version: 66.11
revision: 1138
glider: 146
mission: 11
dive: 5
start: 7 19 115 13 40 2
data:
$ID,146
$MISSION,11
$DIVE,5
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,100
$T_MISSION,250
$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,-341002.84
$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,42
$R_STBD_OVSHOOT,111
$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
$GPS1,190715,133341,2245.332,-15803.490,26,2.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.7
$GPS2,190715,133904,2245.291,-15803.528,11,1.2,27,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,E1
$TGT_LATLONG,2247.000,-15716.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,0.082
$KALMAN_X,-1017.7,-484.8,-255.4,1211.7,-701.0
$KALMAN_Y,-866.6,-518.4,-384.7,539.8,-464.6
$MHEAD_RNG_PITCHd_Wd,60.8,81217,-18.2,-10.000,-21.67,2078
$D_GRID,300
$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,-136.2,461,1817,1560,1432,0.0,0.0,0,104,0.00,0.00,-86.45,0.000,16386,0.000,0.000,461,1817,3613,3574,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.30,-136.2,460,1817,3575,3653,3.5,-8.2,13,130,13.10,2.35,-5.15,0.000,18948,0.166,0.071,2905,463,3899,3873,3926,0,0,0,0,0,0,24.39,24.48,24.79
$GC,183,-1.63,-136.2,1824,463,3873,3925,19.2,-7.0,26,192,0.25,2.05,0.00,0.000,5126,0.044,0.017,2828,1802,3900,3875,3925,0,0,0,0,0,0,24.61,24.65,28.83
$GC,437,-1.84,-136.2,2828,1802,3877,3924,38.8,-7.2,64,447,0.12,2.25,0.00,0.000,4612,0.064,0.057,2762,458,3900,3877,3924,0,0,0,0,0,0,24.76,24.63,28.83
$GC,473,-1.96,-136.2,2762,458,3877,3924,42.2,-9.4,67,482,0.00,2.05,0.00,0.000,1030,0.000,0.016,2762,1850,3900,3877,3924,0,0,0,0,0,0,28.83,24.75,28.83
$GC,722,-2.05,-136.2,2762,1850,3877,3924,67.5,-9.2,92,732,0.00,2.30,0.00,0.000,516,0.000,0.060,2762,461,3900,3877,3924,0,0,0,0,0,0,28.83,24.68,28.83
$GC,787,-2.16,-136.2,2762,461,3877,3924,73.6,-9.2,98,797,0.12,2.00,0.00,0.000,5126,0.030,0.017,2695,1829,3900,3877,3924,0,0,0,0,0,0,24.79,24.81,28.83
$GC,1038,-2.16,-136.2,2695,1831,3877,3924,102.6,-11.5,123,1047,0.12,2.28,0.00,0.000,2564,0.105,0.060,2724,462,3900,3877,3924,0,0,0,0,0,0,24.75,24.70,28.83
$GC,1143,-2.20,-136.2,2724,462,3877,3924,113.4,-9.1,133,1152,0.00,2.00,0.00,0.000,1030,0.000,0.018,2724,1811,3900,3877,3924,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1394,-2.25,-136.2,2724,1811,3878,3923,134.4,-8.5,158,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1812,3900,3878,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-2.31,-136.2,2724,1811,3878,3923,154.8,-8.5,183,1653,0.12,2.28,0.00,0.000,4612,0.066,0.062,2664,458,3900,3878,3923,0,0,0,0,0,0,24.89,24.74,28.83
$GC,1668,-2.31,-136.2,2664,458,3878,3923,157.3,-9.2,185,1676,0.12,2.05,0.00,0.000,3078,0.103,0.019,2691,1810,3900,3878,3922,0,0,0,0,0,0,24.77,24.86,28.83
