version: 66.06
glider: 148
mission: 11
dive: 195
start: 7 7 112 16 56 24
data:
$ID,148
$MISSION,11
$DIVE,195
$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,-922366.69
$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,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,73
$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
$GPS1,164611,2239.314,-15737.779,34,1.8,39,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.4
$GPS2,165530,2239.352,-15737.871,10,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.216
$KALMAN_X,60637.1,286.6,-90.1,-23463.7,-1377.9
$KALMAN_Y,-38485.9,-287.8,-771.8,23515.2,1502.2
$MHEAD_RNG_PITCHd_Wd,23.6,48476,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.90,0.000,2,0.000,0.000,410,1557,3072,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.7,9,120,14.38,2.47,-8.18,0.000,4,0.170,0.037,3057,3088,3518,0,0,0,0,0,0
$GC,162,-0.97,-146.0,24.2,-23.3,19,171,0.28,2.58,0.00,0.000,6,0.077,0.036,3125,1542,3520,0,0,0,0,0,0
$GC,441,-0.86,-146.0,67.9,-14.0,46,446,0.12,2.47,0.00,0.000,4,0.118,0.025,3150,3091,3520,0,0,0,0,0,0
$GC,474,-0.86,-146.0,72.9,-13.1,48,479,0.00,2.50,0.00,0.000,6,0.000,0.031,3151,1541,3521,0,0,0,0,0,0
$GC,735,-0.86,-146.0,102.2,-10.7,72,736,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1541,3522,0,0,0,0,0,0
$GC,992,-0.94,-146.0,127.9,-8.7,96,997,0.00,2.47,0.00,0.000,4,0.000,0.024,3150,3092,3522,0,0,0,0,0,0
$GC,1019,-1.04,-146.0,130.4,-9.6,98,1024,0.15,2.47,0.00,0.000,6,0.053,0.028,3055,1546,3523,0,0,0,0,0,0
$GC,1282,-0.76,-146.0,171.0,-16.0,122,1291,0.57,2.42,0.00,0.000,4,0.092,0.022,3169,3093,3524,0,0,0,0,0,0
$GC,1297,-0.59,-146.0,173.4,-14.9,123,1306,0.15,2.50,0.00,0.000,6,0.070,0.026,3209,1546,3524,0,0,0,0,0,0
$GC,1564,-0.91,-146.0,188.2,-5.4,148,1569,0.25,2.42,0.00,0.000,4,0.035,0.022,3093,3093,3524,0,0,0,0,0,0
$GC,1593,-0.91,-146.0,191.2,-10.1,150,1603,0.17,2.50,0.00,0.000,6,0.068,0.029,3138,1559,3524,0,0,0,0,0,0
$GC,1857,-1.00,-146.0,215.1,-9.0,164,1861,0.00,2.28,0.00,0.000,4,0.000,0.047,3138,160,3524,0,0,0,0,0,0
$GC,1887,-1.11,-146.0,217.8,-9.3,164,1892,0.17,2.10,0.00,0.000,6,0.048,0.018,3045,1551,3525,0,0,0,0,0,0
$GC,2147,-0.90,-146.0,252.4,-13.2,171,2152,0.43,2.42,0.00,0.000,4,0.087,0.025,3136,3094,3524,0,0,0,0,0,0
$GC,2181,-1.04,-146.0,255.8,-7.5,171,2186,0.10,2.47,0.00,0.000,6,0.074,0.029,3058,1550,3524,0,0,0,0,0,0
$GC,2433,-0.90,-146.0,284.9,-12.0,177,2438,0.38,2.25,0.00,0.000,4,0.084,0.045,3139,171,3524,0,0,0,0,0,0
