version: 66.06
glider: 148
mission: 11
dive: 289
start: 7 21 112 8 23 56
data:
$ID,148
$MISSION,11
$DIVE,289
$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,-924501.81
$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,27
$R_STBD_OVSHOOT,101
$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
$GPS1,081654,2242.763,-15738.604,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.5
$GPS2,082301,2242.756,-15738.635,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.251
$KALMAN_X,-36840.3,-135.8,-156.6,73206.6,-511.5
$KALMAN_Y,26933.0,231.1,507.4,-37392.3,-600.4
$MHEAD_RNG_PITCHd_Wd,5.3,42348,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.05,0.000,2,0.000,0.000,412,1564,3297,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.2,10,122,13.95,2.38,-3.72,0.000,4,0.157,0.033,3056,3076,3518,0,0,0,0,0,0
$GC,175,-0.97,-146.0,29.9,-21.1,21,184,0.28,2.53,0.00,0.000,6,0.083,0.031,3122,1536,3520,0,0,0,0,0,0
$GC,444,-0.85,-146.0,68.3,-12.4,46,452,0.15,0.00,0.00,0.000,6,0.115,0.000,3153,1536,3521,0,0,0,0,0,0
$GC,709,-0.85,-146.0,98.0,-10.2,71,713,0.00,2.42,0.00,0.000,4,0.000,0.023,3152,3068,3522,0,0,0,0,0,0
$GC,749,-0.96,-146.0,102.7,-9.7,74,758,0.08,2.47,0.00,0.000,6,0.031,0.028,3044,1546,3522,0,0,0,0,0,0
$GC,1017,-0.62,-146.0,148.3,-18.4,99,1023,0.70,0.00,0.00,0.000,6,0.094,0.000,3199,1544,3523,0,0,0,0,0,0
$GC,1286,-0.82,-146.0,170.0,-7.4,124,1291,0.15,2.38,0.00,0.000,4,0.053,0.023,3107,3067,3524,0,0,0,0,0,0
$GC,1340,-0.82,-146.0,176.1,-10.6,129,1346,0.25,2.40,0.00,0.000,6,0.084,0.028,3164,1563,3524,0,0,0,0,0,0
$GC,1604,-0.92,-146.0,198.5,-8.0,153,1608,0.10,2.25,0.00,0.000,4,0.074,0.044,3094,173,3525,0,0,0,0,0,0
$GC,1651,-0.83,-146.0,203.6,-12.1,155,1656,0.28,2.05,0.00,0.000,6,0.084,0.018,3157,1527,3525,0,0,0,0,0,0
$GC,1942,-0.94,-146.0,227.0,-7.7,162,1947,0.00,2.47,0.00,0.000,4,0.000,0.024,3157,3102,3526,0,0,0,0,0,0
$GC,1989,-1.16,-146.0,231.1,-7.5,163,1995,0.28,2.47,0.00,0.000,6,0.033,0.028,3051,1563,3526,0,0,0,0,0,0
$GC,2273,-0.97,-146.0,269.3,-14.4,170,2278,0.32,2.30,0.00,0.000,4,0.092,0.044,3125,163,3526,0,0,0,0,0,0
$GC,2331,-0.97,-146.0,276.6,-11.0,171,2335,0.00,2.12,0.00,0.000,6,0.000,0.019,3126,1558,3526,0,0,0,0,0,0
$GC,2604,-0.97,-146.0,304.6,-10.0,178,2608,0.00,2.47,0.00,0.000,4,0.000,0.028,3125,3111,3526,0,0,0,0,0,0
$GC,2652,-1.13,-146.0,309.4,-9.6,179,2658,0.12,2.50,0.00,0.000,6,0.061,0.032,3045,1567,3526,0,0,0,0,0,0
$GC,2936,-0.94,-146.0,348.1,-13.6,186,2941,0.40,2.35,0.00,0.000,4,0.088,0.054,3130,166,3525,0,0,0,0,0,0
$GC,2980,-1.08,-146.0,352.5,-8.5,187,2985,0.10,2.15,0.00,0.000,6,0.074,0.025,3071,1557,3525,0,0,0,0,0,0
$GC,3270,-1.01,-146.0,382.8,-10.7,194,3275,0.22,2.53,0.00,0.000,4,0.091,0.035,3121,3111,3524,0,0,0,0,0,0
$GC,3295,-1.07,-146.0,385.5,-8.9,194,3299,0.00,2.50,0.00,0.000,6,0.000,0.035,3121,1575,3524,0,0,0,0,0,0
$GC,3556,-1.15,-146.0,406.7,-8.1,201,3561,0.15,2.40,0.00,0.000,4,0.054,0.064,3047,164,3522,0,0,0,0,0,0