$GC,1915,-2.31,-136.2,2691,1810,3878,3922,181.7,-9.7,210,1925,0.00,2.28,0.00,0.000,516,0.000,0.063,2691,461,3900,3878,3922,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1958,-2.31,-136.2,2691,460,3878,3921,185.9,-10.0,214,1967,0.00,2.05,0.00,0.000,1030,0.000,0.021,2691,1807,3900,3878,3922,0,0,0,0,0,0,28.83,24.86,28.83
$GC,2227,-2.31,-136.2,2690,1808,3878,3920,211.9,-9.8,232,2233,0.00,2.33,0.00,0.000,516,0.000,0.070,2690,458,3899,3878,3920,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2275,-2.31,-136.2,2690,458,3878,3920,216.2,-10.0,233,2279,0.00,2.05,0.00,0.000,1030,0.000,0.023,2691,1789,3899,3878,3920,0,0,0,0,0,0,28.83,24.86,28.83
$GC,2547,-2.31,-136.2,2691,1789,3877,3919,243.5,-9.4,240,2553,0.00,2.30,0.00,0.000,260,0.000,0.040,2691,3236,3898,3878,3919,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2565,-2.31,-136.2,2690,3236,3878,3918,243.5,-9.4,240,2569,0.00,2.33,0.00,0.000,1030,0.000,0.039,2691,1813,3898,3878,3918,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2827,-2.31,-136.2,2690,1813,3878,3915,269.5,-9.5,247,2833,0.00,2.42,0.00,0.000,516,0.000,0.087,2691,436,3896,3878,3915,0,0,0,0,0,0,28.83,24.73,28.83
$GC,2855,-2.31,-136.2,2690,436,3878,3915,269.5,-9.5,247,2859,0.00,2.10,0.00,0.000,1030,0.000,0.029,2690,1771,3896,3878,3915,0,0,0,0,0,0,28.83,24.84,28.83
$GC,3108,-2.35,-136.2,2691,1771,3878,3913,296.5,-9.7,254,3113,0.00,2.33,0.00,0.000,516,0.000,0.078,2690,438,3895,3878,3913,0,0,0,0,0,0,28.83,24.73,28.83
$STATE,3145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3145,begin apogee
$GC,3152,-0.31,0.0,2691,1973,3878,3912,300.8,-9.9,255,3261,1.90,0.00,104.47,0.760,10244,0.070,0.000,3129,1973,3340,3397,3283,0,0,0,0,0,0,24.79,28.83,23.65
$STATE,3262,end apogee,CONTROL_FINISHED_OK
$STATE,3262,begin climb
$GC,3263,1.30,136.2,3129,1973,3397,3283,304.0,0.0,257,3376,1.40,2.40,104.07,0.744,10500,0.030,0.045,3492,3410,2784,2838,2730,0,0,0,0,0,0,24.32,24.27,23.62
$GC,3601,0.77,136.2,3492,3411,2829,2730,283.4,14.6,266,3607,0.62,2.35,0.00,0.000,5126,0.142,0.038,3368,1988,2779,2828,2730,0,0,0,0,0,0,24.40,24.49,28.83
$GC,3859,0.47,136.2,3368,1989,2827,2727,252.3,10.4,273,3866,0.32,2.30,0.00,0.000,4356,0.122,0.036,3300,3409,2777,2827,2727,0,0,0,0,0,0,24.52,24.59,28.83
$GC,3973,0.23,146.6,3300,3409,2825,2727,245.3,9.5,275,3987,0.28,2.33,8.32,0.623,13318,0.118,0.038,3245,1991,2742,2794,2690,0,0,0,0,0,0,24.56,24.62,23.92
$GC,4260,0.28,241.3,3245,1991,2789,2689,226.5,5.3,283,4343,0.00,2.35,76.88,0.717,8452,0.000,0.041,3245,3408,2355,2431,2280,0,0,0,0,0,0,28.83,24.20,23.67
$GC,4375,0.30,304.9,3245,3408,2426,2279,217.9,6.9,286,4434,0.00,2.35,52.60,0.692,9222,0.000,0.044,3244,1998,2097,2191,2003,0,0,0,0,0,0,28.83,24.39,23.66