$GC,2452,-0.90,-146.0,287.1,-10.2,177,2456,0.00,2.08,0.00,0.000,6,0.000,0.019,3139,1547,3524,0,0,0,0,0,0
$GC,2718,-1.06,-146.0,305.2,-6.8,184,2723,0.12,2.47,0.00,0.000,4,0.063,0.036,3074,3094,3524,0,0,0,0,0,0
$GC,2756,-1.06,-146.0,308.7,-8.7,184,2762,0.15,2.50,0.00,0.000,6,0.094,0.033,3110,1562,3524,0,0,0,0,0,0
$GC,3006,-1.12,-146.0,330.2,-8.6,191,3010,0.00,2.30,0.00,0.000,4,0.000,0.052,3109,165,3524,0,0,0,0,0,0
$GC,3046,-1.18,-146.0,333.7,-9.3,191,3052,0.12,2.15,0.00,0.000,6,0.064,0.021,3049,1549,3524,0,0,0,0,0,0
$GC,3296,-1.06,-146.0,361.9,-11.4,198,3301,0.25,2.53,0.00,0.000,4,0.088,0.031,3110,3111,3523,0,0,0,0,0,0
$GC,3315,-1.06,-146.0,364.0,-9.9,198,3320,0.00,2.53,0.00,0.000,6,0.000,0.035,3110,1560,3522,0,0,0,0,0,0
$GC,3581,-1.13,-146.0,384.5,-7.9,205,3585,0.00,2.35,0.00,0.000,4,0.000,0.059,3110,170,3521,0,0,0,0,0,0
$GC,3600,-1.21,-146.0,386.4,-9.3,205,3605,0.12,2.17,0.00,0.000,6,0.064,0.023,3050,1559,3521,0,0,0,0,0,0
$GC,3871,-1.10,-146.0,416.5,-11.2,212,3876,0.22,2.50,0.00,0.000,4,0.091,0.034,3100,3107,3519,0,0,0,0,0,0
$GC,3895,-1.10,-146.0,419.3,-9.6,212,3900,0.00,2.53,0.00,0.000,6,0.000,0.038,3100,1566,3519,0,0,0,0,0,0
$GC,4155,-1.16,-146.0,441.4,-8.7,219,4159,0.00,2.40,0.00,0.000,4,0.000,0.067,3100,163,3518,0,0,0,0,0,0
$GC,4175,-1.16,-146.0,443.4,-9.8,219,4179,0.00,2.20,0.00,0.000,6,0.000,0.027,3100,1558,3518,0,0,0,0,0,0
$GC,4444,-1.23,-146.0,466.9,-8.5,226,4449,0.12,2.55,0.00,0.000,4,0.064,0.039,3040,3116,3516,0,0,0,0,0,0
$GC,4482,-1.23,-146.0,470.9,-10.0,226,4488,0.15,2.55,0.00,0.000,6,0.095,0.039,3075,1569,3516,0,0,0,0,0,0
$GC,4734,-1.23,-146.0,491.6,-8.1,233,4738,0.00,2.40,0.00,0.000,4,0.000,0.071,3075,170,3514,0,0,0,0,0,0
$GC,4763,-1.23,-146.0,494.3,-8.9,233,4768,0.00,2.22,0.00,0.000,6,0.000,0.036,3074,1554,3514,0,0,0,0,0,0
$GC,5018,-1.23,-146.0,512.5,-7.0,240,5022,0.00,2.40,0.00,0.000,4,0.000,0.068,3074,168,3512,0,0,0,0,0,0
$GC,5043,-1.23,-146.0,514.5,-8.5,240,5047,0.00,2.25,0.00,0.000,6,0.000,0.035,3075,1555,3512,0,0,0,0,0,0
$GC,5302,-1.23,-146.0,536.5,-8.7,247,5307,0.00,2.58,0.00,0.000,4,0.000,0.047,3074,3122,3511,0,0,0,0,0,0
$GC,5321,-1.23,-146.0,538.5,-10.5,247,5325,0.00,2.62,0.00,0.000,6,0.000,0.042,3075,1552,3511,0,0,0,0,0,0
$GC,5586,-1.23,-146.0,563.7,-9.6,254,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1552,3509,0,0,0,0,0,0
