version: 66.06
glider: 148
mission: 11
dive: 556
start: 8 31 112 1 42 50
data:
$ID,148
$MISSION,11
$DIVE,556
$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,-930069
$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,92
$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
$GPS1,013453,2257.195,-15808.928,49,1.8,49,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.7
$GPS2,014155,2257.226,-15809.078,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,0.104
$KALMAN_X,-517402.4,-253.3,-247.8,502002.6,-2101.8
$KALMAN_Y,74551.8,133.4,-339.7,-57265.4,491.0
$MHEAD_RNG_PITCHd_Wd,54.5,15466,-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,-67.60,0.000,2,0.000,0.000,412,1692,3222,0,0,0,0,0,0
$GC,90,-1.34,-126.5,4.4,-8.2,9,115,14.20,2.42,-2.92,0.000,4,0.168,0.032,3024,3208,3398,0,0,0,0,0,0
$GC,186,-1.00,-126.5,32.5,-19.3,22,199,0.35,2.53,0.00,0.000,6,0.094,0.030,3099,1646,3400,0,0,0,0,0,0
$GC,518,-0.84,-126.5,86.7,-15.3,53,523,0.17,2.47,0.00,0.000,4,0.104,0.023,3137,3204,3402,0,0,0,0,0,0
$GC,536,-0.75,-126.5,90.1,-15.0,54,540,0.00,2.47,0.00,0.000,6,0.000,0.026,3137,1655,3402,0,0,0,0,0,0
$GC,864,-0.75,-126.5,130.7,-11.5,84,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1655,3403,0,0,0,0,0,0
$GC,1194,-0.75,-126.5,160.2,-7.8,115,1198,0.00,2.42,0.00,0.000,4,0.000,0.042,3137,171,3404,0,0,0,0,0,0
$GC,1212,-0.75,-126.5,162.0,-8.2,116,1216,0.00,2.22,0.00,0.000,6,0.000,0.018,3137,1651,3404,0,0,0,0,0,0
$GC,1541,-0.75,-126.5,190.0,-8.8,147,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1654,3405,0,0,0,0,0,0
$GC,1863,-0.82,-126.5,218.4,-8.8,163,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1654,3405,0,0,0,0,0,0
$GC,2187,-0.90,-126.5,249.7,-9.4,171,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1654,3405,0,0,0,0,0,0
$GC,2512,-1.00,-126.5,272.9,-6.2,179,2517,0.15,2.47,0.00,0.000,4,0.054,0.025,3064,3209,3405,0,0,0,0,0,0
$GC,2529,-1.00,-126.5,274.2,-6.2,179,2534,0.17,2.50,0.00,0.000,6,0.091,0.027,3104,1649,3405,0,0,0,0,0,0
$GC,2879,-1.00,-126.5,301.5,-8.1,188,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1648,3405,0,0,0,0,0,0
$GC,3204,-1.00,-126.5,331.6,-9.5,196,3209,0.00,2.45,0.00,0.000,4,0.000,0.048,3104,174,3405,0,0,0,0,0,0
$GC,3239,-1.00,-126.5,335.1,-11.3,196,3243,0.00,2.25,0.00,0.000,6,0.000,0.020,3104,1623,3405,0,0,0,0,0,0
$GC,3570,-1.00,-126.5,368.0,-10.2,204,3574,0.00,2.58,0.00,0.000,4,0.000,0.030,3104,3233,3403,0,0,0,0,0,0
$GC,3617,-1.13,-126.5,372.9,-10.0,205,3622,0.12,2.55,0.00,0.000,6,0.063,0.032,3033,1660,3403,0,0,0,0,0,0
$GC,3943,-0.96,-126.5,414.5,-12.3,213,3945,0.35,0.00,0.00,0.000,6,0.087,0.000,3109,1660,3401,0,0,0,0,0,0
$GC,4266,-1.03,-126.5,439.1,-7.0,221,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1660,3400,0,0,0,0,0,0
$GC,4591,-1.10,-126.5,465.5,-8.7,229,4596,0.12,2.58,0.00,0.000,4,0.064,0.040,3052,3219,3398,0,0,0,0,0,0
$GC,4608,-1.10,-126.5,467.3,-9.3,229,4613,0.12,2.58,0.00,0.000,6,0.104,0.036,3079,1659,3398,0,0,0,0,0,0
