version: 66.06
glider: 148
mission: 11
dive: 338
start: 7 28 112 7 30 37
data:
$ID,148
$MISSION,11
$DIVE,338
$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,-925681.81
$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,25
$R_STBD_OVSHOOT,85
$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
$GPS1,071329,2246.192,-15806.370,37,1.3,42,10.0
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.0
$GPS2,072943,2246.104,-15806.405,15,1.7,15,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.251
$KALMAN_X,-106697.1,-247.5,-23.3,95632.0,-509.2
$KALMAN_Y,44518.9,98.6,-272.5,-47862.2,-48.0
$MHEAD_RNG_PITCHd_Wd,4.7,34126,-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,-74.57,0.000,2,0.000,0.000,415,1542,3325,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-7.0,10,122,13.65,2.47,-3.12,0.000,4,0.149,0.032,3057,3082,3516,0,0,0,0,0,0
$GC,192,-0.95,-146.0,35.3,-18.3,22,201,0.30,2.53,0.00,0.000,6,0.084,0.030,3127,1540,3518,0,0,0,0,0,0
$GC,461,-0.76,-146.0,73.8,-15.6,47,466,0.22,2.25,0.00,0.000,4,0.107,0.041,3174,167,3518,0,0,0,0,0,0
$GC,494,-0.76,-146.0,80.2,-13.5,49,503,0.00,2.08,0.00,0.000,6,0.000,0.018,3174,1526,3518,0,0,0,0,0,0
$GC,759,-0.76,-146.0,105.6,-9.2,74,763,0.00,2.45,0.00,0.000,4,0.000,0.024,3174,3092,3519,0,0,0,0,0,0
$GC,830,-0.94,-146.0,111.9,-7.7,80,839,0.12,2.53,0.00,0.000,6,0.023,0.036,3058,1545,3520,0,0,0,0,0,0
$GC,1094,-0.64,-146.0,152.3,-16.1,105,1106,0.60,2.45,0.00,0.000,4,0.090,0.023,3194,3095,3520,0,0,0,0,0,0
$GC,1127,-0.77,-146.0,156.5,-10.1,108,1131,0.00,2.47,0.00,0.000,6,0.000,0.027,3194,1544,3520,0,0,0,0,0,0
$GC,1392,-0.94,-146.0,174.2,-7.0,132,1400,0.25,0.00,0.00,0.000,6,0.034,0.000,3079,1544,3521,0,0,0,0,0,0
$GC,1671,-0.75,-146.0,212.6,-14.1,153,1676,0.40,2.45,0.00,0.000,4,0.083,0.022,3173,3094,3520,0,0,0,0,0,0
$GC,1692,-0.75,-146.0,214.7,-9.9,153,1697,0.00,2.50,0.00,0.000,6,0.000,0.027,3173,1544,3521,0,0,0,0,0,0
$GC,1957,-0.90,-146.0,233.6,-7.2,160,1959,0.12,0.00,0.00,0.000,6,0.061,0.000,3098,1543,3521,0,0,0,0,0,0
$GC,2200,-0.82,-146.0,263.5,-12.5,166,2205,0.25,2.47,0.00,0.000,4,0.086,0.025,3158,3090,3521,0,0,0,0,0,0
$GC,2259,-1.03,-146.0,269.4,-9.0,167,2264,0.17,2.47,0.00,0.000,6,0.045,0.030,3059,1562,3521,0,0,0,0,0,0
$GC,2533,-0.79,-146.0,311.8,-15.1,174,2538,0.55,2.28,0.00,0.000,4,0.083,0.047,3164,173,3521,0,0,0,0,0,0
$GC,2622,-1.01,-146.0,318.6,-6.3,175,2628,0.20,2.08,0.00,0.000,6,0.042,0.019,3069,1539,3521,0,0,0,0,0,0
$GC,2872,-0.90,-146.0,344.0,-10.5,182,2877,0.30,2.28,0.00,0.000,4,0.084,0.050,3141,174,3521,0,0,0,0,0,0
$GC,2901,-1.01,-146.0,346.6,-7.7,182,2905,0.00,2.10,0.00,0.000,6,0.000,0.021,3141,1529,3521,0,0,0,0,0,0
$GC,3163,-1.14,-146.0,362.8,-6.2,189,3168,0.20,2.55,0.00,0.000,4,0.044,0.031,3053,3114,3519,0,0,0,0,0,0
$GC,3215,-1.14,-146.0,367.8,-10.0,190,3220,0.17,2.55,0.00,0.000,6,0.091,0.034,3093,1548,3519,0,0,0,0,0,0
$GC,3495,-1.14,-146.0,394.6,-9.8,197,3500,0.00,2.55,0.00,0.000,4,0.000,0.036,3093,3109,3517,0,0,0,0,0,0
