version: 66.06
glider: 148
mission: 11
dive: 543
start: 8 28 112 15 47 33
data:
$ID,148
$MISSION,11
$DIVE,543
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$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,350
$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,-929793.81
$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,3320
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,153836,2242.660,-15805.957,33,1.1,33,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.8
$GPS2,154637,2242.650,-15806.068,16,1.3,16,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.227
$KALMAN_X,-479773.8,-187.1,-264.3,469463.9,-1171.9
$KALMAN_Y,79354.4,-219.2,289.4,-89340.9,-951.4
$MHEAD_RNG_PITCHd_Wd,11.4,40459,-18.9,-10.000
$D_GRID,750
$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,-1.34,-126.5,0.0,0.0,0,123,0.00,0.00,-104.20,0.000,2,0.000,0.000,411,1670,3122,0,0,0,0,0,0
$GC,126,-1.34,-126.5,3.3,-5.0,14,151,14.23,2.45,-5.00,0.000,4,0.168,0.034,3024,3211,3396,0,0,0,0,0,0
$GC,187,-0.87,-126.5,22.5,-25.2,22,196,0.45,2.55,0.00,0.000,6,0.087,0.026,3126,1652,3398,0,0,0,0,0,0
$GC,527,-0.78,-126.5,75.2,-12.6,55,532,0.10,2.47,0.00,0.000,4,0.124,0.024,3148,3210,3398,0,0,0,0,0,0
$GC,550,-0.78,-126.5,77.8,-12.4,56,554,0.00,2.50,0.00,0.000,6,0.000,0.026,3148,1664,3398,0,0,0,0,0,0
$GC,874,-0.78,-126.5,112.4,-10.5,86,875,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1664,3399,0,0,0,0,0,0
$GC,1195,-0.78,-126.5,144.4,-10.1,116,1199,0.00,2.45,0.00,0.000,4,0.000,0.023,3148,3211,3399,0,0,0,0,0,0
$GC,1221,-0.86,-126.5,147.4,-11.0,118,1225,0.00,2.47,0.00,0.000,6,0.000,0.026,3148,1665,3400,0,0,0,0,0,0
$GC,1552,-0.93,-126.5,174.6,-7.0,148,1557,0.12,0.00,0.00,0.000,6,0.062,0.000,3080,1665,3400,0,0,0,0,0,0
$GC,1885,-0.82,-126.5,209.4,-10.6,174,1887,0.28,0.00,0.00,0.000,6,0.084,0.000,3142,1664,3400,0,0,0,0,0,0
$GC,2211,-0.91,-126.5,236.7,-8.5,182,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1665,3400,0,0,0,0,0,0
$GC,2534,-1.02,-126.5,262.3,-7.2,190,2539,0.20,2.42,0.00,0.000,4,0.043,0.043,3052,173,3400,0,0,0,0,0,0
$GC,2554,-0.96,-126.5,264.3,-9.8,190,2559,0.25,2.25,0.00,0.000,6,0.097,0.018,3108,1651,3400,0,0,0,0,0,0
$GC,2902,-0.96,-126.5,293.4,-8.4,199,2907,0.00,2.47,0.00,0.000,4,0.000,0.026,3108,3221,3400,0,0,0,0,0,0
$GC,2936,-1.03,-126.5,296.6,-8.9,199,2940,0.00,2.50,0.00,0.000,6,0.000,0.028,3108,1667,3400,0,0,0,0,0,0
$GC,3267,-1.03,-126.5,324.7,-8.3,207,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1667,3398,0,0,0,0,0,0
$GC,3594,-1.03,-126.5,352.2,-8.1,215,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1667,3397,0,0,0,0,0,0
$GC,3917,-1.10,-126.5,378.5,-7.9,223,3919,0.12,0.00,0.00,0.000,6,0.061,0.000,3039,1667,3395,0,0,0,0,0,0
$GC,4242,-0.95,-126.5,416.5,-12.0,231,4247,0.30,2.53,0.00,0.000,4,0.086,0.032,3109,3211,3392,0,0,0,0,0,0
$GC,4273,-1.03,-126.5,419.5,-8.8,231,4278,0.00,2.55,0.00,0.000,6,0.000,0.036,3110,1675,3392,0,0,0,0,0,0
$GC,4610,-1.11,-126.5,444.8,-7.1,240,4615,0.12,2.60,0.00,0.000,4,0.062,0.072,3043,163,3390,0,0,0,0,0,0
$GC,4669,-0.96,-126.5,450.6,-10.7,241,4674,0.30,2.35,0.00,0.000,6,0.091,0.028,3109,1636,3389,0,0,0,0,0,0
