version: 66.11
revision: 1138
glider: 146
mission: 11
dive: 4
start: 7 19 115 12 23 39
data:
$ID,146
$MISSION,11
$DIVE,4
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,250
$D_NO_BLEED,500
$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,60
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$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,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52388
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-341001.59
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3340
$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,20
$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,-28.165718
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,150
$DEVICE5,167
$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,0.0043266565
$SEABIRD_T_H,0.0006214591
$SEABIRD_T_I,2.2634958e-05
$SEABIRD_T_J,2.34297e-06
$SEABIRD_C_G,-9.7949104
$SEABIRD_C_H,1.0829792
$SEABIRD_C_I,-0.0013405784
$SEABIRD_C_J,0.00018766893
$GPS1,190715,121842,2245.403,-15803.238,18,1.5,18,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.4
$GPS2,190715,122242,2245.379,-15803.264,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,E1
$TGT_LATLONG,2247.000,-15716.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,0.139
$KALMAN_X,-275.4,-173.9,-162.4,507.6,-273.9
$KALMAN_Y,-474.1,-328.5,-310.9,51.7,-480.8
$MHEAD_RNG_PITCHd_Wd,46.5,80759,-18.2,-10.000,-21.67,2078
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.30,-136.2,479,1834,1550,1438,0.0,0.0,0,104,0.00,0.00,-86.60,0.000,16386,0.000,0.000,479,1835,3626,3587,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.30,-136.2,479,1835,3587,3665,3.4,-7.7,13,130,12.95,2.42,-5.00,0.000,18948,0.166,0.076,2906,449,3899,3873,3925,0,0,0,0,0,0,24.47,24.53,24.87
$GC,148,-1.02,-136.2,1824,448,3872,3924,16.2,-23.3,19,156,0.25,2.17,0.00,0.000,3078,0.050,0.018,2978,1864,3899,3875,3924,0,0,0,0,0,0,24.65,24.69,28.83
$GC,405,-1.65,-136.2,2978,1864,3876,3923,32.9,-9.3,66,416,0.57,2.38,0.00,0.000,4612,0.055,0.058,2832,443,3899,3876,3923,0,0,0,0,0,0,24.72,24.66,28.83
$GC,461,-2.07,-136.2,2832,443,3876,3923,37.2,-7.4,71,471,0.32,2.05,0.00,0.000,5126,0.031,0.018,2729,1861,3899,3876,3923,0,0,0,0,0,0,24.77,24.81,28.83
$GC,712,-2.07,-136.2,2728,1861,3876,3922,65.2,-12.3,96,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1861,3899,3876,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,960,-2.07,-136.2,2728,1861,3876,3922,94.2,-10.3,121,969,0.00,2.38,0.00,0.000,516,0.000,0.062,2728,447,3899,3876,3922,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1064,-2.11,-136.2,2728,447,3875,3922,105.2,-10.2,131,1073,0.00,2.03,0.00,0.000,1030,0.000,0.018,2728,1814,3898,3875,3922,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1314,-2.17,-136.2,2728,1815,3876,3921,127.0,-8.0,156,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1815,3898,3876,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1554,-2.24,-136.2,2728,1815,3876,3920,148.0,-9.3,180,1564,0.00,2.30,0.00,0.000,516,0.000,0.066,2728,447,3898,3876,3921,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1589,-2.31,-136.2,2728,447,3876,3921,151.0,-9.3,183,1598,0.12,2.10,0.00,0.000,5126,0.029,0.020,2662,1819,3898,3876,3921,0,0,0,0,0,0,24.87,24.88,28.83
