version: 66.06
glider: 148
mission: 11
dive: 245
start: 7 14 112 22 32 24
data:
$ID,148
$MISSION,11
$DIVE,245
$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,-923518.44
$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,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,98
$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
$GPS1,222059,2301.656,-15805.244,36,1.4,36,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,3
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.7
$GPS2,223130,2301.750,-15805.315,10,1.2,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,0.206
$KALMAN_X,20177.6,-237.1,-129.2,-29292.7,-856.6
$KALMAN_Y,3354.0,-74.6,-157.3,22332.6,1400.7
$MHEAD_RNG_PITCHd_Wd,27.4,5178,-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,-74.30,0.000,2,0.000,0.000,407,1550,3308,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-5.5,10,121,14.43,2.40,-3.53,0.000,4,0.170,0.035,3057,3069,3517,0,0,0,0,0,0
$GC,161,-0.90,-146.0,26.5,-22.6,19,170,0.35,2.53,0.00,0.000,6,0.084,0.031,3139,1532,3519,0,0,0,0,0,0
$GC,436,-0.77,-146.0,65.4,-13.8,45,441,0.15,2.45,0.00,0.000,4,0.116,0.025,3170,3073,3520,0,0,0,0,0,0
$GC,481,-0.87,-146.0,70.9,-9.9,48,485,0.00,2.45,0.00,0.000,6,0.000,0.029,3170,1546,3520,0,0,0,0,0,0
$GC,745,-0.94,-146.0,96.0,-10.3,72,750,0.15,2.25,0.00,0.000,4,0.053,0.045,3092,164,3521,0,0,0,0,0,0
$GC,764,-0.94,-146.0,98.3,-11.1,73,769,0.20,2.05,0.00,0.000,6,0.096,0.018,3136,1544,3520,0,0,0,0,0,0
$GC,1033,-0.94,-146.0,131.8,-11.9,97,1037,0.00,2.38,0.00,0.000,4,0.000,0.022,3136,3079,3521,0,0,0,0,0,0
$GC,1088,-1.07,-146.0,138.9,-10.5,102,1093,0.12,2.42,0.00,0.000,6,0.059,0.028,3049,1556,3522,0,0,0,0,0,0
$GC,1352,-0.80,-146.0,184.1,-17.1,126,1357,0.52,2.22,0.00,0.000,4,0.091,0.038,3160,167,3522,0,0,0,0,0,0
$GC,1373,-0.65,-146.0,186.9,-15.8,127,1377,0.17,2.08,0.00,0.000,6,0.103,0.018,3197,1559,3523,0,0,0,0,0,0
$GC,1648,-0.90,-146.0,205.1,-6.1,147,1653,0.22,2.38,0.00,0.000,4,0.038,0.021,3090,3091,3523,0,0,0,0,0,0
$GC,1678,-0.90,-146.0,207.8,-9.6,147,1683,0.22,2.45,0.00,0.000,6,0.080,0.029,3142,1556,3523,0,0,0,0,0,0
$GC,1934,-1.00,-146.0,227.9,-7.3,154,1938,0.00,2.25,0.00,0.000,4,0.000,0.045,3142,164,3523,0,0,0,0,0,0
$GC,1963,-1.11,-146.0,229.9,-6.6,154,1967,0.17,2.10,0.00,0.000,6,0.047,0.018,3068,1560,3524,0,0,0,0,0,0
$GC,2224,-0.97,-146.0,258.6,-11.5,161,2229,0.28,2.40,0.00,0.000,4,0.087,0.025,3125,3095,3524,0,0,0,0,0,0
$GC,2288,-1.16,-146.0,264.0,-7.0,162,2293,0.15,2.45,0.00,0.000,6,0.053,0.031,3045,1567,3524,0,0,0,0,0,0
$GC,2559,-1.00,-146.0,298.4,-13.3,169,2564,0.30,2.28,0.00,0.000,4,0.088,0.047,3117,172,3524,0,0,0,0,0,0
$GC,2603,-1.08,-146.0,303.3,-9.0,170,2607,0.00,2.15,0.00,0.000,6,0.000,0.021,3117,1560,3524,0,0,0,0,0,0
$GC,2897,-1.16,-146.0,328.3,-8.3,177,2902,0.12,2.47,0.00,0.000,4,0.063,0.030,3052,3115,3523,0,0,0,0,0,0
$GC,2930,-1.16,-146.0,332.1,-10.9,177,2935,0.15,2.50,0.00,0.000,6,0.096,0.032,3086,1567,3523,0,0,0,0,0,0
$GC,3180,-1.16,-146.0,355.1,-9.2,183,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1567,3521,0,0,0,0,0,0
