version: 66.06
glider: 148
mission: 11
dive: 545
start: 8 29 112 0 47 42
data:
$ID,148
$MISSION,11
$DIVE,545
$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,-929825.25
$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,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,27
$R_STBD_OVSHOOT,78
$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
$GPS1,003935,2245.828,-15807.362,35,1.0,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.2
$GPS2,004647,2245.864,-15807.416,10,1.3,14,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,0.215
$KALMAN_X,-484498.3,-650.6,-171.8,472262.2,-1187.5
$KALMAN_Y,78618.3,167.7,-147.9,-82608.1,406.9
$MHEAD_RNG_PITCHd_Wd,17.9,34772,-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,-126.5,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,415,1661,3184,0,0,0,0,0,0
$GC,90,-1.34,-126.5,3.6,-5.1,9,114,13.45,0.00,-3.78,0.000,6,0.146,0.000,3022,1661,3397,0,0,0,0,0,0
$GC,451,-0.91,-126.5,93.0,-20.8,47,459,0.43,2.45,0.00,0.000,4,0.095,0.038,3118,160,3400,0,0,0,0,0,0
$GC,483,-0.77,-126.5,99.0,-15.5,50,488,0.15,2.28,0.00,0.000,6,0.108,0.018,3150,1648,3400,0,0,0,0,0,0
$GC,818,-0.77,-126.5,132.9,-10.2,81,823,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1651,3402,0,0,0,0,0,0
$GC,1150,-0.77,-126.5,161.7,-8.0,112,1155,0.00,2.45,0.00,0.000,4,0.000,0.024,3150,3221,3403,0,0,0,0,0,0
$GC,1179,-0.87,-126.5,164.4,-7.2,114,1188,0.00,2.55,0.00,0.000,6,0.000,0.027,3150,1658,3403,0,0,0,0,0,0
$GC,1508,-0.94,-126.5,190.3,-8.5,145,1512,0.15,2.45,0.00,0.000,4,0.052,0.023,3076,3221,3403,0,0,0,0,0,0
$GC,1527,-0.94,-126.5,192.7,-9.5,146,1534,0.17,2.53,0.00,0.000,6,0.091,0.025,3115,1652,3403,0,0,0,0,0,0
$GC,1854,-0.94,-126.5,224.9,-9.8,160,1858,0.00,2.50,0.00,0.000,4,0.000,0.023,3116,3230,3403,0,0,0,0,0,0
$GC,1872,-0.94,-126.5,227.0,-10.2,160,1877,0.00,2.53,0.00,0.000,6,0.000,0.026,3115,1659,3403,0,0,0,0,0,0
$GC,2218,-0.94,-126.5,257.5,-9.1,169,2222,0.00,2.42,0.00,0.000,4,0.000,0.044,3116,164,3404,0,0,0,0,0,0
$GC,2238,-0.94,-126.5,259.6,-10.5,169,2242,0.00,2.30,0.00,0.000,6,0.000,0.018,3115,1672,3404,0,0,0,0,0,0
$GC,2583,-0.94,-126.5,292.4,-9.5,178,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1675,3403,0,0,0,0,0,0
$GC,2908,-0.94,-126.5,323.3,-9.1,186,2913,0.00,2.45,0.00,0.000,4,0.000,0.027,3116,3223,3403,0,0,0,0,0,0
$GC,2930,-1.00,-126.5,325.1,-8.7,186,2934,0.00,2.53,0.00,0.000,6,0.000,0.028,3116,1670,3403,0,0,0,0,0,0
$GC,3276,-1.06,-126.5,348.6,-6.0,195,3281,0.12,2.50,0.00,0.000,4,0.062,0.049,3054,166,3404,0,0,0,0,0,0
$GC,3291,-1.06,-126.5,349.9,-6.2,195,3296,0.15,2.30,0.00,0.000,6,0.104,0.020,3087,1664,3403,0,0,0,0,0,0
$GC,3643,-1.06,-126.5,382.3,-10.0,204,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1665,3402,0,0,0,0,0,0
$GC,3966,-1.06,-126.5,415.5,-10.2,212,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1666,3401,0,0,0,0,0,0
$GC,4291,-1.06,-126.5,445.7,-9.2,220,4296,0.00,2.55,0.00,0.000,4,0.000,0.062,3087,174,3399,0,0,0,0,0,0
$GC,4312,-1.06,-126.5,447.6,-9.2,220,4317,0.00,2.33,0.00,0.000,6,0.000,0.026,3087,1645,3399,0,0,0,0,0,0
