version: 66.11
revision: 1138
glider: 146
mission: 11
dive: 317
start: 9 20 115 17 19 34
data:
$ID,146
$MISSION,11
$DIVE,317
$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,-346550
$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,50
$R_STBD_OVSHOOT,69
$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
$GPS1,200915,170955,2243.796,-15801.347,28,99.0,48,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.9
$GPS2,200915,171834,2243.892,-15801.403,34,1.4,34,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,AV2
$TGT_LATLONG,2244.000,-15801.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.098
$KALMAN_X,-338200.9,183.2,-107.6,341188.0,-1385.8
$KALMAN_Y,-162981.2,-109.0,-255.9,159523.5,1351.6
$MHEAD_RNG_PITCHd_Wd,123.3,259,-32.6,-10.000,-35.00,683
$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,-2.09,-44.5,463,1666,1668,1532,0.0,0.0,0,91,0.00,0.00,-73.22,0.000,16386,0.000,0.000,463,1666,3402,3370,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-2.12,-70.9,463,1666,3371,3435,3.1,-6.0,11,117,11.35,2.28,-2.70,0.000,18948,0.174,0.058,2512,317,3529,3508,3550,0,0,0,0,0,0,24.13,24.25,24.53
$GC,171,-1.96,-70.9,1492,318,3500,3545,25.3,-26.9,24,179,0.15,2.12,0.00,0.000,3078,0.127,0.012,2544,1744,3530,3513,3547,0,0,0,0,0,0,24.24,24.44,28.83
$GC,482,-2.04,-70.9,2544,1746,3519,3544,83.2,-14.4,56,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1745,3531,3519,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-2.11,-70.9,2543,1746,3522,3543,128.5,-16.1,86,793,0.12,1.98,0.00,0.000,4356,0.063,0.018,2484,3050,3533,3522,3544,0,0,0,0,0,0,24.53,24.49,28.83
$GC,990,-2.11,-70.9,2483,3050,3523,3544,165.9,-17.9,106,999,3.30,2.05,0.00,0.000,3078,0.106,0.027,2642,1741,3533,3525,3542,11,0,0,0,0,0,24.37,24.47,28.83
$GC,1300,-3.68,-108.1,3224,1741,3526,3542,178.5,-4.4,137,1312,4.15,2.50,-0.88,0.000,21252,0.034,0.067,2135,293,3686,3666,3706,0,0,0,0,0,0,24.57,24.44,24.68
$GC,1373,-3.10,-108.1,1296,293,3661,3704,192.9,-29.4,144,1382,0.75,2.12,0.00,0.000,3078,0.129,0.015,2298,1689,3687,3668,3706,0,0,0,0,0,0,24.34,24.56,28.83
$GC,1681,-2.85,-108.1,2298,1690,3669,3706,273.1,-25.2,154,1687,0.28,2.35,0.00,0.000,2564,0.156,0.059,2350,300,3687,3669,3706,0,0,0,0,0,0,24.40,24.46,28.83
$GC,1913,-2.63,-108.1,2350,299,3669,3705,318.8,-22.4,159,1921,1.48,2.17,0.00,0.000,3078,0.130,0.030,2520,1654,3687,3670,3705,5,0,0,0,0,0,24.39,24.52,28.83
$GC,2241,-3.03,-116.6,2656,1654,3673,3703,354.6,-8.7,168,2248,1.33,2.42,-0.15,0.000,20996,0.019,0.094,2292,298,3726,3711,3741,0,0,0,0,0,0,24.62,24.43,24.56
$GC,2368,-3.03,-116.6,2292,298,3711,3741,382.0,-20.3,171,2373,0.15,2.30,0.00,0.000,3078,0.132,0.037,2318,1707,3726,3711,3741,0,0,0,0,0,0,24.44,24.51,28.83
$GC,2711,-2.86,-116.6,2318,1707,3711,3738,463.5,-22.2,180,2713,0.20,0.00,0.00,0.000,2054,0.129,0.000,2355,1707,3724,3711,3738,0,0,0,0,0,0,24.47,28.83,28.83
$GC,3031,-2.75,-116.6,2354,1707,3711,3734,527.4,-19.2,188,3038,0.12,2.50,0.00,0.000,2308,0.142,0.080,2380,3114,3722,3711,3734,0,0,0,0,0,0,24.50,24.50,28.83
$GC,3169,-2.68,-116.6,2379,3114,3711,3733,550.8,-19.5,191,3173,0.00,2.53,0.00,0.000,1030,0.000,0.085,2379,1731,3722,3711,3733,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,3424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3424,begin apogee
$GC,3429,-0.31,0.0,2379,1861,3710,3729,604.0,-19.2,198,3535,2.60,0.00,100.78,0.985,10244,0.122,0.000,2906,1861,3240,3298,3182,0,0,0,0,0,0,24.47,28.83,23.14
$STATE,3536,end apogee,CONTROL_FINISHED_OK
$STATE,3536,begin climb
$GC,3538,2.18,116.6,2906,1861,3297,3182,607.3,0.0,200,3649,2.20,2.95,98.95,0.976,10756,0.039,0.146,3464,462,2764,2828,2700,0,0,0,0,0,0,24.10,23.91,23.13
$GC,3689,2.18,116.6,3464,462,2819,2700,596.6,9.8,204,3694,0.00,2.53,0.00,0.000,1030,0.000,0.067,3464,1870,2759,2819,2700,0,0,0,0,0,0,28.83,24.15,28.83
$GC,4023,2.13,116.6,3464,1871,2808,2700,536.2,17.0,213,4029,0.00,2.45,0.00,0.000,260,0.000,0.067,3464,3283,2753,2807,2700,0,0,0,0,0,0,28.83,24.31,28.83
