version: 66.06
glider: 148
mission: 11
dive: 147
start: 6 30 112 16 14 31
data:
$ID,148
$MISSION,11
$DIVE,147
$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,-921294.31
$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,1540
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,89
$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
$GPS1,160725,2241.989,-15805.542,57,0.9,57,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.5
$GPS2,161337,2241.940,-15805.483,13,1.4,19,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,0.230
$KALMAN_X,72808.0,71.0,-54.7,-82593.3,1496.1
$KALMAN_Y,-16636.6,-222.5,355.0,5275.8,-1685.7
$MHEAD_RNG_PITCHd_Wd,322.2,41721,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.45,0.000,2,0.000,0.000,414,1563,3325,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-6.3,10,120,13.80,2.42,-3.28,0.000,4,0.153,0.035,3056,3072,3517,0,0,0,0,0,0
$GC,214,-1.09,-146.0,35.9,-16.6,25,220,0.20,2.50,0.00,0.000,6,0.099,0.031,3101,1536,3519,0,0,0,0,0,0
$GC,484,-0.93,-146.0,77.7,-13.8,49,489,0.17,2.45,0.00,0.000,4,0.107,0.032,3138,3077,3520,0,0,0,0,0,0
$GC,515,-0.93,-146.0,82.5,-12.2,51,520,0.00,2.47,0.00,0.000,6,0.000,0.028,3138,1533,3520,0,0,0,0,0,0
$GC,783,-0.93,-146.0,111.2,-10.4,75,787,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1533,3521,0,0,0,0,0,0
$GC,1044,-0.93,-146.0,138.2,-10.2,100,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1533,3522,0,0,0,0,0,0
$GC,1302,-0.93,-146.0,164.9,-10.5,124,1306,0.00,2.45,0.00,0.000,4,0.000,0.025,3138,3081,3522,0,0,0,0,0,0
$GC,1341,-1.03,-146.0,168.7,-10.5,127,1345,0.00,2.47,0.00,0.000,6,0.000,0.029,3138,1543,3522,0,0,0,0,0,0
$GC,1607,-1.03,-146.0,192.0,-8.6,151,1611,0.00,2.25,0.00,0.000,4,0.000,0.044,3138,167,3523,0,0,0,0,0,0
$GC,1635,-1.11,-146.0,194.6,-9.0,153,1640,0.17,2.08,0.00,0.000,6,0.050,0.018,3067,1549,3522,0,0,0,0,0,0
$GC,1887,-0.97,-146.0,224.3,-11.6,162,1892,0.25,2.40,0.00,0.000,4,0.092,0.023,3127,3087,3523,0,0,0,0,0,0
$GC,1933,-1.12,-146.0,228.2,-7.3,163,1938,0.12,2.45,0.00,0.000,6,0.063,0.029,3046,1552,3523,0,0,0,0,0,0
$GC,2221,-0.93,-146.0,265.1,-12.8,170,2226,0.43,2.25,0.00,0.000,4,0.087,0.044,3133,170,3523,0,0,0,0,0,0
$GC,2293,-1.07,-146.0,272.0,-8.7,171,2298,0.12,2.10,0.00,0.000,6,0.064,0.019,3070,1542,3524,0,0,0,0,0,0
$GC,2553,-1.00,-146.0,301.7,-11.7,178,2558,0.22,2.47,0.00,0.000,4,0.094,0.031,3120,3101,3524,0,0,0,0,0,0
$GC,2606,-1.18,-146.0,306.5,-7.8,179,2611,0.15,2.47,0.00,0.000,6,0.054,0.032,3034,1567,3524,0,0,0,0,0,0
$GC,2886,-1.01,-146.0,339.6,-11.6,186,2891,0.38,2.33,0.00,0.000,4,0.090,0.050,3115,174,3523,0,0,0,0,0,0
$GC,2911,-1.01,-146.0,342.3,-9.7,186,2915,0.00,2.12,0.00,0.000,6,0.000,0.021,3115,1549,3524,0,0,0,0,0,0
$GC,3176,-1.12,-146.0,360.9,-7.1,193,3181,0.00,2.53,0.00,0.000,4,0.000,0.035,3115,3109,3523,0,0,0,0,0,0
$GC,3196,-1.23,-146.0,362.5,-7.4,193,3201,0.17,2.53,0.00,0.000,6,0.048,0.033,3029,1566,3523,0,0,0,0,0,0
$GC,3461,-1.07,-146.0,392.1,-11.3,200,3466,0.32,2.38,0.00,0.000,4,0.090,0.058,3103,167,3522,0,0,0,0,0,0