$GC,4658,-1.06,-126.5,475.2,-7.9,229,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1645,3396,0,0,0,0,0,0
$GC,4983,-1.06,-126.5,502.4,-8.6,237,4987,0.00,2.53,0.00,0.000,4,0.000,0.066,3087,175,3394,0,0,0,0,0,0
$GC,5012,-1.06,-126.5,505.2,-10.2,237,5016,0.00,2.40,0.00,0.000,6,0.000,0.033,3087,1662,3394,0,0,0,0,0,0
$GC,5348,-1.06,-126.5,532.3,-8.0,246,5353,0.00,2.55,0.00,0.000,4,0.000,0.067,3088,178,3392,0,0,0,0,0,0
$GC,5372,-1.06,-126.5,534.5,-9.0,246,5376,0.00,2.40,0.00,0.000,6,0.000,0.033,3088,1656,3392,0,0,0,0,0,0
$GC,5719,-1.06,-126.5,561.3,-7.8,255,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1656,3389,0,0,0,0,0,0
$GC,6042,-1.06,-126.5,586.0,-7.7,263,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1656,3387,0,0,0,0,0,0
$GC,6367,-1.06,-126.5,611.7,-8.1,271,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1656,3385,0,0,0,0,0,0
$GC,6694,-1.06,-126.5,640.2,-8.8,279,6698,0.00,2.60,0.00,0.000,4,0.000,0.075,3088,171,3383,0,0,0,0,0,0
$GC,6754,-1.06,-126.5,646.5,-10.3,280,6758,0.00,2.42,0.00,0.000,6,0.000,0.037,3088,1658,3382,0,0,0,0,0,0
$GC,7104,-1.06,-126.5,675.2,-7.9,289,7108,0.00,2.60,0.00,0.000,4,0.000,0.074,3087,175,3380,0,0,0,0,0,0
$GC,7153,-1.06,-126.5,679.5,-9.4,290,7157,0.00,2.42,0.00,0.000,6,0.000,0.038,3088,1655,3380,0,0,0,0,0,0
$GC,7476,-1.06,-126.5,706.1,-8.2,298,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1655,3378,0,0,0,0,0,0
$GC,7801,-1.12,-126.5,732.2,-8.1,306,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1655,3376,0,0,0,0,0,0
$STATE,8042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8042,begin apogee
$GC,8050,-0.31,0.0,751.7,8.0,312,8158,0.73,0.00,104.22,1.048,6,0.076,0.000,3252,1309,2880,0,0,0,0,0,0
$STATE,8158,end apogee,CONTROL_FINISHED_OK
$STATE,8159,begin climb
$GC,8161,1.34,126.5,754.4,0.0,314,8281,1.52,2.10,112.25,1.025,4,0.050,0.083,3611,176,2363,0,0,0,0,0,0
$GC,8378,1.10,126.5,739.0,13.6,318,8382,0.25,1.88,0.00,0.000,6,0.100,0.031,3559,1314,2358,0,0,0,0,0,0
$GC,8708,1.13,149.2,709.7,8.8,326,8732,0.00,2.10,19.55,0.950,4,0.000,0.073,3559,166,2271,0,0,0,0,0,0
$GC,8756,1.13,150.1,704.8,10.0,327,8760,0.00,1.90,0.00,0.000,6,0.000,0.031,3559,1313,2269,0,0,0,0,0,0
$GC,9085,1.18,188.1,677.5,8.0,335,9128,0.00,2.05,36.20,0.971,4,0.000,0.071,3559,175,2113,0,0,0,0,0,0
$GC,9161,1.18,188.1,671.0,10.1,336,9164,0.00,1.88,0.00,0.000,6,0.000,0.031,3559,1306,2112,0,0,0,0,0,0
$GC,9502,1.22,225.7,643.3,8.0,345,9543,0.12,2.10,35.53,0.953,4,0.066,0.070,3607,175,1960,0,0,0,0,0,0
$GC,9574,1.09,225.7,635.6,13.3,346,9578,0.22,1.85,0.00,0.000,6,0.095,0.031,3560,1306,1959,0,0,0,0,0,0
$GC,9915,1.18,239.8,603.9,9.2,355,9935,0.00,2.78,14.00,0.872,4,0.000,0.048,3560,2893,1901,0,0,0,0,0,0
$GC,9957,1.31,256.6,600.2,9.1,355,9982,0.20,2.75,17.30,0.884,6,0.044,0.046,3640,1304,1832,0,0,0,0,0,0
$GC,10293,1.18,256.6,549.7,15.7,364,10296,0.28,0.00,0.00,0.000,6,0.092,0.000,3579,1304,1827,0,0,0,0,0,0
$GC,10618,1.18,256.6,510.2,11.8,372,10623,0.00,2.65,0.00,0.000,4,0.000,0.036,3580,2896,1825,0,0,0,0,0,0
$GC,10675,1.31,256.6,503.6,11.4,373,10680,0.10,2.70,0.00,0.000,6,0.075,0.044,3630,1312,1822,0,0,0,0,0,0
