version: 66.06
glider: 148
mission: 11
dive: 344
start: 7 29 112 4 17 54
data:
$ID,148
$MISSION,11
$DIVE,344
$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,-925793.81
$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,26
$R_STBD_OVSHOOT,68
$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
$GPS1,040537,2257.161,-15805.405,29,1.1,29,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.8
$GPS2,041701,2257.225,-15805.368,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,0.242
$KALMAN_X,-112301.3,261.5,198.1,102262.3,-852.8
$KALMAN_Y,47038.5,289.1,235.0,-30482.7,-237.2
$MHEAD_RNG_PITCHd_Wd,11.4,13458,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,90,0.00,0.00,-67.62,0.000,2,0.000,0.000,413,1538,3085,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.3,-5.0,9,125,13.80,2.53,-8.15,0.000,4,0.153,0.037,3058,3096,3520,0,0,0,0,0,0
$GC,190,-0.91,-146.0,28.2,-19.5,23,199,0.32,2.58,0.00,0.000,6,0.085,0.030,3134,1532,3521,0,0,0,0,0,0
$GC,460,-0.77,-146.0,70.4,-13.6,48,465,0.17,2.53,0.00,0.000,4,0.111,0.025,3171,3103,3522,0,0,0,0,0,0
$GC,492,-0.77,-146.0,74.7,-10.5,50,496,0.00,2.50,0.00,0.000,6,0.000,0.027,3171,1544,3522,0,0,0,0,0,0
$GC,756,-0.77,-146.0,100.9,-10.1,74,760,0.00,2.22,0.00,0.000,4,0.000,0.051,3171,170,3523,0,0,0,0,0,0
$GC,785,-0.77,-146.0,104.4,-10.5,76,794,0.00,2.12,0.00,0.000,6,0.000,0.018,3171,1572,3523,0,0,0,0,0,0
$GC,1053,-0.77,-146.0,127.9,-8.6,101,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1575,3523,0,0,0,0,0,0
$GC,1316,-0.83,-146.0,149.8,-8.1,126,1321,0.00,2.35,0.00,0.000,4,0.000,0.023,3171,3085,3524,0,0,0,0,0,0
$GC,1354,-0.99,-146.0,152.9,-7.1,129,1359,0.20,2.45,0.00,0.000,6,0.040,0.028,3068,1549,3524,0,0,0,0,0,0
$GC,1615,-0.73,-146.0,189.4,-14.2,153,1620,0.47,2.22,0.00,0.000,4,0.089,0.040,3175,172,3524,0,0,0,0,0,0
$GC,1659,-0.92,-146.0,193.7,-7.0,156,1668,0.12,2.08,0.00,0.000,6,0.024,0.018,3088,1539,3524,0,0,0,0,0,0
$GC,1931,-0.78,-146.0,225.8,-11.9,168,1933,0.35,0.00,0.00,0.000,6,0.084,0.000,3167,1539,3524,0,0,0,0,0,0
$GC,2176,-0.91,-146.0,243.5,-7.1,174,2181,0.10,2.45,0.00,0.000,4,0.075,0.025,3101,3095,3524,0,0,0,0,0,0
$GC,2197,-0.91,-146.0,245.3,-8.5,174,2202,0.17,2.47,0.00,0.000,6,0.088,0.028,3142,1546,3524,0,0,0,0,0,0
$GC,2462,-0.91,-146.0,267.6,-8.4,181,2466,0.00,2.45,0.00,0.000,4,0.000,0.025,3142,3087,3524,0,0,0,0,0,0
$GC,2486,-1.00,-146.0,269.9,-9.4,181,2490,0.00,2.45,0.00,0.000,6,0.000,0.031,3142,1559,3525,0,0,0,0,0,0
$GC,2747,-1.08,-146.0,291.7,-8.4,188,2749,0.15,0.00,0.00,0.000,6,0.054,0.000,3060,1559,3524,0,0,0,0,0,0
$GC,2989,-0.91,-146.0,322.9,-13.2,194,2994,0.32,2.28,0.00,0.000,4,0.085,0.048,3136,176,3524,0,0,0,0,0,0
$GC,3047,-1.05,-146.0,329.2,-9.9,195,3052,0.10,2.10,0.00,0.000,6,0.073,0.021,3075,1529,3524,0,0,0,0,0,0
$GC,3326,-0.94,-146.0,364.9,-12.9,202,3331,0.25,2.55,0.00,0.000,4,0.087,0.031,3130,3113,3523,0,0,0,0,0,0
$GC,3375,-1.14,-146.0,369.6,-8.3,203,3381,0.15,2.53,0.00,0.000,6,0.052,0.034,3048,1562,3523,0,0,0,0,0,0