$GC,4984,-1.04,-126.5,472.3,-6.8,249,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1637,3387,0,0,0,0,0,0
$GC,5309,-1.13,-126.5,497.1,-8.1,257,5311,0.15,0.00,0.00,0.000,6,0.052,0.000,3038,1637,3385,0,0,0,0,0,0
$GC,5635,-1.00,-126.5,537.8,-13.1,265,5641,0.25,2.55,0.00,0.000,4,0.091,0.067,3098,161,3383,0,0,0,0,0,0
$GC,5679,-1.00,-126.5,542.7,-10.3,266,5684,0.00,2.42,0.00,0.000,6,0.000,0.032,3098,1655,3383,0,0,0,0,0,0
$GC,6009,-1.07,-126.5,569.0,-7.6,274,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1656,3381,0,0,0,0,0,0
$GC,6332,-1.14,-126.5,591.5,-6.6,282,6338,0.12,2.67,0.00,0.000,4,0.064,0.048,3040,3241,3379,0,0,0,0,0,0
$GC,6348,-1.14,-126.5,592.8,-7.0,282,6353,0.15,2.65,0.00,0.000,6,0.094,0.043,3075,1658,3378,0,0,0,0,0,0
$GC,6701,-1.14,-126.5,620.3,-8.0,291,6705,0.00,2.62,0.00,0.000,4,0.000,0.077,3074,167,3376,0,0,0,0,0,0
$GC,6729,-1.14,-126.5,623.3,-9.8,291,6733,0.00,2.45,0.00,0.000,6,0.000,0.035,3075,1663,3376,0,0,0,0,0,0
$GC,7065,-1.14,-126.5,651.4,-8.5,300,7070,0.00,2.62,0.00,0.000,4,0.000,0.073,3075,167,3374,0,0,0,0,0,0
$GC,7090,-1.14,-126.5,653.8,-10.6,300,7095,0.00,2.45,0.00,0.000,6,0.000,0.038,3075,1659,3374,0,0,0,0,0,0
$GC,7431,-1.14,-126.5,683.7,-8.7,309,7435,0.00,2.62,0.00,0.000,4,0.000,0.074,3075,169,3372,0,0,0,0,0,0
$GC,7459,-1.14,-126.5,686.6,-10.3,309,7463,0.00,2.45,0.00,0.000,6,0.000,0.038,3075,1655,3372,0,0,0,0,0,0
$GC,7797,-1.14,-126.5,718.9,-9.9,318,7801,0.00,2.60,0.00,0.000,4,0.000,0.075,3075,170,3370,0,0,0,0,0,0
$GC,7820,-1.14,-126.5,721.8,-11.0,318,7825,0.00,2.47,0.00,0.000,6,0.000,0.038,3074,1667,3370,0,0,0,0,0,0
$STATE,8117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8117,begin apogee
$GC,8124,-0.31,0.0,750.6,9.4,326,8230,0.77,0.00,103.05,1.047,6,0.074,0.000,3251,1306,2880,0,0,0,0,0,0
$STATE,8231,end apogee,CONTROL_FINISHED_OK
$STATE,8231,begin climb
$GC,8235,1.34,126.5,753.8,0.0,328,8359,1.52,2.10,113.97,1.023,4,0.048,0.083,3611,172,2363,0,0,0,0,0,0
$GC,8449,1.10,126.5,738.7,12.1,333,8454,0.25,1.88,0.00,0.000,6,0.100,0.031,3559,1323,2358,0,0,0,0,0,0
$GC,8781,1.12,137.9,707.7,9.4,341,8797,0.00,2.08,9.77,0.864,4,0.000,0.072,3559,167,2316,0,0,0,0,0,0
$GC,8869,1.05,137.9,698.3,10.7,342,8874,0.00,1.88,0.00,0.000,6,0.000,0.031,3559,1313,2315,0,0,0,0,0,0
$GC,9202,1.06,145.0,665.8,9.6,351,9211,0.00,0.00,6.93,0.788,6,0.000,0.000,3559,1314,2289,0,0,0,0,0,0
$GC,9525,1.06,149.3,634.1,9.8,359,9536,0.00,2.03,4.85,0.679,4,0.000,0.070,3559,167,2272,0,0,0,0,0,0
$GC,9595,1.06,149.3,626.6,10.5,360,9599,0.00,1.85,0.00,0.000,6,0.000,0.029,3559,1314,2272,0,0,0,0,0,0
$GC,9945,1.09,171.3,593.8,8.8,369,9969,0.00,0.00,22.23,0.911,6,0.000,0.000,3559,1316,2180,0,0,0,0,0,0
$GC,10270,1.21,213.2,567.4,7.8,377,10312,0.10,0.00,39.38,0.915,6,0.080,0.000,3607,1317,2010,0,0,0,0,0,0
$GC,10636,1.21,213.2,529.2,10.7,386,10638,0.12,0.00,0.00,0.000,6,0.114,0.000,3581,1318,2001,0,0,0,0,0,0
$GC,10960,1.22,224.0,497.8,9.4,394,10976,0.00,2.05,10.10,0.781,4,0.000,0.063,3581,175,1965,0,0,0,0,0,0
$GC,11000,1.22,224.0,493.7,10.7,394,11005,0.00,1.85,0.00,0.000,6,0.000,0.026,3580,1323,1964,0,0,0,0,0,0
$GC,11332,1.22,224.0,460.3,10.5,403,11337,0.00,2.58,0.00,0.000,4,0.000,0.038,3581,2879,1961,0,0,0,0,0,0