$GC,3576,-1.08,-146.0,409.0,-10.2,201,3581,0.25,2.22,0.00,0.000,6,0.094,0.025,3102,1576,3522,0,0,0,0,0,0
$GC,3841,-1.08,-146.0,431.1,-8.0,208,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1576,3521,0,0,0,0,0,0
$GC,4086,-1.08,-146.0,450.3,-7.9,214,4090,0.00,2.50,0.00,0.000,4,0.000,0.037,3102,3118,3519,0,0,0,0,0,0
$GC,4105,-1.08,-146.0,451.9,-7.9,214,4109,0.00,2.55,0.00,0.000,6,0.000,0.036,3102,1564,3519,0,0,0,0,0,0
$GC,4369,-1.08,-146.0,473.0,-8.1,221,4373,0.00,2.55,0.00,0.000,4,0.000,0.038,3102,3108,3517,0,0,0,0,0,0
$GC,4395,-1.15,-146.0,475.1,-8.9,221,4399,0.00,2.53,0.00,0.000,6,0.000,0.038,3102,1574,3517,0,0,0,0,0,0
$GC,4654,-1.15,-146.0,495.8,-8.0,228,4658,0.00,2.42,0.00,0.000,4,0.000,0.072,3102,170,3515,0,0,0,0,0,0
$GC,4687,-1.15,-146.0,499.0,-9.6,228,4691,0.00,2.25,0.00,0.000,6,0.000,0.031,3102,1567,3515,0,0,0,0,0,0
$GC,4938,-1.15,-146.0,520.5,-8.6,234,4943,0.00,2.55,0.00,0.000,4,0.000,0.043,3102,3124,3514,0,0,0,0,0,0
$GC,4962,-1.23,-146.0,522.9,-9.8,234,4968,0.12,2.60,0.00,0.000,6,0.061,0.041,3031,1571,3514,0,0,0,0,0,0
$GC,5223,-1.08,-146.0,553.5,-11.9,241,5225,0.32,0.00,0.00,0.000,6,0.096,0.000,3102,1571,3512,0,0,0,0,0,0
$GC,5467,-1.08,-146.0,572.5,-7.4,247,5471,0.00,2.45,0.00,0.000,4,0.000,0.078,3101,169,3510,0,0,0,0,0,0
$GC,5514,-1.17,-146.0,576.2,-7.4,248,5518,0.00,2.28,0.00,0.000,6,0.000,0.035,3102,1578,3510,0,0,0,0,0,0
$GC,5798,-1.24,-146.0,594.9,-6.6,255,5803,0.15,2.58,0.00,0.000,4,0.058,0.050,3038,3125,3508,0,0,0,0,0,0
$GC,5842,-1.24,-146.0,599.1,-9.4,256,5848,0.15,2.60,0.00,0.000,6,0.100,0.047,3072,1582,3508,0,0,0,0,0,0
$STATE,5851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5851,begin apogee
$GC,5857,-0.31,0.0,600.2,9.7,256,5979,0.85,0.00,118.00,0.931,6,0.083,0.000,3265,1377,2920,0,0,0,0,0,0
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5979,begin climb
$GC,5983,1.27,146.0,602.6,0.0,259,6117,1.48,2.20,123.20,0.910,4,0.047,0.082,3618,166,2324,0,0,0,0,0,0
$GC,6238,0.94,146.0,583.8,13.5,264,6244,0.35,1.98,0.00,0.000,6,0.097,0.031,3545,1386,2318,0,0,0,0,0,0
$GC,6490,0.99,187.0,562.6,8.1,271,6530,0.00,2.22,35.80,0.871,4,0.000,0.071,3544,156,2156,0,0,0,0,0,0
$GC,6564,0.93,191.1,556.0,9.8,272,6574,0.00,2.00,5.03,0.623,6,0.000,0.030,3544,1378,2140,0,0,0,0,0,0
$GC,6818,0.95,208.0,532.4,9.2,279,6837,0.00,0.00,15.65,0.816,6,0.000,0.000,3544,1379,2072,0,0,0,0,0,0
$GC,7109,0.99,239.8,506.8,8.5,286,7141,0.00,0.00,29.85,0.847,6,0.000,0.000,3544,1379,1942,0,0,0,0,0,0
$GC,7351,0.99,245.1,483.5,9.8,292,7363,0.00,2.17,5.68,0.649,4,0.000,0.064,3544,166,1920,0,0,0,0,0,0
$GC,7377,0.99,245.1,480.7,10.4,292,7381,0.00,1.95,0.00,0.000,6,0.000,0.026,3544,1390,1920,0,0,0,0,0,0
$GC,7642,0.99,245.1,453.9,10.2,299,7646,0.00,2.60,0.00,0.000,4,0.000,0.041,3544,2952,1917,0,0,0,0,0,0
$GC,7670,1.09,245.1,450.5,11.1,299,7676,0.12,2.67,0.00,0.000,6,0.064,0.043,3602,1374,1915,0,0,0,0,0,0
$GC,7926,1.00,245.1,416.2,13.8,306,7931,0.20,2.08,0.00,0.000,4,0.096,0.064,3559,167,1915,0,0,0,0,0,0
$GC,7993,1.00,245.1,407.4,12.9,307,7997,0.00,1.95,0.00,0.000,6,0.000,0.025,3559,1379,1915,0,0,0,0,0,0