$GC,3425,-1.16,-146.0,377.3,-9.3,189,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1567,3520,0,0,0,0,0,0
$GC,3668,-1.16,-146.0,400.6,-9.4,195,3672,0.00,2.47,0.00,0.000,4,0.000,0.034,3086,3104,3519,0,0,0,0,0,0
$GC,3686,-1.16,-146.0,402.6,-10.0,195,3691,0.00,2.47,0.00,0.000,6,0.000,0.035,3086,1578,3519,0,0,0,0,0,0
$GC,3952,-1.16,-146.0,426.1,-8.9,202,3956,0.00,2.38,0.00,0.000,4,0.000,0.064,3086,171,3517,0,0,0,0,0,0
$GC,4003,-1.16,-146.0,431.2,-9.9,203,4007,0.00,2.20,0.00,0.000,6,0.000,0.027,3086,1569,3516,0,0,0,0,0,0
$GC,4281,-1.16,-146.0,454.5,-8.3,210,4285,0.00,2.53,0.00,0.000,4,0.000,0.038,3086,3116,3515,0,0,0,0,0,0
$GC,4301,-1.16,-146.0,456.3,-8.9,210,4306,0.00,2.50,0.00,0.000,6,0.000,0.035,3086,1580,3515,0,0,0,0,0,0
$GC,4565,-1.16,-146.0,477.7,-8.2,217,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1580,3513,0,0,0,0,0,0
$GC,4809,-1.16,-146.0,499.2,-9.0,223,4813,0.00,2.55,0.00,0.000,4,0.000,0.041,3086,3117,3511,0,0,0,0,0,0
$GC,4836,-1.16,-146.0,501.7,-10.0,223,4840,0.00,2.55,0.00,0.000,6,0.000,0.041,3086,1581,3511,0,0,0,0,0,0
$GC,5095,-1.16,-146.0,526.6,-9.7,230,5099,0.00,2.45,0.00,0.000,4,0.000,0.075,3086,163,3510,0,0,0,0,0,0
$GC,5118,-1.16,-146.0,529.1,-11.1,230,5123,0.00,2.28,0.00,0.000,6,0.000,0.032,3086,1571,3510,0,0,0,0,0,0
$GC,5379,-1.16,-146.0,552.5,-8.9,237,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1572,3508,0,0,0,0,0,0
$GC,5621,-1.16,-146.0,573.1,-8.4,243,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1572,3507,0,0,0,0,0,0
$GC,5865,-1.16,-146.0,592.0,-7.7,249,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1572,3505,0,0,0,0,0,0
$STATE,5984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5984,begin apogee
$GC,5991,-0.31,0.0,601.5,7.7,252,6111,0.82,0.00,117.57,0.937,6,0.084,0.000,3271,1364,2919,0,0,0,0,0,0
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6116,1.27,146.0,605.3,0.0,255,6248,1.45,2.15,123.60,0.914,4,0.041,0.076,3621,180,2323,0,0,0,0,0,0
$GC,6329,0.90,146.0,593.3,13.2,260,6334,0.40,1.98,0.00,0.000,6,0.096,0.031,3538,1380,2319,0,0,0,0,0,0
$GC,6617,0.97,196.2,570.2,7.7,267,6665,0.00,2.17,43.33,0.885,4,0.000,0.071,3537,178,2120,0,0,0,0,0,0
$GC,6737,0.90,196.2,558.8,10.1,269,6741,0.00,1.95,0.00,0.000,6,0.000,0.030,3537,1382,2118,0,0,0,0,0,0
$GC,6996,0.92,207.1,534.4,9.5,276,7008,0.00,0.00,10.12,0.776,6,0.000,0.000,3537,1383,2075,0,0,0,0,0,0
$GC,7241,0.92,209.5,510.2,9.9,282,7246,0.00,2.62,0.00,0.000,4,0.000,0.048,3537,2958,2071,0,0,0,0,0,0
$GC,7256,0.93,219.0,508.5,9.6,282,7273,0.00,2.67,11.38,0.785,6,0.000,0.043,3537,1379,2027,0,0,0,0,0,0
$GC,7523,0.94,227.9,482.8,9.6,289,7534,0.00,0.00,9.43,0.751,6,0.000,0.000,3537,1379,1990,0,0,0,0,0,0
$GC,7768,0.96,244.9,460.3,9.2,295,7787,0.00,0.00,17.00,0.802,6,0.000,0.000,3537,1379,1921,0,0,0,0,0,0
$GC,8010,0.99,263.1,437.9,9.2,301,8030,0.00,0.00,17.83,0.791,6,0.000,0.000,3537,1379,1847,0,0,0,0,0,0
$GC,8255,1.08,285.2,415.8,9.0,307,8278,0.15,0.00,20.85,0.785,6,0.056,0.000,3597,1379,1757,0,0,0,0,0,0
$GC,8499,1.00,285.2,384.4,13.3,313,8501,0.17,0.00,0.00,0.000,6,0.098,0.000,3558,1379,1752,0,0,0,0,0,0