$GC,11353,1.29,224.0,457.9,10.3,403,11358,0.00,2.65,0.00,0.000,6,0.000,0.043,3581,1320,1960,0,0,0,0,0,0
$GC,11699,1.29,224.0,418.7,11.4,412,11702,0.00,1.98,0.00,0.000,4,0.000,0.063,3580,164,1959,0,0,0,0,0,0
$GC,11747,1.29,224.0,412.9,12.2,413,11751,0.00,1.83,0.00,0.000,6,0.000,0.025,3580,1314,1959,0,0,0,0,0,0
$GC,12079,1.35,224.0,377.5,10.1,421,12084,0.15,2.58,0.00,0.000,4,0.059,0.034,3630,2881,1959,0,0,0,0,0,0
$GC,12100,1.35,224.0,375.3,10.6,421,12105,0.00,2.65,0.00,0.000,6,0.000,0.043,3630,1300,1958,0,0,0,0,0,0
$GC,12446,1.35,224.0,337.0,11.0,430,12449,0.00,1.95,0.00,0.000,4,0.000,0.064,3630,165,1958,0,0,0,0,0,0
$GC,12487,1.23,224.0,331.8,13.0,430,12494,0.20,1.80,0.00,0.000,6,0.100,0.024,3588,1317,1957,0,0,0,0,0,0
$GC,12821,1.31,233.8,299.5,9.5,439,12837,0.00,2.53,9.20,0.650,4,0.000,0.029,3588,2872,1925,0,0,0,0,0,0
$GC,12857,1.43,237.4,295.8,9.8,439,12867,0.17,2.65,4.55,0.516,6,0.050,0.041,3659,1307,1912,0,0,0,0,0,0
$GC,13194,1.33,237.4,256.3,11.8,448,13199,0.22,1.95,0.00,0.000,4,0.091,0.059,3610,166,1910,0,0,0,0,0,0
$GC,13287,1.33,237.4,245.9,10.6,450,13291,0.00,1.77,0.00,0.000,6,0.000,0.022,3610,1321,1910,0,0,0,0,0,0
$GC,13616,1.33,243.7,215.0,9.7,458,13628,0.00,2.03,7.12,0.553,4,0.000,0.054,3610,161,1886,0,0,0,0,0,0
$GC,13662,1.33,243.7,209.7,11.7,459,13666,0.00,1.75,0.00,0.000,6,0.000,0.021,3610,1323,1885,0,0,0,0,0,0
$GC,13998,1.42,253.4,178.1,9.5,481,14010,0.00,0.00,10.05,0.557,6,0.000,0.000,3610,1325,1846,0,0,0,0,0,0
$GC,14328,1.50,261.7,145.9,9.6,512,14340,0.15,0.00,8.73,0.515,6,0.058,0.000,3675,1325,1812,0,0,0,0,0,0
$GC,14658,1.41,261.7,107.3,11.8,543,14664,0.22,0.00,0.00,0.000,6,0.090,0.000,3625,1325,1810,0,0,0,0,0,0
$GC,14990,1.48,261.7,76.8,10.3,574,14994,0.00,1.92,0.00,0.000,4,0.000,0.050,3625,164,1809,0,0,0,0,0,0
$GC,15124,1.49,274.3,64.5,9.3,586,15141,0.00,1.73,12.15,0.469,6,0.000,0.020,3625,1328,1761,0,0,0,0,0,0
$GC,15464,1.64,290.5,33.1,9.1,617,15487,0.20,2.45,15.40,0.452,4,0.044,0.025,3713,2835,1694,0,0,0,0,0,0
$GC,15496,1.64,290.5,29.9,10.0,620,15506,0.15,2.58,0.00,0.000,6,0.074,0.034,3675,1295,1692,0,0,0,0,0,0
$STATE,15720,end climb,SURFACE_DEPTH_REACHED
$STATE,15720,begin surface coast
$FINISH,0.9,1.022441
$STATE,15765,end surface coast,CONTROL_FINISHED_OK
$STATE,15765,begin surface
$SM_CCo,15789,36.15,0.440,0,0,1453,350.04
$SM_GC,1.54,0.00,0.00,36.15,0.000,0.000,0.440,411,1684,1453,-13.38,0.71,350.04
$IRIDIUM_FIX,2230.01,-15804.11,221101,111151
$TT8_MAMPS,0.027612
$HUMID,67.83
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.2,70.461
$10V_AH,9.8,58.057
$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,34.425,121.325,377.475,36.150,0.000,30.249,38.400,255.158,1.750,0.000,17.744,1321.250,11620.704,502.174,2160.125,698.000,33.374,1368.173,0.000,2162.913,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,82.836,1046.955,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,448.265,347.596,441.465,618.405,1086.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,50865,662
$CAP_FILE_SIZE,134960,0
$CFSIZE,260165632,145735680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280812,201305,2243.944,-15806.629,52,1.2,64,10.0