version: 66.06
glider: 148
mission: 11
dive: 446
start: 8 12 112 20 56 35
data:
$ID,148
$MISSION,11
$DIVE,446
$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,-927935.75
$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,23
$R_STBD_OVSHOOT,107
$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
$GPS1,204854,2300.049,-15806.086,47,1.7,47,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.8
$GPS2,205543,2300.108,-15806.173,18,1.0,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,0.167
$KALMAN_X,-279453.7,-411.4,-232.2,269155.9,-1486.7
$KALMAN_Y,102156.4,261.2,-135.3,-79868.4,586.4
$MHEAD_RNG_PITCHd_Wd,40.0,8517,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.15,0.000,2,0.000,0.000,412,1613,3301,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.7,10,121,13.70,2.35,-3.62,0.000,4,0.150,0.033,3057,3104,3517,0,0,0,0,0,0
$GC,155,-0.79,-146.0,26.2,-27.5,18,165,0.45,2.50,0.00,0.000,6,0.081,0.029,3161,1575,3518,0,0,0,0,0,0
$GC,430,-0.70,-146.0,65.8,-13.0,44,435,0.12,2.42,0.00,0.000,4,0.111,0.025,3189,3098,3519,0,0,0,0,0,0
$GC,475,-0.80,-146.0,71.6,-10.6,47,479,0.00,2.45,0.00,0.000,6,0.000,0.028,3188,1587,3520,0,0,0,0,0,0
$GC,745,-0.86,-146.0,99.1,-9.5,71,750,0.15,0.00,0.00,0.000,6,0.053,0.000,3110,1587,3521,0,0,0,0,0,0
$GC,1008,-0.72,-146.0,139.8,-15.1,96,1013,0.30,2.40,0.00,0.000,4,0.084,0.022,3181,3098,3521,0,0,0,0,0,0
$GC,1049,-0.88,-146.0,144.5,-10.4,99,1054,0.15,2.40,0.00,0.000,6,0.053,0.027,3109,1593,3522,0,0,0,0,0,0
$GC,1311,-0.77,-146.0,179.5,-12.0,123,1316,0.28,2.40,0.00,0.000,4,0.087,0.021,3173,3104,3522,0,0,0,0,0,0
$GC,1340,-0.83,-146.0,182.4,-9.6,125,1344,0.00,2.42,0.00,0.000,6,0.000,0.026,3173,1593,3523,0,0,0,0,0,0
$GC,1623,-0.96,-146.0,203.3,-7.3,148,1628,0.17,2.38,0.00,0.000,4,0.046,0.023,3080,3100,3524,0,0,0,0,0,0
$GC,1647,-0.96,-146.0,206.1,-11.2,148,1652,0.22,2.38,0.00,0.000,6,0.084,0.026,3131,1605,3523,0,0,0,0,0,0
$GC,1909,-0.96,-146.0,230.3,-9.3,155,1913,0.00,2.35,0.00,0.000,4,0.000,0.024,3131,3101,3524,0,0,0,0,0,0
$GC,1933,-0.96,-146.0,232.8,-8.7,155,1937,0.00,2.40,0.00,0.000,6,0.000,0.027,3131,1608,3524,0,0,0,0,0,0
$GC,2192,-0.96,-146.0,257.8,-9.9,162,2196,0.00,2.38,0.00,0.000,4,0.000,0.025,3131,3100,3524,0,0,0,0,0,0
$GC,2222,-1.03,-146.0,260.8,-10.0,162,2226,0.00,2.38,0.00,0.000,6,0.000,0.028,3131,1614,3524,0,0,0,0,0,0
$GC,2477,-1.03,-146.0,285.7,-9.9,169,2481,0.00,2.35,0.00,0.000,4,0.000,0.026,3131,3095,3524,0,0,0,0,0,0
$GC,2495,-1.03,-146.0,287.7,-10.2,169,2499,0.00,2.38,0.00,0.000,6,0.000,0.028,3131,1620,3525,0,0,0,0,0,0
$GC,2765,-1.03,-146.0,313.5,-9.8,176,2769,0.00,2.35,0.00,0.000,4,0.000,0.028,3131,3101,3524,0,0,0,0,0,0
$GC,2809,-1.16,-146.0,318.0,-9.4,177,2814,0.17,2.38,0.00,0.000,6,0.048,0.030,3041,1633,3524,0,0,0,0,0,0
$GC,3098,-0.94,-146.0,362.9,-15.9,184,3104,0.40,2.42,0.00,0.000,4,0.083,0.051,3131,173,3523,0,0,0,0,0,0
$GC,3118,-0.86,-146.0,365.9,-12.9,184,3123,0.00,2.15,0.00,0.000,6,0.000,0.021,3132,1575,3522,0,0,0,0,0,0
