version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 66
start: 4 4 116 7 30 36
data:
$ID,146
$MISSION,12
$DIVE,66
$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,-388176.69
$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,41
$R_STBD_OVSHOOT,69
$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
$GPS1,040416,071458,2205.961,-15623.438,36,1.1,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.3
$GPS2,040416,072941,2206.156,-15623.470,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TEMP5
$TGT_LATLONG,2211.000,-15545.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.009
$KALMAN_X,-144183.6,285.7,179.9,217013.0,-634.9
$KALMAN_Y,91945.0,244.9,31.0,-11982.3,369.1
$MHEAD_RNG_PITCHd_Wd,77.9,66579,-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,16,-1.62,-136.3,452,2021,1189,978,0.0,0.0,0,89,0.00,0.00,-70.88,0.000,16386,0.000,0.000,452,2021,2848,2823,2873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.62,-136.3,452,2021,2824,2873,3.2,-4.3,11,120,10.82,2.22,-9.45,0.000,18692,0.156,0.038,2500,3391,3276,3262,3291,0,0,0,0,0,0,24.21,24.33,24.59
$GC,217,-1.51,-136.3,1488,3390,3234,3287,27.8,-16.7,34,225,0.10,2.20,0.00,0.000,3078,0.105,0.019,2524,2024,3276,3262,3291,0,0,0,0,0,0,24.33,24.42,28.83
$GC,474,-1.42,-136.3,2524,2024,3262,3291,70.0,-16.4,60,476,0.12,0.00,0.00,0.000,2054,0.125,0.000,2547,2024,3276,3262,3291,0,0,0,0,0,0,24.40,28.83,28.83
$GC,714,-1.36,-136.3,2547,2024,3262,3290,106.2,-14.6,84,724,0.00,2.17,0.00,0.000,260,0.000,0.034,2547,3398,3276,3262,3291,0,0,0,0,0,0,28.83,24.46,28.83
$GC,747,-1.32,-136.3,2547,3398,3262,3291,111.1,-14.8,87,758,0.10,2.17,0.00,0.000,3078,0.129,0.018,2568,2014,3276,3262,3291,0,0,0,0,0,0,24.42,24.50,28.83
$GC,998,-1.32,-136.3,2567,2014,3263,3291,143.7,-12.0,112,1008,0.00,2.17,0.00,0.000,260,0.000,0.031,2568,3393,3276,3262,3291,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1081,-1.37,-136.3,2567,3393,3262,3291,153.7,-11.7,120,1090,0.00,2.15,0.00,0.000,1030,0.000,0.018,2568,2017,3276,3262,3291,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1332,-1.42,-136.3,2567,2017,3263,3291,179.0,-10.1,145,1341,0.00,2.17,0.00,0.000,260,0.000,0.026,2568,3393,3277,3263,3291,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1434,-1.48,-136.3,2568,3393,3263,3291,189.9,-10.4,155,1443,0.15,2.12,0.00,0.000,5126,0.055,0.017,2501,2024,3277,3263,3291,0,0,0,0,0,0,24.58,24.58,28.83
$GC,1683,-1.48,-136.3,2502,2024,3263,3291,220.6,-12.0,180,1685,0.15,0.00,0.00,0.000,2054,0.095,0.000,2534,2025,3277,3263,3291,0,0,0,0,0,0,24.54,28.83,28.83
$GC,1924,-1.52,-136.3,2534,2025,3263,3291,246.6,-10.4,204,1934,0.00,2.20,0.00,0.000,260,0.000,0.031,2534,3397,3277,3263,3291,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1976,-1.56,-136.3,2534,3397,3263,3291,252.2,-10.9,209,1980,0.00,2.12,0.00,0.000,1030,0.000,0.019,2534,2039,3277,3263,3291,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2222,-1.61,-136.3,2534,2040,3263,3290,275.9,-10.2,233,2231,0.12,2.38,0.00,0.000,4612,0.063,0.060,2473,633,3276,3262,3291,0,0,0,0,0,0,24.68,24.53,28.83
$GC,2253,-1.61,-136.3,2473,633,3264,3291,279.7,-11.2,236,2258,0.15,2.15,0.00,0.000,3078,0.100,0.022,2506,2017,3277,3263,3291,0,0,0,0,0,0,24.56,24.63,28.83
