version: 66.06
glider: 148
mission: 11
dive: 436
start: 8 11 112 10 16 24
data:
$ID,148
$MISSION,11
$DIVE,436
$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,-927750.25
$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,1580
$C_ROLL_CLIMB,1400
$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
$GPS1,100836,2246.159,-15805.991,57,1.7,57,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.0
$GPS2,101530,2246.195,-15806.046,14,1.8,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,0.221
$KALMAN_X,-258752.6,-250.4,-118.4,248392.4,-1410.4
$KALMAN_Y,99370.4,106.2,110.7,-102936.9,339.2
$MHEAD_RNG_PITCHd_Wd,21.7,33907,-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,16,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.12,0.000,2,0.000,0.000,415,1604,3300,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.3,10,121,13.68,2.40,-3.60,0.000,4,0.150,0.031,3056,3114,3516,0,0,0,0,0,0
$GC,161,-0.88,-146.0,28.3,-24.6,19,171,0.38,2.53,0.00,0.000,6,0.081,0.030,3144,1572,3518,0,0,0,0,0,0
$GC,431,-0.73,-146.0,71.0,-14.8,44,436,0.17,2.45,0.00,0.000,4,0.106,0.025,3182,3113,3519,0,0,0,0,0,0
$GC,498,-0.91,-146.0,79.4,-9.8,49,503,0.17,2.47,0.00,0.000,6,0.045,0.035,3088,1586,3520,0,0,0,0,0,0
$GC,766,-0.67,-146.0,120.7,-15.0,73,771,0.47,2.30,0.00,0.000,4,0.084,0.039,3191,163,3520,0,0,0,0,0,0
$GC,794,-0.67,-146.0,124.7,-10.7,75,798,0.00,2.15,0.00,0.000,6,0.000,0.018,3191,1594,3521,0,0,0,0,0,0
$GC,1064,-0.80,-146.0,144.9,-7.4,100,1069,0.10,2.40,0.00,0.000,4,0.074,0.024,3124,3126,3522,0,0,0,0,0,0
$GC,1110,-0.80,-146.0,149.7,-10.5,104,1115,0.17,2.42,0.00,0.000,6,0.089,0.028,3164,1605,3522,0,0,0,0,0,0
$GC,1373,-0.80,-146.0,172.6,-9.1,128,1378,0.00,2.40,0.00,0.000,4,0.000,0.023,3165,3124,3522,0,0,0,0,0,0
$GC,1396,-0.86,-146.0,174.7,-9.6,129,1405,0.00,2.47,0.00,0.000,6,0.000,0.027,3164,1603,3522,0,0,0,0,0,0
$GC,1665,-0.94,-146.0,199.7,-9.1,154,1671,0.12,0.00,0.00,0.000,6,0.063,0.000,3095,1603,3523,0,0,0,0,0,0
$GC,1917,-0.82,-146.0,227.8,-10.6,161,1919,0.28,0.00,0.00,0.000,6,0.084,0.000,3159,1603,3523,0,0,0,0,0,0
$GC,2159,-0.94,-146.0,241.4,-5.4,167,2164,0.10,2.42,0.00,0.000,4,0.075,0.025,3096,3134,3523,0,0,0,0,0,0
$GC,2212,-1.02,-146.0,245.7,-8.3,168,2217,0.10,2.45,0.00,0.000,6,0.110,0.028,3120,1608,3523,0,0,0,0,0,0
$GC,2492,-1.02,-146.0,272.4,-10.3,175,2496,0.00,2.35,0.00,0.000,4,0.000,0.052,3120,161,3523,0,0,0,0,0,0
$GC,2511,-1.02,-146.0,274.8,-11.8,175,2515,0.00,2.17,0.00,0.000,6,0.000,0.019,3120,1597,3523,0,0,0,0,0,0
$GC,2776,-1.02,-146.0,301.0,-9.7,182,2780,0.00,2.35,0.00,0.000,4,0.000,0.046,3120,168,3523,0,0,0,0,0,0
$GC,2813,-1.02,-146.0,305.3,-10.8,182,2817,0.00,2.22,0.00,0.000,6,0.000,0.021,3120,1602,3523,0,0,0,0,0,0
$GC,3063,-1.02,-146.0,330.2,-10.1,188,3067,0.00,2.47,0.00,0.000,4,0.000,0.028,3120,3157,3522,0,0,0,0,0,0
$GC,3108,-1.16,-146.0,334.4,-9.3,189,3114,0.15,2.53,0.00,0.000,6,0.053,0.032,3032,1611,3522,0,0,0,0,0,0
$GC,3397,-0.90,-146.0,380.1,-16.2,196,3404,0.50,2.40,0.00,0.000,4,0.084,0.054,3139,171,3521,0,0,0,0,0,0
