version: 66.06
glider: 148
mission: 11
dive: 339
start: 7 28 112 11 2 0
data:
$ID,148
$MISSION,11
$DIVE,339
$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,-925699.5
$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,27
$R_STBD_OVSHOOT,101
$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
$GPS1,104530,2247.790,-15806.588,43,1.3,43,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.6
$GPS2,110106,2247.882,-15806.672,9,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.246
$KALMAN_X,-107769.6,-306.2,-125.5,96407.8,-557.2
$KALMAN_Y,44849.0,68.4,-303.6,-44841.6,845.3
$MHEAD_RNG_PITCHd_Wd,8.8,30901,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.07,0.000,2,0.000,0.000,410,1568,3070,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.5,9,122,13.73,2.42,-8.32,0.000,4,0.150,0.036,3059,3072,3520,0,0,0,0,0,0
$GC,225,-0.97,-146.0,33.9,-18.3,28,231,0.30,2.50,0.00,0.000,6,0.094,0.031,3125,1538,3521,0,0,0,0,0,0
$GC,495,-0.78,-146.0,76.0,-15.5,52,500,0.20,2.22,0.00,0.000,4,0.106,0.040,3167,165,3522,0,0,0,0,0,0
$GC,528,-0.78,-146.0,81.6,-12.2,54,537,0.00,2.05,0.00,0.000,6,0.000,0.018,3167,1520,3522,0,0,0,0,0,0
$GC,794,-0.78,-146.0,109.7,-10.2,79,799,0.00,2.45,0.00,0.000,4,0.000,0.022,3167,3078,3522,0,0,0,0,0,0
$GC,863,-0.97,-146.0,115.9,-7.6,85,868,0.15,2.47,0.00,0.000,6,0.052,0.028,3079,1532,3523,0,0,0,0,0,0
$GC,1131,-0.70,-146.0,157.2,-15.7,109,1140,0.52,2.45,0.00,0.000,4,0.087,0.023,3184,3084,3523,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,161.6,-10.3,112,1169,0.00,2.45,0.00,0.000,6,0.000,0.027,3184,1545,3523,0,0,0,0,0,0
$GC,1433,-0.90,-146.0,182.7,-8.3,136,1438,0.17,0.00,0.00,0.000,6,0.047,0.000,3090,1545,3524,0,0,0,0,0,0
$GC,1718,-0.75,-146.0,223.8,-14.2,152,1721,0.38,0.00,0.00,0.000,6,0.084,0.000,3174,1545,3524,0,0,0,0,0,0
$GC,1963,-0.90,-146.0,247.0,-9.1,158,1968,0.12,2.42,0.00,0.000,4,0.062,0.024,3104,3079,3524,0,0,0,0,0,0
$GC,1993,-0.90,-146.0,250.3,-11.9,158,1998,0.17,2.47,0.00,0.000,6,0.087,0.028,3145,1546,3524,0,0,0,0,0,0
$GC,2249,-0.96,-146.0,276.1,-9.9,165,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1546,3524,0,0,0,0,0,0
$GC,2492,-1.05,-146.0,297.4,-8.3,171,2497,0.15,2.47,0.00,0.000,4,0.054,0.028,3067,3083,3524,0,0,0,0,0,0
$GC,2546,-1.05,-146.0,303.3,-11.7,172,2551,0.20,2.45,0.00,0.000,6,0.087,0.030,3113,1560,3524,0,0,0,0,0,0
$GC,2825,-1.05,-146.0,328.8,-8.9,179,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1561,3524,0,0,0,0,0,0
$GC,3068,-1.05,-146.0,350.8,-9.1,185,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1560,3523,0,0,0,0,0,0
$GC,3314,-1.05,-146.0,373.4,-9.3,191,3318,0.00,2.33,0.00,0.000,4,0.000,0.057,3113,167,3522,0,0,0,0,0,0
$GC,3342,-1.05,-146.0,376.6,-9.4,191,3346,0.00,2.10,0.00,0.000,6,0.000,0.023,3113,1522,3521,0,0,0,0,0,0
$GC,3597,-1.05,-146.0,397.4,-8.0,198,3601,0.00,2.58,0.00,0.000,4,0.000,0.035,3112,3115,3520,0,0,0,0,0,0
$GC,3655,-1.20,-146.0,401.7,-6.9,199,3660,0.15,2.53,0.00,0.000,6,0.054,0.035,3030,1570,3520,0,0,0,0,0,0
