version: 66.11
revision: 1138
glider: 146
mission: 11
dive: 316
start: 9 20 115 14 9 36
data:
$ID,146
$MISSION,11
$DIVE,316
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,460
$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,120
$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,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,-346548.75
$T_RSLEEP,6
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2980
$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,1700
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,43
$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,3240
$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
$GPS1,200915,140135,2244.916,-15801.168,27,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.4
$GPS2,200915,140835,2244.926,-15801.239,12,1.3,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,AV2
$TGT_LATLONG,2244.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.091,-0.210
$KALMAN_X,-336995.0,89.5,152.4,340095.5,-1533.8
$KALMAN_Y,-163932.3,93.9,-121.2,162045.2,810.7
$MHEAD_RNG_PITCHd_Wd,146.5,1772,-20.3,-10.000,-23.60,1694
$D_GRID,600
$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,-1.41,-110.8,465,1647,1670,1527,0.0,0.0,0,98,0.00,0.00,-79.53,0.000,16386,0.000,0.000,466,1648,3515,3480,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-1.41,-116.8,377,1648,3481,3550,3.6,-6.9,12,124,12.98,2.38,-3.80,0.000,18948,0.175,0.065,2792,274,3719,3695,3744,7,0,0,0,0,0,24.08,24.21,24.51
$GC,214,-1.51,-116.8,1712,274,3697,3737,26.3,-9.9,32,222,0.55,2.22,0.00,0.000,5126,0.016,0.014,2610,1732,3720,3703,3738,0,0,0,0,0,0,24.42,24.41,28.83
$GC,531,-1.33,-116.8,2610,1734,3708,3738,80.4,-16.0,65,540,0.35,2.45,0.00,0.000,2564,0.099,0.051,2613,270,3723,3708,3738,0,0,0,0,0,0,24.32,24.33,28.83
$GC,565,-1.20,-116.8,1728,269,3704,3736,85.5,-15.4,68,574,0.10,2.17,0.00,0.000,3078,0.091,0.012,2710,1715,3723,3708,3738,0,0,0,0,0,0,24.34,24.47,28.83
$GC,874,-1.20,-116.8,2710,1715,3713,3738,120.4,-11.6,99,882,0.00,2.05,0.00,0.000,260,0.000,0.021,2710,3056,3725,3713,3738,0,0,0,0,0,0,28.83,24.46,28.83
$GC,947,-1.28,-116.8,2710,3056,3714,3738,128.5,-10.5,106,957,0.00,2.20,0.00,0.000,1030,0.000,0.030,2525,1680,3726,3714,3738,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1257,-1.33,-116.8,2710,1680,3716,3738,159.8,-8.7,137,1266,0.00,2.15,0.00,0.000,260,0.000,0.026,2711,3061,3727,3716,3738,0,0,0,0,0,0,28.83,24.48,28.83
$GC,1280,-1.40,-116.8,2710,3061,3716,3738,161.8,-9.3,139,1289,0.12,2.15,0.00,0.000,5126,0.029,0.029,2641,1714,3727,3716,3738,0,0,0,0,0,0,24.50,24.45,28.83
$GC,1588,-1.34,-116.8,2641,1714,3719,3738,198.1,-11.1,170,1590,0.22,0.00,0.00,0.000,2054,0.090,0.000,2689,1714,3728,3719,3738,0,0,0,0,0,0,24.43,28.83,28.83
$GC,1899,-1.38,-116.8,2689,1714,3720,3738,224.7,-8.7,180,1904,0.00,2.45,0.00,0.000,516,0.000,0.066,2608,293,3729,3720,3738,0,0,0,0,0,0,28.83,24.43,28.83
