version: 66.06
glider: 148
mission: 11
dive: 555
start: 8 30 112 21 17 26
data:
$ID,148
$MISSION,11
$DIVE,555
$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,-930054.88
$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,25
$R_STBD_OVSHOOT,96
$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
$GPS1,210956,2256.538,-15808.820,39,2.4,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.1
$GPS2,211631,2256.531,-15808.916,10,1.1,10,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.117
$KALMAN_X,-514347.2,-185.8,81.1,498821.3,-2473.7
$KALMAN_Y,74931.6,-110.3,-7.7,-59022.1,-341.2
$MHEAD_RNG_PITCHd_Wd,51.1,16465,-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,-67.72,0.000,2,0.000,0.000,409,1697,3211,0,0,0,0,0,0
$GC,90,-1.34,-126.5,4.1,-7.3,9,114,14.20,0.00,-3.17,0.000,6,0.168,0.000,3024,1698,3397,0,0,0,0,0,0
$GC,451,-0.91,-126.5,94.1,-21.1,47,456,0.43,0.00,0.00,0.000,6,0.096,0.000,3119,1699,3401,0,0,0,0,0,0
$GC,777,-0.91,-126.5,132.9,-10.7,78,781,0.00,2.50,0.00,0.000,4,0.000,0.041,3118,166,3402,0,0,0,0,0,0
$GC,838,-0.91,-126.5,139.8,-11.0,83,842,0.00,2.25,0.00,0.000,6,0.000,0.018,3119,1644,3402,0,0,0,0,0,0
$GC,1163,-0.91,-126.5,173.5,-9.5,113,1167,0.00,2.47,0.00,0.000,4,0.000,0.023,3119,3219,3403,0,0,0,0,0,0
$GC,1210,-1.01,-126.5,178.0,-8.7,117,1215,0.00,2.50,0.00,0.000,6,0.000,0.026,3119,1663,3403,0,0,0,0,0,0
$GC,1565,-1.01,-126.5,213.2,-10.1,141,1569,0.00,2.42,0.00,0.000,4,0.000,0.042,3118,166,3404,0,0,0,0,0,0
$GC,1588,-1.01,-126.5,216.3,-12.0,141,1592,0.00,2.30,0.00,0.000,6,0.000,0.018,3118,1673,3404,0,0,0,0,0,0
$GC,1933,-1.01,-126.5,251.5,-10.0,150,1937,0.00,2.47,0.00,0.000,4,0.000,0.042,3119,170,3405,0,0,0,0,0,0
$GC,1963,-1.01,-126.5,254.4,-9.9,150,1967,0.00,2.28,0.00,0.000,6,0.000,0.018,3118,1664,3405,0,0,0,0,0,0
$GC,2299,-1.01,-126.5,277.8,-6.5,159,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1667,3405,0,0,0,0,0,0
$GC,2624,-1.07,-126.5,303.2,-8.2,167,2629,0.15,2.50,0.00,0.000,4,0.054,0.047,3050,167,3405,0,0,0,0,0,0
$GC,2646,-0.98,-126.5,305.5,-11.0,167,2651,0.25,2.30,0.00,0.000,6,0.096,0.019,3105,1668,3404,0,0,0,0,0,0
$GC,2992,-0.98,-126.5,338.0,-9.0,176,2996,0.00,2.50,0.00,0.000,4,0.000,0.048,3105,173,3404,0,0,0,0,0,0
$GC,3018,-0.98,-126.5,340.4,-9.8,176,3022,0.00,2.30,0.00,0.000,6,0.000,0.021,3105,1658,3404,0,0,0,0,0,0
$GC,3358,-0.98,-126.5,371.5,-9.2,185,3363,0.00,2.53,0.00,0.000,4,0.000,0.031,3105,3234,3403,0,0,0,0,0,0
$GC,3387,-1.09,-126.5,374.2,-8.9,185,3392,0.00,2.55,0.00,0.000,6,0.000,0.032,3105,1667,3403,0,0,0,0,0,0
$GC,3725,-1.09,-126.5,402.7,-8.4,194,3730,0.00,2.53,0.00,0.000,4,0.000,0.058,3105,173,3401,0,0,0,0,0,0
$GC,3749,-1.09,-126.5,405.0,-8.9,194,3753,0.00,2.35,0.00,0.000,6,0.000,0.024,3105,1659,3401,0,0,0,0,0,0
$GC,4090,-1.09,-126.5,432.1,-7.9,203,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1659,3399,0,0,0,0,0,0
$GC,4416,-1.09,-126.5,456.3,-7.3,211,4421,0.00,2.60,0.00,0.000,4,0.000,0.038,3105,3230,3397,0,0,0,0,0,0
$GC,4454,-1.22,-126.5,459.2,-7.7,211,4461,0.20,2.60,0.00,0.000,6,0.041,0.038,3006,1653,3397,0,0,0,0,0,0
$GC,4786,-0.99,-126.5,498.8,-12.1,220,4788,0.43,0.00,0.00,0.000,6,0.090,0.000,3101,1652,3394,0,0,0,0,0,0