$GC,3929,-0.99,-146.0,436.0,-13.1,206,3934,0.40,2.38,0.00,0.000,4,0.085,0.063,3121,171,3518,0,0,0,0,0,0
$GC,3988,-1.10,-146.0,442.2,-9.6,207,3992,0.00,2.17,0.00,0.000,6,0.000,0.026,3121,1553,3517,0,0,0,0,0,0
$GC,4261,-1.19,-146.0,465.5,-8.5,214,4267,0.17,2.55,0.00,0.000,4,0.050,0.039,3043,3117,3516,0,0,0,0,0,0
$GC,4311,-1.12,-146.0,471.0,-11.7,215,4318,0.22,2.60,0.00,0.000,6,0.084,0.040,3094,1556,3515,0,0,0,0,0,0
$GC,4596,-1.12,-146.0,498.5,-9.4,222,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1556,3513,0,0,0,0,0,0
$GC,4840,-1.12,-146.0,520.7,-9.2,228,4845,0.00,2.58,0.00,0.000,4,0.000,0.042,3094,3116,3511,0,0,0,0,0,0
$GC,4861,-1.12,-146.0,522.5,-9.4,228,4865,0.00,2.58,0.00,0.000,6,0.000,0.042,3094,1566,3511,0,0,0,0,0,0
$GC,5125,-1.12,-146.0,545.4,-8.6,235,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1566,3509,0,0,0,0,0,0
$GC,5369,-1.12,-146.0,567.1,-9.0,241,5373,0.00,2.58,0.00,0.000,4,0.000,0.046,3094,3115,3507,0,0,0,0,0,0
$GC,5389,-1.12,-146.0,569.1,-10.2,241,5394,0.00,2.58,0.00,0.000,6,0.000,0.045,3094,1570,3507,0,0,0,0,0,0
$GC,5653,-1.12,-146.0,592.4,-8.7,248,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1570,3505,0,0,0,0,0,0
$STATE,5774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5774,begin apogee
$GC,5780,-0.31,0.0,602.7,8.6,251,5901,0.77,0.00,117.85,0.933,6,0.075,0.000,3271,1379,2920,0,0,0,0,0,0
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5905,1.27,146.0,606.8,0.0,254,6036,1.45,2.20,123.57,0.913,4,0.048,0.085,3617,170,2324,0,0,0,0,0,0
$GC,6215,0.96,146.0,583.9,12.0,261,6220,0.32,1.98,0.00,0.000,6,0.098,0.029,3550,1380,2317,0,0,0,0,0,0
$GC,6502,1.05,217.7,563.7,6.7,268,6567,0.00,0.00,62.03,0.887,6,0.000,0.000,3550,1381,2032,0,0,0,0,0,0
$GC,6826,1.07,231.3,535.3,9.4,276,6847,0.10,2.17,12.80,0.801,4,0.077,0.067,3593,162,1975,0,0,0,0,0,0
$GC,6857,0.92,231.3,531.7,12.7,276,6862,0.25,2.00,0.00,0.000,6,0.091,0.028,3540,1388,1975,0,0,0,0,0,0
$GC,7113,1.00,240.9,506.9,9.6,283,7124,0.00,0.00,9.60,0.758,6,0.000,0.000,3540,1390,1938,0,0,0,0,0,0
$GC,7356,1.09,253.0,483.7,9.4,289,7377,0.15,2.65,12.62,0.785,4,0.057,0.042,3595,2958,1886,0,0,0,0,0,0
$GC,7393,1.02,253.0,479.6,11.2,289,7402,0.15,2.67,0.00,0.000,6,0.097,0.043,3563,1381,1884,0,0,0,0,0,0
$GC,7646,1.02,255.4,454.0,9.9,296,7650,0.00,2.08,0.00,0.000,4,0.000,0.064,3563,164,1883,0,0,0,0,0,0
$GC,7666,1.03,262.5,451.8,9.7,296,7682,0.00,1.98,9.60,0.737,6,0.000,0.025,3563,1420,1849,0,0,0,0,0,0
$GC,7934,1.03,262.5,424.7,10.2,303,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1421,1845,0,0,0,0,0,0
$GC,8176,1.03,262.5,396.6,11.8,309,8180,0.00,2.15,0.00,0.000,4,0.000,0.058,3563,164,1843,0,0,0,0,0,0
$GC,8194,1.03,262.5,394.3,12.4,309,8198,0.00,1.92,0.00,0.000,6,0.000,0.025,3563,1386,1843,0,0,0,0,0,0
$GC,8462,1.03,262.5,364.4,10.8,316,8466,0.00,2.55,0.00,0.000,4,0.000,0.034,3563,2948,1843,0,0,0,0,0,0
