.4,8.903
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353316
$DATA_FILE_SIZE,80654,1022
$CAP_FILE_SIZE,182897,0
$CFSIZE,259248128,253464576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040416,020805,2205.599,-15626.359,30,1.0,30,10.1