version: 66.06
glider: 148
mission: 11
dive: 336
start: 7 28 112 0 24 58
data:
$ID,148
$MISSION,11
$DIVE,336
$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,-925646.44
$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,77
$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
$GPS1,000841,2242.772,-15805.783,40,2.0,51,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.0
$GPS2,002401,2242.799,-15805.810,13,1.0,13,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.257
$KALMAN_X,-105107.6,-99.4,-148.0,95031.0,-255.5
$KALMAN_Y,44277.2,28.7,109.1,-54055.9,585.5
$MHEAD_RNG_PITCHd_Wd,358.4,40157,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.40,0.000,2,0.000,0.000,414,1539,3303,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-6.8,10,120,13.75,2.47,-3.70,0.000,4,0.151,0.035,3057,3093,3517,0,0,0,0,0,0
$GC,161,-0.87,-146.0,26.3,-22.8,19,170,0.38,2.55,0.00,0.000,6,0.083,0.029,3144,1536,3519,0,0,0,0,0,0
$GC,435,-0.73,-146.0,65.3,-12.3,45,440,0.17,2.47,0.00,0.000,4,0.108,0.025,3182,3093,3520,0,0,0,0,0,0
$GC,457,-0.65,-146.0,68.2,-11.6,46,461,0.00,2.47,0.00,0.000,6,0.000,0.033,3181,1538,3520,0,0,0,0,0,0
$GC,721,-0.65,-146.0,92.4,-10.7,70,725,0.00,2.45,0.00,0.000,4,0.000,0.024,3181,3094,3521,0,0,0,0,0,0
$GC,780,-0.86,-146.0,97.8,-8.5,75,785,0.12,2.50,0.00,0.000,6,0.059,0.028,3093,1547,3521,0,0,0,0,0,0
$GC,1048,-0.57,-146.0,141.2,-16.9,99,1053,0.62,2.22,0.00,0.000,4,0.090,0.038,3209,164,3521,0,0,0,0,0,0
$GC,1077,-0.57,-146.0,145.9,-12.5,101,1081,0.00,2.10,0.00,0.000,6,0.000,0.018,3209,1556,3522,0,0,0,0,0,0
$GC,1342,-0.80,-146.0,167.1,-7.3,125,1347,0.17,2.40,0.00,0.000,4,0.045,0.023,3104,3092,3522,0,0,0,0,0,0
$GC,1411,-0.80,-146.0,175.5,-12.8,131,1417,0.28,2.47,0.00,0.000,6,0.082,0.028,3166,1543,3522,0,0,0,0,0,0
$GC,1676,-0.90,-146.0,199.9,-8.9,156,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1544,3522,0,0,0,0,0,0
$GC,1927,-1.02,-146.0,220.5,-7.7,163,1929,0.20,0.00,0.00,0.000,6,0.042,0.000,3073,1543,3522,0,0,0,0,0,0
$GC,2170,-0.85,-146.0,250.1,-12.7,169,2175,0.32,2.22,0.00,0.000,4,0.084,0.041,3149,173,3522,0,0,0,0,0,0
$GC,2224,-0.96,-146.0,255.2,-7.9,170,2228,0.00,2.08,0.00,0.000,6,0.000,0.018,3149,1552,3522,0,0,0,0,0,0
$GC,2502,-1.06,-146.0,276.4,-7.6,177,2507,0.17,2.45,0.00,0.000,4,0.048,0.026,3067,3100,3522,0,0,0,0,0,0
$GC,2560,-1.06,-146.0,282.5,-11.0,178,2565,0.17,2.50,0.00,0.000,6,0.091,0.031,3108,1559,3522,0,0,0,0,0,0
$GC,2834,-1.06,-146.0,310.4,-10.1,185,2838,0.00,2.45,0.00,0.000,4,0.000,0.028,3108,3089,3522,0,0,0,0,0,0
$GC,2857,-1.06,-146.0,312.7,-9.7,185,2862,0.00,2.45,0.00,0.000,6,0.000,0.031,3108,1568,3522,0,0,0,0,0,0
$GC,3122,-1.06,-146.0,339.5,-10.3,192,3127,0.00,2.33,0.00,0.000,4,0.000,0.054,3108,176,3522,0,0,0,0,0,0
$GC,3173,-1.06,-146.0,345.4,-11.3,193,3177,0.00,2.10,0.00,0.000,6,0.000,0.021,3108,1540,3521,0,0,0,0,0,0
$GC,3451,-1.06,-146.0,370.1,-8.7,200,3455,0.00,2.53,0.00,0.000,4,0.000,0.033,3108,3110,3519,0,0,0,0,0,0
$GC,3491,-1.14,-146.0,373.3,-7.8,200,3496,0.00,2.53,0.00,0.000,6,0.000,0.035,3108,1564,3519,0,0,0,0,0,0
