version: 66.06
glider: 148
mission: 11
dive: 149
start: 6 30 112 23 11 31
data:
$ID,148
$MISSION,11
$DIVE,149
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_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,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-921325.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1540
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,105
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,230437,2243.561,-15805.667,30,1.8,30,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.6
$GPS2,231037,2243.578,-15805.646,12,1.5,12,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.080,0.247
$KALMAN_X,75075.4,-276.2,-70.7,-84775.8,1102.3
$KALMAN_Y,-18666.6,-299.6,-296.8,11063.5,-35.1
$MHEAD_RNG_PITCHd_Wd,332.1,38702,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.45,0.000,2,0.000,0.000,412,1582,3320,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.7,10,120,13.93,2.33,-3.28,0.000,4,0.157,0.033,3058,3066,3516,0,0,0,0,0,0
$GC,236,-1.08,-146.0,42.0,-18.1,27,245,0.17,2.50,0.00,0.000,6,0.084,0.032,3101,1542,3518,0,0,0,0,0,0
$GC,500,-0.82,-146.0,88.5,-19.8,52,509,0.25,0.00,0.00,0.000,6,0.101,0.000,3157,1542,3519,0,0,0,0,0,0
$GC,764,-0.82,-146.0,118.0,-10.1,77,768,0.00,2.38,0.00,0.000,4,0.000,0.023,3157,3063,3520,0,0,0,0,0,0
$GC,815,-1.00,-146.0,122.5,-8.5,81,820,0.15,2.47,0.00,0.000,6,0.053,0.029,3070,1529,3520,0,0,0,0,0,0
$GC,1078,-0.78,-146.0,162.0,-15.5,105,1083,0.45,2.20,0.00,0.000,4,0.097,0.040,3166,164,3520,0,0,0,0,0,0
$GC,1140,-0.98,-146.0,169.0,-9.3,110,1146,0.17,2.03,0.00,0.000,6,0.048,0.018,3086,1521,3521,0,0,0,0,0,0
$GC,1403,-0.89,-146.0,200.9,-12.0,135,1408,0.25,2.22,0.00,0.000,4,0.091,0.041,3142,168,3522,0,0,0,0,0,0
$GC,1443,-1.00,-146.0,205.1,-9.4,135,1449,0.00,2.03,0.00,0.000,6,0.000,0.018,3142,1532,3522,0,0,0,0,0,0
$GC,1694,-1.11,-146.0,224.0,-7.2,142,1699,0.17,2.45,0.00,0.000,4,0.050,0.024,3066,3095,3522,0,0,0,0,0,0
$GC,1747,-1.11,-146.0,229.4,-10.8,143,1752,0.15,2.53,0.00,0.000,6,0.097,0.031,3100,1537,3522,0,0,0,0,0,0
$GC,2026,-1.11,-146.0,254.5,-9.1,150,2030,0.00,2.42,0.00,0.000,4,0.000,0.025,3100,3084,3523,0,0,0,0,0,0
$GC,2054,-1.11,-146.0,257.2,-9.1,150,2058,0.00,2.50,0.00,0.000,6,0.000,0.029,3100,1537,3523,0,0,0,0,0,0
$GC,2310,-1.11,-146.0,281.3,-9.6,157,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1536,3522,0,0,0,0,0,0
$GC,2552,-1.11,-146.0,304.8,-9.5,163,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1536,3522,0,0,0,0,0,0
$GC,2796,-1.11,-146.0,327.5,-9.3,169,2800,0.00,2.28,0.00,0.000,4,0.000,0.051,3100,167,3522,0,0,0,0,0,0
$GC,2839,-1.11,-146.0,331.7,-10.3,170,2843,0.00,2.08,0.00,0.000,6,0.000,0.021,3100,1527,3522,0,0,0,0,0,0
$GC,3127,-1.11,-146.0,356.1,-8.4,177,3131,0.00,2.53,0.00,0.000,4,0.000,0.032,3100,3110,3522,0,0,0,0,0,0
$GC,3160,-1.20,-146.0,359.1,-8.3,177,3165,0.10,2.55,0.00,0.000,6,0.075,0.032,3041,1549,3522,0,0,0,0,0,0
$GC,3412,-1.07,-146.0,387.2,-11.5,183,3414,0.30,0.00,0.00,0.000,6,0.097,0.000,3105,1549,3520,0,0,0,0,0,0