$GC,10990,1.23,256.6,462.8,12.7,381,10994,0.20,2.00,0.00,0.000,4,0.097,0.065,3588,161,1822,0,0,0,0,0,0
$GC,11048,1.23,256.6,456.0,11.7,382,11051,0.00,1.88,0.00,0.000,6,0.000,0.025,3588,1337,1822,0,0,0,0,0,0
$GC,11366,1.24,268.6,426.2,9.4,390,11382,0.00,2.60,10.48,0.749,4,0.000,0.035,3588,2875,1783,0,0,0,0,0,0
$GC,11399,1.34,291.0,423.3,8.8,390,11428,0.10,2.67,22.10,0.798,6,0.074,0.042,3635,1312,1693,0,0,0,0,0,0
$GC,11742,1.27,291.0,375.3,14.9,399,11747,0.17,2.62,0.00,0.000,4,0.100,0.036,3598,2886,1688,0,0,0,0,0,0
$GC,11783,1.39,291.0,369.8,12.5,399,11789,0.10,2.65,0.00,0.000,6,0.074,0.042,3648,1314,1685,0,0,0,0,0,0
$GC,12114,1.30,291.0,318.8,15.0,408,12116,0.20,0.00,0.00,0.000,6,0.097,0.000,3605,1315,1685,0,0,0,0,0,0
$GC,12439,1.30,291.0,278.6,11.9,416,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1315,1685,0,0,0,0,0,0
$GC,12766,1.37,291.0,240.9,11.4,424,12770,0.00,2.58,0.00,0.000,4,0.000,0.028,3604,2889,1685,0,0,0,0,0,0
$GC,12831,1.53,291.0,233.6,10.5,425,12838,0.20,2.62,0.00,0.000,6,0.042,0.038,3675,1322,1682,0,0,0,0,0,0
$GC,13153,1.41,291.0,190.6,13.4,437,13158,0.22,1.95,0.00,0.000,4,0.091,0.053,3625,164,1682,0,0,0,0,0,0
$GC,13183,1.41,291.0,186.5,12.6,439,13189,0.00,1.83,0.00,0.000,6,0.000,0.021,3625,1359,1682,0,0,0,0,0,0
$GC,13508,1.41,291.0,148.0,12.1,470,13512,0.00,2.03,0.00,0.000,4,0.000,0.051,3625,162,1682,0,0,0,0,0,0
$GC,13544,1.41,291.0,143.1,12.9,473,13549,0.00,1.75,0.00,0.000,6,0.000,0.021,3625,1324,1682,0,0,0,0,0,0
$GC,13870,1.41,291.0,104.4,12.6,504,13874,0.00,1.92,0.00,0.000,4,0.000,0.049,3625,161,1682,0,0,0,0,0,0
$GC,13903,1.41,291.0,100.5,13.8,507,13907,0.00,1.75,0.00,0.000,6,0.000,0.020,3626,1315,1682,0,0,0,0,0,0
$GC,14236,1.50,306.7,63.8,9.2,538,14261,0.00,2.50,13.98,0.474,4,0.000,0.025,3626,2847,1627,0,0,0,0,0,0
$GC,14269,1.63,327.9,60.5,8.9,540,14302,0.17,2.58,20.08,0.489,6,0.021,0.035,3705,1308,1542,0,0,0,0,0,0
$GC,14639,1.54,327.9,12.3,13.3,583,14648,0.22,1.92,0.00,0.000,4,0.086,0.045,3654,161,1540,0,0,0,0,0,0
$STATE,14698,end climb,SURFACE_DEPTH_REACHED
$STATE,14698,begin surface coast
$FINISH,2.9,1.023313
$STATE,14706,end surface coast,CONTROL_FINISHED_OK
$STATE,14706,begin surface
$SM_CCo,14732,15.75,0.430,0,0,1452,350.04
$SM_GC,1.96,0.00,0.00,15.75,0.000,0.000,0.430,416,1638,1452,-13.36,-0.62,350.04
$IRIDIUM_FIX,2237.01,-15809.75,221101,202022
$TT8_MAMPS,0.027612
$HUMID,68.86
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,21.20
$XPDR_PINGS,5
$24V_AH,23.1,70.710
$10V_AH,9.8,58.278
$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,32.750,126.525,405.675,15.750,0.000,28.269,43.591,206.652,1.250,0.000,15.931,1205.921,10931.834,461.429,1945.057,634.931,33.380,1308.125,0.000,1942.066,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,82.836,1048.489,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.004,297.040,381.089,507.965,889.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,44774,593
$CAP_FILE_SIZE,127572,0
$CFSIZE,260165632,145616896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290812,045459,2247.786,-15807.888,44,1.3,44,10.1