$GC,3501,-1.16,-146.0,396.0,-8.1,200,3507,0.00,2.17,0.00,0.000,6,0.000,0.025,3103,1552,3521,0,0,0,0,0,0
$GC,3752,-1.24,-146.0,414.6,-7.5,207,3757,0.15,2.53,0.00,0.000,4,0.058,0.036,3042,3111,3520,0,0,0,0,0,0
$GC,3777,-1.24,-146.0,417.0,-9.8,207,3783,0.12,2.55,0.00,0.000,6,0.107,0.036,3070,1565,3520,0,0,0,0,0,0
$GC,4038,-1.24,-146.0,442.1,-9.8,214,4042,0.00,2.40,0.00,0.000,4,0.000,0.066,3070,164,3518,0,0,0,0,0,0
$GC,4075,-1.24,-146.0,446.2,-10.6,214,4081,0.00,2.22,0.00,0.000,6,0.000,0.028,3070,1559,3518,0,0,0,0,0,0
$GC,4327,-1.24,-146.0,469.5,-9.3,221,4331,0.00,2.53,0.00,0.000,4,0.000,0.039,3070,3115,3516,0,0,0,0,0,0
$GC,4350,-1.24,-146.0,471.8,-9.7,221,4354,0.00,2.58,0.00,0.000,6,0.000,0.038,3070,1566,3516,0,0,0,0,0,0
$GC,4610,-1.24,-146.0,495.1,-9.0,228,4614,0.00,2.42,0.00,0.000,4,0.000,0.071,3070,162,3514,0,0,0,0,0,0
$GC,4654,-1.24,-146.0,499.6,-10.6,229,4658,0.00,2.25,0.00,0.000,6,0.000,0.031,3070,1557,3514,0,0,0,0,0,0
$GC,4941,-1.24,-146.0,526.7,-9.3,236,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1558,3512,0,0,0,0,0,0
$GC,5184,-1.24,-146.0,548.9,-9.0,242,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1558,3511,0,0,0,0,0,0
$GC,5430,-1.24,-146.0,569.7,-8.4,248,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1558,3509,0,0,0,0,0,0
$GC,5672,-1.24,-146.0,589.4,-8.1,254,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1558,3507,0,0,0,0,0,0
$STATE,5831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5832,begin apogee
$GC,5838,-0.31,0.0,602.3,8.0,258,5959,0.90,0.00,118.10,0.939,6,0.091,0.000,3268,1410,2920,0,0,0,0,0,0
$STATE,5960,end apogee,CONTROL_FINISHED_OK
$STATE,5960,begin climb
$GC,5963,1.27,146.0,605.7,0.0,261,6098,1.48,2.22,124.70,0.920,4,0.047,0.076,3619,178,2322,0,0,0,0,0,0
$GC,6196,0.91,146.0,589.2,13.3,266,6201,0.40,2.05,0.00,0.000,6,0.100,0.032,3536,1414,2318,0,0,0,0,0,0
$GC,6470,0.95,179.5,565.3,8.5,273,6504,0.00,2.22,28.33,0.868,4,0.000,0.070,3536,178,2188,0,0,0,0,0,0
$GC,6561,0.87,179.5,557.1,10.7,275,6565,0.00,2.03,0.00,0.000,6,0.000,0.029,3536,1418,2186,0,0,0,0,0,0
$GC,6852,0.90,203.2,530.6,8.9,282,6876,0.00,0.00,21.85,0.848,6,0.000,0.000,3536,1419,2091,0,0,0,0,0,0
$GC,7096,0.91,211.1,507.4,9.6,288,7109,0.00,2.20,7.88,0.732,4,0.000,0.066,3536,168,2059,0,0,0,0,0,0
$GC,7191,0.91,211.1,496.9,11.7,290,7195,0.00,2.03,0.00,0.000,6,0.000,0.027,3536,1422,2058,0,0,0,0,0,0
$GC,7479,0.91,212.0,468.1,10.0,297,7483,0.00,2.15,0.00,0.000,4,0.000,0.063,3536,170,2055,0,0,0,0,0,0
$GC,7526,0.91,212.0,462.6,11.4,298,7530,0.00,2.00,0.00,0.000,6,0.000,0.027,3536,1418,2055,0,0,0,0,0,0
$GC,7813,0.92,217.8,434.5,9.7,305,7825,0.00,2.65,6.82,0.682,4,0.000,0.041,3536,3002,2031,0,0,0,0,0,0
$GC,7844,1.01,238.2,431.5,9.1,305,7873,0.10,2.70,20.17,0.800,6,0.075,0.042,3587,1408,1948,0,0,0,0,0,0
$GC,8146,0.93,238.2,396.5,11.5,313,8151,0.20,2.12,0.00,0.000,4,0.095,0.061,3543,167,1943,0,0,0,0,0,0
$GC,8216,0.93,238.2,388.8,10.7,314,8220,0.00,1.95,0.00,0.000,6,0.000,0.024,3542,1403,1943,0,0,0,0,0,0