$GC,3523,-1.14,-146.0,397.8,-10.1,197,3528,0.00,2.55,0.00,0.000,6,0.000,0.036,3093,1550,3517,0,0,0,0,0,0
$GC,3778,-1.14,-146.0,422.2,-9.5,204,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1551,3515,0,0,0,0,0,0
$GC,4023,-1.14,-146.0,444.9,-9.2,210,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1551,3513,0,0,0,0,0,0
$GC,4266,-1.14,-146.0,466.5,-8.8,216,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1550,3511,0,0,0,0,0,0
$GC,4509,-1.14,-146.0,487.5,-8.6,222,4514,0.00,2.58,0.00,0.000,4,0.000,0.044,3093,3101,3510,0,0,0,0,0,0
$GC,4544,-1.14,-146.0,490.4,-7.8,222,4548,0.00,2.58,0.00,0.000,6,0.000,0.040,3093,1556,3510,0,0,0,0,0,0
$GC,4796,-1.14,-146.0,510.2,-7.8,228,4800,0.00,2.42,0.00,0.000,4,0.000,0.074,3092,161,3508,0,0,0,0,0,0
$GC,4814,-1.14,-146.0,512.0,-8.8,228,4819,0.00,2.22,0.00,0.000,6,0.000,0.031,3093,1544,3508,0,0,0,0,0,0
$GC,5078,-1.14,-146.0,533.3,-8.1,235,5083,0.00,2.60,0.00,0.000,4,0.000,0.044,3093,3121,3505,0,0,0,0,0,0
$GC,5108,-1.14,-146.0,535.8,-8.2,235,5113,0.00,2.65,0.00,0.000,6,0.000,0.048,3093,1544,3505,0,0,0,0,0,0
$GC,5363,-1.14,-146.0,558.0,-8.7,242,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1544,3503,0,0,0,0,0,0
$GC,5607,-1.14,-146.0,579.1,-8.7,248,5611,0.00,2.65,0.00,0.000,4,0.000,0.048,3093,3125,3501,0,0,0,0,0,0
$GC,5632,-1.14,-146.0,581.3,-9.4,248,5637,0.00,2.62,0.00,0.000,6,0.000,0.046,3093,1557,3501,0,0,0,0,0,0
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5854,-0.31,0.0,600.7,8.9,254,5975,0.77,0.00,116.95,0.933,6,0.079,0.000,3269,1379,2920,0,0,0,0,0,0
$STATE,5976,end apogee,CONTROL_FINISHED_OK
$STATE,5976,begin climb
$GC,5978,1.27,146.0,605.8,0.0,257,6110,1.45,2.22,123.47,0.915,4,0.050,0.085,3616,171,2323,0,0,0,0,0,0
$GC,6219,0.97,146.0,594.6,10.5,262,6223,0.30,1.95,0.00,0.000,6,0.101,0.029,3554,1381,2318,0,0,0,0,0,0
$GC,6483,1.07,225.4,577.3,6.3,269,6559,0.00,2.17,68.85,0.894,4,0.000,0.071,3553,165,2000,0,0,0,0,0,0
$GC,6577,1.10,249.7,569.9,8.9,271,6606,0.12,1.98,23.35,0.848,6,0.067,0.030,3602,1381,1902,0,0,0,0,0,0
$GC,6858,1.00,249.7,535.3,12.6,278,6860,0.20,0.00,0.00,0.000,6,0.096,0.000,3559,1381,1895,0,0,0,0,0,0
$GC,7100,1.00,249.7,509.8,10.3,284,7104,0.00,2.65,0.00,0.000,4,0.000,0.045,3559,2958,1892,0,0,0,0,0,0
$GC,7134,1.07,249.7,506.2,11.0,284,7139,0.00,2.67,0.00,0.000,6,0.000,0.044,3559,1375,1889,0,0,0,0,0,0
$GC,7384,1.07,249.7,480.1,10.4,290,7388,0.00,2.10,0.00,0.000,4,0.000,0.068,3559,163,1889,0,0,0,0,0,0
$GC,7421,1.07,249.7,475.8,12.1,290,7427,0.00,1.95,0.00,0.000,6,0.000,0.028,3559,1396,1888,0,0,0,0,0,0
$GC,7673,1.07,249.7,449.1,10.7,297,7677,0.00,2.53,0.00,0.000,4,0.000,0.038,3559,2947,1888,0,0,0,0,0,0
$GC,7691,1.07,249.7,446.7,10.6,297,7696,0.00,2.62,0.00,0.000,6,0.000,0.041,3559,1377,1886,0,0,0,0,0,0
$GC,7955,1.07,249.7,418.3,10.8,304,7960,0.00,2.60,0.00,0.000,4,0.000,0.035,3558,2951,1886,0,0,0,0,0,0
$GC,7980,1.07,249.7,415.7,10.4,304,7985,0.00,2.65,0.00,0.000,6,0.000,0.042,3558,1380,1884,0,0,0,0,0,0
$GC,8240,1.07,249.7,388.4,10.5,311,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1380,1884,0,0,0,0,0,0