$GC,1932,-1.43,-116.8,2689,293,3720,3738,224.7,-8.7,180,1939,0.00,2.12,0.00,0.000,1030,0.000,0.015,2689,1688,3729,3720,3738,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2259,-1.49,-116.8,2689,1688,3720,3738,257.3,-8.9,189,2265,0.12,2.22,0.00,0.000,4356,0.063,0.029,2526,3100,3729,3720,3738,0,0,0,0,0,0,24.60,24.52,28.83
$GC,2338,-1.49,-116.8,2623,3100,3720,3738,264.8,-9.0,191,2345,0.15,2.25,0.00,0.000,3078,0.096,0.034,2655,1723,3729,3720,3738,0,0,0,0,0,0,24.48,24.48,28.83
$GC,2658,-1.49,-116.8,2655,1723,3720,3738,291.7,-8.5,199,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1723,3729,3720,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-1.49,-116.8,2655,1723,3719,3738,323.7,-10.2,207,2983,0.00,2.20,0.00,0.000,260,0.000,0.044,2656,3082,3728,3719,3738,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3001,-1.49,-116.8,2655,3082,3719,3738,323.7,-10.2,207,3005,0.00,2.28,0.00,0.000,1030,0.000,0.046,2653,1719,3728,3719,3738,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3333,-1.49,-116.8,2655,1719,3719,3736,356.1,-8.8,216,3339,0.00,2.22,0.00,0.000,260,0.000,0.041,2656,3081,3727,3719,3735,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3353,-1.49,-116.8,2655,3081,3719,3735,356.1,-8.8,216,3359,0.00,2.30,0.00,0.000,1030,0.000,0.051,2656,1719,3727,3719,3735,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3694,-1.49,-116.8,2655,1719,3718,3733,388.7,-9.4,225,3699,0.00,2.25,0.00,0.000,260,0.000,0.052,2656,3082,3725,3718,3733,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3763,-1.52,-116.8,2655,3082,3718,3733,392.8,-9.7,226,3772,0.00,2.35,0.00,0.000,1030,0.000,0.059,2655,1725,3725,3717,3733,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4094,-1.56,-116.8,2655,1725,3716,3731,426.6,-8.6,235,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1725,3723,3716,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4414,-1.61,-116.8,2655,1725,3715,3728,454.1,-8.6,243,4415,0.12,0.00,0.00,0.000,4102,0.203,0.000,2605,1725,3721,3715,3728,0,0,0,0,0,0,24.01,28.83,28.83
$GC,4733,-1.56,-116.8,2605,1725,3713,3726,489.8,-11.4,251,4740,0.12,2.33,0.00,0.000,2308,0.112,0.062,2634,3072,3719,3713,3726,0,0,0,0,0,0,24.55,24.52,28.83
$GC,4767,-1.52,-116.8,2634,3072,3713,3726,489.8,-11.4,251,4773,0.00,2.40,0.00,0.000,1030,0.000,0.072,2634,1723,3720,3714,3726,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5093,-1.52,-116.8,2634,1723,3711,3723,524.9,-9.7,260,5099,0.00,2.35,0.00,0.000,260,0.000,0.068,2634,3069,3717,3711,3723,0,0,0,0,0,0,28.83,24.50,28.83
$GC,5146,-1.52,-116.8,2634,3070,3711,3723,528.6,-9.6,261,5151,0.28,2.40,0.00,0.000,3078,0.089,0.076,2665,1729,3717,3711,3723,0,0,0,0,0,0,24.52,24.46,28.83