$GC,5829,-1.23,-146.0,585.5,-8.8,260,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1552,3507,0,0,0,0,0,0
$STATE,6029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6029,begin apogee
$GC,6035,-0.31,0.0,602.4,8.3,265,6157,0.88,0.00,118.05,0.943,6,0.085,0.000,3269,1376,2920,0,0,0,0,0,0
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6158,begin climb
$GC,6162,1.27,146.0,605.8,0.0,268,6296,1.45,2.28,123.88,0.921,4,0.045,0.084,3616,165,2323,0,0,0,0,0,0
$GC,6451,0.91,146.0,583.2,12.3,274,6456,0.38,2.03,0.00,0.000,6,0.099,0.031,3538,1387,2317,0,0,0,0,0,0
$GC,6715,0.97,194.9,561.8,7.8,281,6760,0.00,0.00,42.28,0.887,6,0.000,0.000,3538,1387,2125,0,0,0,0,0,0
$GC,7003,0.99,215.6,536.5,9.0,288,7024,0.00,0.00,18.90,0.840,6,0.000,0.000,3538,1388,2040,0,0,0,0,0,0
$GC,7245,0.99,215.6,512.3,10.0,294,7249,0.00,2.12,0.00,0.000,4,0.000,0.065,3537,169,2035,0,0,0,0,0,0
$GC,7272,0.99,215.6,509.2,12.1,294,7276,0.00,1.98,0.00,0.000,6,0.000,0.028,3537,1376,2035,0,0,0,0,0,0
$GC,7533,1.01,226.1,484.1,9.5,301,7549,0.00,2.17,9.90,0.763,4,0.000,0.064,3538,170,1997,0,0,0,0,0,0
$GC,7573,1.01,226.1,479.8,10.7,301,7578,0.00,1.95,0.00,0.000,6,0.000,0.027,3538,1376,1997,0,0,0,0,0,0
$GC,7822,1.01,226.1,453.9,10.4,308,7827,0.00,2.60,0.00,0.000,4,0.000,0.039,3538,2954,1993,0,0,0,0,0,0
$GC,7838,1.01,226.1,452.3,10.6,308,7842,0.00,2.67,0.00,0.000,6,0.000,0.041,3538,1374,1993,0,0,0,0,0,0
$GC,8106,1.01,226.1,424.9,10.1,315,8110,0.00,2.05,0.00,0.000,4,0.000,0.064,3538,167,1992,0,0,0,0,0,0
$GC,8149,1.01,226.1,420.3,10.9,316,8153,0.00,1.92,0.00,0.000,6,0.000,0.025,3538,1377,1991,0,0,0,0,0,0
$GC,8440,1.05,261.1,394.9,8.4,323,8482,0.12,2.62,32.42,0.801,4,0.065,0.036,3586,2951,1853,0,0,0,0,0,0
$GC,8508,1.05,261.1,388.2,10.1,324,8512,0.00,2.70,0.00,0.000,6,0.000,0.042,3586,1365,1850,0,0,0,0,0,0
$GC,8773,0.98,261.1,357.9,11.8,331,8775,0.15,0.00,0.00,0.000,6,0.104,0.000,3553,1366,1849,0,0,0,0,0,0
$GC,9015,0.98,261.1,333.3,10.0,337,9019,0.00,2.60,0.00,0.000,4,0.000,0.034,3553,2960,1847,0,0,0,0,0,0
$GC,9034,1.00,277.3,331.4,9.3,337,9056,0.00,2.65,14.62,0.716,6,0.000,0.040,3553,1368,1788,0,0,0,0,0,0
$GC,9302,1.00,282.8,305.3,9.7,344,9309,0.00,0.00,5.72,0.577,6,0.000,0.000,3553,1368,1767,0,0,0,0,0,0
$GC,9544,1.02,293.9,282.0,9.5,350,9561,0.00,2.65,11.52,0.660,4,0.000,0.031,3553,2959,1720,0,0,0,0,0,0
$GC,9590,1.17,314.2,277.7,9.1,351,9617,0.17,2.65,19.95,0.686,6,0.050,0.039,3620,1382,1638,0,0,0,0,0,0
