version: 66.06
glider: 148
mission: 11
dive: 397
start: 8 5 112 20 40 37
data:
$ID,148
$MISSION,11
$DIVE,397
$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,-926894.38
$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,25
$R_STBD_OVSHOOT,85
$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
$GPS1,202425,2241.969,-15737.598,29,99.0,48,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.9
$GPS2,203943,2242.036,-15737.740,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.248
$KALMAN_X,-186714.2,-205.1,-289.5,224805.3,-633.9
$KALMAN_Y,80139.4,-172.0,394.1,-91415.6,448.7
$MHEAD_RNG_PITCHd_Wd,7.6,43506,-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,-74.65,0.000,2,0.000,0.000,411,1566,3330,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.3,-7.8,10,119,13.88,2.38,-3.15,0.000,4,0.154,0.032,3058,3086,3517,0,0,0,0,0,0
$GC,205,-1.00,-146.0,34.9,-18.4,24,210,0.28,2.53,0.00,0.000,6,0.094,0.031,3119,1531,3519,0,0,0,0,0,0
$GC,473,-0.79,-146.0,78.8,-15.5,48,478,0.22,2.47,0.00,0.000,4,0.103,0.022,3167,3085,3520,0,0,0,0,0,0
$GC,503,-0.79,-146.0,83.2,-11.4,50,507,0.00,2.50,0.00,0.000,6,0.000,0.028,3167,1536,3520,0,0,0,0,0,0
$GC,766,-0.79,-146.0,109.5,-9.6,74,767,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1536,3520,0,0,0,0,0,0
$GC,1020,-0.79,-146.0,134.1,-9.9,98,1024,0.00,2.42,0.00,0.000,4,0.000,0.022,3167,3085,3521,0,0,0,0,0,0
$GC,1047,-0.87,-146.0,136.8,-9.8,100,1051,0.00,2.47,0.00,0.000,6,0.000,0.028,3167,1544,3521,0,0,0,0,0,0
$GC,1315,-0.94,-146.0,162.9,-10.6,124,1320,0.15,2.42,0.00,0.000,4,0.053,0.023,3083,3082,3521,0,0,0,0,0,0
$GC,1344,-0.81,-146.0,167.3,-13.4,126,1353,0.30,2.47,0.00,0.000,6,0.068,0.028,3156,1560,3521,0,0,0,0,0,0
$GC,1611,-0.81,-146.0,193.5,-9.3,151,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1560,3521,0,0,0,0,0,0
$GC,1885,-0.89,-146.0,217.1,-8.4,163,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1560,3522,0,0,0,0,0,0
$GC,2129,-0.99,-146.0,237.5,-8.4,169,2134,0.15,2.42,0.00,0.000,4,0.053,0.025,3082,3078,3522,0,0,0,0,0,0
$GC,2210,-0.99,-146.0,246.0,-10.5,170,2215,0.17,2.45,0.00,0.000,6,0.090,0.030,3123,1564,3522,0,0,0,0,0,0
$GC,2460,-0.99,-146.0,269.2,-9.1,176,2464,0.00,2.40,0.00,0.000,4,0.000,0.025,3123,3077,3522,0,0,0,0,0,0
$GC,2489,-1.06,-146.0,271.8,-8.5,176,2493,0.00,2.42,0.00,0.000,6,0.000,0.030,3123,1563,3522,0,0,0,0,0,0
$GC,2745,-1.06,-146.0,295.2,-9.3,183,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1563,3521,0,0,0,0,0,0
$GC,2987,-1.06,-146.0,318.2,-9.4,189,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1563,3520,0,0,0,0,0,0
$GC,3231,-1.06,-146.0,340.9,-9.2,195,3235,0.00,2.45,0.00,0.000,4,0.000,0.028,3123,3083,3518,0,0,0,0,0,0
$GC,3270,-1.18,-146.0,344.3,-8.3,195,3277,0.15,2.42,0.00,0.000,6,0.023,0.035,3032,1577,3518,0,0,0,0,0,0