$GC,4959,-1.10,-126.5,505.7,-10.7,238,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1659,3395,0,0,0,0,0,0
$GC,5284,-1.10,-126.5,537.7,-9.3,246,5288,0.00,2.58,0.00,0.000,4,0.000,0.074,3079,169,3393,0,0,0,0,0,0
$GC,5305,-1.10,-126.5,539.6,-9.6,246,5309,0.00,2.38,0.00,0.000,6,0.000,0.032,3079,1638,3393,0,0,0,0,0,0
$GC,5650,-1.10,-126.5,569.7,-9.1,255,5655,0.00,2.53,0.00,0.000,4,0.000,0.068,3079,172,3391,0,0,0,0,0,0
$GC,5693,-1.10,-126.5,574.4,-10.8,256,5698,0.00,2.42,0.00,0.000,6,0.000,0.035,3079,1657,3391,0,0,0,0,0,0
$GC,6022,-1.10,-126.5,608.0,-10.2,264,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1656,3388,0,0,0,0,0,0
$GC,6346,-1.10,-126.5,639.2,-9.1,272,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1657,3387,0,0,0,0,0,0
$GC,6671,-1.10,-126.5,665.9,-7.9,280,6675,0.00,2.62,0.00,0.000,4,0.000,0.075,3079,167,3384,0,0,0,0,0,0
$GC,6697,-1.10,-126.5,668.1,-8.9,280,6701,0.00,2.45,0.00,0.000,6,0.000,0.038,3079,1651,3384,0,0,0,0,0,0
$GC,7037,-1.10,-126.5,694.5,-7.7,289,7042,0.00,2.62,0.00,0.000,4,0.000,0.076,3079,164,3382,0,0,0,0,0,0
$GC,7075,-1.10,-126.5,697.8,-8.2,289,7081,0.00,2.45,0.00,0.000,6,0.000,0.039,3079,1650,3382,0,0,0,0,0,0
$GC,7408,-1.10,-126.5,722.3,-7.3,298,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1650,3380,0,0,0,0,0,0
$GC,7731,-1.10,-126.5,745.2,-7.0,306,7736,0.00,2.60,0.00,0.000,4,0.000,0.077,3079,167,3380,0,0,0,0,0,0
$GC,7783,-1.10,-126.5,749.4,-8.4,307,7787,0.00,2.45,0.00,0.000,6,0.000,0.040,3079,1647,3378,0,0,0,0,0,0
$STATE,7790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7790,begin apogee
$GC,7799,-0.31,0.0,750.0,7.2,307,7907,0.73,0.00,104.47,1.042,6,0.078,0.000,3247,1300,2880,0,0,0,0,0,0
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7910,1.34,126.5,752.3,0.0,310,8030,1.55,2.10,111.53,1.018,4,0.052,0.083,3610,177,2364,0,0,0,0,0,0
$GC,8111,1.10,126.5,737.5,12.1,314,8116,0.25,1.85,0.00,0.000,6,0.097,0.031,3557,1319,2358,0,0,0,0,0,0
$GC,8454,1.15,171.6,710.3,7.6,323,8499,0.00,2.10,39.72,0.977,4,0.000,0.074,3557,170,2179,0,0,0,0,0,0
$GC,8663,1.17,180.6,690.3,9.5,327,8681,0.00,1.85,9.52,0.851,6,0.000,0.030,3557,1299,2142,0,0,0,0,0,0
$GC,9006,1.20,207.0,660.6,8.6,336,9034,0.10,0.00,25.10,0.943,6,0.077,0.000,3598,1301,2036,0,0,0,0,0,0
$GC,9331,1.20,207.0,624.4,11.3,344,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1302,2030,0,0,0,0,0,0
$GC,9658,1.20,207.0,589.3,10.7,352,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1302,2028,0,0,0,0,0,0
$GC,9981,1.20,207.0,554.2,11.0,360,9984,0.00,1.98,0.00,0.000,4,0.000,0.067,3598,169,2028,0,0,0,0,0,0
$GC,10036,1.13,207.0,547.0,14.4,361,10041,0.15,1.85,0.00,0.000,6,0.102,0.028,3565,1318,2027,0,0,0,0,0,0
$GC,10362,1.21,214.1,515.1,9.6,369,10370,0.00,0.00,6.35,0.712,6,0.000,0.000,3565,1321,2007,0,0,0,0,0,0
$GC,10689,1.32,239.7,485.5,8.6,377,10717,0.17,0.00,25.67,0.850,6,0.052,0.000,3631,1321,1903,0,0,0,0,0,0
$GC,11016,1.24,239.7,446.1,12.3,385,11020,0.20,2.00,0.00,0.000,4,0.095,0.059,3588,165,1899,0,0,0,0,0,0