$GC,8487,1.11,262.5,361.9,10.4,316,8491,0.00,2.62,0.00,0.000,6,0.000,0.041,3563,1380,1841,0,0,0,0,0,0
$GC,8746,1.11,262.5,335.3,10.2,323,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1380,1841,0,0,0,0,0,0
$GC,8990,1.18,271.5,311.3,9.6,329,9006,0.15,2.58,8.18,0.640,4,0.056,0.038,3632,2938,1812,0,0,0,0,0,0
$GC,9018,1.06,271.5,308.3,12.8,329,9025,0.28,2.62,0.00,0.000,6,0.089,0.044,3573,1378,1809,0,0,0,0,0,0
$GC,9280,1.10,301.7,284.1,8.6,336,9312,0.00,2.12,27.70,0.705,4,0.000,0.060,3573,164,1690,0,0,0,0,0,0
$GC,9361,1.10,301.7,276.3,10.5,337,9365,0.00,1.95,0.00,0.000,6,0.000,0.022,3573,1389,1689,0,0,0,0,0,0
$GC,9616,1.17,303.4,251.3,9.9,344,9620,0.00,2.50,0.00,0.000,4,0.000,0.028,3573,2942,1686,0,0,0,0,0,0
$GC,9640,1.30,315.6,248.8,9.4,344,9661,0.20,2.58,13.77,0.640,6,0.048,0.037,3644,1385,1632,0,0,0,0,0,0
$GC,9953,1.19,315.6,203.4,14.9,352,9958,0.20,2.53,0.00,0.000,4,0.095,0.029,3601,2943,1629,0,0,0,0,0,0
$GC,10010,1.29,315.6,195.8,10.8,354,10019,0.00,2.60,0.00,0.000,6,0.000,0.036,3601,1391,1626,0,0,0,0,0,0
$GC,10277,1.29,315.6,168.0,10.9,379,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1391,1626,0,0,0,0,0,0
$GC,10538,1.29,315.6,137.7,11.4,404,10542,0.00,2.47,0.00,0.000,4,0.000,0.030,3601,2942,1626,0,0,0,0,0,0
$GC,10579,1.40,315.6,133.6,11.2,407,10584,0.17,2.53,0.00,0.000,6,0.048,0.035,3682,1401,1624,0,0,0,0,0,0
$GC,10843,1.21,315.6,91.8,16.0,431,10849,0.35,0.00,0.00,0.000,6,0.084,0.000,3605,1401,1624,0,0,0,0,0,0
$GC,11109,1.21,315.6,61.5,11.8,456,11113,0.00,2.00,0.00,0.000,4,0.000,0.048,3604,171,1624,0,0,0,0,0,0
$GC,11178,1.21,315.6,53.7,11.5,462,11182,0.00,1.88,0.00,0.000,6,0.000,0.019,3604,1428,1624,0,0,0,0,0,0
$GC,11456,1.36,372.8,27.0,7.4,490,11518,0.12,2.50,49.30,0.474,4,0.063,0.026,3665,2937,1397,0,0,0,0,0,0
$GC,11560,1.36,372.8,13.1,14.1,504,11569,0.10,2.55,0.00,0.000,6,0.069,0.033,3636,1405,1394,0,0,0,0,0,0
$STATE,11633,end climb,SURFACE_DEPTH_REACHED
$STATE,11633,begin surface coast
$FINISH,0.7,1.022674
$STATE,11670,end surface coast,CONTROL_FINISHED_OK
$STATE,11670,begin surface
$SM_CCo,11693,5.50,0.354,0,0,1369,380.21
$SM_GC,2.25,0.00,0.00,5.50,0.000,0.000,0.354,410,1555,1369,-13.48,0.42,380.21
$IRIDIUM_FIX,2239.35,-15807.58,221001,111146
$TT8_MAMPS,0.027612
$HUMID,66.53
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.40
$XPDR_PINGS,7
$24V_AH,23.5,44.817
$10V_AH,9.9,35.316
$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,34.725,119.225,447.025,5.500,0.000,117.110,151.582,325.281,1.750,0.000,17.082,1088.645,8268.064,465.918,1872.913,937.205,33.376,1291.695,0.000,1869.314,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,85.137,932.672,354.354,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.991,290.159,364.986,537.386,944.167,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41397,520
$CAP_FILE_SIZE,130397,0
$CFSIZE,260165632,158420992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280712,141808,2249.747,-15806.670,26,1.7,27,10.1