version: 66.06
glider: 148
mission: 11
dive: 288
start: 7 21 112 4 54 17
data:
$ID,148
$MISSION,11
$DIVE,288
$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,-924486.38
$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,26
$R_STBD_OVSHOOT,113
$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
$GPS1,044635,2240.723,-15738.391,37,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.0
$GPS2,045324,2240.685,-15738.444,11,1.9,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.068,0.251
$KALMAN_X,-35366.8,-139.0,-492.4,72398.1,-419.3
$KALMAN_Y,27294.1,78.8,-522.1,-40403.4,514.2
$MHEAD_RNG_PITCHd_Wd,5.1,46117,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.32,0.000,2,0.000,0.000,414,1572,3055,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.3,9,122,13.93,2.38,-8.62,0.000,4,0.156,0.035,3059,3052,3518,0,0,0,0,0,0
$GC,150,-0.93,-146.0,19.8,-20.7,17,159,0.32,2.50,0.00,0.000,6,0.084,0.031,3135,1533,3518,0,0,0,0,0,0
$GC,431,-0.82,-146.0,59.8,-12.2,47,436,0.12,2.42,0.00,0.000,4,0.120,0.024,3160,3052,3520,0,0,0,0,0,0
$GC,452,-0.75,-146.0,62.3,-12.5,48,456,0.00,2.42,0.00,0.000,6,0.000,0.028,3160,1535,3520,0,0,0,0,0,0
$GC,716,-0.75,-146.0,91.5,-10.6,72,720,0.00,2.38,0.00,0.000,4,0.000,0.023,3160,3054,3521,0,0,0,0,0,0
$GC,755,-0.85,-146.0,95.7,-10.4,75,759,0.00,2.40,0.00,0.000,6,0.000,0.029,3160,1553,3521,0,0,0,0,0,0
$GC,1019,-0.85,-146.0,124.0,-10.1,99,1023,0.00,2.22,0.00,0.000,4,0.000,0.043,3160,170,3522,0,0,0,0,0,0
$GC,1039,-0.85,-146.0,126.4,-10.3,100,1048,0.00,2.05,0.00,0.000,6,0.000,0.018,3160,1535,3522,0,0,0,0,0,0
$GC,1302,-0.85,-146.0,152.8,-10.0,125,1306,0.00,2.40,0.00,0.000,4,0.000,0.024,3160,3078,3522,0,0,0,0,0,0
$GC,1363,-1.04,-146.0,158.4,-8.2,130,1369,0.20,2.45,0.00,0.000,6,0.039,0.028,3062,1553,3523,0,0,0,0,0,0
$GC,1627,-0.79,-146.0,198.1,-15.1,155,1633,0.45,2.22,0.00,0.000,4,0.092,0.040,3163,171,3523,0,0,0,0,0,0
$GC,1667,-0.90,-146.0,203.3,-10.0,156,1673,0.00,2.05,0.00,0.000,6,0.000,0.018,3163,1540,3523,0,0,0,0,0,0
$GC,1918,-1.02,-146.0,223.1,-7.9,163,1923,0.20,2.42,0.00,0.000,4,0.043,0.022,3070,3095,3523,0,0,0,0,0,0
$GC,1951,-1.02,-146.0,226.8,-11.3,163,1956,0.20,2.45,0.00,0.000,6,0.091,0.028,3115,1563,3523,0,0,0,0,0,0
$GC,2203,-1.02,-146.0,253.6,-11.0,169,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1563,3524,0,0,0,0,0,0
$GC,2445,-1.02,-146.0,277.8,-9.8,175,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1563,3524,0,0,0,0,0,0
$GC,2689,-1.02,-146.0,299.3,-8.7,181,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1563,3524,0,0,0,0,0,0
$GC,2932,-1.02,-146.0,321.1,-8.8,187,2937,0.00,2.42,0.00,0.000,4,0.000,0.028,3115,3089,3524,0,0,0,0,0,0
$GC,2958,-1.02,-146.0,323.2,-9.2,187,2962,0.00,2.47,0.00,0.000,6,0.000,0.031,3116,1570,3524,0,0,0,0,0,0
$GC,3217,-1.02,-146.0,345.3,-8.6,194,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1570,3523,0,0,0,0,0,0
$GC,3461,-1.02,-146.0,366.8,-9.0,200,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1570,3522,0,0,0,0,0,0