$GC,4680,0.30,304.9,3245,1998,2177,2001,181.7,11.6,305,4685,0.00,2.42,0.00,0.000,516,0.000,0.067,3245,596,2088,2176,2001,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4781,0.30,304.9,3244,596,2174,2000,169.0,13.2,314,4788,0.00,2.25,0.00,0.000,1030,0.000,0.023,3244,1997,2087,2174,2000,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5030,0.30,304.9,3244,1997,2172,2000,138.9,11.8,339,5038,0.00,2.35,0.00,0.000,516,0.000,0.058,3245,594,2086,2172,2000,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5064,0.30,304.9,3244,594,2170,2000,134.7,12.5,342,5072,0.00,2.20,0.00,0.000,1030,0.000,0.021,3245,1977,2085,2171,2000,0,0,0,0,0,0,28.83,24.66,28.83
$GC,5315,0.30,304.9,3244,1978,2170,2000,106.8,10.3,367,5323,0.00,2.25,0.00,0.000,260,0.000,0.035,3244,3402,2085,2170,2000,0,0,0,0,0,0,28.83,24.68,28.83
$GC,5345,0.30,304.9,3244,3402,2169,1999,103.0,10.7,370,5350,0.00,2.33,0.00,0.000,1030,0.000,0.044,3245,1972,2085,2170,2000,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5594,0.30,304.9,3244,1972,2169,2000,77.6,10.0,394,5603,0.00,2.30,0.00,0.000,516,0.000,0.058,3244,594,2083,2168,1999,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5702,0.30,304.9,3244,594,2167,1999,65.9,10.3,404,5712,0.00,2.17,0.00,0.000,1030,0.000,0.019,3245,1982,2083,2167,1999,0,0,0,0,0,0,28.83,24.77,28.83
$GC,5953,0.38,314.0,3245,1982,2167,1999,43.2,9.6,429,5966,0.12,2.38,6.75,0.482,10756,0.075,0.054,3289,596,2060,2146,1974,0,0,0,0,0,0,24.80,24.58,24.15
$GC,6039,0.38,314.0,3289,596,2145,1973,34.0,10.3,437,6047,0.00,2.15,0.00,0.000,1030,0.000,0.018,3289,1968,2059,2145,1973,0,0,0,0,0,0,28.83,24.72,28.83
$GC,6288,0.40,332.7,2216,1966,2074,1964,12.8,9.1,482,6310,0.00,2.40,17.30,0.529,8708,0.000,0.056,3289,594,1982,2074,1890,0,0,0,0,0,0,28.83,24.38,23.99
$GC,6348,0.36,332.7,2240,594,2004,1880,7.5,10.6,492,6356,0.05,2.12,0.00,0.000,5126,0.107,0.020,3274,1950,1980,2071,1889,0,0,0,0,0,0,24.49,24.57,28.83
$STATE,6377,end climb,SURFACE_DEPTH_REACHED
$STATE,6377,begin surface coast
$FINISH,0.2,1.022574
$STATE,6410,end surface coast,CONTROL_FINISHED_OK
$STATE,6410,begin surface
$SM_CCo,6428,91.07,0.536,0,0,1505,450.13
$SM_GC,0.87,11.18,0.17,91.07,0.022,0.071,0.536,464,1845,1505,-12.42,0.85,450.13,0,0,0,0,0,0,24.66,24.62,23.77
$IRIDIUM_FIX,2237.01,-15804.53,150508,010151
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.51
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.90
$XPDR_PINGS,15
$24V_AH,23.6,15.869
$10V_AH,10.5,11.929
$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,29.850,85.850,370.400,91.075,0.000,29.999,39.084,149.890,3.750,0.000,29.888,1309.834,3228.146,563.500,1678.151,79.076,32.223,1235.703,0.000,1413.104,0.000,0.538,0.000
$DEVICE_MAMPS,166.005,87.210,760.410,536.265,0.000,65.030,160.000,223.000,420.000,0.000,32.960,13.460,2.190,13.460,39.680,47.920,65.140,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,338.165,347.095,461.891,537.183,758.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,47.190,42.690,83.140,0.000,0.000,0.000,0.000,0.000
$MEM,353372
$DATA_FILE_SIZE,40454,503
$CAP_FILE_SIZE,88616,0
$CFSIZE,259252224,257118208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190715,152947,2245.306,-15803.281,12,1.5,30,10.1