$GC,3383,-0.96,-146.0,385.4,-7.1,191,3387,0.00,2.53,0.00,0.000,4,0.000,0.032,3131,3154,3521,0,0,0,0,0,0
$GC,3432,-1.13,-146.0,388.3,-5.3,192,3437,0.17,2.47,0.00,0.000,6,0.046,0.035,3042,1637,3521,0,0,0,0,0,0
$GC,3715,-0.94,-146.0,419.9,-11.6,199,3717,0.45,0.00,0.00,0.000,6,0.085,0.000,3136,1637,3520,0,0,0,0,0,0
$GC,3961,-1.06,-146.0,437.4,-7.0,205,3966,0.12,2.50,0.00,0.000,4,0.062,0.037,3073,3150,3518,0,0,0,0,0,0
$GC,3999,-1.06,-146.0,441.2,-10.1,205,4005,0.15,2.47,0.00,0.000,6,0.092,0.035,3109,1646,3518,0,0,0,0,0,0
$GC,4249,-1.06,-146.0,463.2,-8.9,212,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1645,3517,0,0,0,0,0,0
$GC,4494,-1.06,-146.0,483.9,-8.4,218,4498,0.00,2.47,0.00,0.000,4,0.000,0.039,3109,3141,3515,0,0,0,0,0,0
$GC,4532,-1.19,-146.0,487.6,-8.6,218,4538,0.12,2.47,0.00,0.000,6,0.061,0.039,3032,1650,3515,0,0,0,0,0,0
$GC,4782,-1.02,-146.0,517.8,-12.1,225,4789,0.32,2.55,0.00,0.000,4,0.085,0.071,3110,172,3513,0,0,0,0,0,0
$GC,4820,-1.10,-146.0,521.5,-9.7,225,4824,0.00,2.33,0.00,0.000,6,0.000,0.031,3110,1622,3513,0,0,0,0,0,0
$GC,5070,-1.16,-146.0,540.0,-7.3,231,5072,0.10,0.00,0.00,0.000,6,0.074,0.000,3053,1622,3511,0,0,0,0,0,0
$GC,5314,-1.05,-146.0,563.2,-9.7,237,5319,0.25,2.55,0.00,0.000,4,0.085,0.047,3113,3164,3510,0,0,0,0,0,0
$GC,5336,-1.05,-146.0,565.1,-9.1,237,5340,0.00,2.53,0.00,0.000,6,0.000,0.041,3113,1654,3510,0,0,0,0,0,0
$GC,5600,-1.13,-146.0,584.3,-7.4,244,5605,0.00,2.50,0.00,0.000,4,0.000,0.044,3113,3164,3507,0,0,0,0,0,0
$GC,5629,-1.26,-146.0,586.6,-7.3,244,5634,0.20,2.53,0.00,0.000,6,0.044,0.044,3022,1660,3508,0,0,0,0,0,0
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5768,-0.31,0.0,601.5,11.6,248,5890,1.10,0.00,118.10,0.923,6,0.077,0.000,3270,1408,2920,0,0,0,0,0,0
$STATE,5891,end apogee,CONTROL_FINISHED_OK
$STATE,5891,begin climb
$GC,5893,1.27,146.0,605.6,0.0,251,6025,1.48,2.30,123.07,0.904,4,0.051,0.084,3618,174,2323,0,0,0,0,0,0
$GC,6146,0.98,146.0,590.1,11.6,256,6151,0.30,2.00,0.00,0.000,6,0.094,0.028,3555,1408,2318,0,0,0,0,0,0
$GC,6397,1.07,216.9,572.5,6.7,262,6466,0.00,2.22,61.40,0.880,4,0.000,0.069,3555,167,2033,0,0,0,0,0,0
$GC,6531,1.07,216.9,561.3,10.2,265,6535,0.00,2.00,0.00,0.000,6,0.000,0.030,3555,1394,2032,0,0,0,0,0,0
$GC,6824,1.09,233.2,534.4,9.2,272,6845,0.10,2.22,14.57,0.805,4,0.078,0.067,3599,169,1969,0,0,0,0,0,0
$GC,6982,0.95,233.2,513.1,14.3,275,6986,0.25,1.98,0.00,0.000,6,0.093,0.027,3546,1397,1968,0,0,0,0,0,0
$GC,7251,1.03,233.2,484.6,10.3,282,7255,0.00,2.12,0.00,0.000,4,0.000,0.063,3546,169,1964,0,0,0,0,0,0
$GC,7322,1.03,233.2,476.4,11.2,283,7326,0.00,1.90,0.00,0.000,6,0.000,0.026,3546,1382,1965,0,0,0,0,0,0
$GC,7586,1.12,241.3,450.1,9.6,290,7599,0.15,2.12,7.88,0.704,4,0.056,0.063,3602,169,1936,0,0,0,0,0,0
$GC,7646,0.99,241.3,442.4,13.4,291,7651,0.15,1.92,0.00,0.000,6,0.081,0.025,3558,1368,1935,0,0,0,0,0,0
$GC,7921,1.03,273.2,418.0,8.5,298,7958,0.00,2.15,30.12,0.798,4,0.000,0.060,3558,170,1806,0,0,0,0,0,0
$GC,7996,1.03,273.2,410.6,11.1,299,7999,0.00,1.92,0.00,0.000,6,0.000,0.025,3558,1378,1805,0,0,0,0,0,0