$GC,3706,-1.02,-146.0,389.0,-9.1,206,3710,0.00,2.45,0.00,0.000,4,0.000,0.032,3115,3087,3521,0,0,0,0,0,0
$GC,3730,-1.11,-146.0,391.3,-9.5,206,3734,0.00,2.47,0.00,0.000,6,0.000,0.035,3115,1570,3521,0,0,0,0,0,0
$GC,3990,-1.17,-146.0,412.9,-8.3,213,3992,0.12,0.00,0.00,0.000,6,0.064,0.000,3050,1570,3519,0,0,0,0,0,0
$GC,4234,-1.05,-146.0,440.0,-11.1,219,4239,0.25,2.40,0.00,0.000,4,0.094,0.064,3109,172,3517,0,0,0,0,0,0
$GC,4287,-1.13,-146.0,445.4,-9.0,220,4291,0.00,2.17,0.00,0.000,6,0.000,0.026,3109,1553,3517,0,0,0,0,0,0
$GC,4569,-1.13,-146.0,468.3,-8.0,227,4574,0.00,2.55,0.00,0.000,4,0.000,0.038,3109,3114,3515,0,0,0,0,0,0
$GC,4620,-1.27,-146.0,472.2,-8.2,228,4625,0.20,2.55,0.00,0.000,6,0.042,0.038,3025,1576,3515,0,0,0,0,0,0
$GC,4903,-1.08,-146.0,507.0,-12.6,235,4908,0.32,2.42,0.00,0.000,4,0.097,0.071,3099,167,3513,0,0,0,0,0,0
$GC,4971,-1.15,-146.0,513.7,-8.9,236,4975,0.00,2.25,0.00,0.000,6,0.000,0.031,3099,1576,3513,0,0,0,0,0,0
$GC,5240,-1.15,-146.0,534.1,-7.4,243,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1576,3511,0,0,0,0,0,0
$GC,5483,-1.15,-146.0,550.2,-6.5,249,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1576,3510,0,0,0,0,0,0
$GC,5729,-1.15,-146.0,567.0,-7.0,255,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1576,3509,0,0,0,0,0,0
$GC,5971,-1.15,-146.0,586.7,-8.3,261,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1575,3506,0,0,0,0,0,0
$STATE,6171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6171,begin apogee
$GC,6178,-0.31,0.0,603.1,8.0,266,6299,0.75,0.00,117.78,0.932,6,0.080,0.000,3270,1370,2920,0,0,0,0,0,0
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6304,1.27,146.0,607.0,0.0,269,6437,1.48,2.17,123.22,0.912,4,0.049,0.079,3618,178,2323,0,0,0,0,0,0
$GC,6623,0.95,146.0,580.9,11.7,276,6628,0.32,1.98,0.00,0.000,6,0.098,0.031,3549,1383,2316,0,0,0,0,0,0
$GC,6897,1.00,188.1,558.2,8.1,283,6939,0.00,2.15,36.08,0.871,4,0.000,0.068,3548,177,2152,0,0,0,0,0,0
$GC,6956,1.04,213.8,553.2,8.8,284,6986,0.00,1.95,23.98,0.844,6,0.000,0.029,3549,1380,2048,0,0,0,0,0,0
$GC,7230,1.04,216.5,526.3,9.9,291,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1380,2041,0,0,0,0,0,0
$GC,7475,1.04,218.6,502.0,9.9,297,7484,0.00,2.12,4.43,0.581,4,0.000,0.064,3548,170,2027,0,0,0,0,0,0
$GC,7521,1.04,218.6,496.6,11.6,298,7525,0.00,1.92,0.00,0.000,6,0.000,0.026,3548,1381,2027,0,0,0,0,0,0
$GC,7809,1.04,218.6,467.1,10.3,305,7813,0.00,2.60,0.00,0.000,4,0.000,0.041,3548,2955,2025,0,0,0,0,0,0
$GC,7829,1.05,222.5,465.1,9.8,305,7841,0.00,2.67,4.60,0.589,6,0.000,0.041,3548,1375,2012,0,0,0,0,0,0
$GC,8096,1.07,243.2,440.4,9.0,312,8125,0.10,2.65,20.62,0.800,4,0.077,0.036,3593,2950,1926,0,0,0,0,0,0
$GC,8136,1.00,243.2,436.3,10.8,312,8142,0.17,2.67,0.00,0.000,6,0.094,0.042,3556,1373,1923,0,0,0,0,0,0
$GC,8386,1.00,243.7,411.1,10.0,319,8390,0.00,2.05,0.00,0.000,4,0.000,0.065,3556,167,1921,0,0,0,0,0,0
$GC,8448,1.00,243.7,404.6,11.2,320,8451,0.00,1.90,0.00,0.000,6,0.000,0.024,3556,1383,1921,0,0,0,0,0,0
$GC,8722,1.00,246.5,377.5,9.9,327,8726,0.00,2.55,0.00,0.000,4,0.000,0.038,3556,2950,1920,0,0,0,0,0,0