$GC,5490,-1.67,-116.8,2698,1729,3711,3719,552.1,-6.1,270,5496,0.32,2.33,0.00,0.000,4356,0.034,0.070,2587,3063,3714,3710,3719,0,0,0,0,0,0,24.66,24.50,28.83
$GC,5547,-1.77,-116.8,2587,3063,3710,3719,555.5,-6.5,271,5551,0.00,2.40,0.00,0.000,1030,0.000,0.085,2587,1731,3714,3710,3719,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5885,-1.71,-116.8,2587,1731,3707,3717,590.1,-9.7,280,5890,0.00,2.40,0.00,0.000,260,0.000,0.086,2587,3060,3712,3708,3717,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5982,-1.66,-116.8,2587,3060,3706,3717,597.6,-9.5,282,5987,0.15,2.45,0.00,0.000,3078,0.108,0.096,2617,1747,3711,3706,3717,0,0,0,0,0,0,24.53,24.46,28.83
$STATE,5998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5998,begin apogee
$GC,6003,-0.31,0.0,2617,1829,3706,3717,600.8,-9.4,283,6108,1.35,0.08,100.25,1.015,10244,0.090,0.135,2910,1870,3240,3302,3179,0,0,0,0,0,0,24.51,23.76,23.04
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6111,1.41,116.8,2910,1870,3302,3178,601.6,0.0,285,6217,1.55,0.00,100.90,1.005,11270,0.031,0.000,3302,1870,2763,2836,2690,0,0,0,0,0,0,24.07,28.83,23.03
$GC,6558,1.28,116.8,3302,1870,2817,2690,559.6,10.7,297,6564,0.17,2.47,0.00,0.000,4356,0.122,0.075,3265,3272,2753,2816,2690,0,0,0,0,0,0,24.28,24.27,28.83
$GC,6610,1.16,116.8,3265,3272,2815,2690,555.8,10.3,298,6615,0.17,2.55,0.00,0.000,5126,0.116,0.083,3232,1873,2752,2815,2690,0,0,0,0,0,0,24.29,24.25,28.83
$GC,6953,1.22,166.5,3231,1873,2811,2689,529.6,7.0,307,7003,0.00,2.97,43.03,0.960,8708,0.000,0.144,3232,451,2559,2631,2488,0,0,0,0,0,0,28.83,23.80,23.08
$GC,7015,1.28,216.5,3232,451,2629,2488,526.9,7.0,308,7067,0.12,2.45,45.55,0.955,11270,0.080,0.054,3264,1877,2357,2439,2275,0,0,0,0,0,0,24.15,24.10,23.07
$GC,7388,1.28,216.5,3264,1877,2425,2272,481.8,11.8,317,7394,0.00,2.42,0.00,0.000,260,0.000,0.065,3264,3287,2348,2424,2272,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7415,1.28,216.5,3263,3287,2422,2272,481.8,11.8,317,7439,15.60,2.53,0.00,0.000,3078,0.471,0.063,2928,1864,2346,2420,2272,56,1,0,0,0,0,23.68,24.27,28.83
$GC,7748,0.55,216.5,3831,1865,2415,2272,379.2,30.9,326,7758,3.60,2.40,0.00,0.000,4356,0.131,0.039,3105,3288,2343,2414,2272,0,0,0,0,0,0,24.27,24.34,28.83
$GC,7836,0.24,216.5,3105,3288,2415,2272,370.9,21.0,328,7842,0.73,2.38,0.00,0.000,5126,0.071,0.047,3029,1886,2342,2414,2271,2,0,0,0,0,0,24.36,24.35,28.83
$GC,8145,1.03,273.9,2930,1887,2414,2270,352.6,6.5,336,8203,1.12,2.38,50.28,0.856,10500,0.041,0.037,3210,3287,2122,2222,2023,0,0,0,0,0,0,24.46,23.92,23.17
$GC,8222,1.59,328.8,3209,3286,2217,2023,347.2,6.7,338,8279,0.73,2.38,50.22,0.844,11270,0.048,0.047,3410,1894,1899,2013,1785,2,0,0,0,0,0,24.20,24.13,23.15
$GC,8618,1.36,328.8,3410,1895,1998,1781,264.9,21.2,348,8624,0.62,2.28,0.00,0.000,4356,0.110,0.032,3281,3293,1889,1998,1781,0,0,0,0,0,0,24.27,24.34,28.83