$GC,8741,1.00,285.2,356.6,11.4,319,8746,0.00,2.60,0.00,0.000,4,0.000,0.032,3559,2966,1751,0,0,0,0,0,0
$GC,8765,1.00,285.2,353.8,11.0,319,8769,0.00,2.67,0.00,0.000,6,0.000,0.040,3558,1371,1749,0,0,0,0,0,0
$GC,9024,1.00,285.2,323.8,11.5,326,9028,0.00,2.60,0.00,0.000,4,0.000,0.032,3558,2965,1749,0,0,0,0,0,0
$GC,9043,1.00,285.2,321.5,11.8,326,9047,0.00,2.65,0.00,0.000,6,0.000,0.038,3558,1378,1747,0,0,0,0,0,0
$GC,9307,1.00,285.2,291.4,11.5,333,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1378,1747,0,0,0,0,0,0
$GC,9550,1.00,285.2,264.0,11.2,339,9555,0.00,2.55,0.00,0.000,4,0.000,0.029,3558,2969,1747,0,0,0,0,0,0
$GC,9571,1.06,285.2,261.9,10.4,339,9576,0.00,2.62,0.00,0.000,6,0.000,0.037,3558,1383,1746,0,0,0,0,0,0
$GC,9836,1.13,285.2,234.9,10.0,346,9841,0.12,2.55,0.00,0.000,4,0.065,0.028,3614,2972,1745,0,0,0,0,0,0
$GC,9855,1.13,285.2,232.4,11.8,346,9860,0.12,2.62,0.00,0.000,6,0.102,0.036,3587,1383,1745,0,0,0,0,0,0
$GC,10121,1.13,285.2,202.1,11.4,353,10124,0.00,2.03,0.00,0.000,4,0.000,0.054,3587,167,1745,0,0,0,0,0,0
$GC,10153,1.13,285.2,197.7,12.5,353,10156,0.00,1.92,0.00,0.000,6,0.000,0.020,3587,1436,1745,0,0,0,0,0,0
$GC,10426,1.13,285.2,167.2,11.4,378,10430,0.00,2.12,0.00,0.000,4,0.000,0.050,3587,159,1745,0,0,0,0,0,0
$GC,10445,1.13,285.2,165.1,11.4,379,10449,0.00,1.92,0.00,0.000,6,0.000,0.020,3588,1439,1745,0,0,0,0,0,0
$GC,10712,1.13,285.2,136.8,10.3,404,10716,0.00,2.10,0.00,0.000,4,0.000,0.057,3587,165,1745,0,0,0,0,0,0
$GC,10759,1.13,285.2,131.2,12.0,408,10763,0.00,1.92,0.00,0.000,6,0.000,0.020,3587,1444,1745,0,0,0,0,0,0
$GC,11030,1.13,285.3,103.8,10.0,433,11034,0.00,2.40,0.00,0.000,4,0.000,0.026,3587,2979,1745,0,0,0,0,0,0
$GC,11061,1.25,300.1,100.2,9.3,435,11080,0.10,2.60,12.40,0.508,6,0.074,0.038,3646,1384,1696,0,0,0,0,0,0
$GC,11335,1.16,300.1,64.5,12.8,461,11339,0.25,2.00,0.00,0.000,4,0.087,0.046,3586,165,1694,0,0,0,0,0,0
$GC,11374,1.23,300.1,60.3,11.0,464,11378,0.00,1.90,0.00,0.000,6,0.000,0.019,3586,1443,1694,0,0,0,0,0,0
$GC,11646,1.35,318.1,35.8,9.2,489,11667,0.20,0.00,17.58,0.462,6,0.045,0.000,3661,1446,1622,0,0,0,0,0,0
$STATE,11883,end climb,SURFACE_DEPTH_REACHED
$STATE,11884,begin surface coast
$FINISH,0.6,1.010133
$STATE,11916,end surface coast,CONTROL_FINISHED_OK
$STATE,11916,begin surface
$SM_CCo,11940,37.22,0.445,0,0,1369,380.21
$SM_GC,1.71,0.00,0.00,37.22,0.000,0.000,0.445,410,1639,1369,-13.48,2.80,380.21
$IRIDIUM_FIX,2253.38,-15802.79,081001,222250
$TT8_MAMPS,0.027612
$HUMID,63.50
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,6
$24V_AH,23.5,33.092
$10V_AH,10.0,25.178
$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,34.650,126.875,401.075,37.225,0.000,54.772,69.056,305.197,1.500,0.000,13.507,1121.150,8412.582,485.771,1823.240,763.592,33.375,1239.774,0.000,1830.927,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,75.933,936.507,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.595,300.988,371.821,547.564,962.002,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41450,529
$CAP_FILE_SIZE,126821,0
$CFSIZE,260165632,164081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150712,015323,2303.941,-15804.681,23,1.5,40,10.1