$GC,3741,-1.14,-146.0,393.8,-8.5,207,3745,0.00,2.35,0.00,0.000,4,0.000,0.059,3108,174,3517,0,0,0,0,0,0
$GC,3760,-1.14,-146.0,395.7,-9.8,207,3764,0.00,2.20,0.00,0.000,6,0.000,0.023,3108,1576,3517,0,0,0,0,0,0
$GC,4025,-1.14,-146.0,419.9,-9.1,214,4029,0.00,2.47,0.00,0.000,4,0.000,0.036,3108,3105,3515,0,0,0,0,0,0
$GC,4048,-1.14,-146.0,422.4,-9.7,214,4053,0.00,2.53,0.00,0.000,6,0.000,0.035,3108,1573,3515,0,0,0,0,0,0
$GC,4308,-1.14,-146.0,444.1,-8.2,221,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1573,3515,0,0,0,0,0,0
$GC,4553,-1.14,-146.0,463.7,-8.0,227,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1573,3512,0,0,0,0,0,0
$GC,4796,-1.14,-146.0,482.3,-7.6,233,4800,0.00,2.53,0.00,0.000,4,0.000,0.041,3108,3105,3511,0,0,0,0,0,0
$GC,4824,-1.24,-146.0,484.6,-7.8,233,4830,0.15,2.53,0.00,0.000,6,0.053,0.039,3033,1574,3510,0,0,0,0,0,0
$GC,5082,-1.07,-146.0,514.1,-12.1,240,5084,0.32,0.00,0.00,0.000,6,0.090,0.000,3105,1574,3508,0,0,0,0,0,0
$GC,5324,-1.07,-146.0,536.1,-9.1,246,5328,0.00,2.45,0.00,0.000,4,0.000,0.076,3105,171,3506,0,0,0,0,0,0
$GC,5347,-1.07,-146.0,538.6,-11.0,246,5351,0.00,2.22,0.00,0.000,6,0.000,0.031,3105,1567,3506,0,0,0,0,0,0
$GC,5612,-1.14,-146.0,564.7,-10.1,253,5617,0.00,2.55,0.00,0.000,4,0.000,0.047,3105,3116,3504,0,0,0,0,0,0
$GC,5636,-1.22,-146.0,567.3,-10.5,253,5641,0.12,2.58,0.00,0.000,6,0.063,0.044,3034,1582,3504,0,0,0,0,0,0
$STATE,5894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5894,begin apogee
$GC,5902,-0.31,0.0,601.8,13.5,260,6022,1.05,0.00,116.97,0.930,6,0.081,0.000,3269,1374,2920,0,0,0,0,0,0
$STATE,6023,end apogee,CONTROL_FINISHED_OK
$STATE,6023,begin climb
$GC,6026,1.27,146.0,607.7,0.0,263,6159,1.48,2.20,123.82,0.911,4,0.051,0.082,3615,167,2322,0,0,0,0,0,0
$GC,6235,0.97,146.0,596.9,12.1,267,6241,0.30,2.00,0.00,0.000,6,0.102,0.030,3554,1388,2318,0,0,0,0,0,0
$GC,6485,1.01,182.9,575.9,8.3,274,6522,0.00,2.20,31.58,0.867,4,0.000,0.071,3554,164,2173,0,0,0,0,0,0
$GC,6558,0.95,182.9,569.0,11.2,274,6562,0.00,1.98,0.00,0.000,6,0.000,0.029,3554,1373,2172,0,0,0,0,0,0
$GC,6817,0.97,198.6,544.2,9.3,281,6837,0.00,2.17,14.52,0.815,4,0.000,0.068,3553,174,2109,0,0,0,0,0,0
$GC,6864,0.89,198.6,539.4,11.9,282,6868,0.00,1.95,0.00,0.000,6,0.000,0.028,3553,1374,2109,0,0,0,0,0,0
$GC,7157,0.89,198.6,508.8,10.6,289,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1376,2105,0,0,0,0,0,0
$GC,7400,0.89,198.6,483.9,10.2,295,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1376,2102,0,0,0,0,0,0
$GC,7646,0.92,222.3,461.9,8.9,301,7669,0.00,0.00,21.40,0.815,6,0.000,0.000,3553,1377,2013,0,0,0,0,0,0
$GC,7888,0.95,241.3,439.8,9.1,307,7908,0.00,0.00,18.17,0.789,6,0.000,0.000,3554,1377,1936,0,0,0,0,0,0
$GC,8132,0.96,250.6,416.4,9.6,313,8148,0.00,2.70,9.73,0.719,4,0.000,0.038,3554,2961,1897,0,0,0,0,0,0
$GC,8158,0.99,273.7,413.7,8.9,313,8187,0.00,2.72,22.17,0.779,6,0.000,0.042,3554,1360,1803,0,0,0,0,0,0
$GC,8469,1.07,277.6,383.4,9.8,321,8478,0.00,2.65,4.03,0.507,4,0.000,0.035,3554,2961,1788,0,0,0,0,0,0