$GC,3654,-1.14,-146.0,407.5,-8.1,189,3658,0.00,2.33,0.00,0.000,4,0.000,0.061,3105,167,3519,0,0,0,0,0,0
$GC,3706,-1.26,-146.0,411.9,-8.8,190,3711,0.17,2.15,0.00,0.000,6,0.050,0.025,3032,1539,3519,0,0,0,0,0,0
$GC,3986,-1.12,-146.0,442.4,-11.1,197,3991,0.25,2.55,0.00,0.000,4,0.097,0.036,3090,3114,3517,0,0,0,0,0,0
$GC,4006,-1.12,-146.0,444.6,-10.0,197,4011,0.00,2.58,0.00,0.000,6,0.000,0.035,3090,1550,3517,0,0,0,0,0,0
$GC,4272,-1.12,-146.0,465.6,-8.0,204,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1550,3515,0,0,0,0,0,0
$GC,4514,-1.12,-146.0,484.3,-7.7,210,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1550,3514,0,0,0,0,0,0
$GC,4758,-1.12,-146.0,502.7,-7.5,216,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1550,3512,0,0,0,0,0,0
$GC,5002,-1.18,-146.0,520.9,-7.5,222,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1550,3511,0,0,0,0,0,0
$GC,5247,-1.25,-146.0,539.0,-7.3,228,5249,0.10,0.00,0.00,0.000,6,0.077,0.000,3035,1550,3509,0,0,0,0,0,0
$GC,5489,-1.15,-146.0,563.4,-10.3,234,5494,0.22,2.42,0.00,0.000,4,0.095,0.075,3086,164,3508,0,0,0,0,0,0
$GC,5513,-1.15,-146.0,565.7,-9.1,234,5518,0.00,2.20,0.00,0.000,6,0.000,0.034,3086,1531,3507,0,0,0,0,0,0
$GC,5779,-1.22,-146.0,586.9,-8.0,241,5783,0.00,2.65,0.00,0.000,4,0.000,0.051,3087,3130,3506,0,0,0,0,0,0
$GC,5826,-1.37,-146.0,591.0,-8.6,242,5832,0.17,2.65,0.00,0.000,6,0.048,0.048,3009,1559,3506,0,0,0,0,0,0
$STATE,5944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5952,-0.31,0.0,604.6,11.7,245,6074,1.17,0.00,117.78,0.941,6,0.090,0.000,3267,1406,2919,0,0,0,0,0,0
$STATE,6075,end apogee,CONTROL_FINISHED_OK
$STATE,6075,begin climb
$GC,6077,1.27,146.0,609.2,0.0,248,6211,1.48,2.30,124.15,0.921,4,0.048,0.081,3617,170,2323,0,0,0,0,0,0
$GC,6293,0.91,146.0,596.1,13.9,253,6298,0.38,2.05,0.00,0.000,6,0.099,0.031,3539,1421,2319,0,0,0,0,0,0
$GC,6581,0.97,196.4,572.8,7.7,260,6628,0.00,0.00,44.45,0.890,6,0.000,0.000,3539,1421,2119,0,0,0,0,0,0
$GC,6864,0.99,210.3,547.2,9.4,267,6884,0.00,2.22,12.88,0.809,4,0.000,0.068,3538,165,2061,0,0,0,0,0,0
$GC,6921,0.99,210.3,541.0,11.8,268,6925,0.00,2.05,0.00,0.000,6,0.000,0.029,3538,1420,2060,0,0,0,0,0,0
$GC,7195,1.00,217.7,514.5,9.7,275,7208,0.00,2.25,7.15,0.719,4,0.000,0.067,3539,170,2032,0,0,0,0,0,0
$GC,7236,1.00,217.7,510.0,11.8,275,7242,0.00,2.03,0.00,0.000,6,0.000,0.029,3538,1419,2032,0,0,0,0,0,0
$GC,7486,1.01,222.9,485.8,9.8,282,7494,0.00,0.00,6.10,0.676,6,0.000,0.000,3539,1421,2010,0,0,0,0,0,0
$GC,7731,1.01,225.4,461.8,9.9,288,7735,0.00,2.15,0.00,0.000,4,0.000,0.063,3539,172,2008,0,0,0,0,0,0
$GC,7774,1.01,225.4,457.1,11.0,289,7777,0.00,1.98,0.00,0.000,6,0.000,0.026,3538,1409,2008,0,0,0,0,0,0
$GC,8065,1.02,236.3,428.6,9.5,296,8086,0.10,2.15,13.65,0.776,4,0.077,0.059,3581,168,1955,0,0,0,0,0,0
$GC,8106,0.89,236.3,424.3,10.9,296,8113,0.22,2.00,0.00,0.000,6,0.095,0.026,3534,1414,1955,0,0,0,0,0,0