$GC,11035,1.24,239.7,443.2,12.4,385,11038,0.00,1.83,0.00,0.000,6,0.000,0.027,3588,1314,1899,0,0,0,0,0,0
$GC,11384,1.24,239.7,407.1,10.5,394,11388,0.00,2.58,0.00,0.000,4,0.000,0.036,3588,2878,1898,0,0,0,0,0,0
$GC,11404,1.24,239.7,405.0,10.2,394,11409,0.00,2.67,0.00,0.000,6,0.000,0.042,3588,1298,1896,0,0,0,0,0,0
$GC,11750,1.25,245.6,370.7,9.7,403,11762,0.00,2.67,6.20,0.627,4,0.000,0.034,3587,2875,1877,0,0,0,0,0,0
$GC,11787,1.37,267.3,367.2,8.8,403,11816,0.12,2.67,21.25,0.752,6,0.063,0.041,3648,1296,1789,0,0,0,0,0,0
$GC,12125,1.27,267.3,324.0,13.0,412,12127,0.22,0.00,0.00,0.000,6,0.091,0.000,3598,1297,1786,0,0,0,0,0,0
$GC,12451,1.33,267.3,290.9,10.2,420,12455,0.00,2.60,0.00,0.000,4,0.000,0.031,3597,2876,1785,0,0,0,0,0,0
$GC,12481,1.44,267.3,287.8,10.9,420,12486,0.15,2.65,0.00,0.000,6,0.055,0.041,3660,1305,1783,0,0,0,0,0,0
$GC,12818,1.33,267.3,237.6,15.3,429,12822,0.22,1.95,0.00,0.000,4,0.091,0.058,3610,164,1782,0,0,0,0,0,0
$GC,12863,1.33,267.3,231.4,13.3,430,12867,0.00,1.77,0.00,0.000,6,0.000,0.021,3610,1338,1782,0,0,0,0,0,0
$GC,13195,1.42,280.2,196.9,9.3,438,13216,0.00,2.47,11.95,0.588,4,0.000,0.028,3611,2862,1735,0,0,0,0,0,0
$GC,13242,1.61,329.1,193.1,7.4,442,13297,0.25,2.60,45.75,0.627,6,0.039,0.036,3698,1309,1537,0,0,0,0,0,0
$GC,13611,1.48,329.1,140.6,14.8,478,13616,0.25,1.92,0.00,0.000,4,0.087,0.059,3638,166,1532,0,0,0,0,0,0
$GC,13659,1.48,329.1,134.0,14.0,482,13663,0.00,1.73,0.00,0.000,6,0.000,0.021,3637,1316,1531,0,0,0,0,0,0
$GC,13991,1.48,329.1,92.6,12.4,513,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,3638,1319,1530,0,0,0,0,0,0
$GC,14325,1.57,331.2,59.0,9.9,544,14330,0.10,2.45,0.00,0.000,4,0.074,0.026,3690,2861,1530,0,0,0,0,0,0
$GC,14346,1.57,331.2,55.6,10.1,545,14356,0.10,2.58,0.00,0.000,6,0.071,0.035,3661,1314,1528,0,0,0,0,0,0
$GC,14685,1.57,331.2,23.2,11.1,581,14694,0.00,2.50,0.00,0.000,4,0.000,0.028,3661,2853,1528,0,0,0,0,0,0
$GC,14735,1.66,334.5,18.0,9.8,588,14744,0.00,2.55,4.43,0.331,6,0.000,0.034,3661,1312,1515,0,0,0,0,0,0
$STATE,14845,end climb,SURFACE_DEPTH_REACHED
$STATE,14845,begin surface coast
$FINISH,0.9,1.022383
$STATE,14881,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14905,13.57,0.420,0,0,1453,350.04
$SM_GC,1.60,0.00,0.00,13.57,0.000,0.000,0.420,413,1695,1453,-13.37,0.99,350.04
$IRIDIUM_FIX,2251.04,-15808.00,241101,212105
$TT8_MAMPS,0.027612
$HUMID,68.15
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,11
$24V_AH,23.2,72.110
$10V_AH,9.8,59.583
$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,33.400,114.600,411.950,13.575,0.000,28.263,35.880,203.768,2.750,0.000,13.511,1222.436,11037.654,455.525,1999.267,622.148,33.378,1299.602,0.000,2000.962,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,82.836,1042.353,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.221,315.809,396.333,550.083,966.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,47903,610
$CAP_FILE_SIZE,126358,0
$CFSIZE,260165632,144891904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310812,055320,2258.232,-15808.235,47,2.1,66,10.1