$GC,3661,-0.97,-146.0,403.8,-12.0,210,3666,0.32,2.35,0.00,0.000,4,0.088,0.060,3125,171,3521,0,0,0,0,0,0
$GC,3713,-1.10,-146.0,408.6,-7.5,211,3718,0.10,2.15,0.00,0.000,6,0.074,0.025,3064,1548,3521,0,0,0,0,0,0
$GC,3994,-1.00,-146.0,433.8,-9.0,218,3999,0.25,2.53,0.00,0.000,4,0.087,0.035,3125,3106,3519,0,0,0,0,0,0
$GC,4033,-1.17,-146.0,436.6,-5.5,218,4039,0.17,2.58,0.00,0.000,6,0.048,0.042,3050,1553,3519,0,0,0,0,0,0
$GC,4284,-1.04,-146.0,460.5,-10.0,225,4289,0.25,2.38,0.00,0.000,4,0.094,0.067,3110,164,3517,0,0,0,0,0,0
$GC,4337,-1.12,-146.0,465.5,-8.3,226,4341,0.00,2.20,0.00,0.000,6,0.000,0.031,3110,1548,3517,0,0,0,0,0,0
$GC,4616,-1.18,-146.0,488.5,-8.5,233,4621,0.12,2.58,0.00,0.000,4,0.064,0.041,3047,3116,3515,0,0,0,0,0,0
$GC,4645,-1.10,-146.0,491.9,-11.5,233,4653,0.22,2.62,0.00,0.000,6,0.085,0.042,3098,1548,3515,0,0,0,0,0,0
$GC,4903,-1.10,-146.0,516.8,-9.7,240,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1548,3513,0,0,0,0,0,0
$GC,5148,-1.10,-146.0,540.5,-9.7,246,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1548,3511,0,0,0,0,0,0
$GC,5391,-1.10,-146.0,563.9,-9.5,252,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1548,3509,0,0,0,0,0,0
$GC,5634,-1.10,-146.0,584.7,-8.4,258,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1548,3508,0,0,0,0,0,0
$STATE,5835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5835,begin apogee
$GC,5841,-0.31,0.0,600.7,7.8,263,5962,0.75,0.00,117.90,0.927,6,0.079,0.000,3269,1373,2920,0,0,0,0,0,0
$STATE,5963,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5967,1.27,146.0,603.3,0.0,266,6099,1.45,2.20,123.05,0.905,4,0.048,0.082,3615,163,2323,0,0,0,0,0,0
$GC,6248,0.97,146.0,579.8,13.2,272,6253,0.30,1.98,0.00,0.000,6,0.100,0.029,3554,1377,2316,0,0,0,0,0,0
$GC,6513,1.01,178.7,556.4,8.5,279,6545,0.00,2.17,27.80,0.855,4,0.000,0.070,3553,171,2191,0,0,0,0,0,0
$GC,6611,0.95,178.7,547.0,10.6,281,6615,0.00,1.95,0.00,0.000,6,0.000,0.028,3554,1381,2189,0,0,0,0,0,0
$GC,6889,0.99,210.7,522.9,8.5,288,6924,0.00,2.15,28.88,0.848,4,0.000,0.067,3553,171,2060,0,0,0,0,0,0
$GC,7009,0.99,210.7,510.9,11.2,290,7012,0.00,1.92,0.00,0.000,6,0.000,0.028,3553,1377,2058,0,0,0,0,0,0
$GC,7267,1.03,241.9,488.3,8.6,297,7303,0.00,2.12,29.20,0.834,4,0.000,0.064,3553,170,1931,0,0,0,0,0,0
$GC,7338,1.03,241.9,481.9,10.2,298,7342,0.00,1.92,0.00,0.000,6,0.000,0.026,3554,1367,1931,0,0,0,0,0,0
$GC,7603,1.06,271.5,458.9,8.6,305,7632,0.00,0.00,27.45,0.817,6,0.000,0.000,3553,1370,1813,0,0,0,0,0,0
$GC,7848,1.15,287.4,436.4,9.3,311,7869,0.15,2.70,14.75,0.766,4,0.057,0.040,3620,2941,1748,0,0,0,0,0,0
$GC,7895,1.07,287.4,430.8,12.4,312,7902,0.22,2.72,0.00,0.000,6,0.091,0.043,3572,1346,1744,0,0,0,0,0,0
$GC,8184,1.07,287.4,400.6,10.5,319,8189,0.00,2.62,0.00,0.000,4,0.000,0.040,3572,2946,1743,0,0,0,0,0,0
$GC,8214,1.13,287.4,397.5,11.1,319,8219,0.00,2.67,0.00,0.000,6,0.000,0.042,3572,1353,1740,0,0,0,0,0,0
$GC,8469,1.13,287.4,369.6,11.0,326,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1352,1740,0,0,0,0,0,0