$GC,8483,1.07,249.7,363.2,10.4,317,8487,0.00,2.58,0.00,0.000,4,0.000,0.039,3558,2948,1884,0,0,0,0,0,0
$GC,8547,1.20,249.7,356.7,10.4,318,8552,0.17,2.62,0.00,0.000,6,0.048,0.041,3631,1382,1882,0,0,0,0,0,0
$GC,8817,1.06,249.7,317.5,14.7,325,8822,0.25,2.08,0.00,0.000,4,0.093,0.061,3573,165,1882,0,0,0,0,0,0
$GC,8921,1.06,249.7,305.0,11.9,327,8925,0.00,1.90,0.00,0.000,6,0.000,0.023,3573,1394,1881,0,0,0,0,0,0
$GC,9200,1.10,284.7,280.2,8.4,334,9233,0.00,2.12,28.27,0.710,4,0.000,0.055,3573,164,1759,0,0,0,0,0,0
$GC,9243,1.14,315.8,276.4,8.6,335,9281,0.00,1.90,29.58,0.698,6,0.000,0.023,3573,1384,1631,0,0,0,0,0,0
$GC,9529,1.23,315.8,247.8,10.4,342,9534,0.15,2.55,0.00,0.000,4,0.057,0.036,3637,2941,1625,0,0,0,0,0,0
$GC,9590,1.23,315.8,239.3,13.0,343,9595,0.15,2.62,0.00,0.000,6,0.097,0.038,3604,1372,1622,0,0,0,0,0,0
$GC,9861,1.23,315.8,204.3,13.4,350,9864,0.00,2.03,0.00,0.000,4,0.000,0.053,3604,161,1622,0,0,0,0,0,0
$GC,9951,1.23,315.8,191.2,13.4,355,9957,0.00,1.88,0.00,0.000,6,0.000,0.020,3604,1386,1622,0,0,0,0,0,0
$GC,10216,1.23,315.8,160.6,11.6,380,10220,0.00,2.45,0.00,0.000,4,0.000,0.028,3604,2929,1622,0,0,0,0,0,0
$GC,10245,1.23,315.8,157.5,10.4,382,10249,0.00,2.58,0.00,0.000,6,0.000,0.033,3604,1365,1619,0,0,0,0,0,0
$GC,10508,1.23,315.8,127.9,10.9,406,10512,0.00,2.53,0.00,0.000,4,0.000,0.027,3604,2937,1619,0,0,0,0,0,0
$GC,10556,1.34,315.8,122.6,11.1,410,10561,0.12,2.55,0.00,0.000,6,0.062,0.038,3670,1372,1619,0,0,0,0,0,0
$GC,10819,1.19,315.8,83.3,14.8,434,10822,0.32,0.00,0.00,0.000,6,0.084,0.000,3598,1371,1619,0,0,0,0,0,0
$GC,11079,1.28,317.5,56.6,9.9,458,11083,0.00,2.00,0.00,0.000,4,0.000,0.051,3598,175,1619,0,0,0,0,0,0
$GC,11149,1.35,317.5,48.5,10.2,464,11157,0.10,1.83,0.00,0.000,6,0.031,0.019,3654,1379,1618,0,0,0,0,0,0
$GC,11434,1.29,317.5,12.4,13.9,499,11443,0.15,2.47,0.00,0.000,4,0.102,0.027,3621,2918,1619,0,0,0,0,0,0
$GC,11483,1.43,317.5,6.8,10.2,506,11493,0.10,2.55,0.00,0.000,6,0.031,0.034,3691,1373,1619,0,0,0,0,0,0
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FINISH,0.8,1.023601
$STATE,11548,end surface coast,CONTROL_FINISHED_OK
$STATE,11548,begin surface
$SM_CCo,11573,33.62,0.442,0,0,1369,380.21
$SM_GC,1.73,0.00,0.00,33.62,0.000,0.000,0.442,411,1568,1369,-13.47,0.79,380.21
$IRIDIUM_FIX,2239.35,-15805.41,221001,070706
$TT8_MAMPS,0.027612
$HUMID,65.19
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,8
$24V_AH,23.5,44.681
$10V_AH,9.9,35.208
$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,35.075,138.200,390.475,33.625,0.000,111.801,137.317,369.582,2.000,0.000,17.331,1106.686,8101.983,477.398,1897.965,995.435,33.374,1305.820,0.000,1896.704,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,85.137,932.672,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.274,290.855,366.363,528.495,929.697,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41680,515
$CAP_FILE_SIZE,134660,0
$CFSIZE,260165632,158478336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280712,104530,2247.790,-15806.588,43,1.3,43,10.1