$GC,3428,-1.00,-146.0,384.1,-10.5,196,3432,0.00,2.25,0.00,0.000,6,0.000,0.022,3139,1605,3521,0,0,0,0,0,0
$GC,3685,-1.12,-146.0,404.6,-7.6,203,3690,0.17,2.53,0.00,0.000,4,0.048,0.035,3057,3166,3519,0,0,0,0,0,0
$GC,3714,-1.06,-146.0,407.5,-9.8,203,3720,0.22,2.55,0.00,0.000,6,0.082,0.035,3109,1615,3519,0,0,0,0,0,0
$GC,3972,-1.06,-146.0,427.6,-7.6,210,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1616,3518,0,0,0,0,0,0
$GC,4214,-1.06,-146.0,447.1,-8.2,216,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1616,3516,0,0,0,0,0,0
$GC,4458,-1.06,-146.0,469.8,-9.4,222,4462,0.00,2.53,0.00,0.000,4,0.000,0.039,3109,3153,3515,0,0,0,0,0,0
$GC,4481,-1.06,-146.0,472.2,-10.5,222,4486,0.00,2.53,0.00,0.000,6,0.000,0.037,3109,1616,3514,0,0,0,0,0,0
$GC,4742,-1.06,-146.0,497.9,-10.2,229,4746,0.00,2.53,0.00,0.000,4,0.000,0.071,3109,160,3513,0,0,0,0,0,0
$GC,4765,-1.06,-146.0,500.7,-11.3,229,4769,0.00,2.30,0.00,0.000,6,0.000,0.029,3109,1609,3512,0,0,0,0,0,0
$GC,5025,-1.06,-146.0,525.8,-9.7,236,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1609,3511,0,0,0,0,0,0
$GC,5270,-1.06,-146.0,546.4,-8.1,242,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1609,3509,0,0,0,0,0,0
$GC,5512,-1.06,-146.0,564.5,-7.4,248,5516,0.00,2.58,0.00,0.000,4,0.000,0.045,3109,3163,3507,0,0,0,0,0,0
$GC,5536,-1.15,-146.0,566.6,-8.5,248,5541,0.00,2.60,0.00,0.000,6,0.000,0.044,3109,1613,3507,0,0,0,0,0,0
$GC,5798,-1.21,-146.0,586.3,-7.5,255,5803,0.15,2.55,0.00,0.000,4,0.054,0.078,3040,166,3505,0,0,0,0,0,0
$GC,5836,-1.05,-146.0,590.7,-11.7,255,5843,0.32,2.33,0.00,0.000,6,0.091,0.033,3111,1601,3505,0,0,0,0,0,0
$STATE,5962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5962,begin apogee
$GC,5968,-0.31,0.0,600.7,7.8,259,6089,0.70,0.00,117.72,0.924,6,0.076,0.000,3271,1389,2919,0,0,0,0,0,0
$STATE,6090,end apogee,CONTROL_FINISHED_OK
$STATE,6090,begin climb
$GC,6094,1.27,146.0,604.1,0.0,262,6227,1.45,2.20,123.10,0.904,4,0.049,0.074,3617,170,2323,0,0,0,0,0,0
$GC,6439,0.97,146.0,576.3,12.0,269,6444,0.30,2.00,0.00,0.000,6,0.097,0.028,3554,1418,2315,0,0,0,0,0,0
$GC,6691,1.05,208.1,557.3,7.1,275,6746,0.00,0.00,53.85,0.874,6,0.000,0.000,3554,1419,2071,0,0,0,0,0,0
$GC,6973,1.07,225.1,532.0,9.2,282,6992,0.00,0.00,15.65,0.808,6,0.000,0.000,3554,1419,2001,0,0,0,0,0,0
$GC,7262,1.10,252.7,506.4,8.7,289,7295,0.10,2.22,26.23,0.831,4,0.077,0.063,3596,183,1889,0,0,0,0,0,0
$GC,7403,1.00,252.7,488.4,13.4,292,7408,0.17,1.98,0.00,0.000,6,0.100,0.026,3560,1414,1887,0,0,0,0,0,0
$GC,7686,1.00,252.7,459.2,10.3,299,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1415,1884,0,0,0,0,0,0
$GC,7932,1.06,252.7,432.9,11.0,305,7935,0.00,2.12,0.00,0.000,4,0.000,0.059,3559,174,1882,0,0,0,0,0,0
$GC,7959,1.06,252.7,429.4,11.1,305,7963,0.00,1.98,0.00,0.000,6,0.000,0.034,3559,1410,1883,0,0,0,0,0,0
$GC,8218,1.13,252.7,401.5,10.8,312,8223,0.10,2.55,0.00,0.000,4,0.074,0.037,3614,2970,1881,0,0,0,0,0,0
$GC,8235,1.13,252.7,399.7,10.8,312,8240,0.12,2.62,0.00,0.000,6,0.104,0.040,3585,1403,1879,0,0,0,0,0,0