$GC,9876,1.05,314.2,239.6,13.7,358,9881,0.22,2.58,0.00,0.000,4,0.094,0.030,3571,2955,1635,0,0,0,0,0,0
$GC,9893,0.99,314.2,237.1,13.0,358,9898,0.00,2.62,0.00,0.000,6,0.000,0.035,3571,1375,1633,0,0,0,0,0,0
$GC,10161,0.99,314.2,207.9,10.8,365,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1375,1633,0,0,0,0,0,0
$GC,10413,0.99,314.2,179.1,11.5,383,10417,0.00,2.58,0.00,0.000,4,0.000,0.029,3571,2964,1633,0,0,0,0,0,0
$GC,10448,1.11,314.2,175.3,10.6,386,10453,0.00,2.60,0.00,0.000,6,0.000,0.035,3571,1389,1630,0,0,0,0,0,0
$GC,10713,1.17,314.2,148.3,10.7,410,10718,0.10,2.03,0.00,0.000,4,0.076,0.050,3623,158,1630,0,0,0,0,0,0
$GC,10740,1.08,314.2,144.4,15.0,412,10744,0.15,1.95,0.00,0.000,6,0.078,0.029,3577,1411,1630,0,0,0,0,0,0
$GC,11010,1.15,314.2,115.1,10.6,437,11015,0.00,2.45,0.00,0.000,4,0.000,0.028,3577,2949,1630,0,0,0,0,0,0
$GC,11046,1.30,326.5,111.1,9.4,440,11067,0.20,2.55,11.48,0.518,6,0.044,0.041,3646,1387,1587,0,0,0,0,0,0
$GC,11325,1.18,326.5,71.5,14.2,466,11330,0.22,2.03,0.00,0.000,4,0.092,0.053,3597,161,1585,0,0,0,0,0,0
$GC,11408,1.18,326.5,61.2,11.2,473,11411,0.00,1.88,0.00,0.000,6,0.000,0.019,3597,1405,1585,0,0,0,0,0,0
$GC,11681,1.26,336.3,35.7,9.5,498,11698,0.00,2.47,9.95,0.443,4,0.000,0.025,3597,2938,1547,0,0,0,0,0,0
$GC,11742,1.49,372.5,29.6,8.3,503,11781,0.25,2.55,32.10,0.476,6,0.019,0.035,3696,1395,1401,0,0,0,0,0,0
$STATE,11891,end climb,SURFACE_DEPTH_REACHED
$STATE,11891,begin surface coast
$FINISH,0.7,1.023679
$STATE,11917,end surface coast,CONTROL_FINISHED_OK
$STATE,11918,begin surface
$SM_CCo,11941,5.85,0.369,0,0,1370,380.21
$SM_GC,1.58,0.00,0.00,5.85,0.000,0.000,0.369,416,1572,1370,-13.45,0.90,380.21
$IRIDIUM_FIX,2232.34,-15738.08,011001,131312
$TT8_MAMPS,0.026845
$HUMID,64.84
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.20
$XPDR_PINGS,9
$24V_AH,23.5,26.802
$10V_AH,10.0,19.752
$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,36.025,153.025,450.775,5.850,0.000,26.003,35.855,357.192,2.250,0.000,16.810,1133.215,8257.964,490.723,1870.437,754.036,33.361,1332.138,0.000,1866.116,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,83.603,942.643,368.927,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.818,293.818,373.399,521.761,917.441,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41486,529
$CAP_FILE_SIZE,135246,0
$CFSIZE,260165632,167108608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070712,201654,2241.535,-15737.693,39,1.9,39,10.1