$GC,3520,-0.97,-146.0,377.5,-13.7,202,3522,0.43,0.00,0.00,0.000,6,0.086,0.000,3127,1577,3517,0,0,0,0,0,0
$GC,3764,-1.04,-146.0,398.6,-8.5,208,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3516,0,0,0,0,0,0
$GC,4010,-1.12,-146.0,419.2,-8.4,214,4012,0.15,0.00,0.00,0.000,6,0.054,0.000,3057,1577,3514,0,0,0,0,0,0
$GC,4251,-1.00,-146.0,447.2,-11.8,220,4254,0.28,0.00,0.00,0.000,6,0.085,0.000,3120,1577,3512,0,0,0,0,0,0
$GC,4495,-1.07,-146.0,467.5,-8.2,226,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1577,3511,0,0,0,0,0,0
$GC,4741,-1.15,-146.0,486.6,-7.8,232,4746,0.12,2.47,0.00,0.000,4,0.064,0.040,3059,3074,3509,0,0,0,0,0,0
$GC,4761,-1.15,-146.0,488.8,-9.5,232,4766,0.12,2.47,0.00,0.000,6,0.104,0.040,3088,1573,3509,0,0,0,0,0,0
$GC,5027,-1.15,-146.0,514.0,-9.7,239,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1573,3507,0,0,0,0,0,0
$GC,5271,-1.15,-146.0,538.1,-9.9,245,5275,0.00,2.45,0.00,0.000,4,0.000,0.076,3087,167,3505,0,0,0,0,0,0
$GC,5314,-1.15,-146.0,543.0,-10.6,246,5318,0.00,2.15,0.00,0.000,6,0.000,0.031,3088,1521,3505,0,0,0,0,0,0
$GC,5601,-1.15,-146.0,571.6,-9.8,253,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1522,3503,0,0,0,0,0,0
$GC,5846,-1.15,-146.0,595.4,-9.9,259,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1522,3501,0,0,0,0,0,0
$STATE,5923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5923,begin apogee
$GC,5929,-0.31,0.0,602.8,9.5,261,6050,0.80,0.00,117.15,0.923,6,0.075,0.000,3269,1371,2920,0,0,0,0,0,0
$STATE,6050,end apogee,CONTROL_FINISHED_OK
$STATE,6051,begin climb
$GC,6053,1.27,146.0,607.5,0.0,264,6185,1.48,2.20,122.93,0.905,4,0.050,0.078,3618,180,2323,0,0,0,0,0,0
$GC,6338,0.97,146.0,588.0,11.8,270,6343,0.30,1.95,0.00,0.000,6,0.097,0.029,3553,1382,2316,0,0,0,0,0,0
$GC,6604,1.03,191.7,567.0,7.9,277,6649,0.00,2.20,39.33,0.874,4,0.000,0.071,3553,182,2137,0,0,0,0,0,0
$GC,6836,1.03,191.7,543.2,10.8,282,6840,0.00,1.92,0.00,0.000,6,0.000,0.028,3553,1374,2133,0,0,0,0,0,0
$GC,7122,1.04,204.0,515.9,9.4,289,7139,0.00,2.15,11.05,0.776,4,0.000,0.067,3552,182,2087,0,0,0,0,0,0
$GC,7159,1.04,204.0,512.3,10.2,289,7163,0.00,1.90,0.00,0.000,6,0.000,0.026,3552,1374,2087,0,0,0,0,0,0
$GC,7413,1.05,210.9,487.6,9.7,296,7422,0.00,0.00,7.12,0.698,6,0.000,0.000,3553,1376,2059,0,0,0,0,0,0
$GC,7657,1.07,225.9,464.6,9.3,302,7677,0.00,2.15,14.90,0.785,4,0.000,0.061,3553,175,1998,0,0,0,0,0,0
$GC,7693,1.07,225.9,460.9,10.6,302,7697,0.00,1.90,0.00,0.000,6,0.000,0.025,3552,1371,1998,0,0,0,0,0,0
$GC,7947,1.08,231.8,435.7,9.7,309,7960,0.10,2.67,6.10,0.648,4,0.076,0.041,3599,2946,1975,0,0,0,0,0,0
$GC,7967,1.08,231.8,433.5,10.7,309,7973,0.12,2.65,0.00,0.000,6,0.101,0.041,3571,1364,1973,0,0,0,0,0,0
$GC,8238,1.08,231.8,405.5,10.3,316,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1364,1972,0,0,0,0,0,0