$GC,4255,2.09,116.6,3463,3283,2802,2700,502.9,16.6,218,4262,0.00,2.45,0.00,0.000,1030,0.000,0.061,3321,1874,2751,2802,2700,0,0,0,0,0,0,28.83,24.34,28.83
$GC,4582,2.09,116.6,3464,1874,2797,2698,451.4,13.2,227,4588,0.12,2.40,0.00,0.000,4356,0.147,0.047,3440,3292,2747,2797,2698,0,0,0,0,0,0,24.38,24.42,28.83
$GC,4795,2.09,116.6,3439,3292,2795,2698,427.5,11.9,232,4800,0.00,2.42,0.00,0.000,1030,0.000,0.059,3440,1883,2746,2795,2698,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5137,2.09,116.6,3439,1883,2794,2694,387.2,11.7,241,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1883,2744,2794,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,2.09,116.6,3439,1883,2791,2693,347.9,12.2,249,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1883,2742,2791,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5777,2.09,116.6,3440,1883,2789,2692,311.8,10.5,257,5783,0.00,2.33,0.00,0.000,260,0.000,0.037,3440,3304,2740,2789,2692,0,0,0,0,0,0,28.83,24.50,28.83
$GC,6005,2.14,123.2,3439,3304,2787,2691,293.9,9.0,262,6017,2.08,2.40,0.00,0.000,3078,0.186,0.041,3515,1870,2739,2786,2692,7,0,0,0,0,0,24.02,24.51,28.83
$GC,6338,1.76,123.2,3828,1870,2784,2692,246.5,13.7,271,6345,2.22,2.30,0.00,0.000,4356,0.124,0.034,3367,3295,2738,2784,2692,0,0,0,0,0,0,24.41,24.51,28.83
$GC,6391,1.50,123.2,3366,3295,2784,2692,243.1,13.0,272,6396,0.43,2.33,0.00,0.000,5126,0.109,0.035,3281,1884,2738,2784,2692,1,0,0,0,0,0,24.45,24.51,28.83
$GC,6730,1.89,157.0,3277,1885,2784,2691,222.8,4.9,281,6769,0.45,2.35,30.50,0.724,10500,0.045,0.033,3396,3300,2597,2657,2538,0,0,0,0,0,0,24.57,24.05,23.40
$GC,6996,2.05,157.0,3396,3300,2651,2537,195.8,11.4,289,7003,0.15,2.28,0.00,0.000,3078,0.068,0.034,3438,1905,2594,2651,2537,0,0,0,0,0,0,24.44,24.41,28.83
$GC,7303,2.15,157.0,3438,1905,2649,2537,157.9,11.2,320,7312,0.00,2.22,0.00,0.000,260,0.000,0.031,3438,3300,2593,2649,2538,0,0,0,0,0,0,28.83,24.46,28.83
$GC,7544,2.25,166.0,3438,3300,2649,2537,133.6,8.7,343,7563,0.12,2.25,8.55,0.573,11270,0.076,0.032,3475,1908,2561,2618,2505,0,0,0,0,0,0,24.50,24.49,23.75
$GC,7863,2.31,166.0,3475,1908,2615,2506,94.6,13.8,375,7871,0.00,2.20,0.00,0.000,260,0.000,0.029,3475,3298,2560,2615,2505,0,0,0,0,0,0,28.83,24.48,28.83
$GC,8106,2.39,177.9,3475,3297,2615,2506,67.2,8.2,398,8125,0.08,2.25,11.45,0.541,11270,0.053,0.031,3506,1924,2513,2570,2457,0,0,0,0,0,0,24.49,24.50,23.76
$GC,8425,2.51,209.0,3506,1924,2566,2457,42.8,5.3,430,8463,0.00,2.22,27.35,0.549,8452,0.000,0.026,3506,3301,2385,2450,2321,0,0,0,0,0,0,28.83,24.10,23.60
$GC,8699,2.57,209.0,2576,3299,2375,2309,14.9,11.1,469,8707,0.10,2.25,0.00,0.000,3078,0.047,0.029,3543,1922,2383,2445,2321,0,0,0,0,0,0,24.43,24.42,28.83
$STATE,8793,end climb,SURFACE_DEPTH_REACHED
$STATE,8793,begin surface coast
$FINISH,0.6,1.022835
$STATE,8822,end surface coast,CONTROL_FINISHED_OK
$STATE,8822,begin surface
$SM_CCo,8842,153.93,0.530,0,0,1609,400.08
$SM_GC,1.17,12.40,0.38,153.93,0.024,0.043,0.530,469,1669,1609,-11.42,0.68,400.08,0,0,0,0,0,0,24.49,24.47,23.52
$IRIDIUM_FIX,2234.68,-15800.20,170708,030333
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.29
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.00
$XPDR_PINGS,55
$24V_AH,23.1,64.236
$10V_AH,10.0,41.386
$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,46.325,70.550,277.575,153.925,0.000,27.645,34.058,305.316,13.750,0.000,36.777,1343.479,5515.542,524.869,1986.824,140.861,33.265,1266.225,0.000,1565.513,0.000,0.537,0.000
$DEVICE_MAMPS,185.895,146.115,984.555,530.145,0.000,65.030,160.000,223.000,420.000,0.000,32.960,13.460,2.190,13.460,39.680,47.920,65.140,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,331.990,294.315,387.286,411.895,582.881,0.000,0.000,0.000,0.000,0.000
$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,40473,492
$CAP_FILE_SIZE,98853,0
$CFSIZE,259252224,234508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,24,0,0,0,0
$GPS,200915,195038,2243.901,-15800.890,8,3.6,28,10.1