$GC,2498,-1.61,-136.3,2506,2017,3263,3290,306.6,-10.2,260,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2018,3276,3263,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-1.61,-136.3,2506,2018,3263,3289,330.8,-10.7,284,2742,0.00,2.28,0.00,0.000,260,0.000,0.041,2506,3417,3275,3263,3288,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2836,-1.65,-136.3,2506,3418,3263,3288,341.5,-11.2,293,2845,0.00,2.20,0.00,0.000,1030,0.000,0.033,2506,2045,3275,3263,3287,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3086,-1.65,-136.3,2505,2045,3263,3285,367.8,-9.7,318,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2045,3274,3263,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3327,-1.69,-136.3,2506,2045,3263,3282,390.3,-9.4,342,3336,0.00,2.22,0.00,0.000,260,0.000,0.038,2506,3406,3272,3263,3282,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3370,-1.73,-136.3,2505,3406,3263,3281,394.4,-9.5,346,3379,0.08,2.20,0.00,0.000,5126,0.043,0.033,2459,2039,3272,3263,3281,0,0,0,0,0,0,24.65,24.64,28.83
$GC,3628,-1.73,-136.3,2459,2039,3263,3277,422.9,-11.3,357,3633,0.10,2.28,0.00,0.000,2308,0.116,0.038,2480,3409,3270,3263,3278,0,0,0,0,0,0,24.65,24.64,28.83
$GC,3674,-1.73,-136.3,2480,3409,3263,3277,426.9,-11.3,358,3679,0.00,2.22,0.00,0.000,1030,0.000,0.039,2480,2045,3270,3263,3277,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3942,-1.73,-136.3,2480,2045,3263,3274,454.4,-9.7,365,3948,0.00,2.25,0.00,0.000,260,0.000,0.044,2480,3403,3268,3263,3274,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3974,-1.73,-136.3,2480,3403,3263,3274,454.4,-9.7,365,3981,0.00,2.25,0.00,0.000,1030,0.000,0.042,2480,2044,3268,3263,3273,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4220,-1.73,-136.3,2480,2044,3263,3270,483.1,-10.5,372,4224,0.00,2.30,0.00,0.000,260,0.000,0.056,2480,3405,3266,3263,3270,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4249,-1.73,-136.3,2480,3404,3263,3269,483.1,-10.5,372,4256,0.00,2.30,0.00,0.000,1030,0.000,0.040,2480,2023,3266,3263,3269,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4498,-1.73,-136.3,2480,2023,3263,3265,511.1,-10.1,379,4503,0.00,2.33,0.00,0.000,260,0.000,0.054,2480,3395,3263,3262,3265,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4544,-1.73,-136.3,2480,3395,3263,3265,515.2,-10.1,380,4548,0.00,2.28,0.00,0.000,1030,0.000,0.042,2480,2064,3264,3263,3265,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4817,-1.73,-136.3,2480,2064,3263,3260,542.3,-9.5,387,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2064,3261,3262,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,-1.73,-136.3,2480,2064,3263,3257,564.1,-9.2,393,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2064,3260,3263,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5296,-1.73,-136.3,2480,2065,3262,3254,586.6,-9.4,399,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2065,3258,3263,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5537,-1.73,-136.3,2480,2065,3262,3252,607.6,-8.7,405,5542,0.00,2.35,0.00,0.000,260,0.000,0.070,2480,3395,3257,3262,3252,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5600,-1.73,-136.3,2480,3396,3261,3252,611.5,-8.9,406,5604,0.00,2.28,0.00,0.000,1030,0.000,0.052,2480,2062,3256,3261,3252,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5852,-1.73,-136.3,2480,2062,3260,3250,636.7,-9.0,413,5858,0.00,2.30,0.00,0.000,260,0.000,0.060,2480,3396,3255,3260,3250,0,0,0,0,0,0,28.83,24.64,28.83
$GC,5891,-1.73,-136.3,2480,3396,3260,3250,640.3,-9.0,414,5896,0.00,2.28,0.00,0.000,1030,0.000,0.057,2479,2065,3255,3260,3250,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6168,-1.77,-136.3,2480,2065,3258,3248,663.0,-8.0,421,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2065,3253,3258,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-1.81,-136.3,2480,2065,3257,3246,682.8,-8.2,427,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2065,3251,3257,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-1.86,-136.3,2480,2065,3256,3244,702.7,-8.3,433,6650,0.12,0.00,0.00,0.000,4102,0.068,0.000,2433,2065,3250,3256,3244,0,0,0,0,0,0,24.77,28.83,28.83