$GC,8357,1.00,279.1,403.0,8.0,303,8402,0.10,2.22,38.78,0.805,4,0.077,0.061,3587,174,1781,0,0,0,0,0,0
$GC,8468,0.90,279.1,390.1,12.5,305,8473,0.25,1.95,0.00,0.000,6,0.091,0.025,3533,1394,1780,0,0,0,0,0,0
$GC,8733,1.01,292.1,364.9,9.4,312,8753,0.12,2.67,12.32,0.716,4,0.065,0.038,3582,2993,1727,0,0,0,0,0,0
$GC,8814,1.08,292.1,355.7,12.1,313,8819,0.00,2.67,0.00,0.000,6,0.000,0.041,3582,1396,1723,0,0,0,0,0,0
$GC,9069,1.08,292.1,323.0,12.5,320,9073,0.00,2.08,0.00,0.000,4,0.000,0.059,3582,161,1722,0,0,0,0,0,0
$GC,9122,1.00,292.1,316.2,14.0,321,9126,0.12,1.98,0.00,0.000,6,0.120,0.024,3558,1416,1722,0,0,0,0,0,0
$GC,9404,1.00,292.1,284.0,11.1,328,9408,0.00,2.53,0.00,0.000,4,0.000,0.034,3558,2985,1721,0,0,0,0,0,0
$GC,9433,1.10,292.1,280.8,11.5,328,9437,0.00,2.62,0.00,0.000,6,0.000,0.038,3558,1398,1720,0,0,0,0,0,0
$GC,9689,1.16,292.1,253.5,10.6,335,9691,0.15,0.00,0.00,0.000,6,0.055,0.000,3618,1398,1720,0,0,0,0,0,0
$GC,9932,1.06,292.1,220.3,13.9,341,9934,0.22,0.00,0.00,0.000,6,0.093,0.000,3569,1398,1720,0,0,0,0,0,0
$GC,10175,1.07,306.3,196.8,9.3,347,10197,0.00,2.62,12.45,0.596,4,0.000,0.029,3570,2983,1671,0,0,0,0,0,0
$GC,10219,1.21,324.8,192.6,9.1,351,10244,0.15,2.60,18.25,0.607,6,0.053,0.036,3630,1406,1595,0,0,0,0,0,0
$GC,10507,1.11,324.8,152.0,15.1,378,10512,0.22,2.08,0.00,0.000,4,0.092,0.054,3581,165,1592,0,0,0,0,0,0
$GC,10629,1.11,324.8,135.9,12.8,389,10633,0.00,1.90,0.00,0.000,6,0.000,0.020,3581,1422,1592,0,0,0,0,0,0
$GC,10898,1.19,324.8,104.6,11.3,414,10901,0.00,2.08,0.00,0.000,4,0.000,0.055,3581,169,1591,0,0,0,0,0,0
$GC,10964,1.25,324.8,96.2,10.9,420,10968,0.12,1.88,0.00,0.000,6,0.064,0.020,3632,1404,1590,0,0,0,0,0,0
$GC,11233,1.19,324.8,60.7,12.8,445,11242,0.17,0.00,0.00,0.000,6,0.098,0.000,3596,1407,1591,0,0,0,0,0,0
$GC,11497,1.19,324.8,33.6,10.0,470,11501,0.00,2.05,0.00,0.000,4,0.000,0.048,3595,161,1591,0,0,0,0,0,0
$GC,11554,1.19,324.8,27.3,11.8,476,11562,0.00,1.88,0.00,0.000,6,0.000,0.019,3595,1391,1591,0,0,0,0,0,0
$STATE,11779,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,0.5,1.022960
$STATE,11826,end surface coast,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$SM_CCo,11850,26.50,0.444,0,0,1370,380.21
$SM_GC,1.46,0.00,0.00,26.50,0.000,0.000,0.444,411,1561,1370,-13.48,0.59,380.21
$IRIDIUM_FIX,2234.68,-15808.45,240901,191904
$TT8_MAMPS,0.027612
$HUMID,62.87
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,20.958
$10V_AH,9.9,14.700
$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,34.875,114.375,407.950,26.500,0.000,27.682,32.343,165.710,0.750,0.000,15.554,1104.460,8222.982,482.410,1891.730,535.010,33.365,1282.158,0.000,1888.335,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,81.302,941.109,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.602,282.581,358.683,529.248,929.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41504,519
$CAP_FILE_SIZE,124451,0
$CFSIZE,260165632,169926656
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010712,023036,2244.953,-15805.812,28,1.3,28,10.0