$GC,8482,1.08,231.8,379.6,10.8,322,8486,0.00,2.03,0.00,0.000,4,0.000,0.062,3571,166,1971,0,0,0,0,0,0
$GC,8533,1.08,231.8,373.1,12.6,323,8536,0.00,1.90,0.00,0.000,6,0.000,0.024,3571,1371,1971,0,0,0,0,0,0
$GC,8820,1.08,231.8,342.1,10.8,330,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1373,1970,0,0,0,0,0,0
$GC,9063,1.09,245.0,318.5,9.4,336,9078,0.00,0.00,13.02,0.690,6,0.000,0.000,3571,1373,1921,0,0,0,0,0,0
$GC,9307,1.13,274.1,297.0,8.7,342,9340,0.00,2.60,27.52,0.707,4,0.000,0.032,3572,2948,1801,0,0,0,0,0,0
$GC,9372,1.28,297.1,291.4,8.9,343,9401,0.20,2.67,21.35,0.685,6,0.044,0.040,3643,1364,1708,0,0,0,0,0,0
$GC,9684,1.17,297.1,245.9,15.2,351,9686,0.22,0.00,0.00,0.000,6,0.092,0.000,3594,1364,1703,0,0,0,0,0,0
$GC,9929,1.17,297.1,217.6,11.2,357,9933,0.00,2.58,0.00,0.000,4,0.000,0.028,3594,2948,1701,0,0,0,0,0,0
$GC,9967,1.31,317.3,213.6,9.1,357,9993,0.12,2.62,18.70,0.623,6,0.062,0.037,3654,1367,1625,0,0,0,0,0,0
$GC,10250,1.19,317.3,174.3,14.0,375,10255,0.25,2.00,0.00,0.000,4,0.089,0.051,3594,165,1622,0,0,0,0,0,0
$GC,10306,1.19,317.3,167.2,11.6,380,10310,0.00,1.85,0.00,0.000,6,0.000,0.021,3594,1397,1622,0,0,0,0,0,0
$GC,10579,1.26,317.3,140.0,10.6,405,10583,0.00,2.45,0.00,0.000,4,0.000,0.029,3594,2928,1621,0,0,0,0,0,0
$GC,10627,1.43,331.2,135.0,9.4,409,10650,0.22,2.58,13.12,0.536,6,0.039,0.036,3696,1365,1568,0,0,0,0,0,0
$GC,10910,1.23,331.2,92.1,16.0,435,10914,0.38,1.98,0.00,0.000,4,0.083,0.053,3608,165,1567,0,0,0,0,0,0
$GC,10939,1.23,331.2,86.7,11.9,437,10945,0.00,1.83,0.00,0.000,6,0.000,0.020,3608,1383,1567,0,0,0,0,0,0
$GC,11208,1.34,350.4,61.6,9.1,462,11228,0.10,0.00,17.67,0.483,6,0.076,0.000,3659,1385,1490,0,0,0,0,0,0
$GC,11485,1.34,350.4,26.2,13.0,490,11494,0.12,0.00,0.00,0.000,6,0.102,0.000,3631,1385,1488,0,0,0,0,0,0
$STATE,11677,end climb,SURFACE_DEPTH_REACHED
$STATE,11677,begin surface coast
$FINISH,0.7,1.022952
$STATE,11722,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11746,19.80,0.430,0,0,1369,380.21
$SM_GC,1.76,0.00,0.00,19.80,0.000,0.000,0.430,414,1578,1369,-13.46,1.07,380.21
$IRIDIUM_FIX,2232.34,-15738.08,301001,202004
$TT8_MAMPS,0.028379
$HUMID,67.91
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.70
$XPDR_PINGS,10
$24V_AH,23.5,52.171
$10V_AH,9.9,41.629
$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,33.825,93.000,429.975,19.800,0.000,93.691,138.891,414.421,2.500,0.000,13.561,1087.061,8286.104,460.857,1857.093,990.743,33.373,1236.383,0.000,1866.931,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,78.234,923.468,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.455,307.377,380.463,541.727,951.972,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41656,527
$CAP_FILE_SIZE,122417,0
$CFSIZE,260165632,154910720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050812,235759,2243.829,-15737.689,31,1.6,35,10.1