$GC,8504,1.13,252.7,367.7,11.8,319,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1403,1879,0,0,0,0,0,0
$GC,8748,1.14,259.4,343.1,9.7,325,8760,0.00,2.10,5.22,0.571,4,0.000,0.059,3585,166,1863,0,0,0,0,0,0
$GC,8795,1.14,259.4,338.5,11.5,326,8799,0.00,1.95,0.00,0.000,6,0.000,0.024,3585,1412,1863,0,0,0,0,0,0
$GC,9086,1.16,278.5,312.4,9.1,333,9107,0.00,0.00,18.98,0.706,6,0.000,0.000,3586,1414,1784,0,0,0,0,0,0
$GC,9330,1.16,278.5,285.5,11.3,339,9334,0.00,2.12,0.00,0.000,4,0.000,0.056,3585,163,1780,0,0,0,0,0,0
$GC,9363,1.16,278.5,281.6,11.6,339,9368,0.00,1.98,0.00,0.000,6,0.000,0.022,3585,1412,1780,0,0,0,0,0,0
$GC,9618,1.16,278.5,254.8,10.1,346,9622,0.00,2.10,0.00,0.000,4,0.000,0.054,3585,169,1778,0,0,0,0,0,0
$GC,9691,1.16,278.5,247.0,11.2,347,9695,0.00,1.90,0.00,0.000,6,0.000,0.021,3585,1410,1778,0,0,0,0,0,0
$GC,9952,1.20,310.1,224.6,8.5,354,9988,0.00,2.50,28.90,0.647,4,0.000,0.026,3585,2959,1653,0,0,0,0,0,0
$GC,10014,1.37,334.9,219.0,8.9,355,10044,0.22,2.60,23.15,0.627,6,0.045,0.036,3657,1398,1554,0,0,0,0,0,0
$GC,10302,1.27,334.9,178.6,14.6,372,10307,0.20,2.08,0.00,0.000,4,0.094,0.050,3613,161,1550,0,0,0,0,0,0
$GC,10351,1.27,334.9,172.2,13.8,376,10354,0.00,1.90,0.00,0.000,6,0.000,0.021,3613,1414,1550,0,0,0,0,0,0
$GC,10623,1.27,334.9,138.3,12.6,401,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1417,1549,0,0,0,0,0,0
$GC,10884,1.27,334.9,105.4,12.2,426,10888,0.00,2.08,0.00,0.000,4,0.000,0.049,3614,161,1549,0,0,0,0,0,0
$GC,10951,1.27,334.9,97.1,13.1,432,10955,0.00,1.85,0.00,0.000,6,0.000,0.020,3613,1394,1549,0,0,0,0,0,0
$GC,11224,1.37,364.5,71.8,8.6,457,11262,0.10,2.12,26.17,0.501,4,0.075,0.048,3664,164,1432,0,0,0,0,0,0
$GC,11325,1.28,364.5,60.1,13.8,465,11329,0.20,1.83,0.00,0.000,6,0.090,0.019,3619,1367,1432,0,0,0,0,0,0
$GC,11599,1.38,364.5,31.4,10.6,490,11603,0.00,2.50,0.00,0.000,4,0.000,0.025,3620,2960,1431,0,0,0,0,0,0
$GC,11662,1.56,364.5,23.9,10.5,499,11671,0.20,2.62,0.00,0.000,6,0.022,0.035,3711,1377,1427,0,0,0,0,0,0
$STATE,11784,end climb,SURFACE_DEPTH_REACHED
$STATE,11785,begin surface coast
$FINISH,0.8,1.023447
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11838,12.88,0.416,0,0,1370,380.21
$SM_GC,1.47,0.00,0.00,12.88,0.000,0.000,0.416,410,1595,1370,-13.48,0.42,380.21
$IRIDIUM_FIX,2234.68,-15803.24,051101,060609
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,9
$24V_AH,23.5,57.077
$10V_AH,9.9,45.846
$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,34.425,125.125,438.975,12.875,0.000,27.654,44.476,181.479,2.250,0.000,32.534,1121.851,8126.659,492.920,1920.534,601.219,33.376,1314.136,0.000,1904.654,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,78.234,924.235,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.603,285.999,369.348,519.601,913.004,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41495,522
$CAP_FILE_SIZE,124766,0
$CFSIZE,260165632,152567808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110812,133523,2247.779,-15806.339,27,1.7,45,10.1