$GC,8750,1.10,248.3,374.5,9.9,327,8765,0.10,2.65,4.72,0.562,6,0.077,0.041,3605,1361,1907,0,0,0,0,0,0
$GC,9010,1.01,248.3,343.8,12.3,334,9014,0.20,2.05,0.00,0.000,4,0.094,0.061,3561,163,1907,0,0,0,0,0,0
$GC,9066,1.01,248.3,337.2,11.1,335,9070,0.00,1.88,0.00,0.000,6,0.000,0.023,3561,1374,1906,0,0,0,0,0,0
$GC,9343,1.04,270.5,311.8,9.0,342,9367,0.00,0.00,21.85,0.718,6,0.000,0.000,3561,1376,1817,0,0,0,0,0,0
$GC,9588,1.11,270.5,287.5,10.3,348,9593,0.00,2.55,0.00,0.000,4,0.000,0.031,3561,2944,1813,0,0,0,0,0,0
$GC,9635,1.28,270.5,282.2,10.4,349,9642,0.22,2.65,0.00,0.000,6,0.040,0.039,3635,1361,1810,0,0,0,0,0,0
$GC,9920,1.15,270.5,241.5,14.5,356,9925,0.20,2.03,0.00,0.000,4,0.097,0.055,3591,165,1810,0,0,0,0,0,0
$GC,9969,1.15,270.5,235.1,13.0,357,9972,0.00,1.85,0.00,0.000,6,0.000,0.021,3591,1383,1810,0,0,0,0,0,0
$GC,10255,1.15,270.5,204.0,10.4,364,10259,0.00,2.50,0.00,0.000,4,0.000,0.028,3591,2942,1810,0,0,0,0,0,0
$GC,10313,1.27,277.9,198.5,9.7,366,10325,0.05,2.65,6.60,0.527,6,0.044,0.037,3635,1357,1786,0,0,0,0,0,0
$GC,10587,1.16,277.9,166.6,11.8,392,10591,0.20,2.00,0.00,0.000,4,0.096,0.049,3592,156,1785,0,0,0,0,0,0
$GC,10616,1.16,277.9,163.8,11.3,394,10620,0.00,1.88,0.00,0.000,6,0.000,0.021,3592,1378,1785,0,0,0,0,0,0
$GC,10887,1.20,304.0,140.8,8.8,419,10917,0.00,2.50,23.98,0.567,4,0.000,0.026,3592,2933,1680,0,0,0,0,0,0
$GC,10954,1.34,324.7,134.7,9.0,425,10983,0.15,2.58,19.92,0.550,6,0.052,0.035,3645,1364,1595,0,0,0,0,0,0
$GC,11240,1.24,324.7,94.3,14.2,452,11242,0.17,0.00,0.00,0.000,6,0.097,0.000,3608,1364,1593,0,0,0,0,0,0
$GC,11495,1.24,324.7,63.9,11.7,476,11500,0.00,2.47,0.00,0.000,4,0.000,0.027,3608,2924,1592,0,0,0,0,0,0
$GC,11549,1.34,324.7,58.2,10.9,480,11554,0.10,2.55,0.00,0.000,6,0.075,0.034,3647,1366,1591,0,0,0,0,0,0
$GC,11824,1.34,324.7,21.6,12.6,509,11833,0.00,2.00,0.00,0.000,4,0.000,0.048,3648,164,1591,0,0,0,0,0,0
$GC,11881,1.25,324.7,13.5,14.2,517,11890,0.15,1.83,0.00,0.000,6,0.076,0.018,3610,1367,1590,0,0,0,0,0,0
$STATE,11965,end climb,SURFACE_DEPTH_REACHED
$STATE,11965,begin surface coast
$FINISH,0.6,1.001133
$STATE,12019,end surface coast,CONTROL_FINISHED_OK
$STATE,12019,begin surface
$SM_CCo,12042,32.60,0.441,0,0,1368,380.21
$SM_GC,1.65,0.00,0.00,32.60,0.000,0.000,0.441,412,1564,1368,-13.47,0.68,380.21
$IRIDIUM_FIX,2232.34,-15738.08,151001,010100
$TT8_MAMPS,0.027612
$HUMID,65.00
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.50
$XPDR_PINGS,7
$24V_AH,23.5,38.486
$10V_AH,9.9,29.858
$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,33.625,125.475,407.775,32.600,0.000,36.364,37.485,184.403,1.750,0.000,17.842,1133.181,8315.887,481.862,1962.699,588.287,33.381,1309.613,0.000,1956.070,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,79.001,931.905,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.895,303.685,379.030,560.036,984.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41549,538
$CAP_FILE_SIZE,126617,0
$CFSIZE,260165632,161480704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210712,081654,2242.763,-15738.604,39,1.4,39,10.1