$GC,8690,1.19,328.8,3280,3293,1996,1780,258.4,20.1,349,8697,0.00,2.33,0.00,0.000,1030,0.000,0.039,3162,1896,1888,1996,1780,0,0,0,0,0,0,28.83,24.34,28.83
$GC,9017,1.19,328.8,3280,1896,1995,1778,210.3,13.4,358,9023,0.17,2.47,0.00,0.000,4612,0.115,0.062,3241,456,1887,1995,1779,0,0,0,0,0,0,24.35,24.35,28.83
$GC,9065,1.22,328.8,3241,456,1993,1778,205.5,12.8,359,9069,0.00,2.30,0.00,0.000,1030,0.000,0.021,3241,1925,1885,1993,1778,0,0,0,0,0,0,28.83,24.45,28.83
$GC,9374,1.35,328.8,3241,1926,1992,1777,167.0,14.2,385,9383,0.12,2.47,0.00,0.000,2564,0.211,0.054,2994,457,1885,1992,1778,0,0,0,0,0,0,24.25,24.41,28.83
$GC,9448,1.35,328.8,2368,456,1942,1771,155.0,16.8,392,9455,0.00,2.30,0.00,0.000,1030,0.000,0.018,3282,1914,1884,1991,1777,0,0,0,0,0,0,28.83,24.49,28.83
$GC,9758,1.40,328.8,3282,1914,1991,1777,114.2,12.5,423,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1914,1883,1990,1777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10058,1.47,328.8,3282,1916,1991,1777,72.1,14.4,453,10069,0.00,2.45,0.00,0.000,516,0.000,0.052,2973,455,1883,1990,1777,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10136,1.53,328.8,3282,455,1991,1777,61.2,13.7,460,10146,0.10,2.12,0.00,0.000,3078,0.045,0.016,3321,1870,1883,1990,1777,0,0,0,0,0,0,24.49,24.53,28.83
$GC,10445,1.60,328.8,2304,1869,1931,1770,24.5,11.7,496,10453,0.00,2.40,0.00,0.000,516,0.000,0.050,3049,459,1884,1990,1778,0,0,0,0,0,0,28.83,24.45,28.83
$GC,10467,1.65,328.8,3321,459,1991,1778,21.9,11.8,499,10475,0.00,2.17,0.00,0.000,1030,0.000,0.015,3322,1867,1884,1990,1778,0,0,0,0,0,0,28.83,24.55,28.83
$STATE,10619,end climb,SURFACE_DEPTH_REACHED
$STATE,10619,begin surface coast
$FINISH,0.5,1.022885
$STATE,10656,end surface coast,CONTROL_FINISHED_OK
$STATE,10656,begin surface
$SM_CCo,10675,55.67,0.529,0,0,1608,400.08
$SM_GC,1.41,11.40,0.30,55.67,0.019,0.047,0.529,468,1669,1608,-11.42,0.62,400.08,0,0,0,0,0,0,24.54,24.52,23.51
$IRIDIUM_FIX,2237.01,-15759.32,160708,232358
$TT8_MAMPS,0.025466,0.025466
$HUMID,58.74
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,22.20
$XPDR_PINGS,77
$24V_AH,23.0,64.121
$10V_AH,9.9,41.310
$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,53.175,108.300,390.225,55.675,0.000,31.312,38.272,220.063,19.250,0.000,32.625,1465.229,7207.677,546.251,1796.987,142.280,33.288,1313.249,0.000,1451.870,0.000,0.536,0.000
$DEVICE_MAMPS,471.240,148.410,1015.155,528.615,0.000,65.030,160.000,223.000,420.000,0.000,32.960,13.460,2.190,13.460,39.680,47.920,65.140,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,361.725,298.671,391.865,403.275,570.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,47.190,42.690,83.140,0.000,0.000,0.000,0.000,0.000
$MEM,353280
$DATA_FILE_SIZE,40483,535
$CAP_FILE_SIZE,112104,8
$CFSIZE,259252224,234549248
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,67,0,0,0,0
$GPS,200915,170955,2243.796,-15801.347,28,99.0,48,10.0