$GC,8497,1.17,284.2,380.1,9.7,321,8512,0.17,2.70,7.45,0.655,6,0.048,0.041,3621,1366,1761,0,0,0,0,0,0
$GC,8757,1.06,284.2,344.2,14.2,328,8759,0.22,0.00,0.00,0.000,6,0.094,0.000,3572,1366,1758,0,0,0,0,0,0
$GC,8999,1.06,284.2,316.4,11.1,334,9003,0.00,2.03,0.00,0.000,4,0.000,0.059,3572,160,1756,0,0,0,0,0,0
$GC,9014,1.06,284.2,314.8,10.7,334,9018,0.00,1.92,0.00,0.000,6,0.000,0.024,3572,1399,1757,0,0,0,0,0,0
$GC,9288,1.08,300.7,288.4,9.2,341,9309,0.00,2.58,15.50,0.680,4,0.000,0.035,3572,2949,1694,0,0,0,0,0,0
$GC,9330,1.18,314.8,284.4,9.4,342,9351,0.10,2.65,14.35,0.666,6,0.074,0.040,3626,1377,1635,0,0,0,0,0,0
$GC,9623,1.10,314.8,245.7,13.4,349,9629,0.22,2.58,0.00,0.000,4,0.093,0.030,3578,2941,1631,0,0,0,0,0,0
$GC,9676,1.24,314.8,239.0,11.5,350,9681,0.12,2.62,0.00,0.000,6,0.061,0.040,3630,1377,1629,0,0,0,0,0,0
$GC,9956,1.15,314.8,200.8,13.5,357,9961,0.17,2.05,0.00,0.000,4,0.099,0.054,3591,160,1628,0,0,0,0,0,0
$GC,10022,1.15,314.8,192.3,12.4,360,10031,0.00,1.92,0.00,0.000,6,0.000,0.021,3591,1395,1628,0,0,0,0,0,0
$GC,10289,1.15,314.8,164.5,10.4,385,10294,0.00,2.45,0.00,0.000,4,0.000,0.027,3590,2937,1628,0,0,0,0,0,0
$GC,10329,1.27,322.5,160.3,9.6,388,10342,0.10,2.55,6.97,0.504,6,0.074,0.035,3643,1374,1603,0,0,0,0,0,0
$GC,10603,1.17,322.5,121.5,15.3,414,10605,0.22,0.00,0.00,0.000,6,0.091,0.000,3595,1374,1603,0,0,0,0,0,0
$GC,10859,1.17,322.5,91.2,11.4,438,10864,0.00,2.50,0.00,0.000,4,0.000,0.027,3595,2942,1603,0,0,0,0,0,0
$GC,10900,1.29,322.5,87.1,11.0,441,10905,0.12,2.55,0.00,0.000,6,0.061,0.035,3656,1386,1600,0,0,0,0,0,0
$GC,11164,1.19,322.5,47.7,15.9,465,11169,0.25,2.00,0.00,0.000,4,0.086,0.045,3597,170,1600,0,0,0,0,0,0
$GC,11182,1.19,322.5,44.7,14.7,466,11191,0.00,1.88,0.00,0.000,6,0.000,0.019,3597,1411,1600,0,0,0,0,0,0
$GC,11468,1.29,322.5,15.2,10.4,503,11477,0.10,2.10,0.00,0.000,4,0.075,0.047,3654,166,1600,0,0,0,0,0,0
$GC,11513,1.17,322.5,9.3,14.7,509,11522,0.22,1.85,0.00,0.000,6,0.072,0.019,3599,1382,1601,0,0,0,0,0,0
$STATE,11554,end climb,SURFACE_DEPTH_REACHED
$STATE,11554,begin surface coast
$FINISH,0.7,1.023564
$STATE,11602,end surface coast,CONTROL_FINISHED_OK
$STATE,11602,begin surface
$SM_CCo,11626,31.85,0.443,0,0,1369,380.21
$SM_GC,1.64,0.00,0.00,31.85,0.000,0.000,0.443,410,1559,1369,-13.48,0.54,380.21
$IRIDIUM_FIX,2237.01,-15805.41,221001,000047
$TT8_MAMPS,0.027612
$HUMID,66.34
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.30
$XPDR_PINGS,4
$24V_AH,23.5,44.429
$10V_AH,9.9,34.988
$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,34.650,132.175,406.675,31.850,0.000,111.825,196.809,273.296,1.000,0.000,15.431,1110.055,8168.704,492.676,1861.282,945.099,33.401,1288.160,0.000,1868.651,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,82.069,929.604,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.833,300.536,374.292,542.474,953.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41678,522
$CAP_FILE_SIZE,131190,0
$CFSIZE,260165632,158597120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280712,034038,2244.785,-15805.852,31,1.1,38,10.0