$GC,5113,-1.06,-126.5,522.1,-6.8,228,5117,0.00,2.58,0.00,0.000,4,0.000,0.073,3101,164,3392,0,0,0,0,0,0
$GC,5146,-1.06,-126.5,524.9,-8.3,228,5150,0.00,2.40,0.00,0.000,6,0.000,0.034,3101,1643,3392,0,0,0,0,0,0
$GC,5479,-1.13,-126.5,547.9,-6.7,236,5485,0.12,2.60,0.00,0.000,4,0.063,0.069,3045,164,3390,0,0,0,0,0,0
$GC,5505,-1.04,-126.5,550.3,-9.9,236,5510,0.22,2.42,0.00,0.000,6,0.092,0.035,3094,1660,3389,0,0,0,0,0,0
$GC,5847,-1.10,-126.5,574.3,-7.1,245,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1661,3388,0,0,0,0,0,0
$GC,6173,-1.16,-126.5,598.1,-7.4,253,6178,0.12,2.70,0.00,0.000,4,0.064,0.051,3038,3248,3385,0,0,0,0,0,0
$GC,6198,-1.16,-126.5,600.6,-8.6,253,6203,0.12,2.67,0.00,0.000,6,0.104,0.049,3066,1650,3386,0,0,0,0,0,0
$GC,6540,-1.16,-126.5,628.8,-7.8,262,6544,0.00,2.58,0.00,0.000,4,0.000,0.077,3066,171,3383,0,0,0,0,0,0
$GC,6598,-1.16,-126.5,633.6,-9.2,263,6602,0.00,2.42,0.00,0.000,6,0.000,0.036,3066,1652,3383,0,0,0,0,0,0
$GC,6912,-1.16,-126.5,656.4,-7.1,271,6916,0.00,2.60,0.00,0.000,4,0.000,0.074,3066,173,3381,0,0,0,0,0,0
$GC,6957,-1.16,-126.5,660.2,-8.7,272,6961,0.00,2.40,0.00,0.000,6,0.000,0.038,3066,1647,3380,0,0,0,0,0,0
$GC,7285,-1.16,-126.5,687.3,-8.2,280,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1647,3379,0,0,0,0,0,0
$GC,7610,-1.16,-126.5,715.5,-8.8,288,7614,0.00,2.60,0.00,0.000,4,0.000,0.075,3066,164,3377,0,0,0,0,0,0
$GC,7678,-1.16,-126.5,721.9,-10.0,289,7682,0.00,2.45,0.00,0.000,6,0.000,0.038,3066,1645,3376,0,0,0,0,0,0
$STATE,8020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8020,begin apogee
$GC,8027,-0.31,0.0,751.1,8.4,298,8134,0.82,0.00,104.45,1.048,6,0.076,0.000,3253,1308,2880,0,0,0,0,0,0
$STATE,8135,end apogee,CONTROL_FINISHED_OK
$STATE,8135,begin climb
$GC,8140,1.34,126.5,753.6,0.0,300,8263,1.52,2.10,111.72,1.024,4,0.046,0.082,3615,167,2362,0,0,0,0,0,0
$GC,8346,1.08,126.5,739.2,11.7,304,8351,0.28,1.90,0.00,0.000,6,0.097,0.031,3558,1321,2357,0,0,0,0,0,0
$GC,8683,1.13,164.6,710.8,8.0,313,8722,0.00,0.00,33.62,0.976,6,0.000,0.000,3558,1321,2208,0,0,0,0,0,0
$GC,9048,1.15,179.9,678.0,9.2,322,9068,0.00,2.12,14.73,0.913,4,0.000,0.073,3557,172,2146,0,0,0,0,0,0
$GC,9152,1.15,179.9,666.9,11.0,324,9156,0.00,1.88,0.00,0.000,6,0.000,0.030,3558,1317,2144,0,0,0,0,0,0
$GC,9476,1.15,183.3,635.0,9.8,332,9484,0.00,2.05,4.32,0.637,4,0.000,0.070,3558,167,2131,0,0,0,0,0,0
$GC,9551,1.15,183.3,626.6,12.1,333,9555,0.00,1.85,0.00,0.000,6,0.000,0.029,3558,1305,2131,0,0,0,0,0,0
$GC,9892,1.21,183.3,592.0,10.3,342,9896,0.10,2.03,0.00,0.000,4,0.077,0.069,3601,164,2129,0,0,0,0,0,0
$GC,9930,1.08,183.3,586.9,13.8,342,9936,0.22,1.85,0.00,0.000,6,0.094,0.028,3554,1302,2129,0,0,0,0,0,0
$GC,10263,1.17,194.3,554.6,9.4,351,10276,0.00,0.00,11.10,0.832,6,0.000,0.000,3553,1305,2087,0,0,0,0,0,0
$GC,10586,1.29,221.8,525.7,8.5,359,10619,0.20,2.72,26.62,0.881,4,0.048,0.045,3623,2886,1974,0,0,0,0,0,0
$GC,10668,1.29,221.8,516.5,11.4,360,10677,0.10,2.72,0.00,0.000,6,0.120,0.044,3600,1299,1971,0,0,0,0,0,0
$GC,11003,1.29,221.8,480.0,10.7,369,11006,0.00,1.98,0.00,0.000,4,0.000,0.068,3600,160,1970,0,0,0,0,0,0