$STATE,1837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1837,begin apogee
$GC,1841,-0.31,0.0,2662,2050,3876,3919,180.7,-11.4,208,1949,1.98,0.10,102.45,0.640,10244,0.074,0.085,3125,1966,3340,3393,3287,0,0,0,0,0,0,24.79,24.21,23.76
$STATE,1950,end apogee,CONTROL_FINISHED_OK
$STATE,1951,begin climb
$GC,1952,1.30,136.2,3125,1966,3393,3287,184.7,0.0,219,2066,1.40,2.25,102.03,0.638,10500,0.036,0.037,3494,3342,2783,2833,2734,0,0,0,0,0,0,24.40,24.33,23.72
$GC,2296,0.81,136.2,3493,3342,2828,2734,162.8,11.6,253,2304,0.52,2.20,0.00,0.000,5126,0.110,0.040,3372,2018,2781,2828,2734,0,0,0,0,0,0,24.45,24.53,28.83
$GC,2546,0.57,169.1,3372,2018,2827,2732,140.9,8.4,278,2579,0.22,2.17,25.90,0.598,12548,0.125,0.037,3324,3325,2649,2705,2593,0,0,0,0,0,0,24.58,24.33,23.84
$GC,2812,0.44,208.9,3324,3325,2699,2593,116.8,8.0,304,2853,0.17,2.15,32.28,0.591,13318,0.116,0.039,3289,1992,2488,2552,2424,0,0,0,0,0,0,24.58,24.63,23.83
$GC,3093,0.40,244.2,3289,1992,2543,2423,93.5,8.3,332,3132,0.00,2.17,29.08,0.576,8452,0.000,0.031,3289,3332,2342,2415,2270,0,0,0,0,0,0,28.83,24.32,23.84
$GC,3154,0.37,267.5,3289,3333,2414,2269,88.1,8.8,338,3185,0.00,2.20,20.00,0.555,9222,0.000,0.039,3290,1993,2248,2328,2169,0,0,0,0,0,0,28.83,24.48,23.84
$GC,3426,0.33,267.5,3289,1993,2321,2168,60.1,10.0,365,3436,0.12,2.35,0.00,0.000,4612,0.120,0.060,3261,592,2244,2320,2168,0,0,0,0,0,0,24.58,24.56,28.83
$GC,3503,0.33,267.5,3261,592,2318,2168,52.3,10.3,372,3512,0.00,2.12,0.00,0.000,1030,0.000,0.020,3261,1943,2243,2318,2168,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3753,0.49,347.1,3261,1944,2317,2168,32.0,6.1,397,3824,0.17,2.40,63.75,0.544,10756,0.062,0.059,3313,586,1922,2025,1820,0,0,0,0,0,0,24.75,24.23,23.83
$GC,3841,0.43,347.1,2304,586,1959,1811,23.4,11.0,409,3850,0.08,2.12,0.00,0.000,5126,0.097,0.019,3293,1939,1920,2022,1819,0,0,0,0,0,0,24.39,24.49,28.83
$STATE,4006,end climb,SURFACE_DEPTH_REACHED
$STATE,4006,begin surface coast
$FINISH,0.1,1.016187
$STATE,4038,end surface coast,CONTROL_FINISHED_OK
$STATE,4038,begin surface
$SM_CCo,4056,77.80,0.520,0,0,1505,450.13
$SM_GC,0.83,11.25,0.17,77.80,0.021,0.064,0.520,461,1820,1505,-12.43,0.45,450.13,0,0,0,0,0,0,24.65,24.63,23.84
$IRIDIUM_FIX,2234.68,-15802.37,150508,010125
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.46
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,23.20
$XPDR_PINGS,11
$24V_AH,23.7,15.768
$10V_AH,10.4,11.854
$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,30.150,40.475,375.475,77.800,0.000,0.000,0.000,0.000,2.750,0.000,12.929,1035.914,1471.049,483.125,1166.402,48.068,31.306,1022.433,0.000,1160.379,0.000,0.540,0.000
$DEVICE_MAMPS,166.005,84.915,639.540,520.200,0.000,0.000,0.000,0.000,420.000,0.000,32.960,13.460,2.190,13.460,39.680,47.920,65.140,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,296.711,340.096,454.580,538.980,758.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,47.190,42.690,83.140,0.000,0.000,0.000,0.000,0.000
$MEM,353352
$DATA_FILE_SIZE,33810,447
$CAP_FILE_SIZE,69323,0
$CFSIZE,259252224,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190715,133341,2245.332,-15803.490,26,2.0,32,10.1