$GC,8713,1.13,287.4,343.3,10.7,332,8717,0.00,2.60,0.00,0.000,4,0.000,0.033,3572,2948,1739,0,0,0,0,0,0
$GC,8758,1.25,294.3,339.1,9.7,333,8771,0.17,2.67,6.10,0.603,6,0.049,0.041,3645,1356,1719,0,0,0,0,0,0
$GC,9051,1.08,294.3,299.2,13.6,340,9055,0.30,2.00,0.00,0.000,4,0.091,0.059,3576,167,1719,0,0,0,0,0,0
$GC,9099,1.08,294.3,293.4,10.7,341,9103,0.00,1.90,0.00,0.000,6,0.000,0.022,3576,1367,1719,0,0,0,0,0,0
$GC,9386,1.08,294.3,262.3,11.1,348,9390,0.00,2.53,0.00,0.000,4,0.000,0.029,3576,2947,1718,0,0,0,0,0,0
$GC,9419,1.19,294.3,258.7,11.6,348,9424,0.10,2.62,0.00,0.000,6,0.075,0.039,3632,1359,1716,0,0,0,0,0,0
$GC,9670,1.09,294.3,222.9,14.7,354,9676,0.25,2.60,0.00,0.000,4,0.090,0.028,3573,2952,1716,0,0,0,0,0,0
$GC,9695,1.16,294.3,219.4,11.8,354,9700,0.00,2.62,0.00,0.000,6,0.000,0.037,3572,1360,1715,0,0,0,0,0,0
$GC,9962,1.27,308.5,192.3,9.3,364,9984,0.17,2.62,14.07,0.601,4,0.051,0.028,3642,2938,1661,0,0,0,0,0,0
$GC,9994,1.17,308.5,188.7,11.8,367,10003,0.22,2.60,0.00,0.000,6,0.087,0.035,3594,1364,1659,0,0,0,0,0,0
$GC,10259,1.17,308.5,159.3,11.0,392,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1363,1658,0,0,0,0,0,0
$GC,10513,1.17,308.5,131.6,10.8,416,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1364,1658,0,0,0,0,0,0
$GC,10768,1.17,308.5,103.7,10.7,440,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1364,1658,0,0,0,0,0,0
$GC,11030,1.26,321.3,78.4,9.4,464,11047,0.00,2.00,12.52,0.484,4,0.000,0.048,3594,166,1609,0,0,0,0,0,0
$GC,11063,1.33,327.4,74.8,9.7,466,11077,0.15,1.85,7.38,0.436,6,0.054,0.020,3644,1407,1584,0,0,0,0,0,0
$GC,11331,1.33,327.4,43.9,11.3,491,11335,0.00,2.40,0.00,0.000,4,0.000,0.026,3644,2922,1582,0,0,0,0,0,0
$GC,11367,1.33,327.4,39.7,12.2,494,11372,0.00,2.55,0.00,0.000,6,0.000,0.034,3645,1368,1580,0,0,0,0,0,0
$GC,11663,1.33,327.4,4.6,10.9,535,11672,0.00,2.50,0.00,0.000,4,0.000,0.025,3645,2925,1580,0,0,0,0,0,0
$STATE,11679,end climb,SURFACE_DEPTH_REACHED
$STATE,11679,begin surface coast
$FINISH,1.0,1.023564
$STATE,11687,end surface coast,CONTROL_FINISHED_OK
$STATE,11687,begin surface
$SM_CCo,11715,30.38,0.439,0,0,1369,380.21
$SM_GC,1.67,0.00,0.00,30.38,0.000,0.000,0.439,415,1529,1369,-13.45,-0.31,380.21
$IRIDIUM_FIX,2248.70,-15805.83,231001,040441
$TT8_MAMPS,0.027612
$HUMID,65.98
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,9
$24V_AH,23.5,45.439
$10V_AH,10.0,35.861
$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,35.475,128.025,409.100,30.375,0.000,56.108,85.151,334.116,2.250,0.000,16.294,1145.190,8002.286,484.560,1979.473,815.723,33.368,1310.203,0.000,1977.342,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,82.069,926.536,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.569,307.065,389.676,566.254,992.069,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41624,538
$CAP_FILE_SIZE,132225,0
$CFSIZE,260165632,158113792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290712,073459,2258.776,-15805.381,30,1.9,38,10.1