$GC,11028,1.22,221.8,477.4,11.9,369,11032,0.00,1.83,0.00,0.000,6,0.000,0.026,3600,1314,1969,0,0,0,0,0,0
$GC,11377,1.22,221.8,440.1,10.6,378,11381,0.00,2.58,0.00,0.000,4,0.000,0.038,3600,2878,1968,0,0,0,0,0,0
$GC,11424,1.30,221.8,435.1,10.6,379,11428,0.00,2.67,0.00,0.000,6,0.000,0.045,3600,1302,1966,0,0,0,0,0,0
$GC,11749,1.30,221.8,400.4,11.0,387,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1302,1966,0,0,0,0,0,0
$GC,12072,1.30,221.8,363.3,11.3,395,12076,0.00,2.62,0.00,0.000,4,0.000,0.034,3600,2887,1966,0,0,0,0,0,0
$GC,12105,1.38,221.8,359.6,11.7,395,12109,0.00,2.67,0.00,0.000,6,0.000,0.042,3600,1305,1964,0,0,0,0,0,0
$GC,12438,1.38,224.4,325.4,9.9,403,12442,0.00,2.58,0.00,0.000,4,0.000,0.031,3600,2888,1964,0,0,0,0,0,0
$GC,12467,1.49,261.4,322.7,8.0,403,12511,0.17,2.67,35.95,0.743,6,0.050,0.041,3675,1299,1814,0,0,0,0,0,0
$GC,12849,1.33,261.4,272.0,13.7,413,12854,0.28,1.92,0.00,0.000,4,0.087,0.058,3611,162,1809,0,0,0,0,0,0
$GC,12910,1.33,261.4,263.7,12.4,414,12914,0.00,1.80,0.00,0.000,6,0.000,0.021,3611,1333,1809,0,0,0,0,0,0
$GC,13227,1.33,261.4,228.3,10.9,422,13232,0.00,2.47,0.00,0.000,4,0.000,0.028,3611,2870,1808,0,0,0,0,0,0
$GC,13249,1.41,267.6,226.2,9.7,422,13261,0.00,2.62,5.90,0.529,6,0.000,0.038,3611,1296,1787,0,0,0,0,0,0
$GC,13582,1.41,271.7,190.4,9.8,435,13595,0.00,1.92,5.10,0.479,4,0.000,0.052,3611,172,1771,0,0,0,0,0,0
$GC,13646,1.41,271.7,183.5,10.8,441,13650,0.00,1.75,0.00,0.000,6,0.000,0.021,3611,1324,1771,0,0,0,0,0,0
$GC,13979,1.50,283.2,152.2,9.4,472,13996,0.15,0.00,11.88,0.547,6,0.056,0.000,3672,1327,1725,0,0,0,0,0,0
$GC,14315,1.43,283.2,107.0,13.8,504,14319,0.17,1.98,0.00,0.000,4,0.094,0.053,3633,160,1723,0,0,0,0,0,0
$GC,14361,1.43,283.2,100.6,13.4,508,14365,0.00,1.73,0.00,0.000,6,0.000,0.020,3633,1303,1723,0,0,0,0,0,0
$GC,14694,1.53,303.0,64.2,8.9,539,14722,0.00,0.00,19.33,0.489,6,0.000,0.000,3633,1306,1643,0,0,0,0,0,0
$GC,15041,1.67,331.0,32.1,8.5,572,15074,0.20,2.50,25.70,0.466,4,0.045,0.025,3719,2855,1529,0,0,0,0,0,0
$GC,15103,1.60,331.0,24.5,12.8,579,15112,0.20,2.58,0.00,0.000,6,0.067,0.034,3669,1314,1526,0,0,0,0,0,0
$STATE,15277,end climb,SURFACE_DEPTH_REACHED
$STATE,15278,begin surface coast
$FINISH,0.9,1.023271
$STATE,15316,end surface coast,CONTROL_FINISHED_OK
$STATE,15316,begin surface
$SM_CCo,15340,14.02,0.419,0,0,1452,350.04
$SM_GC,1.86,0.00,0.00,14.02,0.000,0.000,0.419,412,1690,1452,-13.38,0.85,350.04
$IRIDIUM_FIX,2246.36,-15805.83,241101,161659
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.2,71.987
$10V_AH,9.8,59.473
$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,33.900,137.525,410.425,14.025,0.000,23.952,33.541,186.564,2.000,0.000,11.784,1262.150,11346.968,472.022,2037.789,625.302,33.374,1356.779,0.000,2046.739,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,82.069,1047.722,418.782,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,414.858,310.200,392.760,530.632,929.709,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,47841,612
$CAP_FILE_SIZE,134943,0
$CFSIZE,260165632,144945152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310812,013453,2257.195,-15808.928,49,1.8,49,10.1