$GC,8256,1.11,273.2,384.2,10.4,306,8261,0.10,2.10,0.00,0.000,4,0.076,0.063,3610,164,1801,0,0,0,0,0,0
$GC,8280,1.01,273.2,380.8,13.6,306,8285,0.22,1.90,0.00,0.000,6,0.093,0.025,3561,1368,1801,0,0,0,0,0,0
$GC,8540,1.09,273.2,351.8,10.8,313,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1370,1800,0,0,0,0,0,0
$GC,8786,1.19,292.2,328.8,9.1,319,8806,0.15,0.00,17.30,0.714,6,0.055,0.000,3625,1370,1728,0,0,0,0,0,0
$GC,9027,1.12,292.2,301.4,11.3,325,9029,0.17,0.00,0.00,0.000,6,0.097,0.000,3585,1370,1724,0,0,0,0,0,0
$GC,9271,1.15,315.2,279.5,8.9,331,9295,0.00,0.00,21.85,0.683,6,0.000,0.000,3585,1370,1634,0,0,0,0,0,0
$GC,9517,1.22,315.2,253.8,10.8,337,9520,0.00,2.05,0.00,0.000,4,0.000,0.054,3585,161,1631,0,0,0,0,0,0
$GC,9567,1.22,315.2,247.4,12.3,338,9571,0.00,1.88,0.00,0.000,6,0.000,0.021,3585,1386,1631,0,0,0,0,0,0
$GC,9854,1.31,315.2,216.5,10.7,345,9859,0.17,2.53,0.00,0.000,4,0.051,0.028,3656,2961,1629,0,0,0,0,0,0
$GC,9903,1.31,315.2,210.2,14.2,346,9908,0.15,2.62,0.00,0.000,6,0.095,0.035,3623,1364,1627,0,0,0,0,0,0
$GC,10174,1.31,315.2,174.0,13.5,366,10178,0.00,2.00,0.00,0.000,4,0.000,0.051,3623,163,1627,0,0,0,0,0,0
$GC,10196,1.31,315.2,171.2,13.6,368,10200,0.00,1.85,0.00,0.000,6,0.000,0.021,3623,1371,1627,0,0,0,0,0,0
$GC,10467,1.31,315.2,138.9,11.7,393,10471,0.00,2.50,0.00,0.000,4,0.000,0.033,3623,2949,1627,0,0,0,0,0,0
$GC,10504,1.38,315.2,134.3,10.8,396,10508,0.00,2.62,0.00,0.000,6,0.000,0.035,3623,1351,1626,0,0,0,0,0,0
$GC,10767,1.38,315.2,103.3,12.0,420,10770,0.00,1.95,0.00,0.000,4,0.000,0.049,3623,162,1626,0,0,0,0,0,0
$GC,10820,1.38,315.2,96.6,14.3,425,10824,0.00,1.77,0.00,0.000,6,0.000,0.020,3623,1364,1626,0,0,0,0,0,0
$GC,11093,1.38,315.2,64.2,11.6,450,11097,0.00,2.00,0.00,0.000,4,0.000,0.048,3623,163,1626,0,0,0,0,0,0
$GC,11141,1.38,315.2,57.8,13.6,454,11145,0.00,1.77,0.00,0.000,6,0.000,0.020,3623,1356,1626,0,0,0,0,0,0
$GC,11416,1.38,315.2,28.0,10.2,480,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1359,1626,0,0,0,0,0,0
$STATE,11649,end climb,SURFACE_DEPTH_REACHED
$STATE,11649,begin surface coast
$FINISH,0.8,1.023453
$STATE,11694,end surface coast,CONTROL_FINISHED_OK
$STATE,11694,begin surface
$SM_CCo,11718,36.83,0.435,0,0,1369,380.21
$SM_GC,1.73,0.00,0.00,36.83,0.000,0.000,0.435,407,1603,1369,-13.49,0.65,380.21
$IRIDIUM_FIX,2248.70,-15805.83,061101,171736
$TT8_MAMPS,0.027612
$HUMID,65.47
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.5,58.297
$10V_AH,9.9,46.945
$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,35.325,132.625,394.300,36.825,0.000,34.255,34.797,192.734,2.000,0.000,19.579,1145.926,7944.561,479.886,1981.870,609.522,33.374,1302.680,0.000,1975.906,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,83.603,922.701,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.147,297.186,373.055,552.058,969.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41520,524
$CAP_FILE_SIZE,129087,0
$CFSIZE,260165632,151945216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130812,001414,2301.844,-15806.039,40,99.0,60,10.1