$GC,6888,-1.86,-136.3,2433,2065,3255,3243,726.4,-10.0,439,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2065,3249,3255,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-1.86,-136.3,2433,2065,3254,3241,750.2,-10.0,445,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2065,3248,3254,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,-1.86,-136.3,2433,2065,3253,3240,774.1,-9.9,451,7373,0.00,2.30,0.00,0.000,260,0.000,0.057,2434,3402,3246,3253,3240,0,0,0,0,0,0,28.83,24.67,28.83
$GC,7391,-1.86,-136.3,2433,3402,3253,3240,774.1,-9.9,451,7395,0.00,2.25,0.00,0.000,1030,0.000,0.047,2433,2072,3246,3253,3240,0,0,0,0,0,0,28.83,24.67,28.83
$GC,7642,-1.86,-136.3,2433,2072,3252,3239,802.1,-10.2,458,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2073,3245,3252,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7883,-1.86,-136.3,2433,2072,3251,3238,826.2,-10.0,464,7889,0.00,2.67,0.00,0.000,516,0.000,0.093,2433,608,3244,3251,3238,0,0,0,0,0,0,28.83,24.63,28.83
$GC,7916,-1.86,-136.3,2433,608,3251,3238,826.2,-10.0,464,7923,0.00,2.38,0.00,0.000,1030,0.000,0.037,2433,2040,3244,3251,3238,0,0,0,0,0,0,28.83,24.68,28.83
$GC,8163,-1.86,-136.3,2433,2041,3250,3236,854.1,-9.8,471,8169,0.00,2.42,0.00,0.000,260,0.000,0.070,2433,3430,3244,3251,3237,0,0,0,0,0,0,28.83,24.65,28.83
$GC,8220,-1.86,-136.3,2433,3430,3250,3236,858.3,-10.0,472,8224,0.00,2.30,0.00,0.000,1030,0.000,0.045,2433,2069,3243,3250,3236,0,0,0,0,0,0,28.83,24.67,28.83
$GC,8483,-1.86,-136.3,2433,2069,3249,3236,886.2,-9.9,479,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2069,3242,3249,3236,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8641,begin apogee
$GC,8645,-0.38,0.0,2433,2117,3248,3235,901.4,-9.5,483,8763,1.52,0.00,113.50,1.257,10244,0.083,0.000,2770,2118,2719,2777,2662,0,0,0,0,0,0,24.67,28.83,23.13
$STATE,8764,end apogee,CONTROL_FINISHED_OK
$STATE,8764,begin climb
$GC,8766,1.62,136.3,2770,2118,2777,2662,904.0,0.0,486,8900,1.80,2.42,123.38,1.232,10500,0.039,0.057,3215,3492,2164,2239,2089,0,0,0,0,0,0,24.05,23.97,23.12
$GC,9176,1.49,136.3,3215,3491,2226,2084,867.8,11.2,496,9181,0.17,2.38,0.00,0.000,5126,0.116,0.042,3183,2101,2155,2226,2084,0,0,0,0,0,0,24.27,24.30,28.83
$GC,9438,1.43,141.9,3183,2101,2224,2080,840.7,9.7,503,9449,0.00,2.50,4.38,0.773,8452,0.000,0.052,3183,3493,2141,2213,2070,0,0,0,0,0,0,28.83,24.21,23.54
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$STATE,17366,end climb,SURFACE_DEPTH_REACHED
$STATE,17366,begin surface coast
$FINISH,0.9,1.011072
$STATE,17390,end surface coast,CONTROL_FINISHED_OK
$STATE,17390,begin surface
$SM_CCo,17407,66.60,0.538,0,0,1089,400.08
$SM_GC,1.55,11.05,0.10,66.60,0.017,0.086,0.538,451,2000,1089,-10.88,1.19,400.08,0,0,0,0,0,0,24.58,24.58,23.62
$IRIDIUM_FIX,2155.06,-15625.17,290109,202053
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.32
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.10
$XPDR_PINGS,39
$24V_AH,23.1,13.592
$10V_AH,10.4,9.154
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.025,162.375,415.250,66.600,0.000,53.815,102.564,519.602,9.750,0.000,14.778,2615.994,11821.614,652.660,3103.944,159.209,33.273,1836.397,0.000,2356.610,0.000,0.538,0.000
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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,353252
$DATA_FILE_SIZE,77131,992
$CAP_FILE_SIZE,181550,0
$CFSIZE,259248128,253300736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040416,122305,2205.662,-15620.714,37,1.0,37,10.1