$GC,8261,1.00,245.1,378.9,10.2,314,8265,0.00,2.55,0.00,0.000,4,0.000,0.037,3559,2950,1914,0,0,0,0,0,0
$GC,8275,1.00,245.1,377.3,10.1,314,8280,0.00,2.62,0.00,0.000,6,0.000,0.041,3559,1372,1913,0,0,0,0,0,0
$GC,8545,1.00,249.0,350.4,9.8,321,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1373,1912,0,0,0,0,0,0
$GC,8787,1.00,249.0,325.7,10.2,327,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1372,1912,0,0,0,0,0,0
$GC,9031,1.03,268.4,302.8,9.1,333,9059,0.00,2.62,21.30,0.717,4,0.000,0.030,3559,2956,1824,0,0,0,0,0,0
$GC,9077,1.16,308.8,299.0,8.1,334,9120,0.15,2.67,36.88,0.720,6,0.054,0.040,3621,1377,1661,0,0,0,0,0,0
$GC,9365,1.09,308.8,259.6,14.4,341,9370,0.20,2.60,0.00,0.000,4,0.094,0.030,3578,2952,1655,0,0,0,0,0,0
$GC,9411,1.23,308.8,253.6,12.4,342,9416,0.12,2.60,0.00,0.000,6,0.061,0.039,3627,1388,1652,0,0,0,0,0,0
$GC,9699,1.16,308.8,210.3,15.0,349,9701,0.17,0.00,0.00,0.000,6,0.099,0.000,3591,1388,1652,0,0,0,0,0,0
$GC,9953,1.16,308.8,183.0,10.3,364,9957,0.00,2.05,0.00,0.000,4,0.000,0.054,3591,158,1651,0,0,0,0,0,0
$GC,9996,1.16,308.8,177.3,11.8,368,10002,0.00,1.92,0.00,0.000,6,0.000,0.021,3591,1426,1651,0,0,0,0,0,0
$GC,10259,1.16,308.8,151.1,10.0,393,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1428,1650,0,0,0,0,0,0
$GC,10519,1.18,321.1,125.9,9.4,417,10541,0.00,2.45,10.75,0.515,4,0.000,0.027,3591,2928,1608,0,0,0,0,0,0
$GC,10552,1.27,325.5,122.1,9.8,420,10567,0.10,2.55,5.18,0.427,6,0.074,0.034,3636,1382,1593,0,0,0,0,0,0
$GC,10821,1.21,325.5,87.0,14.6,445,10826,0.15,2.03,0.00,0.000,4,0.100,0.048,3603,170,1592,0,0,0,0,0,0
$GC,10840,1.21,325.5,83.4,15.0,446,10849,0.00,1.88,0.00,0.000,6,0.000,0.020,3603,1395,1591,0,0,0,0,0,0
$GC,11109,1.30,325.5,51.7,11.6,471,11113,0.00,2.42,0.00,0.000,4,0.000,0.026,3603,2938,1592,0,0,0,0,0,0
$GC,11163,1.47,325.5,45.3,10.2,475,11168,0.22,2.50,0.00,0.000,6,0.041,0.033,3673,1392,1590,0,0,0,0,0,0
$STATE,11451,end climb,SURFACE_DEPTH_REACHED
$STATE,11451,begin surface coast
$FINISH,0.8,1.023640
$STATE,11485,end surface coast,CONTROL_FINISHED_OK
$STATE,11485,begin surface
$SM_CCo,11509,33.00,0.440,0,0,1369,380.21
$SM_GC,1.74,0.00,0.00,33.00,0.000,0.000,0.440,414,1570,1369,-13.46,0.85,380.21
$IRIDIUM_FIX,2232.34,-15740.24,151001,040447
$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.70
$XPDR_PINGS,3
$24V_AH,23.5,38.601
$10V_AH,9.9,29.959
$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,35.700,133.025,407.300,33.000,0.000,29.137,35.699,162.614,0.750,0.000,14.788,1120.275,7858.719,497.249,1879.780,552.592,33.368,1312.197,0.000,1881.751,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,82.069,931.138,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.723,303.265,370.533,522.005,917.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41621,518
$CAP_FILE_SIZE,127322,0
$CFSIZE,260165632,161423360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210712,113736,2244.149,-15738.681,34,1.0,34,10.1