$GC,8486,0.94,250.9,363.3,9.4,321,8503,0.00,2.65,11.77,0.722,4,0.000,0.038,3543,2989,1897,0,0,0,0,0,0
$GC,8518,1.05,287.6,360.0,8.3,321,8559,0.12,2.70,33.38,0.770,6,0.064,0.041,3592,1396,1748,0,0,0,0,0,0
$GC,8814,1.05,287.6,321.9,13.0,329,8818,0.10,2.12,0.00,0.000,4,0.123,0.060,3570,161,1742,0,0,0,0,0,0
$GC,8860,1.05,287.6,316.1,12.3,330,8864,0.00,1.98,0.00,0.000,6,0.000,0.025,3570,1405,1743,0,0,0,0,0,0
$GC,9148,1.05,287.6,285.0,11.0,337,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1408,1740,0,0,0,0,0,0
$GC,9390,1.05,287.6,259.6,10.3,343,9394,0.00,2.08,0.00,0.000,4,0.000,0.054,3570,167,1738,0,0,0,0,0,0
$GC,9537,1.05,287.6,242.0,13.0,346,9541,0.00,1.92,0.00,0.000,6,0.000,0.021,3570,1412,1738,0,0,0,0,0,0
$GC,9815,1.05,287.6,211.1,11.1,353,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1414,1737,0,0,0,0,0,0
$GC,10064,1.12,287.6,183.9,10.4,368,10068,0.00,2.47,0.00,0.000,4,0.000,0.029,3570,2975,1737,0,0,0,0,0,0
$GC,10092,1.22,287.6,181.2,10.3,370,10097,0.15,2.60,0.00,0.000,6,0.055,0.036,3625,1391,1735,0,0,0,0,0,0
$GC,10352,1.14,287.6,147.7,13.2,394,10357,0.17,2.03,0.00,0.000,4,0.098,0.050,3587,160,1735,0,0,0,0,0,0
$GC,10454,1.14,287.6,136.0,11.7,403,10458,0.00,1.90,0.00,0.000,6,0.000,0.021,3587,1405,1735,0,0,0,0,0,0
$GC,10721,1.14,287.6,107.8,10.4,428,10725,0.00,2.47,0.00,0.000,4,0.000,0.028,3586,2980,1735,0,0,0,0,0,0
$GC,10739,1.16,299.5,106.2,9.4,429,10761,0.00,2.58,9.82,0.502,6,0.000,0.040,3587,1402,1697,0,0,0,0,0,0
$GC,11017,1.16,299.6,78.2,10.0,455,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1402,1697,0,0,0,0,0,0
$GC,11285,1.26,314.4,52.6,9.3,480,11310,0.12,2.58,14.90,0.479,4,0.064,0.028,3641,2971,1636,0,0,0,0,0,0
$GC,11369,1.26,314.4,42.9,12.4,487,11374,0.12,2.58,0.00,0.000,6,0.102,0.035,3614,1405,1633,0,0,0,0,0,0
$GC,11662,1.26,314.4,9.4,11.3,526,11671,0.00,2.05,0.00,0.000,4,0.000,0.054,3613,175,1633,0,0,0,0,0,0
$GC,11705,1.26,314.4,4.0,13.7,532,11713,0.00,1.90,0.00,0.000,6,0.000,0.019,3613,1426,1633,0,0,0,0,0,0
$STATE,11720,end climb,SURFACE_DEPTH_REACHED
$STATE,11721,begin surface coast
$FINISH,0.7,1.013053
$STATE,11759,end surface coast,CONTROL_FINISHED_OK
$STATE,11759,begin surface
$SM_CCo,11784,32.17,0.449,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,32.17,0.000,0.000,0.449,409,1565,1369,-13.48,0.71,380.21
$IRIDIUM_FIX,2232.34,-15804.11,240901,121232
$TT8_MAMPS,0.027612
$HUMID,62.04
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,5
$24V_AH,23.5,20.718
$10V_AH,9.9,14.491
$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,33.600,130.025,397.725,32.175,0.000,27.786,35.224,169.314,1.250,0.000,22.523,1162.419,7924.889,472.963,2066.757,560.097,33.357,1333.421,0.000,2055.794,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,101.244,938.808,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.587,308.367,391.704,570.371,1002.065,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41537,540
$CAP_FILE_SIZE,128895,0
$CFSIZE,260165632,170045440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,193236,2242.545,-15805.712,17,1.7,27,10.0